CN113532460A - Yaw processing method and system based on vehicle remote positioning electronic fence - Google Patents
Yaw processing method and system based on vehicle remote positioning electronic fence Download PDFInfo
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- 238000010276 construction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000006399 behavior Effects 0.000 description 6
- 238000007726 management method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- 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
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to the technical field of vehicle remote monitoring, in particular to a yaw processing method and a yaw processing system based on a vehicle remote positioning electronic fence, which comprises the following steps: confirming an initial route and constructing an initial electronic fence; judging whether the vehicle reasonably deviates from the electronic fence; if the vehicle reasonably deviates from the electronic fence, confirming the yaw route again according to the current position of the vehicle, and constructing a dynamic electronic fence; and if the vehicle deviates from the electronic fence abnormally, performing yaw processing. The system comprises a navigation module, a vehicle positioning module, an electronic fence constructing module and a yawing processing module. Whether the vehicle is in reasonable yaw can be reasonably judged, the yaw behavior of a driver can be accurately regulated, and the driver can be given certain freedom for independently selecting a flight path; has the advantage of improving the transportation efficiency.
Description
Technical Field
The invention belongs to the technical field of vehicle remote monitoring, and particularly relates to a yaw processing method and system based on a vehicle remote positioning electronic fence.
Background
With the development of the industry of freight transportation and passenger transportation, the management and control of remote vehicles by an operation platform are increasingly difficult, and the situations that the vehicles deviate from a normal driving route, drivers leave private roads or detour roads and the like often occur;
in order to prevent a driver of a remote vehicle from yawing, an operation platform often sets an electronic fence according to a navigation planned path to control and warn or process the yawing behavior of the driver, and then the remote driver often needs to properly yaw according to different conditions due to the limitation of navigation path planning and the condition that a road is not updated timely; therefore, when the platform management and control are strict, a remote driver cannot select a more efficient travelling route independently, the working efficiency of operation is influenced, and the operation cost is increased; when the platform is under weak control, it is often difficult to control the violation of the remote driver, resulting in the same control as the dummy.
Therefore, a yaw processing method for reasonably judging whether a remote vehicle deviates from a flight line and giving a driver a reasonable independent option is urgently needed at present.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to solve the problem of how to control the remote vehicle yaw behavior in the prior art.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a yaw processing method based on a vehicle remote positioning electronic fence comprises the following steps:
confirming an initial route and constructing an initial electronic fence;
judging whether the vehicle reasonably deviates from the electronic fence;
if the vehicle reasonably deviates from the electronic fence, confirming the yaw route again according to the current position of the vehicle, and constructing a dynamic electronic fence;
and if the vehicle deviates from the electronic fence abnormally, performing yaw processing.
Preferably, the initial electronic fence and the dynamic electronic fence are constructed as follows:
planning a plurality of driving routes from the vehicle position to the terminal point according to different priorities;
setting an area formed by closing a plurality of driving lines as an electronic fence;
preferably, the judgment process when the vehicle deviates from the electronic fence is as follows:
determining the yaw distance in real time;
if the yaw distance exceeds a set value, reconstructing a driving route according to the current position of the vehicle;
judging whether the reconstructed driving route is reasonable or not;
if the reconstructed driving route is reasonable, judging that the vehicle reasonably deviates from the electronic fence;
otherwise, the vehicle is judged to be deviated from the electronic fence abnormally.
Preferably, the reconstructed driving route determining process is as follows:
calculating the predicted running time, the route distance and the congestion condition of the reconstructed running route;
calculating the predicted running time, the route distance and the congestion condition of the initial route;
and if the predicted driving time, the route distance and the congestion condition of the reconstructed driving route exceed the reasonable proportion of the initial route, judging that the reconstructed driving route is unreasonable, otherwise, judging that the reconstructed driving route is reasonable.
Preferably, the yaw distance determination process is as follows:
determining vehicle position information; constructing a plurality of positioning points on the edge of the electronic fence;
judging whether the vehicle is in the electronic fence area or not; if the vehicle is in the electronic fence area, the yaw distance is 0;
and if the vehicle exits the electronic fence area, the distance between the vehicle and the nearest positioning point is the yaw distance.
Preferably, a maximum yaw distance is set according to the initial electronic fence, and if the vehicle exceeds the maximum yaw distance, yaw processing is performed.
Preferably, the yaw processing comprises one or more of prompting yaw, giving a warning, confirming the situation with a driver through a wireless communication tool, feeding back to a vehicle operation platform and remotely locking the vehicle.
Preferably, when the vehicle deviates from the electronic fence, yaw is prompted and a return route is planned; and if the vehicle returns to the electronic fence according to the return route, yaw processing is not carried out.
Preferably, if the vehicle deviates from the initial route or the yaw route and is in the electronic fence area, the back-navigation route is planned or the traveling route is re-planned for the driver to select.
A system applying a yaw processing method based on a vehicle remote positioning electronic fence comprises a navigation module, a yaw processing module and a yaw processing module, wherein the navigation module is used for carrying out route planning; the vehicle positioning module is used for positioning the position information of the vehicle in real time; the electronic fence construction module is used for demarcating an electronic fence area according to the path planned by the navigation module; and the yaw processing module is used for performing yaw processing.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the invention discloses a yaw processing method based on a vehicle remote positioning electronic fence, which comprises the following steps: confirming an initial route and constructing an initial electronic fence; judging whether the vehicle reasonably deviates from the electronic fence; if the vehicle reasonably deviates from the electronic fence, confirming the yaw route again according to the current position of the vehicle, and constructing a dynamic electronic fence; and if the vehicle deviates from the electronic fence abnormally, performing yaw processing. The system comprises a navigation module, a vehicle positioning module, an electronic fence constructing module and a yawing processing module. Whether the vehicle is in reasonable yaw can be reasonably judged, the yaw behavior of a driver can be accurately regulated, and the driver can be given certain freedom for independently selecting a flight path; has the advantage of improving the transportation efficiency.
Drawings
FIG. 1 is a schematic representation of the steps of the yaw process of the invention;
FIG. 2 is a schematic block diagram of a system for applying the yaw handling method of the present invention.
Detailed Description
The present invention will now be described more fully hereinafter for purposes of facilitating an understanding thereof, and may be embodied in many different forms and not limited to the embodiments described herein, which are provided for purposes of providing a more thorough and complete disclosure of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
The embodiment provides a technical scheme:
a system applying a yaw processing method based on a vehicle remote positioning electronic fence comprises a navigation module, a yaw processing module and a yaw processing module, wherein the navigation module is used for carrying out route planning; the navigation module adopts a Gade map, a Baidu map, a Google map or a 360-degree map and the like to plan the path.
The vehicle positioning module is used for positioning the position information of the vehicle in real time; the vehicle positioning module is arranged in a TBOX of a vehicle and transmits positioning information through a GPS BD carried by the vehicle TBOX.
The electronic fence construction module is used for demarcating an electronic fence area according to the path planned by the navigation module;
and the yaw processing module is used for performing yaw processing.
A yaw processing method based on a vehicle remote positioning electronic fence comprises the following steps:
confirming an initial route and constructing an initial electronic fence; the initial route confirmation process is as follows: the service background confirms the initial position and the end position of the order, after the vehicle positioning module confirms that the vehicle reaches the designated initial position, the navigation module plans a plurality of driving routes from the vehicle position to the end point according to different priorities, and a driver autonomously selects an initial route or determines a default recommended route as the initial route.
Judging whether the vehicle reasonably deviates from the electronic fence;
if the vehicle reasonably deviates from the electronic fence, confirming the yaw route again according to the current position of the vehicle, and constructing a dynamic electronic fence; and when the vehicle continuously deviates from the dynamic electronic fence and is judged to be reasonable, repeatedly constructing and confirming a new yaw route and constructing a new dynamic electronic fence.
If the vehicle deviates from the electronic fence abnormally, in order to prevent the driver from pulling a private road and the false public and private conditions, yaw processing is carried out, and the yaw behavior of the driver is stopped in time.
In a preferred embodiment, the initial electronic fence and the dynamic electronic fence are constructed as follows:
planning a plurality of driving routes from the vehicle position to the terminal point according to different priorities; the different priorities include ranking according to the shortest travel time, the best congestion condition of the travel route, the shortest travel distance or the longest high-speed distance, and the like.
The electronic fence constructing module is used for setting an area formed by closing the plurality of different driving lines as an electronic fence; in the electronic fence area, a driver can autonomously select a driving route or change the driving route according to actual conditions.
In a preferred scheme, the judgment process when the vehicle deviates from the electronic fence is as follows:
determining the yaw distance in real time;
if the yaw distance exceeds a set value, reconstructing a driving route according to the current position of the vehicle; the set value range is 500m to 1000 m. The distance range is established according to the distance between the expressway and the expressway exit, the vehicle usually runs on the expressway in long-distance transportation, and if the yaw distance of the vehicle exceeds the set value, the vehicle is shown to have already moved out of the expressway exit, and the driver is likely to be free from yaw.
Reconstructing a driving route according to the position of the vehicle during the confirmed navigation, and judging whether the reconstructed driving route is reasonable or not; and further judging whether the driver autonomously selects a reasonable driving route.
If the reconstructed driving route is reasonable, judging that the vehicle reasonably deviates from the electronic fence;
otherwise, the vehicle is judged to be deviated from the electronic fence abnormally, yaw processing is needed, and violation behaviors of drivers are controlled.
In a preferred embodiment, the reconstructed driving route determining process is as follows:
calculating the predicted running time, the route distance and the congestion condition of the reconstructed running route;
calculating the predicted running time, the route distance and the congestion condition of the initial route;
if the predicted travel time, the route distance and the congestion situation of the reconstructed travel route exceed the reasonable proportion of the initial route, and the reasonable proportion is preferably 30%, namely the predicted travel time is greater than 130% of the initial route, the route distance is greater than 130% of the initial route, and the congestion situation reference value is greater than 130% of the initial route, the reconstructed travel route is judged to be unreasonable, otherwise the reconstructed travel route is judged to be reasonable. In addition, different judgment factors can be set in different reasonable proportions.
The congestion condition is calculated as follows: and confirming the congested road sections, respectively calculating the predicted passing time lengths of different congested road sections and the total route of the congested road sections, and dividing the total route of the congested road sections by the sum of the predicted passing time lengths of the different congested road sections to obtain the congestion condition reference value.
In a preferred embodiment, the yaw distance determination process is as follows:
determining vehicle position information; constructing a plurality of positioning points on the edge of the electronic fence; the method for constructing the positioning points comprises the steps of setting the positioning points according to a certain distance or setting all intersections on the edge of the electronic fence as the positioning points.
Judging whether the vehicle is in the electronic fence area or not; if the vehicle is in the electronic fence area, the yaw distance is 0;
and if the vehicle exits the electronic fence area, the distance between the vehicle and the nearest positioning point is the yaw distance. And when the yaw distance exceeds the set value, the anchor point closest to the vehicle is set as the deviation point.
In a preferable scheme, a maximum yaw distance is set according to the initial electronic fence, and if the vehicle exceeds the maximum yaw distance, yaw processing is performed. The maximum yaw distance is set to be more than 2000m, when the distance of the vehicle deviating from the initial electronic fence is large, the probability that the driver selects a reasonable route for the driver is low, so that yaw processing is needed to verify whether violation behaviors occur or not to the driver.
In a preferred scheme, the yaw processing comprises prompting yaw, giving out a warning, reminding a driver and enabling the driver to return to the electronic fence consciously;
or contact with driver through wireless communication tools such as short message, WeChat client, etc., confirm the situation, find out the reason, decide whether to cancel warning and suggestion according to the concrete situation;
if the vehicle can not get the contact and the vehicle continues to yaw, the vehicle operation platform is fed back;
when the vehicle is in a stop state and the vehicle is in a serious yaw, the remote vehicle locking operation can be carried out.
In the preferred scheme, when the vehicle deviates from the electronic fence, yaw is prompted and a return route is planned; and if the vehicle returns to the electronic fence according to the return route, yaw processing is not carried out. In order to prevent the driver from driving away from the electronic fence by mistake, the driver is prompted to yaw and plans a return route when the vehicle is in a yaw mode, so that the driver can return to the electronic fence reasonably and timely.
In a preferred scheme, if the vehicle deviates from the initial route or the yaw route and is in the electronic fence area, a return route or a travel route is planned again for the driver to select.
The above-mentioned embodiments only express a certain implementation mode of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention; it should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which are within the protection scope of the present invention; therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A yaw processing method based on a vehicle remote positioning electronic fence is characterized by comprising the following steps: the method comprises the following steps:
confirming an initial route and constructing an initial electronic fence;
judging whether the vehicle reasonably deviates from the electronic fence;
if the vehicle reasonably deviates from the electronic fence, confirming the yaw route again according to the current position of the vehicle, and constructing a dynamic electronic fence;
and if the vehicle deviates from the electronic fence abnormally, performing yaw processing.
2. The yaw processing method based on the vehicle remote positioning electronic fence according to claim 1, characterized in that:
the initial electronic fence and the dynamic electronic fence are constructed in the following mode:
planning a plurality of driving routes from the vehicle position to the terminal point according to different priorities;
and setting an area formed by closing the plurality of driving lines as an electronic fence.
3. The yaw processing method based on the vehicle remote positioning electronic fence according to claim 1, characterized in that: the judgment process when the vehicle deviates from the electronic fence is as follows:
determining the yaw distance in real time;
if the yaw distance exceeds a set value, reconstructing a driving route according to the current position of the vehicle;
judging whether the reconstructed driving route is reasonable or not;
if the reconstructed driving route is reasonable, judging that the vehicle reasonably deviates from the electronic fence;
otherwise, the vehicle is judged to be deviated from the electronic fence abnormally.
4. The yaw processing method based on the vehicle remote positioning electronic fence according to the claim 3, characterized in that:
the reconstructed driving route judging process is as follows:
calculating the predicted running time, the route distance and the congestion condition of the reconstructed running route;
calculating the predicted running time, the route distance and the congestion condition of the initial route;
and if the predicted driving time, the route distance and the congestion condition of the reconstructed driving route exceed the reasonable proportion of the initial route, judging that the reconstructed driving route is unreasonable, otherwise, judging that the reconstructed driving route is reasonable.
5. The yaw processing method based on the vehicle remote positioning electronic fence according to the claim 3, characterized in that:
the yaw distance determination process is as follows:
determining vehicle position information; constructing a plurality of positioning points on the edge of the electronic fence;
judging whether the vehicle is in the electronic fence area or not; if the vehicle is in the electronic fence area, the yaw distance is 0;
and if the vehicle exits the electronic fence area, the distance between the vehicle and the nearest positioning point is the yaw distance.
6. The yaw processing method based on the vehicle remote positioning electronic fence according to claim 1, characterized in that: and setting a maximum yaw distance according to the initial electronic fence, and performing yaw processing if the vehicle exceeds the maximum yaw distance.
7. The yaw processing method based on the vehicle remote positioning electronic fence according to claim 1, characterized in that: the yaw processing comprises one or more modes of prompting yaw, giving out a warning, confirming the situation with a driver through a wireless communication tool, feeding back to a vehicle operation platform and remotely locking the vehicle.
8. The yaw processing method based on the vehicle remote positioning electronic fence according to claim 1, characterized in that: when the vehicle deviates from the electronic fence, the yaw is prompted and a return route is planned; and if the vehicle returns to the electronic fence according to the return route, yaw processing is not carried out.
9. The yaw processing method based on the vehicle remote positioning electronic fence according to claim 2, characterized in that: and if the vehicle deviates from the initial route or the yaw route and is in the electronic fence area, planning a return route or re-planning a traveling route for a driver to select.
10. A system for applying the yaw processing method of any one of claims 1 to 9 based on the vehicle remote positioning electronic fence, wherein: the system comprises a navigation module, a route planning module and a route planning module, wherein the navigation module is used for carrying out route planning;
the vehicle positioning module is used for positioning the position information of the vehicle in real time;
the electronic fence construction module is used for demarcating an electronic fence area according to the path planned by the navigation module;
and the yaw processing module is used for performing yaw processing.
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