CN113916240B - Vehicle driving route judging method and system - Google Patents
Vehicle driving route judging method and system Download PDFInfo
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- CN113916240B CN113916240B CN202110983293.XA CN202110983293A CN113916240B CN 113916240 B CN113916240 B CN 113916240B CN 202110983293 A CN202110983293 A CN 202110983293A CN 113916240 B CN113916240 B CN 113916240B
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
Classifications
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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
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle driving route judging method and a system, comprising the following steps: planning a driving route of the vehicle; collecting longitude and latitude information of a vehicle, and calculating the distance between the vehicle and two adjacent inflection points on a preset route; if the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value, judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value or not and judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset distance threshold value or not; if the distance is not smaller than the preset distance threshold and smaller than the preset road width threshold, marking that the boundary is not exceeded, otherwise marking that the boundary is exceeded. The invention can rapidly and accurately judge whether the vehicle deviates from the planned set route or not through the current position of the vehicle, can safely operate for enterprises, particularly for school buses, avoids accident potential and provides effective technical support for real-time supervision.
Description
Technical Field
The invention relates to the technical field of path planning, in particular to a vehicle driving route judging method and system for judging whether a vehicle deviates from a planned route.
Background
Specific vehicles, such as school buses, enterprise vehicles and the like, need to be driven according to planned routes, the driving routes of the existing specific vehicles lack of real-time judgment, the constraint on drivers is lacked, the management and control of the vehicles by enterprises are unfavorable, and uncontrollable risks, such as private lane changing, private buses, traffic accidents and the like, are easily caused.
Disclosure of Invention
In view of the foregoing problems in the prior art, the present invention provides a vehicle travel route determination method and system for determining whether a vehicle deviates from a planned route.
The invention discloses a vehicle driving route judging method, which comprises the following steps:
planning a driving route of a vehicle, and recording inflection point longitude and latitude information of each road section on the driving route;
Collecting longitude and latitude information of a vehicle, and calculating the distance between the vehicle and two adjacent inflection points on a preset route;
judging whether the distance between the vehicle and two adjacent inflection points on the preset route is greater than the length value of the maximum road section or not;
if the distance between the vehicle and two adjacent inflection points on the preset route is not greater than the length value of the maximum road section, judging whether the distance between the vehicle and the two adjacent inflection points on the preset route is smaller than a preset road width threshold value or not;
If the road width is smaller than the preset road width threshold, marking that the road width is not out of range and not shifting the route;
If the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value, judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value or not and judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset distance threshold value or not;
If the distance between the two newly set inflection points is not smaller than the preset distance threshold value and the distance between the vehicle and the two newly set inflection points is not smaller than the preset road width threshold value, repeating the operation to select a new corner and judging;
If the distance between the two newly set inflection points is not smaller than the preset distance threshold value and the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value, marking that the road is not out of range and not deviated;
if the distance between the two newly set inflection points is smaller than the preset distance threshold value, marking as out-of-range and generating route deviation.
As a further improvement of the present invention, there is also included:
If the distance between the vehicle and two adjacent inflection points on the preset route is greater than the length value of the maximum road section, marking as out-of-range and generating route deviation.
As a further improvement of the present invention, there is also included:
And storing and/or displaying the judging result, carrying out alarm prompt on the vehicle with the route deviation, and sending alarm information to a safety operation manager.
As a further improvement of the present invention,
The preset road width threshold value is more than or equal to 15m.
As a further improvement of the present invention,
The preset distance threshold is 5-10 m.
The invention also discloses a vehicle driving route judging system, which comprises:
A planning module for:
Planning a driving route of a vehicle, and writing inflection point latitude and longitude information of each road section on the driving route into a cache;
The acquisition module is used for:
Collecting longitude and latitude information of a vehicle in real time;
A processing module for:
Calculating the distance between the vehicle and two adjacent inflection points on a preset route;
judging whether the distance between the vehicle and two adjacent inflection points on the preset route is greater than the length value of the maximum road section or not;
if the distance between the vehicle and two adjacent inflection points on the preset route is not greater than the length value of the maximum road section, judging whether the distance between the vehicle and the two adjacent inflection points on the preset route is smaller than a preset road width threshold value or not;
If the road width is smaller than the preset road width threshold, marking that the road width is not out of range and not shifting the route;
If the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value, judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value or not and judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset distance threshold value or not;
If the distance between the two newly set inflection points is not smaller than the preset distance threshold value and the distance between the vehicle and the two newly set inflection points is not smaller than the preset road width threshold value, repeating the operation to select a new corner and judging;
If the distance between the two newly set inflection points is not smaller than the preset distance threshold value and the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold value, marking that the road is not out of range and not deviated;
if the distance between the two newly set inflection points is smaller than the preset distance threshold value, marking as out-of-range and generating route deviation.
As a further improvement of the present invention, in the processing module, further comprising:
If the distance between the vehicle and two adjacent inflection points on the preset route is greater than the length value of the maximum road section, marking as out-of-range and generating route deviation.
As a further improvement of the present invention, there is also included:
And the alarm module is used for storing and/or displaying the judging result, carrying out alarm prompt on the vehicle with the route deviation, and sending alarm information to a safety operation manager.
As a further improvement of the present invention,
The preset road width threshold value is more than or equal to 15m.
As a further improvement of the present invention,
The preset distance threshold is 5-10 m.
Compared with the prior art, the invention has the beneficial effects that:
The invention can rapidly and accurately judge whether the vehicle deviates from the planned set route or not through the current position of the vehicle, can safely operate for enterprises, particularly for school buses, avoids accident potential and provides effective technical support for real-time supervision.
Drawings
FIG. 1 is a flow chart of a method for determining a travel route of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a travel route according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of determining a vehicle driving route for a vehicle X and a vehicle Y according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, the present invention provides a vehicle travel route determination method including:
Step 1, planning a driving route of a vehicle; the method comprises the following steps:
according to actual demands, a route is planned for the vehicle on a map, the route is composed of a plurality of road sections, and the driving route A-F shown in fig. 2 is composed of a road section A-B, a road section B-C, a road section C-D, a road section D-E and a road section E-F; loading the planned driving route into a memory, setting a road width threshold and an inflection point distance threshold, wherein the road width threshold is more than or equal to 15m, and the inflection point distance threshold is 5-10 m; meanwhile, the inflection point longitude and latitude information of each road section on the driving route, such as the longitude and latitude coordinate information of the inflection point A, B, C, D, E, F, is obtained.
Step 2, collecting longitude and latitude information of the vehicle; the method comprises the following steps:
The longitude and latitude information of the vehicle is collected in real time by arranging an information collecting module communicated with a vehicle main controller; furthermore, in the above-mentioned collection process, collection of the vehicle in a preset time period can also be achieved by setting collection time, a system switch and the like.
Step 3, calculating the distance between the vehicle and two adjacent inflection points on the preset route; the method comprises the following steps:
based on the longitude and latitude information of the vehicle and the longitude and latitude information of two adjacent inflection points, the straight line distances M1 and M2 between the longitude and latitude information of the vehicle and the two inflection points are calculated.
Step 4, judging whether the distance between the vehicle and two adjacent inflection points on the preset route is larger than the length value of the maximum road section, and if the distance between the vehicle and two adjacent inflection points on the preset route is larger than the length value of the maximum road section, marking that the distance is out of range and generating route deviation; otherwise, continuing to carry out subsequent judgment; the method comprises the following steps:
the length value of the maximum road section is the length of the longest path in the road section A-B, the road section B-C, the road section C-D, the road section D-E and the road section E-F, and the longest road section is A-B as shown in figure 2;
comparing the linear distances M1 and M2 with the length (such as 10 km) of the road sections A-B, if M1 and/or M2 is greater than 10km, directly marking as out-of-range, and generating route deviation; if M1 and/or M2 is less than or equal to 10km, continuing to carry out subsequent judgment.
Step 5, judging whether the distance between the vehicle and two adjacent inflection points on the preset route is smaller than a preset road width threshold value; if the road width is smaller than the preset road width threshold, marking that the road width is not out of range and not shifting the route; otherwise, continuing to carry out subsequent judgment; the method comprises the following steps:
Comparing the linear distances M1 and M2 with a road width threshold (10M), and if M1 or M2 is smaller than 10M, directly marking the road as a non-crossing road and a non-shifting road; if M1 or M2 is more than 10M, the subsequent judgment is continued.
Step 6, judging whether the distance between the two inflection points is smaller than a preset distance threshold value, if so, marking that the distance is out of range, and generating route deviation; otherwise, continuing to carry out subsequent judgment; the method comprises the following steps:
The distance between the two inflection points is the linear distance between the A and the B, if the distance between the inflection points is smaller than a preset distance threshold (8M), the distance between the inflection points is not needed to be selected, and the inflection points are marked as out-of-range and generate route deviation on the premise that M1 or M2 is more than 8M in the step 5; if the distance between the inflection points is not smaller than the preset distance threshold (8 m), the new inflection point can be selected, and the subsequent judgment can be continued.
Step 7, selecting the middle point of the two inflection points as a new inflection point, and selecting the closest inflection point of the two inflection points as another new inflection point, and calculating the distance between the vehicle and the two newly set inflection points and the distance between the two newly set inflection points again; specific:
As shown in fig. 3, in the process of determining the vehicle X, if the distance XB from X to the inflection point B and the distance XC from X to the inflection point C are not smaller than the preset road width threshold and the distance BC from the inflection point B to the inflection point C is not smaller than the preset distance threshold, at this time, the middle point a of BC is selected as a new inflection point, and the inflection point C with the latest distance is selected as another new inflection point; meanwhile, in the subsequent judgment, if the distance Xa from X to the inflection point a and the distance XC from X to the inflection point C are not smaller than the preset road width threshold value and the distance aC from the inflection point a to the inflection point C is not smaller than the preset distance threshold value, the middle point C of aC is selected as a new inflection point, and the inflection point a with the latest distance is selected as another new inflection point.
Step 8, repeating the steps 5-7 until the judgment result of 'crossing the boundary' or 'not crossing the boundary' is obtained, and completing real-time judgment of the vehicle;
And 9, storing and/or displaying the judging result, carrying out alarm prompt on the vehicle with the route deviation, and sending alarm information to a safety operation manager or other related personnel.
The invention provides a vehicle driving route judging system, comprising:
the planning module is used for realizing the step 1;
The acquisition module is used for realizing the step 2;
and the processing module is used for realizing the steps 3-9.
Examples
As shown in fig. 3, the broken line in the drawing is a road width, and the method for determining the vehicle X according to the present invention is as follows:
the distance from X to the inflection point B or C is smaller than the length value of the maximum road section;
the distance XB from X to the inflection point B and the distance XC from X to the inflection point C are not smaller than a preset road width threshold value, the distance BC from the inflection point B to the inflection point C is not smaller than a preset distance threshold value, at the moment, the middle point a of the BC is selected as a new inflection point, and the inflection point C with the latest distance is selected as another new inflection point;
the distance Xa from X to the inflection point a and the distance XC from X to the inflection point C are not smaller than a preset road width threshold value, the distance aC from the inflection point a to the inflection point C is not smaller than a preset distance threshold value, at the moment, the middle point C of the aC is selected as a new inflection point, and the inflection point a with the latest distance is selected as another new inflection point;
The distance Xa from X to the inflection point a and the distance Xc from X to the inflection point c are not smaller than a preset road width threshold value, the distance ac from the inflection point a to the inflection point c is not smaller than a preset distance threshold value, at the moment, the middle point b of the inflection point a is selected as a new inflection point, and the inflection point a with the latest distance is selected as another new inflection point;
The distance Xa from X to the inflection point a and the distance Xb from X to the inflection point b are not smaller than a preset road width threshold, and the distance ab from the inflection point a to the inflection point b is smaller than a preset distance threshold; therefore, the vehicle X is marked as out of range, and a route deviation occurs.
The method for judging the vehicle Y comprises the following steps:
the distance from Y to the inflection point B or C is smaller than the length value of the maximum road section;
the distance YB from Y to the inflection point B and the distance YC from Y to the inflection point C are not smaller than a preset road width threshold value, the distance BC from the inflection point B to the inflection point C is not smaller than a preset distance threshold value, at the moment, the middle point a of the BC is selected as a new inflection point, and the inflection point C with the latest distance is selected as another new inflection point;
the distance Ya from Y to the inflection point a and the distance YC from Y to the inflection point C are not smaller than a preset road width threshold value, the distance aC from the inflection point a to the inflection point C is not smaller than a preset distance threshold value, at the moment, the middle point C of the aC is selected as a new inflection point, and the inflection point C with the latest distance is selected as another new inflection point;
the distance Yc from Y to the inflection point C and the distance YC from Y to the inflection point C are not smaller than a preset road width threshold value, the distance cC from the inflection point C to the inflection point C is not smaller than a preset distance threshold value, at the moment, the middle point d of the cC is selected as a new inflection point, and the inflection point C with the latest distance is selected as another new inflection point;
the distance Yd from Y to the inflection point d is smaller than a preset road width threshold; therefore, the vehicle Y is marked as not crossing the boundary, and no route deviation occurs.
The invention has the advantages that:
The invention can rapidly and accurately judge whether the vehicle deviates from the planned set route or not through the current position of the vehicle, can safely operate for enterprises, particularly for school buses, avoids accident potential and provides effective technical support for real-time supervision.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle travel route determination method, characterized by comprising:
step 1, planning a driving route of a vehicle, and recording inflection point longitude and latitude information of each road section on the driving route;
step 2, acquiring longitude and latitude information of the vehicle, and calculating the distance between the vehicle and two adjacent inflection points on a preset route;
Step 3, judging whether the distance between the vehicle and two adjacent inflection points on the preset route is greater than the length value of the maximum road section;
Step 4, if the length values of the vehicle and the adjacent inflection points on the preset route are not larger than the length value of the maximum road section, judging whether the distance between the vehicle and the adjacent inflection points on the preset route is smaller than a preset road width threshold value or not;
Step 5, if at least one is smaller than the preset road width threshold, marking that the road is not out of range and not deviated;
If not, judging whether the distance between the two inflection points is smaller than a preset distance threshold value;
Step 6, if the distance between the two inflection points is smaller than a preset distance threshold, marking as out-of-range and generating route deviation;
If the distance between the two inflection points is not smaller than the preset distance threshold, selecting the middle point of the two inflection points as a new inflection point, and selecting the closest inflection point of the two inflection points as another new inflection point, judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold again, and returning to the step 5.
2. The vehicle travel route determination method according to claim 1, characterized in that the step4 further comprises:
If the distance between the vehicle and two adjacent inflection points on the preset route is at least one of the distances is larger than the length value of the maximum road section, marking that the vehicle is out of range, and generating route deviation.
3. The vehicle travel route determination method according to claim 1, characterized by further comprising:
And 7, storing and/or displaying the judging result, carrying out alarm prompt on the vehicle with the route deviation, and sending alarm information to a safety operation manager.
4. The vehicle travel route determination method according to claim 1, characterized in that,
The preset road width threshold value is more than or equal to 15m.
5. The vehicle travel route determination method according to claim 1, characterized in that,
The preset distance threshold is 5-10 m.
6. A vehicle travel route determination system, characterized by comprising:
A planning module for:
Planning a driving route of a vehicle, and writing inflection point latitude and longitude information of each road section on the driving route into a cache;
The acquisition module is used for:
Collecting longitude and latitude information of a vehicle in real time;
The processing module is used for realizing the following steps:
Step 1, calculating the distance between a vehicle and two adjacent inflection points on a preset route;
Step 2, judging whether the distance between the vehicle and two adjacent inflection points on the preset route is greater than the length value of the maximum road section;
Step 3, if the length value of the vehicle is not greater than the length value of the maximum road section, judging whether the distance between the vehicle and two adjacent inflection points on the preset route is smaller than a preset road width threshold value or not;
Step4, if at least one is smaller than the preset road width threshold value, marking that the road is not out of range and not deviated;
If not, judging whether the distance between the two inflection points is smaller than a preset distance threshold value;
Step 5, if the distance between the two inflection points is smaller than a preset distance threshold, marking as out-of-range and generating route deviation;
If the distance between the two inflection points is not smaller than the preset distance threshold, selecting the middle point of the two inflection points as a new inflection point, and selecting the closest inflection point of the two inflection points as another new inflection point, judging whether the distance between the vehicle and the two newly set inflection points is smaller than the preset road width threshold again, and returning to the step 4.
7. The vehicle travel route determination system according to claim 6, wherein in the processing module, the step 3 further includes:
If the distance between the vehicle and two adjacent inflection points on the preset route is at least one of the distances is larger than the length value of the maximum road section, marking that the vehicle is out of range, and generating route deviation.
8. The vehicle travel route determination system according to claim 6, characterized by further comprising:
And the alarm module is used for storing and/or displaying the judging result, carrying out alarm prompt on the vehicle with the route deviation, and sending alarm information to a safety operation manager.
9. The vehicle travel route determination system according to claim 6, wherein,
The preset road width threshold value is more than or equal to 15m.
10. The vehicle travel route determination system according to claim 6, wherein,
The preset distance threshold is 5-10 m.
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