CN113380046B

CN113380046B - Method and device for identifying vehicle driving state based on fixed line and electronic equipment

Info

Publication number: CN113380046B
Application number: CN202110927432.7A
Authority: CN
Inventors: 钱志; 裴涛
Original assignee: Shenzhen Yuwei Information & Technology Development Co ltd
Current assignee: Shenzhen Yuwei Information & Technology Development Co ltd
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2021-11-16
Anticipated expiration: 2041-08-13
Also published as: CN113380046A

Abstract

The application relates to the field of commercial vehicles, in particular to a method for identifying a vehicle driving state based on a fixed line, wherein the fixed line is mapped onto a map and is divided into a plurality of sections in advance, two end points of each section of the fixed line are connected in sequence from a starting point to an end point according to the driving direction of a vehicle to form a line straight-line section with a direction, the coordinates of the end points are identified by longitude and latitude, and a line section number used as a unique identifier is distributed to each section of the line straight-line section, and the method comprises the following steps: for each section of fixed line, obtaining a line section effective area based on a line straight line section; obtaining a line effective area based on all the line segment effective areas; acquiring the driving information of a vehicle, wherein the driving information comprises position coordinates and a driving direction; and determining the driving state of the vehicle based on the driving information, the effective area of the route, the effective area of the line segment and the straight line segment of the route.

Description

Method and device for identifying vehicle driving state based on fixed line and electronic equipment

Technical Field

The application relates to the field of commercial vehicles, in particular to a method and a device for identifying a vehicle running state based on a fixed line and electronic equipment.

Background

At present, the vehicle-mounted monitoring industry is continuously developed, and a driving recording system is required to be installed on a bus according to the requirement of national regulation GBT 19056. Although some existing driving recording systems are integrated with an automatic stop reporting function, the judgment logic is relatively simple, the stop is only marked by a simple area, and when the fact that the vehicle is located in the stop area is detected, the stop is reported, and more driving states of the vehicle cannot be judged. The bus stop can not be identified under some special conditions, for example, an ascending stop and a descending stop are arranged at the close positions on the two sides of a road on one road, and when the bus drives into the overlapped stop area, it is difficult to judge that the bus is in an ascending or descending state. The condition that the bus deviates from the planned route to run can not be detected and alarmed.

Disclosure of Invention

Based on the method, the device and the electronic equipment, the vehicle driving state is identified based on the fixed line. The bus driving state detection and identification method aims to solve the problem that the bus driving state detection and identification are poor in the prior art by utilizing the vehicle driving information and the bus driving route which is divided in advance. And the efficiency of calculation and judgment is improved through a hierarchical screening mechanism.

According to an aspect of the present application, there is provided a method of recognizing a vehicle driving state based on a fixed route, the fixed route being mapped on a map and divided into a plurality of sections in advance, two end points of each of the fixed routes being connected in order from a start point to an end point in a vehicle driving direction to form a straight line section of a route having a direction, coordinates of the end points being identified by latitude and longitude, and a line section number serving as a unique identifier being assigned to each of the straight line sections of the route, the method comprising:

for each section of the fixed line, obtaining a line section effective area based on the line straight line section;

obtaining a line effective area based on all the line segment effective areas;

acquiring the driving information of the vehicle, wherein the driving information comprises position coordinates and a driving direction;

and determining the driving state of the vehicle based on the driving information, the effective area of the route, the effective area of the line segment and the straight line segment of the route.

According to some embodiments, the aforementioned method further comprises: obtaining coordinates of two end points of the straight line segment of the line; obtaining the maximum longitude, the maximum latitude, the minimum longitude and the minimum latitude of the straight line segment of the line based on the coordinates of the two endpoints; adding the line offset to the maximum longitude and the maximum latitude of the straight line segment to obtain the maximum longitude and the maximum latitude of the effective area of the line segment; respectively subtracting the line offset from the minimum longitude and the minimum latitude of the straight line segment of the line to obtain the minimum longitude and the minimum latitude of the effective area of the line segment; and defining a rectangular area based on the longitude where the maximum longitude and the minimum longitude of the effective area of the line segment are located and the latitude where the maximum latitude and the minimum latitude of the effective area of the line segment are located, wherein the rectangular area is the effective area of the line segment.

According to some embodiments, the aforementioned method further comprises: and marking a rectangular area which can cover all the effective areas of the line segments and has the smallest area as the effective area of the line.

According to some embodiments, the aforementioned method further comprises: determining that the vehicle enters the fixed line; obtaining an optimal line straight-line section; and determining the driving state of the vehicle based on the driving information of the vehicle and the optimal line segment.

According to some embodiments, the aforementioned method further comprises: if the vehicle is located in the line effective area and the vehicle is located in one or more line segment effective areas based on the position coordinate, calculating deviation distances between the position coordinate and one or more line segment straight sections corresponding to the one or more line segment effective areas; and determining that the vehicle drives into the fixed line if the deviation distance is smaller than a preset deviation distance threshold and a preset driving-in line judgment duration is kept.

According to some embodiments, the aforementioned method further comprises: obtaining one or more line segment effective areas in which the vehicle is located based on the position coordinates; obtaining one or more line straight-line segments corresponding to the one or more line segment effective areas; calculating the deviation distance between the position coordinate and the one or more line straight-line sections; calculating deviation angles of the driving direction and the direction of the one or more straight line sections of the line; judging whether the position coordinate exists between the normals of the two end points of the straight line section of the line; and judging that if the deviation distance corresponding to the optimal straight line segment is smaller than a preset accurate deviation distance threshold, the deviation angle is smaller than a preset deviation angle threshold, and the position coordinate exists between the normal lines of the two end points of the straight line segment, taking the straight line segment meeting the conditions as the optimal straight line segment.

According to some embodiments, the aforementioned method further comprises: determining that the vehicle enters a yaw state; or determining that the vehicle enters a u-turn state; or determining that the vehicle runs on the optimal straight line segment; or determining the line segment which is next to the optimal line segment when the vehicle runs to the optimal line segment; or determining that the vehicle arrived at or exited the station.

According to some embodiments, the aforementioned method further comprises: updating the travel information of the vehicle; calculating the deviation distance between the position coordinates and the optimal line straight-line segment; and determining that the vehicle enters a yaw state if the deviation distance is not less than the deviation distance threshold value and a preset yaw judgment duration is kept.

According to some embodiments, the aforementioned method further comprises: and calculating the distance between the position coordinate and the starting point of the optimal line straight-line segment to obtain the movement distance of the cache line segment.

According to some embodiments, the aforementioned method further comprises: updating the travel information of the vehicle; calculating the deviation distance between the position coordinates and the optimal line straight-line segment; calculating the deviation angle of the driving direction and the direction of the optimal line straight-line segment; judging whether the position coordinates exist between the normals of the two end points of the optimal line straight-line segment; calculating the distance between the position coordinate and the starting point of the optimal line straight-line segment as a segment moving distance; judging whether the deviation distance is smaller than the deviation distance threshold value, the deviation angle is smaller than the deviation angle threshold value, the position coordinate exists between the normal lines of the two end points of the optimal line straight-line segment, and the line segment moving distance is smaller than the cache line segment moving distance, accumulating the turning judgment count for one time, and updating the cache line segment moving distance into the line segment moving distance; and determining that the vehicle enters a turning state if the turning judgment count reaches a preset turning judgment count threshold value.

According to some embodiments, the aforementioned method further comprises: updating the travel information of the vehicle; calculating the deviation distance between the position coordinates and the optimal line straight-line segment; calculating the deviation angle of the driving direction and the direction of the optimal line straight-line segment; judging whether the deviation distance is smaller than the deviation distance threshold value or not, if so, accumulating a turning judgment count once and updating the cache line segment moving distance to be the line segment moving distance; and determining that the vehicle enters a turning state if the turning judgment count reaches a preset turning judgment count threshold value.

According to some embodiments, the aforementioned method further comprises: updating the travel information of the vehicle; calculating the deviation distance between the position coordinates and the optimal line straight-line segment; calculating the deviation angle of the driving direction and the direction of the optimal line straight-line segment; judging whether the position coordinates exist between the normals of the two end points of the optimal line straight-line segment; calculating the distance between the position coordinate and the starting point of the optimal line straight-line segment as a segment moving distance; and judging that the vehicle runs on the optimal straight line section if the deviation distance is smaller than the deviation distance threshold value, the deviation angle is smaller than the deviation angle threshold value, the position coordinates exist between the normals of the two end points of the optimal straight line section, and the line section moving distance is not smaller than the cache line section moving distance.

According to some embodiments, the aforementioned method further comprises: and updating the cache line segment moving distance to the line segment moving distance, and clearing the turn-around judgment count.

According to some embodiments, the aforementioned method further comprises: updating the travel information of the vehicle; calculating the deviation distance between the position coordinates and the optimal line straight-line segment; calculating the deviation angle of the driving direction and the direction of the optimal line straight-line segment; judging whether the position coordinates exist between the normals of the two end points of the optimal line straight-line segment; and determining that the vehicle runs to the next line straight-line section of the optimal line straight-line section if the deviation distance is smaller than the deviation distance threshold value, the deviation angle is smaller than the deviation angle threshold value, and the position coordinate does not exist between the normal lines of the two end points of the optimal line straight-line section.

According to some embodiments, the aforementioned method further comprises: finding the next line straight-line segment of the optimal line straight-line segment according to the direction of the optimal line straight-line segment, and taking the next line straight-line segment as the optimal line straight-line segment; calculating the distance between the position coordinate and the starting point of the optimal line straight-line segment as a segment moving distance; and updating the cache line segment moving distance to the line segment moving distance, and clearing the turn-around judgment count.

According to some embodiments, the aforementioned method further comprises: coordinates of stations on the fixed line are obtained in advance, a square area is defined by taking the coordinates of the stations as a center to serve as a station coverage area, the side length of the square area is 2 times of the line offset, and the side of the square is parallel to the longitude line or the latitude line.

According to some embodiments, the aforementioned method further comprises: updating the travel information of the vehicle; judging that the vehicle enters the coverage area range of the station based on the position coordinates, and determining that the vehicle reaches the station; and determining that the vehicle leaves the station coverage area range based on the position coordinates.

According to an aspect of the present application, there is provided an apparatus for performing a method of recognizing a driving state of a vehicle based on a fixed route, the fixed route being mapped onto a map and divided into a plurality of sections in advance, two end points of each of the fixed routes being connected in order from a start point to an end point in a driving direction of the vehicle to constitute a straight line section of the route having a direction, coordinates of the end points being identified by latitude and longitude, and a line section number serving as a unique identification being assigned to each of the straight line sections of the route, the apparatus comprising: the line segment effective area dividing module is used for obtaining a line segment effective area for each section of the fixed line based on the line straight line section; the line effective area dividing module is used for obtaining a line effective area based on all the line segment effective areas; the vehicle driving information acquisition module is used for acquiring driving information of the vehicle, wherein the driving information comprises position coordinates and a driving direction; and the vehicle running state judging module is used for determining the running state of the vehicle based on the running information, the effective area of the route, the effective area of the line segment and the straight line segment of the route.

According to an aspect of the present application, an electronic device is provided, which includes: one or more processors; storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a method as in any preceding claim.

The beneficial effect of this application:

according to some embodiments, the scheme provided by the application transforms a complex route into a tractable continuous directional route straight line segment through a pre-segmented fixed route.

According to some embodiments, the scheme provided by the application sets a rectangular line segment effective area for the line straight-line segment, sets a line effective area for the whole line, divides the whole judging process into layers, and improves the processing and judging efficiency.

According to some embodiments, the scheme provided by the application adds the line offset when setting the effective area for the line straight-line segment, so that the accuracy error of the positioning equipment can be compensated to a certain extent.

According to some embodiments, the scheme provided by the application can firstly detect whether the vehicle runs on the fixed line, and then can accurately detect which one of the straight line sections of the line and which one of the sections of the whole fixed line the vehicle runs on.

According to some embodiments, the direction of the straight line segment in the scheme provided by the application can accurately detect the ascending or descending condition of the vehicle when the vehicle is positioned in the approximately overlapped area of the ascending and descending lines.

According to some embodiments, the scheme provided by the application obtains the relation between the vehicle and the straight line segment of the line through multi-dimensional parameters and refined judgment conditions based on the driving information of the vehicle, and further obtains the yaw state, the turning state, the normal driving state, the vehicle entering state and the vehicle exiting state of the vehicle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.

Fig. 1a is a schematic diagram illustrating a method for identifying a driving state of a vehicle based on a fixed route according to an embodiment of the present application.

Fig. 1b is a schematic diagram illustrating another method for identifying a driving state of a vehicle based on a fixed route according to an embodiment of the present application.

Fig. 1c is a schematic diagram illustrating another method for identifying a driving state of a vehicle based on a fixed route according to an embodiment of the present application.

Fig. 2 illustrates a flowchart of a method of identifying a driving state of a vehicle based on a fixed route according to an embodiment of the present application.

Fig. 3 is a block diagram illustrating an apparatus of a method of identifying a driving state of a vehicle based on a fixed route according to an embodiment of the present application.

FIG. 4 shows a block diagram of an electronic device according to an example embodiment.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.

The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the disclosure can be practiced without one or more of the specific details, or with other means, components, materials, devices, or the like. In such cases, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The method, the device and the electronic equipment for identifying the vehicle driving state based on the fixed line can be applied to commercial vehicles which normally drive according to the fixed line. In practical use, it can be applied to, for example: buses, tourist buses, scenic spot sightseeing buses and the like.

Usually, the commercial vehicles are equipped with a driving recording system, which assists in detecting and identifying the operating state of the vehicle, for example, the arrival of the vehicle at a station, simply by marking the station area on the fixed line.

The vehicle may have various operating states during driving, such as the vehicle being hijacked, the driver getting off the station to get close to the road, or the vehicle may deviate from the normal driving route or turn around for other reasons. For protection of public interest, the monitoring platform needs to monitor these situations and receive an alarm in time when an abnormality occurs.

In addition, on a line having, for example, two traveling directions of up and down, two stations for up and down are generally provided in the vicinity of both sides of the road, respectively, so that when the vehicle travels into the overlapping area of the two stations, it may occur that the system cannot correctly recognize which station the vehicle is traveling into, is in the up line, or is in the down line.

The traditional driving recording system has relatively simple business logic, so that the recognizable vehicle running state types are few, and the abnormal driving condition cannot be detected in time. The scheme provided by the application can accurately know the driving road section where the vehicle is located and can identify various driving states of the vehicle.

Aiming at the problem, the fixed line is firstly divided into a plurality of sections according to the driving direction, a line straight section with the direction is arranged for each section, then a line section effective area is arranged for each section of line straight section, and then a line effective area is arranged for the whole line. When the driving information of vehicle positioning is obtained, whether the vehicle drives on the fixed line can be quickly judged, and the optimal line straight-line section where the vehicle drives can be further obtained through the relation between the vehicle position coordinate and the line straight-line section. In this way, a more precise position of the vehicle can be obtained. And when the distance between the uplink and the downlink is close or two sections with close distance exist in the line, the vehicle can be accurately determined to be driven on which line or which section of line. Whether the vehicle is in an abnormal driving state, such as a yaw state, a turning state and the like can be detected through the relation between the vehicle and the optimal line straight-line segment in the driving process.

According to one embodiment, the method provided by the application can be executed on a central control server of a central control center of a public transport vehicle, and map data, fixed line data and the like are stored on the central control server. The central control server can request the positioning device mounted on the vehicle through the wireless communication network to obtain the running information of the vehicle for subsequent processing. The central control server may record information such as the running state of the vehicle, and may also send information such as an abnormal running state alert to the vehicle.

According to another embodiment, the method proposed by the present application may also be used in, for example, a driving recording system local to the vehicle, where map data, fixed line data, etc. are stored. And acquiring the running information of the vehicle through a built-in positioning device for subsequent processing. The driving state of the vehicle can be recorded locally or transmitted back to a central control server of a central control center through a wireless communication network. In particular, when the vehicle is in an abnormal driving state, an alarm can be sent to the central control center, and the alarm can be prompted locally on the vehicle.

As shown in fig. 1a, according to one embodiment, the curve in the figure is a fixed route of travel of a vehicle mapped onto a map, the vehicle traveling from an indicated starting position to an end position.

According to one embodiment, the fixed line can be obtained by regularly sampling the vehicle positioning coordinates on the way when a vehicle provided with the positioning device runs according to the fixed line.

According to one embodiment, the points on the map can be represented by latitude and longitude coordinates, and the distance between the points, the length of the line segment, the distance between the points and the line, and the like can be obtained through mathematical calculation according to the coordinates.

According to one embodiment, the fixed route is divided into a plurality of sections in advance and the start point and the end point of each section are connected in the order of the driving direction of the vehicle to obtain a straight line section of the route with a direction, namely, a straight line section with a direction in the figure. The dividing principle is that a part which is close to or approximately straight in a line is divided into a section, and the purpose is to enable a line straight-line section constructed later to be matched with an original fixed line as much as possible, so that the distance between the constructed line straight-line section and the fixed line on the same normal position is not too large on the whole. The direction of the arrow of each straight line segment in the figure indicates the driving direction of the vehicle, and it is easy to think that if the vehicle travels in a return trip, the direction of the corresponding straight line segment will be turned. Uplink and downlink can be distinguished depending on the driving direction.

According to one embodiment, the segmentation of the fixed line can be manually determined by experience and subjective judgment, or can be automatically identified for segmentation. For example, a marked point may be taken every short distance from the starting point on a fixed line, and the tangent angle of the line at that point, i.e., the direction angle of the line, may be calculated. And sequentially calculating the change of the direction and the angle of the line from the starting point, dividing the section of fixed line when the accumulated change exceeds an angle change threshold, and continuing to process according to the method backwards until all the division is finished.

According to an exemplary embodiment, all coordinates of the resulting straight line segment are stored for subsequent calculation use.

According to an embodiment, for each divided straight line segment of the line, line segment numbers with unique identification functions can be sequentially distributed in the order from the starting point to the end point of the overall fixed line. The line segment numbers can be used for conveniently calculating and searching the line segments of the previous line segment and the subsequent line segment of a certain line. For example, a middle straight line segment is numbered

Then, according to the driving direction of the line, the straight line segment of the subsequent line is numbered as

The number of the straight line segment of the previous line is

。

According to one embodiment, the length of the straight line segment of the divided line is not too short or too long. The lower limit value is generally related to the bus speed, the processing speed and the vehicle running information sampling time interval, for example, the common bus speed is about 50km/h and about 13.9m/s, the vehicle running information sampling time interval can be set to be, for example, 3s, and then the length of the straight line segment of the divided line is at least longer than that of the straight line segment of the divided line

I.e. about 42m, for convenience of installation or to meet the use habit, it may be set to be, for example, 50m or 100m, so that the situation that the vehicle jumps along the straight line due to too short installation does not occur; upper limit and bus lineThe total length is related, the method should not be set to be too long, so that the proportion of a line corresponding to a straight line section of one line in the total fixed line is too large, and the method for judging the running state of the bus based on switching the straight line sections in the method disclosed by the application is not effective, for example, the total length of the fixed line is 50km, the longest straight line section of a single line can be set to be 10% of the total length, namely 5km, the proportion is an empirical value, and the method can be flexibly adjusted according to the line tortuosity and the like.

According to an embodiment, the rectangular area with a dashed box nested outside each straight line segment in fig. 1a is the corresponding effective area of the line segment, and the rectangular area with a large dashed box nested outside the whole fixed line is the effective area of the line, which will be described in detail later.

As shown in fig. 2, in S201, a segment effective area is obtained based on the straight line segment of the line.

According to one embodiment, a line segment effective area is set for each line straight-line segment based on the coordinates of two end points of the line straight-line segment and the line offset. First, the maximum longitude, the maximum latitude, the minimum longitude and the minimum latitude are distinguished from the coordinates of two end points of a straight line segment of the line. And respectively adding the line offset to the maximum longitude and the maximum latitude to obtain the maximum longitude and the maximum latitude of the effective area of the line segment, and subtracting the line offset from the minimum longitude and the minimum latitude to obtain the maximum longitude and the maximum latitude of the effective area of the line segment, wherein the effective area of the line segment is a rectangle.

According to one embodiment, as shown in FIG. 1b, the line segments

Is a straight line segment of the circuit,

and

are respectively provided with two end points which are respectively provided with a plurality of connecting rods,

point coordinates of

，

Point coordinates of

Wherein

、

The value of the longitude is represented by the value of,

、

indicating the latitude value. Is easy to know

，

Thus, for the straight line segment of the line illustrated, the maximum longitude is

Maximum latitude of

Minimum longitude of

Minimum latitude of

。

According toIn one embodiment, as shown in fig. 1b, the line offset is an empirically determined value that is substantially related to the positioning accuracy error of the positioning apparatus. For example, if the positioning accuracy error of the vehicle-equipped positioning apparatus is about 20m to 30m, the line offset amount may be set to be half the sum of the two values, i.e., 25 m. The line offset is shown in the figure

And (4) showing.

According to one embodiment, as shown in FIG. 1b, obtained as described above

The effective area of the line segment of the line straight-line segment can be formed by two end points

And

it is determined that it also has a maximum longitude, a maximum latitude, a minimum longitude, and a minimum latitude. Wherein its maximum longitude

Maximum latitude

Minimum longitude

Minimum latitude

. The dotted rectangle frame at the periphery of the figure is the effective area of the line segment. The line segment effective areas are set for simplifying the calculation complexity, when the position coordinates of the vehicle are obtained, the vehicle can be quickly found to be located in the effective areas of the line segments, so that the corresponding straight line segments of the route can be found without traversing all the straight line segments of the route for comparison. The position coordinates of the vehicle are located in the effective area of the line segmentI.e. indicating that the vehicle is located in the vicinity of the straight line segment of the line.

According to an embodiment, when the straight line segment of the line is parallel to the longitude or the latitude, the maximum longitude is equal to the minimum longitude, or the maximum latitude is equal to the minimum latitude, and the longitude and latitude of the effective area of the line segment are calculated by applying the above calculation method.

According to an embodiment, for all the obtained line straight-line segments and effective line segment areas, the maximum longitude, the maximum latitude, the minimum longitude and the minimum latitude of the line straight-line segments and effective line segment areas can be stored in a data structure such as a binary search tree, so as to optimize subsequent calculation judgment efficiency.

In S203, a line effective area is obtained based on the line segment effective area.

According to an embodiment, the smallest rectangle covering the effective area of all the line segments is the effective area of the line. As shown in fig. 1a, a large dashed rectangle region nested outside the whole fixed line is a line effective region, and a maximum longitude, a maximum latitude, a minimum longitude, and a minimum latitude can be found from the endpoint coordinates of all line straight segments to determine the line effective region. The effective line area is also set for simplifying the calculation amount, and when the obtained vehicle position coordinates fall into the effective line area, the range where the vehicle enters the fixed line can be preliminarily determined, so that the subsequent calculation is carried out.

According to an exemplary embodiment, it is easy to know, and as can be easily seen from fig. 1a, the maximum longitude of the effective rectangle of the line is the maximum of the maximum longitudes of all the effective areas of the line segments, similarly, the maximum latitude of the effective rectangle of the line is the maximum of the maximum latitudes of all the effective areas of the line segments, the minimum longitude of the effective rectangle of the line is the minimum of the minimum longitudes of all the effective areas of the line segments, and the minimum latitude of the effective rectangle of the line is the minimum of the minimum latitudes of all the effective areas of the line segments.

At S205, the running information of the vehicle is acquired.

According to one embodiment, the central control server of the control center can acquire the running information of the vehicle through the positioning equipment mounted on the vehicle. The travel information includes position coordinates of the vehicle, which are expressed by longitude and latitude. The travel information also includes the direction of travel of the vehicle, which is expressed in degrees. It is worth mentioning that the acquisition of the driving direction by the positioning device is usually obtained by an inertial navigation method, that is, the angle of the driving direction is obtained by the change of the positioning coordinates at two adjacent moments, so that the positioning device can accurately obtain the driving direction of the vehicle only when the vehicle is driven at a certain speed.

According to an embodiment, the travel information of the vehicle may be updated at regular time intervals, and the travel state of the vehicle may be updated. The fixed time interval may be an empirical value set for human, for example, set to 3s, and it is not necessary to set too short a time interval to cause excessive load on data processing and to set too long a time interval to cause a change in the driving state of the vehicle to be detected in time.

At S207, the running state of the vehicle is determined.

According to the exemplary embodiment, after the driving information of the vehicle is obtained, the driving state of the vehicle is comprehensively calculated, judged and determined based on the effective area of the route, the effective area of the line segment and the straight line segment of the route.

According to one embodiment, determining the driving state of the vehicle is performed by first determining that the vehicle is driving into a fixed route.

According to one embodiment, it is first determined whether the vehicle is located in the route effective area based on its position coordinates. The specific judgment method is to compare whether the longitude of the vehicle position coordinate is between the minimum longitude and the maximum longitude of the effective area of the route and whether the latitude of the vehicle position coordinate is between the minimum latitude and the maximum latitude of the effective area of the route. If the comparison result is true, determining that the vehicle enters the effective area of the line, and performing subsequent judgment; if the judgment result is false, the vehicle is determined not to be driven into the fixed line, and the processing flow is executed again after the vehicle driving information is updated next time.

According to an embodiment, after determining that the vehicle enters the route effective area, it is determined whether the vehicle is located in the line segment effective area. In the step, the longitude value and the latitude value of the vehicle position coordinate are respectively traversed, compared and judged whether the longitude value and the latitude value are between the maximum minimum longitude and the maximum minimum latitude of each stored segment effective area, and when the longitude value and the latitude value are both true, the vehicle is determined to be located in the corresponding segment effective area. And if the line segment effective area meeting the conditions cannot be matched, determining that the vehicle does not drive into the fixed line, and executing the steps without repeated description. And if the line segment effective area meeting the conditions can be matched, performing subsequent judgment based on the line segment effective area. It should be noted that the vehicle may be located in one or more line segment effective areas at the same time, and as shown in fig. 1a, the overlapping areas may exist in different line segment effective areas.

According to an embodiment, after the above-mentioned process is performed, the line segment effective area where the vehicle is located is matched, and then the corresponding straight line segment of the line is found. The distance of the position coordinates of the vehicle from each of these straight line segments of the route is calculated as a deviation distance. The distance here is a perpendicular distance from a point of the position coordinates to a straight line segment of the line or an extension line thereof, and can be calculated by a conventional geometric method.

Referring to fig. 1c, where a and B are the two endpoints of a straight line segment of the line, P represents the vehicle position,

，

and

respectively, the longitude and latitude coordinates of each point. Taking this figure as an example, let

，

It should be noted that, for the sake of intuitive understanding, the description is made here

Line straight line segment is drawn horizontallyThe point P is intermediate between a and B, but in practice the dotted relationship may be any possible.

Perpendicular to

The straight line on which the light source is located,

is the aforementioned offset distance, for

The length of (c) can be calculated by:

if it is

And is

Either, or,

and is

Then, then

Otherwise

The above calculated relationship is obtained based on geometric knowledge and is not deduced here.

According to an embodiment, each calculated deviation distance is compared with a preset deviation distance threshold, and if a deviation distance smaller than the deviation distance threshold exists, it indicates that the vehicle may drive into the fixed line. If the timer does not exist, generating a drive-in line timer at the moment to start timing, and when the timing duration reaches the preset drive-in line judgment duration, determining that the vehicle drives into the fixed line; and if the timer exists, keeping the timing state of the timer unchanged, and waiting for the next processing flow after updating the vehicle running information.

According to an embodiment, in the foregoing step, if the deviation distance smaller than the deviation distance threshold value cannot be found, the timer is cleared (if present), and the process flow after the vehicle driving information is updated in the next round is waited.

According to an exemplary embodiment, the aforementioned setting of the time delay to judge that the vehicle enters the fixed line aims to remove the influence of data jitter due to an error in the accuracy of the positioning device. Data jitter may cause erroneous decisions to occur.

According to one embodiment, the deviation distance threshold is an artificially set empirical value that is substantially related to the positioning accuracy error of the positioning apparatus. For example, if the positioning accuracy error of the vehicle-equipped positioning apparatus is about 20m to 30m, the line offset amount may be set to be half the sum of the two values, i.e., 25 m. Appropriate float adjustments may also be made based on this value, such as appropriate reduction of the value for greater accuracy and appropriate relaxation for greater fluency of execution.

According to one embodiment, the preset entering route judgment time length is an experience value set by people, and is generally related to the vehicle running information updating time interval. For example, it may be determined that the vehicle is driven into the fixed route if it is empirically determined that the vehicle is likely to be driven into the fixed route 3 times in succession, and then the driven-into-route determination period may be set if the vehicle driving information update time interval is 3s

I.e., 9s, may be set to 10s to meet human handling habits.

According to an embodiment, the process of determining whether the vehicle enters the fixed line includes the following steps:

s1: updating the driving information of the vehicle, judging whether the vehicle is located in the effective area of the route or not based on the position coordinates, if so, executing S2, and if not, executing S1;

s2: judging whether the vehicle is located in the effective area of the line segment or not based on the position coordinates, if so, executing S3, and if not, executing S1;

s3: determining one or more segment effective areas where the vehicle is located and one or more corresponding line straight segments;

s4: calculating the deviation distance between the position coordinates and the line straight-line segment for each of the determined one or more line straight-line segments;

s5: if the deviation distance is smaller than a preset deviation distance threshold value, judging whether a driving route timer exists, if the driving route timer does not exist, executing S7, and if the driving route timer exists, executing S8;

s6: if the deviation distance is not less than the deviation distance threshold value, clearing the driving-in route timer and executing S1;

s7: generating an incoming line timer and executing S1;

s8: judging whether the time of the drive-in line timer reaches the drive-in line judgment time length or not, if the time of the drive-in line timer does not reach the drive-in line judgment time length, executing S1, and if the time of the drive-in line timer reaches the drive-in line judgment time length, determining that the vehicle drives into a fixed line;

s9: and finding the optimal straight line segment from the straight line segments with the deviation distance smaller than the deviation distance threshold.

According to the embodiment, after the vehicle is determined to drive into the fixed line, an optimal line straight-line segment is calculated and found based on the position coordinates of the vehicle and the line straight-line segment where the vehicle is located.

According to an exemplary embodiment, the optimal straight line segment is the determined straight line segment of the route on which the vehicle is traveling.

According to an embodiment, the steps are specifically: calculating the deviation distance between the vehicle position coordinate and each line straight-line section, judging whether the deviation distance is smaller than a preset accurate deviation distance threshold value, calculating the angle difference between the vehicle driving direction and the direction of each line straight-line section, judging whether the deviation distance is smaller than a preset deviation angle threshold value, and judging whether the vehicle position coordinate is located between the normal lines of two end points of the line straight-line section. And taking the straight line segment of the line with the judged result of true as the optimal straight line segment of the line.

According to one embodiment, after the optimal straight line segment is found, the segment number is recorded for subsequent processes.

According to an embodiment, the preset accurate deviation distance threshold is an empirical value artificially set based on the deviation distance threshold, and is intended to screen straight line segments of the route closer to the position coordinates of the vehicle. The value of the offset distance threshold is smaller than the offset distance threshold, and may be, for example, 0.5 times of the offset distance threshold.

According to an embodiment, the preset deviation angle threshold is an artificial empirical value, and is used for screening out straight line segments of the route with the direction closer to the driving direction of the vehicle. Generally, the general direction is similar to the driving direction of the vehicle in the dimension of the same direction or the opposite direction. For example, it may be set to 90 °, that is, it is approximately determined whether the straight line segment of the route is in the same direction or opposite to the vehicle driving direction, that is, if the angle difference is smaller than 90 °, it is determined that the direction of the straight line segment of the route is approximately in the same direction as the vehicle driving direction, and vice versa.

According to an embodiment, a straight line passing through two end points of the line straight-line segment and perpendicular to the line straight-line segment is a normal line of the line straight-line segment. Refer to the schematic illustration of FIG. 1c, wherein

Is a straight line segment of the route (direction not shown), P is the vehicle position, and the two dashed lines passing through a and B are the normal lines thereof.

According to one embodiment, the determination of whether the vehicle position coordinates are located between the normals of the two end points of the straight line segment can be calculated and determined by using a geometric relationship. Referring to FIG. 1c, the relationship is calculated according to geometry, and then judged

It can be determined that point P is within the normal range, otherwise outside the normal range. Wherein

Is composed of

The length of (a) of (b),

is composed of

The length of (a) of (b),

is composed of

I.e. the length of the straight line segment of the line.

According to the exemplary embodiment, after it is determined that the vehicle has driven into the fixed route and obtained the optimal straight line segment of the route, it is not necessary to confirm again whether the vehicle has driven onto the fixed route after updating the vehicle driving information again, and the vehicle is considered to continue to drive onto the fixed route unless it is determined that the vehicle has driven off the fixed route, i.e., enters the yaw state. Thus, the calculation amount and complexity of the whole judgment can be obviously optimized.

According to an example embodiment, after it is determined that a vehicle enters a fixed route and an optimal route straight segment is obtained, a driving state of the vehicle is determined based on driving information of the vehicle and the optimal route straight segment.

According to an example embodiment, the driving states of the vehicle include a yaw state, a u-turn state, driving on an optimal route straight line segment, driving to a subsequent route straight line segment of the optimal route straight line segment, and arrival or departure of the vehicle at or from a station.

According to an embodiment, determining that the vehicle enters a yaw state comprises the steps of:

s1: updating the running information of the vehicle;

s2: calculating the deviation distance between the position coordinates and the straight line section of the line;

s3: if the deviation distance is not less than the deviation distance threshold value, judging whether a generated driving route timer exists or not, if so, executing S4, and if not, executing S5;

s4: judging whether the time of the drive-off line timer reaches a yaw judging duration, if not, executing S1, and if so, executing S6;

s5: generating a drive-off route timer, and executing S1;

s6: and determining that the vehicle enters a yaw state, and executing judgment on whether the vehicle enters a fixed line.

According to one embodiment, the yaw determination duration is an artificially set empirical value, and the value thereof should be generally consistent with the aforementioned driving-in route determination duration.

According to an embodiment, the purpose of setting the time delay here to judge that the vehicle is driven away from the fixed line is the same as the meaning of judging that the vehicle is driven into the fixed line, and the description is omitted here.

According to one embodiment, relevant warning information can be sent to the vehicle or a central control center after the vehicle is determined to enter the yaw state.

According to an embodiment, after the vehicle is determined to enter the yaw state, the process of determining whether the vehicle enters the fixed line is returned to after the vehicle running information is updated next time.

According to the exemplary embodiment, after the optimal straight line segment is obtained, the distance between the vehicle position coordinate at the moment and the starting point of the optimal straight line segment is calculated to obtain the cache line segment moving distance for subsequent calculation and judgment.

According to an embodiment, the distance between the updated vehicle position coordinates and the start point of the optimal path straight line segment is calculated as the line segment movement distance.

According to an embodiment, the turning judgment count can be accumulated by comparing the moving distance of the line segment with the moving distance of the cache line segment or by judging the change of the vehicle driving direction, 1 is added to the turning judgment count every time the turning judgment count is judged, and when the turning judgment count reaches a preset turning judgment count threshold value, the vehicle is determined to enter a turning state.

According to one embodiment, when the vehicle travels normally, since the vehicle moves in a direction away from the starting point of the off-line straight line segment, the line segment moving distance obtained after updating the vehicle position coordinates should be not less than the previous cache line segment moving distance. If the condition of less than the threshold value occurs, the vehicle is indicated to be driven in a direction close to the starting point, that is, the vehicle may enter a u-turn state.

According to an embodiment, the above process may include:

s1: updating the driving information of the vehicle, and finding the line straight-line segment corresponding to the cache line segment number;

s2: calculating the deviation distance between the position coordinate and the line straight-line segment corresponding to the current line segment number;

s3: if the deviation distance is smaller than the deviation distance threshold value, judging whether a driving-off line timer is generated or not, and if the driving-off line timer is generated, clearing the driving-off line timer;

s4: calculating the deviation angle between the driving direction and the direction of the straight line section of the line;

s5: if the deviation angle is larger than a preset deviation angle threshold value, calculating a line segment moving distance between the position coordinate and the starting point of the line straight-line segment, updating the cached line segment moving distance into the line segment moving distance, and judging whether a turning-around judgment counter exists or not;

s6: if the U-turn judgment counter exists, executing S7, if the U-turn judgment counter does not exist, generating the U-turn judgment counter and assigning the U-turn judgment counter as 1, and executing S1;

s7: and adding 1 to the turning judgment counter, judging whether the value of the turning judgment counter reaches a preset turning judgment counting threshold value, if so, determining that the vehicle enters a turning state and executing S1, and if not, executing S1.

According to another embodiment, when the vehicle is travelling normally, the direction of travel of the vehicle should be substantially coincident with the direction of the straight line segment of the route, i.e. its angular difference should not exceed the deviation angle threshold. If the angle of the vehicle running direction with respect to the straight line segment is an obtuse angle, and the vehicle running direction is already opposite to the straight line segment in the general direction, the vehicle may enter a u-turn state.

According to an embodiment, the above process may include:

According to an embodiment, the u-turn determination counter is used for performing the u-turn determination count.

According to one embodiment, the u-turn determination count threshold is an empirical value set manually. For example, if it is determined that the vehicle enters the u-turn state considering that the situation in which the vehicle may enter the u-turn state occurs three consecutive times, this value may be set to 3. If a more strict judgment requirement is required, the requirement may be increased appropriately, for example, it may be set to 5.

It can be seen that the settings of the u-turn judgment counter are similar to those of the aforementioned delay judgment mechanism for judging whether the vehicle enters or leaves the line, and are all set for removing the influence of the jitter of the acquired data.

According to an embodiment, the turn around determination counter may be replaced by the mechanism of the timer, and the timer may be replaced by the mechanism of the counter.

According to an example embodiment, the vehicle runs from the starting point to the end point on the fixed route section corresponding to one straight route section during running, and then runs to the next fixed route section and the straight route section.

According to one embodiment, determining that the vehicle is traveling on the optimal straight line segment comprises the steps of:

s3: if the deviation distance is smaller than the deviation distance threshold value, judging whether a driving line timer exists or not, and if the driving line timer exists, clearing the driving line timer;

s5: if the deviation angle is smaller than a preset deviation angle threshold value, judging whether the position coordinate is located in the normal range of two end points of the straight line section of the line;

s6: if the position coordinate is located in the normal range of two end points of the straight line segment of the line, calculating the line segment moving distance between the position coordinate and the starting point of the straight line segment of the line;

s7: if the line segment moving distance is greater than the cache line segment moving distance, determining that the vehicle runs on the optimal line straight-line segment, updating the cache line segment moving distance to the line segment moving distance, clearing the turning judgment counter, and executing S1.

According to one embodiment, the determination that the vehicle is traveling on the optimal straight line segment is actually a determination that the vehicle is traveling normally on the optimal straight line segment, i.e., that the vehicle is traveling in a direction from the start point to the end point of the straight line segment.

According to an embodiment, the step of updating the cache line segment moving distance to the line segment moving distance is to update the cache line segment moving distance by using the newly calculated line segment moving distance, so that the reference of the next judgment and comparison is updated along with the running of the vehicle.

According to one embodiment, as can be readily appreciated, when it is detected that the vehicle is traveling on the optimal straight line segment, the vehicle is not in a u-turn state, and therefore needs to be cleared when there is a u-turn determination count.

According to one embodiment, determining a straight line segment following the optimal straight line segment for the vehicle to travel comprises the following steps:

s6: if the position coordinates are located outside the normal ranges of the two end points of the straight line segment of the line, determining that the vehicle runs to the straight line segment of the line behind the optimal straight line segment of the line, updating the number of the cache line segment to the number of the line segment following the number of the cache line segment, calculating the line segment moving distance between the position coordinates and the starting point of the straight line segment of the optimal line, updating the line segment moving distance to the line segment moving distance, and executing S1.

According to an embodiment, updating the cache line segment number to the subsequent line segment number of the cache line segment number is to find a next line straight-line segment of the optimal line straight-line segment according to the direction of the optimal line straight-line segment, and to use the next line straight-line segment as the optimal line straight-line segment. That means that the vehicle runs to the next straight line segment of the original optimal straight line segment.

According to an embodiment, for a plurality of stations on a fixed line, coordinates of each of the stations may be acquired in advance, and a square area may be defined as a station coverage area with the coordinates of the station as a center. The side length of the square area is set on the basis of the precision error of the positioning device, i.e. the line offset, and may be set to be 2 times the line offset, for example, and the side of the square is parallel to the longitude line or the latitude line.

According to an embodiment, determining a vehicle arrival or departure station comprises the steps of:

s1: updating the running information of the vehicle;

s2: determining that the vehicle arrives at the station when the vehicle enters the station coverage area based on the position coordinates;

s3: and determining that the vehicle drives away from the station when the vehicle leaves the coverage area range of the station based on the position coordinates.

According to one embodiment, whether the vehicle enters or leaves the station coverage area can be judged based on the position coordinates of the vehicle, the station coverage area and the direction of the straight line segment of the line where the station coverage area is located. Firstly, based on the direction of a line straight-line segment, marking an entering edge and an exiting edge for the edge of a station coverage area on the line straight-line segment, namely pushing according to the direction of the line straight-line segment, wherein the edge encountered first is the entering edge, and the edge encountered later is the exiting edge. When the position coordinates of the vehicle just exceed the driving edge, the vehicle is determined to enter a station coverage area, and the vehicle can be determined to arrive at the station; when the position coordinates of the vehicle just exceed the driving-out edge, the vehicle is determined to leave the coverage area of the station, and the vehicle can be determined to drive out of the station.

As shown in fig. 3, the apparatus includes a line segment effective area defining module 301, a route effective area defining module 303, a vehicle driving information acquiring module 305, and a vehicle driving state determining module 307, wherein:

the line segment effective area delimiting module 301 obtains, for each fixed line segment, a line segment effective area based on a line straight line segment.

The line effective area defining module 303 obtains a line effective area based on all the line segment effective areas.

The vehicle travel information acquiring module 305 acquires travel information of the vehicle, the travel information including position coordinates and a travel direction.

The vehicle driving state determination module 307 determines the driving state of the vehicle based on the driving information, the route effective region, the line segment effective region, and the route straight line segment.

The device performs functions similar to those of the method provided above, and other functions can be referred to above and will not be described further herein.

An electronic device 400 according to this embodiment of the present application is described below with reference to fig. 4. The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 4, electronic device 400 is embodied in the form of a general purpose computing device. The components of electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one memory unit 420, a bus 430 that connects the various system components (including the memory unit 420 and the processing unit 410), a display unit 440, and the like.

Wherein the storage unit stores program code, which can be executed by the processing unit 410, to cause the processing unit 410 to perform the methods according to various exemplary embodiments of the present application described herein. For example, the processing unit 410 may perform the methods described above.

The storage unit 420 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM) 4201 and/or a cache memory unit 4202, and may further include a read only memory unit (ROM) 4203.

The storage unit 420 may also include a program/utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 430 may be any bus representing one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 400 may also communicate with one or more external devices 4001 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 400, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 400 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 450. Also, the electronic device 400 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 460. The network adapter 460 may communicate with other modules of the electronic device 400 via the bus 430. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. The technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the above method according to the embodiments of the present application.

The software product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

The computer readable medium carries one or more programs which, when executed by a device, cause the computer readable medium to perform the functions described above.

Those skilled in the art will appreciate that the modules described above may be distributed in the apparatus according to the description of the embodiments, or may be modified accordingly in one or more apparatuses unique from the embodiments. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiment of the present application.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.

Claims

1. A method of recognizing a vehicle running state based on a fixed route, the fixed route being mapped on a map and divided into a plurality of segments in advance, and two end points of each of the fixed routes being connected in order from a start point to an end point in a vehicle running direction to constitute a straight line segment of the route having a direction, coordinates of the end points being identified by latitude and longitude, the method comprising:

obtaining a line effective area based on all the line segment effective areas;

determining a driving state of the vehicle based on the driving information, the route effective area, the line segment effective area, and the route straight line segment:

determining that the vehicle enters the fixed line;

obtaining an optimal line straight-line section:

obtaining one or more segment effective areas where the vehicle is located based on the position coordinates, and obtaining one or more segments of the line straight segments corresponding to the one or more segment effective areas;

calculating the deviation distance between the position coordinate and the one or more line straight-line sections;

calculating deviation angles of the driving direction and the direction of the one or more straight line sections of the line;

judging whether the position coordinate exists between the normals of the two end points of the straight line section of the line;

judging whether the deviation distance corresponding to the optimal straight line segment is smaller than a preset accurate deviation distance threshold value, the deviation angle is smaller than a preset deviation angle threshold value, and the position coordinate exists between the normal lines of the two end points of the straight line segment, and taking the straight line segment meeting the conditions as the optimal straight line segment;

determining a driving state of the vehicle based on the driving information of the vehicle and the optimal route straight line segment, wherein the driving state comprises a yaw state, a turning state, driving on the optimal route straight line segment, driving to the next route straight line segment of the optimal route straight line segment, arriving at a station or driving away from the station.

2. The method of claim 1, wherein said deriving a line segment effective area based on said line straight segment comprises:

obtaining coordinates of two end points of the straight line segment of the line;

obtaining the maximum longitude, the maximum latitude, the minimum longitude and the minimum latitude of the straight line segment of the line based on the coordinates of the two endpoints;

adding the line offset to the maximum longitude and the maximum latitude of the straight line segment to obtain the maximum longitude and the maximum latitude of the effective area of the line segment;

respectively subtracting the line offset from the minimum longitude and the minimum latitude of the straight line segment of the line to obtain the minimum longitude and the minimum latitude of the effective area of the line segment;

and defining a rectangular area based on the longitude where the maximum longitude and the minimum longitude of the effective area of the line segment are located and the latitude where the maximum latitude and the minimum latitude of the effective area of the line segment are located, wherein the rectangular area is the effective area of the line segment.

3. The method of claim 2, wherein said deriving a line active area based on all of said line segment active areas comprises:

and marking a rectangular area which can cover all the effective areas of the line segments and has the smallest area as the effective area of the line.

4. The method of claim 3, wherein the determining that the vehicle is driving into the fixed line comprises:

if the vehicle is located in the line effective area and the vehicle is located in one or more line segment effective areas based on the position coordinate, calculating deviation distances between the position coordinate and one or more line segment straight sections corresponding to the one or more line segment effective areas;

and determining that the vehicle drives into the fixed line if the deviation distance is smaller than a preset deviation distance threshold and a preset driving-in line judgment duration is kept.

5. The method of claim 4, wherein said determining a driving state of said vehicle comprises:

determining that the vehicle enters a yaw state; or

Determining that the vehicle enters a u-turn state; or

Determining that the vehicle is traveling on the optimal straight line segment; or

Determining the line segment which is next to the optimal line segment when the vehicle runs to the optimal line segment; or

Determining that the vehicle arrives at or departs from the station.

6. The method of claim 5, wherein the determining that the vehicle enters a yaw state comprises:

updating the travel information of the vehicle;

calculating the deviation distance between the position coordinates and the optimal line straight-line segment;

and determining that the vehicle enters a yaw state if the deviation distance is not less than the deviation distance threshold value and a preset yaw judgment duration is kept.

7. The method of claim 5, wherein after obtaining the optimal straight line segment, further comprising:

and calculating the distance between the position coordinate and the starting point of the optimal line straight-line segment to obtain the movement distance of the cache line segment.

8. The method of claim 7, wherein the determining that the vehicle enters a u-turn state comprises:

updating the travel information of the vehicle;

calculating the deviation angle of the driving direction and the direction of the optimal line straight-line segment;

judging whether the position coordinates exist between the normals of the two end points of the optimal line straight-line segment;

calculating the distance between the position coordinate and the starting point of the optimal line straight-line segment as a segment moving distance;

judging whether the deviation distance is smaller than the deviation distance threshold value, the deviation angle is smaller than the deviation angle threshold value, the position coordinate exists between the normal lines of the two end points of the optimal line straight-line segment, and the line segment moving distance is smaller than the cache line segment moving distance, accumulating the turning judgment count for one time, and updating the cache line segment moving distance into the line segment moving distance;

and determining that the vehicle enters a turning state if the turning judgment count reaches a preset turning judgment count threshold value.

9. The method of claim 7, wherein the determining that the vehicle enters a u-turn state further comprises:

updating the travel information of the vehicle;

judging whether the deviation distance is smaller than the deviation distance threshold value or not, if so, accumulating a turning judgment count once and updating the cache line segment moving distance to be the line segment moving distance;

10. The method of claim 7, wherein said determining that said vehicle is traveling on said optimal path straight segment comprises:

updating the travel information of the vehicle;

and judging that the vehicle runs on the optimal straight line section if the deviation distance is smaller than the deviation distance threshold value, the deviation angle is smaller than the deviation angle threshold value, the position coordinates exist between the normals of the two end points of the optimal straight line section, and the line section moving distance is not smaller than the cache line section moving distance.

11. The method of claim 10, wherein said determining that said vehicle is traveling on said optimal path straight segment further comprises:

and updating the cache line segment moving distance to the line segment moving distance, and clearing the turn-around judgment count.

12. The method of claim 7, wherein said determining that said vehicle is traveling to said line segment subsequent to said optimal line segment comprises:

updating the travel information of the vehicle;

and determining that the vehicle runs to the next line straight-line section of the optimal line straight-line section if the deviation distance is smaller than the deviation distance threshold value, the deviation angle is smaller than the deviation angle threshold value, and the position coordinate does not exist between the normal lines of the two end points of the optimal line straight-line section.

13. The method of claim 12, wherein said determining that said vehicle is traveling to said line segment subsequent to said optimal line segment further comprises:

finding the next line straight-line segment of the optimal line straight-line segment according to the direction of the optimal line straight-line segment, and taking the next line straight-line segment as the optimal line straight-line segment;

14. The method of claim 5, wherein prior to determining that the vehicle arrived at or exited the station, further comprising:

coordinates of stations on the fixed line are obtained in advance, a square area is defined by taking the coordinates of the stations as a center to serve as a station coverage area, the side length of the square area is 2 times of the line offset, and the side of the square is parallel to the longitude line or the latitude line.

15. The method of claim 14, wherein the determining that the vehicle arrives at or drives away from a station comprises:

updating the travel information of the vehicle;

judging that the vehicle enters the coverage area range of the station based on the position coordinates, and determining that the vehicle reaches the station;

and determining that the vehicle leaves the station coverage area range based on the position coordinates.

16. An apparatus for executing a method of recognizing a vehicle traveling state based on a fixed route, the fixed route being mapped on a map and divided into a plurality of segments in advance, two end points of each of the fixed routes being connected in order from a start point to an end point in a vehicle traveling direction to constitute a straight line segment of the route having a direction, coordinates of the end points being identified by latitude and longitude, and a line segment number serving as a unique identification being assigned to each of the straight line segments of the route, the apparatus comprising:

the line segment effective area dividing module is used for obtaining a line segment effective area for each section of the fixed line based on the line straight line section;

the line effective area dividing module is used for obtaining a line effective area based on all the line segment effective areas;

the vehicle driving information acquisition module is used for acquiring driving information of the vehicle, wherein the driving information comprises position coordinates and a driving direction;

a vehicle driving state determination module that determines a driving state of the vehicle based on the driving information, the route effective region, the line segment effective region, and the route straight line segment:

determining that the vehicle enters the fixed line;

obtaining an optimal line straight-line section:

17. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-15.