CN113847925A - Method, device, equipment and medium for detecting vehicle yaw based on track data - Google Patents
Method, device, equipment and medium for detecting vehicle yaw based on track data Download PDFInfo
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- 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
- G01C21/3484—Personalized, e.g. from learned user behaviour or user-defined profiles
Abstract
The invention discloses a method, a device, equipment and a medium for detecting vehicle yaw based on track data, wherein the method comprises the following steps: acquiring a starting place and a destination of a route to be navigated; inquiring historical driving routes which are the same as the starting place and the destination, and forming a navigation route database by the inquired historical driving routes; matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle; navigating the vehicle based on the historical driving route matched with the vehicle; and setting the electronic fence in the preset navigation route range according to the current position of the vehicle, and determining that the vehicle drifts if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database. According to the method, the navigation of the vehicle can be realized only according to the track data reported by the vehicle machine, whether the vehicle drifts can be detected, additional equipment does not need to be additionally arranged, and the accuracy of yaw judgment is greatly improved.
Description
Technical Field
The invention relates to the technical field of vehicle navigation, in particular to a method, a device, equipment and a medium for detecting vehicle yaw based on track data.
Background
Nowadays, navigation driving by a user through terminal navigation software is more and more common, and convenience is provided for driving of the user through navigation.
In the navigation process, yaw identification is very important for user navigation experience, and when a user deviates from a planned route, the yaw needs to be identified as early as possible and accurately, then a new route can be planned for the user, and the user is guided to drive accurately and timely. The existing yaw identification method which is commonly used is basically based on a radar sensor or based on data collected by video image equipment for analysis and judgment, one or more kinds of precision equipment are required to be additionally arranged, the cost is high, and the method is difficult to popularize and implement.
Disclosure of Invention
The disclosed embodiments provide a method, apparatus, device and medium for detecting vehicle yaw based on trajectory data. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides a method for detecting yaw of a vehicle based on trajectory data, including:
acquiring a starting place and a destination of a route to be navigated;
inquiring historical driving routes which are the same as the starting place and the destination, and forming a navigation route database by the inquired historical driving routes;
matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle;
navigating the vehicle based on the historical driving route matched with the vehicle;
and setting the electronic fence in the preset navigation route range according to the current position of the vehicle, and determining that the vehicle drifts if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database.
In an optional embodiment, before querying the same historical driving route as the starting place and the destination, the method further comprises:
acquiring historical track data of a vehicle;
obtaining parking point data of the vehicle according to the historical track data;
segmenting the historical track data according to the stop data to obtain a segmented track;
and matching the segmented track with road network data to obtain the historical driving route of the vehicle.
In an optional embodiment, the queried historical driving routes are combined into a navigation route database, and the navigation route database comprises:
calculating the similarity of the inquired historical driving routes;
determining the occurrence times of the same historical driving route according to the similarity;
and sequencing the historical driving routes from high to low according to the occurrence times of the same historical driving routes, and forming a navigation route database by using a preset number of historical driving routes arranged in front.
In an optional embodiment, matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle comprises:
acquiring current position information of a vehicle;
calculating the shortest driving distance between the current position of the vehicle and each historical driving route in the navigation route database;
calculating a matching rate according to the shortest driving distance, the occurrence frequency of each historical driving route and the weight corresponding to the current road condition of each historical driving route;
and taking the historical driving route with the highest matching rate as the historical driving route matched with the vehicle.
In an optional embodiment, setting an electronic fence within a preset navigation route range according to the current position of the vehicle, and determining that the vehicle yaw occurs if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database includes:
according to the matching rate, sorting the historical driving routes in the navigation route database from high to low;
when the vehicle leaves the electronic fence of the current navigation route, sequentially matching the vehicle with other historical driving routes in the navigation route database according to the matching rate;
and if the vehicle cannot be matched with other historical driving routes in the navigation route database, determining that the vehicle has yaw.
In an optional embodiment, after determining that the vehicle is yawing, the method further comprises:
sending the yaw prompt information to a vehicle-mounted terminal and a user terminal, and acquiring the current position information of the vehicle;
calculating the yaw distance of the vehicle according to the current position information of the vehicle;
and if the yaw distance is greater than the preset distance threshold value or a path resetting instruction issued by a user is received, automatically planning a new navigation path.
In an optional embodiment, automatically planning a new navigation path comprises:
inquiring a historical driving route which is the same as the current position information and the destination information of the vehicle, and automatically planning a new navigation path according to the historical driving route; or the like, or, alternatively,
and automatically planning a new navigation path by adopting a real-time navigation system according to the current position information and the destination information of the vehicle.
In a second aspect, an embodiment of the present application provides an apparatus for detecting yaw of a vehicle based on trajectory data, including:
the acquisition module is used for acquiring a starting place and a destination of a route to be navigated;
the query module is used for querying the historical driving routes which are the same as the starting place and the destination, and forming the queried historical driving routes into a navigation route database;
the matching module is used for matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle;
the navigation module is used for navigating the vehicle based on the historical driving route matched with the vehicle;
and the yaw detection module is used for setting the electronic fence in the preset navigation route range according to the current position of the vehicle, and determining that the vehicle has yaw if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database.
In a third aspect, an embodiment of the present application provides an apparatus for detecting yaw of a vehicle based on trajectory data, including a processor and a memory storing program instructions, where the processor is configured to execute, when executing the program instructions, the method for detecting yaw of a vehicle based on trajectory data provided in the foregoing embodiments.
In a fourth aspect, embodiments of the present application provide a computer-readable medium having computer-readable instructions stored thereon, which are executable by a processor to implement a method for detecting yaw of a vehicle based on trajectory data provided by the above embodiments.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the method for detecting the yaw of the vehicle based on the track data, provided by the embodiment of the application, the historical constant running route of the vehicle is determined according to the historical track data of the vehicle, the historical constant running route which is the same as the starting place and the destination of the trip is selected to be used for navigation of the vehicle, and the historical constant running route is used for navigation of the vehicle, so that the driving habit of a driver is better met. And whether the vehicle drifts or not is accurately identified according to the real-time position of the vehicle and the position relation of the set dynamic electronic fence. The method can realize the navigation of the vehicle only according to the track data reported by the vehicle machine, can detect whether the vehicle has yaw, does not need to be additionally provided with additional equipment, greatly reduces the implementation cost, considers various factors such as road conditions, travel cost, transportation timeliness and the like when the vehicle goes out, enables the running route of the vehicle to be single and fixed, has higher predictability, and increases the accuracy of the method for judging the yaw of the vehicle.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic flow chart illustrating a method for detecting yaw of a vehicle based on trajectory data in accordance with an exemplary embodiment;
FIG. 2 is a schematic flow chart diagram illustrating a method for detecting yaw of a vehicle based on trajectory data in accordance with an exemplary embodiment;
FIG. 3 is a schematic flow chart diagram illustrating a method for detecting yaw of a vehicle based on trajectory data in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram illustrating an apparatus for detecting yaw of a vehicle based on trajectory data in accordance with an exemplary embodiment;
FIG. 5 is a schematic diagram illustrating an apparatus for detecting yaw of a vehicle based on trajectory data in accordance with an exemplary embodiment;
FIG. 6 is a schematic diagram illustrating a computer storage medium in accordance with an exemplary embodiment.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of systems and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The following describes in detail a method for detecting yaw of a vehicle based on trajectory data according to an embodiment of the present application with reference to the drawings. Referring to fig. 1, the method specifically includes the following steps.
Step S101, acquiring a starting place and a destination of a route to be navigated.
In one possible implementation manner, a route to be navigated uploaded by a user is received, and electronic fences are arranged at the starting place and the destination of the route to be navigated. For example, a circular fence is formed with the starting location as the center and the radius of 500 meters as the radius, and similarly, a circular fence is formed with the destination as the center and the radius of 500 meters as the radius.
And step S102, inquiring the historical driving routes which are the same as the starting place and the destination, and forming the inquired historical driving routes into a navigation route database.
In one embodiment of the present application, the vehicle type is a truck, and the truck travel needs to consider various factors such as road conditions, travel cost, transportation timeliness, and location selection of a logistics park, and the transportation route is usually relatively fixed. Therefore, the historical driving route can be analyzed according to the historical driving track of the vehicle, and navigation can be performed according to the historical driving route.
Specifically, the historical trajectory data of the vehicle is first acquired. For example, GPS track point data within a preset time period of the vehicle may be obtained, where the GPS track point is vehicle position data reported in real time by a GPS (global positioning System) device deployed on the vehicle. Generally, when the GPS device reports in real time, the reporting time interval can be set according to the actual situation, and the preferred time interval in the present application is 30S. It should be noted that, in the application, besides the vehicle is provided with the GPS device to report the trajectory data of the vehicle in real time, the Beidou device can also be used to position and report the trajectory of the vehicle.
The collected historical track data comprises information such as vehicle-mounted time, vehicle-mounted longitude and latitude, instantaneous speed, acceleration, driving direction, altitude and the like. And preprocessing the acquired track data, including filtering longitude and latitude abnormal data, speed abnormal data, direction abnormal data and the like, to obtain preprocessed track data. And storing the preprocessed track data in time slices.
And further, analyzing the stored historical track data to obtain the stop data of the vehicle. Specifically, if the instantaneous speed of the vehicle is less than 5km/h and the distance from the coordinate of the previous track point is less than 10m, the vehicle is regarded as the parking starting track point. And finding the track point with the first speed larger than 0 backwards from the parking starting point as the parking ending track point. And (4) regarding the track point data between the parking starting point and the parking ending point as a parking behavior and adding the parking behavior into a parking data set. And obtaining the stopping time length of the time according to the time interval between the starting point and the ending point of the stop.
Further, setting a stop time threshold, screening stop points larger than the stop time threshold, taking the screened stop points as separation points, and segmenting the preprocessed track data to obtain a segmented track. The value of the parking duration threshold is not specifically limited, and can be set according to actual conditions.
Further, the segmented track is matched with the actual road network data to obtain a driving route corresponding to the segmented track.
Then, the same historical travel route as the start and destination of the route to be navigated is queried. In one possible implementation, whether the starting place and the destination of the historical driving route and the starting place and the destination of the route to be navigated are in the same electronic fence or not is judged, and if the starting place and the destination of the historical driving route and the starting place and the destination of the route to be navigated are in the same electronic fence, the historical driving route and the starting place and the destination of the route to be navigated are the same.
And further, forming the inquired historical driving routes into a navigation route database.
Specifically, the similarity of the inquired historical driving routes is calculated, and the frequency of the same historical driving route is determined according to the similarity between roads. For example, the grades of the respective roads in the historical driving route are analyzed, and the roads in which the country trunk road, the provincial trunk road, the county road, and the rural road are reserved, and the driving mileage is larger than a preset value are reserved. And matching the roads in the historical driving routes, wherein if the driving sequences of the roads are consistent, the difference of the driving distance of each road is not more than 10 percent, namely the historical driving routes are determined to have higher similarity and are similar.
Further, the historical driving routes are ranked from high to low according to the occurrence times of the same historical driving routes, and a preset number of historical driving routes ranked in the front are combined into a navigation route database.
For example, if the first historical travel route appears 8 times in the historical travel record of the vehicle, the second historical travel route appears 7 times in the historical travel record of the vehicle, the third historical travel route appears 9 times in the historical travel record of the vehicle, the fourth historical travel route appears 5 times in the historical travel record of the vehicle, the fifth historical travel route appears 2 times in the historical travel record of the vehicle, and the sixth historical travel route appears 3 times in the historical travel record of the vehicle, the ranked results are in order: the third historical travel route, the first historical travel route, the second historical travel route, the fourth historical travel route, the sixth historical travel route, and the fifth historical travel route. And forming a navigation route database by three previous historical driving routes.
The frequent-running routes of the users can be excavated by analyzing the times of the same route, and the running routes of the trucks are relatively single and fixed due to the fact that various factors such as road conditions, travel cost, transportation timeliness and the like need to be considered during the trip of the trucks, so that the frequent-running routes with a large number of times have a great reference value.
And step S103, matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle.
In a possible implementation mode, real-time track point data of the vehicle in the driving process is obtained, and the real-time track point data are matched with a plurality of historical driving routes in a navigation route database according to the real-time position of the vehicle, so that the historical driving routes matched with the vehicle are obtained.
Specifically, the current position information of the vehicle is firstly acquired, the shortest driving distance between the current position of the vehicle and each historical driving route in the navigation route database is calculated, and which historical driving route is closer to can be judged according to the real-time position of the vehicle. And then, the occurrence frequency of each historical driving route and the latest road condition of each historical driving route are combined for comprehensive analysis, so that the historical driving route which is most matched with the vehicle at present is obtained.
For example, the matching rate is calculated according to the shortest driving distance, the occurrence frequency of each historical driving route, and the weight corresponding to the current road condition of each historical driving route.
The road condition value may be determined according to the current road condition state, for example, the traffic control road condition value is 20 minutes, the congestion road condition value is 30 minutes, the very congestion road condition value is 20 minutes, and the normal traffic road condition value is 50 minutes.
And finally, taking the historical driving route with the highest matching rate as the historical driving route matched with the vehicle. According to the step, the historical driving route which is most matched with the vehicle at present can be obtained through comprehensive analysis according to the real-time position of the vehicle, the occurrence frequency of each historical driving route and the latest road condition of each historical driving route. With higher predictability.
And step S104, navigating the vehicle based on the historical driving route matched with the vehicle.
Generally, after obtaining a historical travel route matching a vehicle, the vehicle is navigated based on the historical travel route matching the vehicle, and the vehicle is guided to drive along the historical travel route.
According to the vehicle navigation method in the embodiment of the disclosure, the historical driving route which is most matched with the current driving route of the vehicle can be analyzed only according to the track point data of the vehicle, the vehicle is navigated based on the historical driving route, the driving preference of a user can be met, a route which is more in line with the driving habit of the user is planned, and the occurrence of yaw is further reduced.
And S105, setting the electronic fence in the preset navigation route range according to the current position of the vehicle, and determining that the vehicle yaw if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database.
In an alternative embodiment, the historical driving routes in the navigation route database are first ranked from high to low according to the magnitude of the matching rate.
Then, the vehicle firstly runs on the historical running route with the highest matching rate, and a dynamic electronic fence with a preset range is generated along the planned route by taking the current track point of the vehicle as a starting point, for example, a dynamic electronic fence with the length of 2km is generated along the planned route. And when the vehicle leaves the electronic fence of the current navigation route, acquiring the real-time position of the vehicle, sequentially matching with other historical driving routes in the navigation route database, and judging whether the vehicle is on other historical driving routes. And if the vehicle cannot be matched with other historical driving routes in the navigation route database, determining that the vehicle has yaw.
In an optional embodiment, after determining that the vehicle is yawing, sending yawing prompting information to the vehicle-mounted terminal and the user terminal is further included. For example, after determining that the vehicle has drifted, the car machine sends out a voice prompt message of "you have deviated from the navigation route", and displays the drifted route information on the user terminal.
In an optional embodiment, after determining that the vehicle has drifted, the method further includes acquiring current position information of the vehicle, and calculating a drift distance of the vehicle according to the current position information of the vehicle. Specifically, the shortest distance between the current position of the vehicle and the planned route is calculated, and the shortest distance is taken as the yaw distance.
And if the yaw distance is greater than the preset distance threshold value or a path resetting instruction issued by a user is received, automatically planning a new navigation path. The value of the preset distance threshold is not specifically limited, and can be set in an actual situation.
In an optional embodiment, when the path needs to be re-planned, the historical driving route which is the same as the current position information and the destination information of the vehicle can be inquired, and a new navigation path is automatically planned according to the route planning method in the steps S101 to S104.
In an optional embodiment, if there is no historical driving route that is the same as the current position information and the destination information of the vehicle, a new navigation path can be automatically planned by using a real-time navigation system according to the current position information and the destination information of the vehicle. For example, the current position information of the vehicle and the input destination information are automatically collected, and the current position information and the destination information of the vehicle are input into navigation software to obtain an output new navigation path.
According to the steps, the driver can be detected to yaw in time, and when the yaw of the vehicle is detected, yaw prompt information can be automatically sent out, and a new navigation path can be automatically planned.
In order to facilitate understanding of the method for detecting the yaw of the vehicle based on the track data provided in the embodiments of the present application, the following description is made with reference to fig. 2 and 3. As shown in fig. 2, the method includes the following steps.
Firstly, acquiring track data of a vehicle, extracting track sample data in a preset time period, and performing stop analysis on the extracted sample data. And segmenting the track sample by using the stop points meeting the preset stop conditions.
Further, searching the electronic fence where the starting place and the destination of the route to be navigated are located, screening out the sectional tracks which are the same as the starting place and the destination of the route to be navigated, and performing actual road matching to obtain the historical driving route.
Furthermore, the frequency of the historical driving routes is counted, the most matched historical route is found according to the actual position of the vehicle, and path planning is carried out according to the most matched historical driving route. And then, generating a dynamic electronic fence in a preset range along a planned line by taking the current track point of the vehicle as a starting point, and performing yaw judgment according to the positions of the vehicle and the electronic fence.
In an alternative embodiment, a specific yaw determination method is shown in FIG. 3.
Firstly, obtaining the current position coordinates of a vehicle, matching the current position of the vehicle with a preset running route set, and selecting one of the routes which are successfully matched and have the most frequent occurrence as a running route.
And further, a dynamic electronic fence with the length of 2km is generated along the planned route by taking the current track point of the vehicle as a starting point. And judging whether the vehicle drives out of the electronic fence, if not, continuing to drive along the planned route, if so, returning to the beginning step, continuing to acquire the current position coordinates of the vehicle, matching the current position of the vehicle with a preset driving route set, driving based on the matched road, and setting a dynamic electronic fence. When the vehicle exits the electronic fence and cannot be matched with the lines in the preset driving line set, determining that the vehicle has yaw.
According to the method for detecting the yaw of the vehicle based on the track data, the historical constant running route which is the same as the starting place and the destination of the trip is selected to be used for navigation of the vehicle, and the historical constant running route is used for navigation of the vehicle, so that the driving habit of a driver is better met. And whether the vehicle drifts or not is accurately identified according to the real-time position of the vehicle and the position relation of the set dynamic electronic fence. The method can realize the navigation of the vehicle only according to the track data reported by the vehicle machine, can detect whether the vehicle has yaw, does not need to additionally install additional equipment, and greatly reduces the implementation cost.
The embodiment of the present disclosure also provides an apparatus for detecting a yaw of a vehicle based on trajectory data, where the apparatus is configured to perform the method for detecting a yaw of a vehicle based on trajectory data according to the foregoing embodiment, and as shown in fig. 4, the apparatus includes: an acquisition module 401, a query module 402, a matching module 403, a navigation module 404, a yaw detection module 405.
An obtaining module 401, configured to obtain a starting location and a destination of a route to be navigated;
the query module 402 is used for querying the historical driving routes which are the same as the starting place and the destination, and forming the queried historical driving routes into a navigation route database;
the matching module 403 is configured to match the vehicle with the historical driving route in the navigation route database, so as to obtain a historical driving route matched with the vehicle;
a navigation module 404 for navigating the vehicle based on the historical driving route matched with the vehicle;
and the yaw detection module 405 is configured to set an electronic fence within a preset navigation route range according to the current position of the vehicle, and determine that the vehicle yaw if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database.
It should be noted that, when the apparatus for detecting yaw of a vehicle based on trajectory data provided in the foregoing embodiment executes the method for detecting yaw of a vehicle based on trajectory data, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to complete all or part of the functions described above. In addition, the device for detecting the yaw of the vehicle based on the trajectory data provided by the above embodiment and the embodiment of the method for detecting the yaw of the vehicle based on the trajectory data belong to the same concept, and details of the implementation process are shown in the embodiment of the method, which are not described herein again.
The embodiment of the present disclosure further provides an electronic device corresponding to the method for detecting a yaw of a vehicle based on trajectory data provided in the foregoing embodiment, so as to execute the method for detecting a yaw of a vehicle based on trajectory data.
Please refer to fig. 5, which illustrates a schematic diagram of an electronic device according to some embodiments of the present application. As shown in fig. 5, the electronic apparatus includes: the processor 500, the memory 501, the bus 502 and the communication interface 503, wherein the processor 500, the communication interface 503 and the memory 501 are connected through the bus 502; the memory 501 stores a computer program operable on the processor 500, and the processor 500 executes the computer program to perform a method for detecting yaw of a vehicle based on trajectory data according to any of the embodiments of the present application.
The Memory 501 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 503 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 500 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 500. The Processor 500 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 501, and the processor 500 reads the information in the memory 501, and completes the steps of the method in combination with the hardware thereof.
The electronic device provided by the embodiment of the application and the method for detecting the yaw of the vehicle based on the track data provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic device.
The embodiment of the present application further provides a computer-readable storage medium corresponding to the method for detecting yaw of a vehicle based on track data provided in the foregoing embodiment, please refer to fig. 6, which illustrates a computer-readable storage medium as an optical disc 600 on which a computer program (i.e., a program product) is stored, where the computer program, when executed by a processor, executes the method for detecting yaw of a vehicle based on track data provided in any of the foregoing embodiments.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiments of the present application and the method for detecting yaw of a vehicle based on track data provided by the embodiments of the present application have the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer-readable storage medium.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for detecting yaw of a vehicle based on trajectory data, comprising:
acquiring a starting place and a destination of a route to be navigated;
inquiring historical driving routes which are the same as the starting place and the destination, and forming the inquired historical driving routes into a navigation route database;
matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle;
navigating the vehicle based on the historical driving route matched with the vehicle;
and setting an electronic fence in a preset navigation route range according to the current position of the vehicle, and determining that the vehicle drifts if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database.
2. The method of claim 1, wherein prior to querying the same historical travel route as the origin and destination, further comprising:
acquiring historical track data of a vehicle;
obtaining parking point data of the vehicle according to the historical track data;
segmenting the historical track data according to the stop data to obtain a segmented track;
and matching the segmented track with road network data to obtain the historical driving route of the vehicle.
3. The method of claim 1, wherein composing the queried historical travel routes into a navigation route database comprises:
calculating the similarity of the inquired historical driving routes;
determining the times of the same historical driving route according to the similarity;
and sequencing the historical driving routes from high to low according to the occurrence times of the same historical driving routes, and forming a navigation route database by using a preset number of historical driving routes arranged in front.
4. The method of claim 1, wherein matching a vehicle to historical travel routes in the navigation route database results in a historical travel route matching a vehicle, comprising:
acquiring current position information of a vehicle;
calculating the shortest driving distance between the current position of the vehicle and each historical driving route in the navigation route database;
calculating a matching rate according to the shortest driving distance, the occurrence frequency of each historical driving route and the weight corresponding to the current road condition of each historical driving route;
and taking the historical driving route with the highest matching rate as the historical driving route matched with the vehicle.
5. The method of claim 4, wherein setting an electronic fence within a preset navigation route range according to the current position of the vehicle, and determining that the vehicle is yawing if the vehicle is driven away from the electronic fence and cannot be matched with all historical driving routes in the navigation route database comprises:
according to the matching rate, sorting the historical driving routes in the navigation route database from high to low;
when the vehicle leaves the electronic fence of the current navigation route, sequentially matching the vehicle with other historical driving routes in the navigation route database according to the matching rate;
and if the vehicle cannot be matched with other historical driving routes in the navigation route database, determining that the vehicle has yaw.
6. The method of claim 1, wherein after determining that the vehicle is yawing, further comprising:
sending the yaw prompt information to a vehicle-mounted terminal and a user terminal, and acquiring the current position information of the vehicle;
calculating the yaw distance of the vehicle according to the current position information of the vehicle;
and if the yaw distance is greater than a preset distance threshold value or a path resetting instruction issued by a user is received, automatically planning a new navigation path.
7. The method of claim 6, wherein automatically planning a new navigation path comprises:
inquiring a historical driving route which is the same as the current position information and the destination information of the vehicle, and automatically planning a new navigation path according to the historical driving route; or the like, or, alternatively,
and automatically planning a new navigation path by adopting a real-time navigation system according to the current position information and the destination information of the vehicle.
8. An apparatus for detecting yaw of a vehicle based on trajectory data, comprising:
the acquisition module is used for acquiring a starting place and a destination of a route to be navigated;
the query module is used for querying the historical driving routes which are the same as the starting place and the destination, and forming the queried historical driving routes into a navigation route database;
the matching module is used for matching the vehicle with the historical driving route in the navigation route database to obtain the historical driving route matched with the vehicle;
the navigation module is used for navigating the vehicle based on the historical driving route matched with the vehicle;
and the yaw detection module is used for setting an electronic fence in a preset navigation route range according to the current position of the vehicle, and determining that the vehicle has yaw if the vehicle leaves the electronic fence and cannot be matched with all historical driving routes in the navigation route database.
9. An apparatus for detecting yaw of a vehicle based on trajectory data, comprising a processor and a memory storing program instructions, the processor being configured to, when executing the program instructions, perform a method of detecting yaw of a vehicle based on trajectory data as claimed in any one of claims 1 to 7.
10. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement a method of detecting yaw of a vehicle based on trajectory data as claimed in any one of claims 1 to 7.
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