CN115311871B - Method, device, system, equipment and storage medium for judging vehicle running direction - Google Patents
Method, device, system, equipment and storage medium for judging vehicle running direction Download PDFInfo
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- CN115311871B CN115311871B CN202210964604.2A CN202210964604A CN115311871B CN 115311871 B CN115311871 B CN 115311871B CN 202210964604 A CN202210964604 A CN 202210964604A CN 115311871 B CN115311871 B CN 115311871B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a vehicle running direction judging method, a device, a system, equipment and a storage medium, and relates to the technical field of vehicle running behavior analysis; acquiring service report data sent by a person when getting on or off the vehicle and heartbeat report data sent by a preset interval; calculating and obtaining first site data and second site data which are closest to the current to-be-processed reported data in the uplink and downlink directions based on the current to-be-processed reported data; third site data and fourth site data which are not first site data, not second site data and have the shortest distance to the last reported data of the history in the uplink and downlink directions are obtained through calculation based on the historical service reported data and the historical heartbeat reported data in a preset period before the current to-be-processed reported data which are arranged according to the descending order of the reported time; from this, the direction of travel is determined. The invention can accurately and rapidly determine the driving direction only through the GPS coordinates and time.
Description
Technical Field
The present invention relates to the field of vehicle driving behavior analysis technologies, and in particular, to a method, an apparatus, a system, a device, and a storage medium for determining a driving direction of a vehicle, and more particularly, to a method, an apparatus, a system, a device, and a storage medium for determining a driving direction of a vehicle with a vehicle-mounted GPS device by reporting GPS coordinate data.
Background
The vehicle-mounted GPS equipment is widely applied to public transportation vehicles such as buses, subways, BRT and the like, and realizes real-time tracking and positioning of the vehicles. Therefore, in practical application, the position information of the vehicle is often used for judging the current station position and the running direction so as to facilitate further data statistics.
Therefore, at present, the method for judging the current station position and the running direction by using the position information of the vehicle usually identifies the current station and judges the running direction according to the distance between the reported GPS coordinate data and the relation between the stations. The use of various types of sensors not only increases the cost, but also increases the complexity of the decision method.
Disclosure of Invention
Therefore, in order to overcome the above-mentioned drawbacks, the embodiments of the present invention provide a method, apparatus, system, device and storage medium for determining a driving direction of a vehicle, which can accurately and rapidly determine a driving direction and a station only by reported GPS coordinate data and time without the support of data obtained by other sensors.
To this end, the method for determining the running direction of the vehicle according to the embodiment of the invention includes the following steps:
acquiring all site data in the uplink and downlink directions of a line, wherein the site data comprises a site name, a serial number, a direction, GPS latitude coordinates and GPS longitude coordinates, wherein the serial number represents serial numbers of sites from small to large in sequence according to the running sequence of a vehicle, and the direction represents two values according to the uplink direction and the downlink direction;
acquiring business report data sent by each person when getting on or off the vehicle and heartbeat report data sent by each preset interval, wherein the business report data comprises GPS latitude coordinates, GPS longitude coordinates and report time, and the heartbeat report data comprises the GPS latitude coordinates, the GPS longitude coordinates and the report time;
according to the current to-be-processed report data and all site data, respectively calculating and obtaining first site data and second site data which are closest to the current to-be-processed report data in the uplink and downlink directions in all site data, wherein the current to-be-processed report data is current service report data or current heartbeat report data;
The method comprises the steps that historical business report data and historical heartbeat report data in a preset period before current to-be-processed report data arranged according to a report time descending order are sequentially and respectively calculated with all site data until historical latest report data are obtained, wherein the historical latest report data meet the conditions that third site data and fourth site data which are not first site data, not second site data and have the closest distance to the historical latest report data in the uplink and downlink directions exist in all site data;
and determining the running direction of the vehicle according to the serial numbers and the directions of the first station data, the second station data, the third station data and the fourth station data.
Preferably, the step of calculating to obtain the first site data and the second site data closest to the current to-be-processed report data in the uplink and downlink directions in all the site data according to the current to-be-processed report data and all the site data includes:
the current to-be-processed reported data and all site data are respectively subjected to distance calculation between two spherical points to obtain first distance values;
selecting a minimum value from the first distance values, and obtaining a first minimum distance value and site data corresponding to the first minimum distance value as first site data;
Selecting site data with the opposite direction to the first site data from all site data as first opposite direction site data;
the current to-be-processed reported data and all the first reverse direction site data are respectively subjected to distance calculation between two spherical points to obtain second distance values;
and selecting a minimum value from the second distance values, and obtaining a second minimum distance value and site data corresponding to the second minimum distance value as second site data.
Preferably, the step of calculating, in sequence, the historical service report data and the historical heartbeat report data in a preset period before the current to-be-processed report data arranged in descending order of the report time, respectively with all the site data one by one until the last report data of the history is obtained, where the last report data of the history satisfies the condition that the third site data and the fourth site data which are not the first site data, not the second site data, and are closest to the last report data of the history in the uplink and downlink directions exist in all the site data includes:
firstly, performing spherical two-point distance calculation on the i-th reporting data in the historical service reporting data and the historical heartbeat reporting data in a preset period before the current to-be-processed reporting data arranged in descending order of reporting time and all site data to obtain third distance values, wherein i=1, 2, …, m and m are the total number of the historical service reporting data and the historical heartbeat reporting data in the preset period before the current to-be-processed reporting data;
Selecting a minimum value from the third distance values to obtain a third minimum distance value and station data corresponding to the third minimum distance value as third preselected station data;
thirdly, judging whether the third pre-selected site data is the first site data or the second site data;
a fourth step of increasing i by 1 when the third pre-selected site data is the first site data or the second site data, and returning to the first step when i is less than or equal to m; when i is larger than m, the current vehicle running direction of the to-be-processed reported data fails to be judged;
fifthly, when the third preselected site data is non-first site data and non-second site data, taking the third preselected site data as third site data and the ith report data as last historical preselected report data;
a sixth step of selecting, from all the site data, site data in the opposite direction to the third site data as second opposite-direction site data;
seventh, the last preselection report data of the history and all second reverse direction site data are respectively subjected to distance calculation between two spherical points to obtain fourth distance values;
Eighth, selecting a minimum value from the fourth distance values to obtain a fourth minimum distance value and station data corresponding to the fourth minimum distance value as fourth preselected station data;
a ninth step of judging whether the fourth preselected site data is the first site data or the second site data;
a tenth step of increasing i by 1 when the fourth preselected site data is the first site data or the second site data, and returning to the first step when i is less than or equal to m; when i is larger than m, the current vehicle running direction of the to-be-processed reported data fails to be judged;
eleventh step, when the fourth preselected site data is not the first site data and is not the second site data, the fourth preselected site data is used as fourth site data, and the ith reported data is determined as the last reported data of the history.
Preferably, the step of determining the driving direction of the vehicle according to the serial numbers and the directions of the first station data, the second station data, the third station data and the fourth station data includes:
judging whether the direction of the first site data is the same as the direction of the third site data and whether the serial number of the first site data is larger than the serial number of the third site data; the first station data is a non-starting station;
When the direction of the first station data is the same as the direction of the third station data and the serial number of the first station data is larger than the serial number of the third station data, determining that the vehicle running direction is the direction of the first station data; the current site is first site data;
when the direction of the first site data is different from the direction of the third site data or the serial number of the first site data is smaller than the serial number of the third site data, judging whether the direction of the second site data is the same as the direction of the third site data and whether the serial number of the second site data is larger than the serial number of the third site data;
when the direction of the second station data is the same as the direction of the third station data and the serial number of the second station data is larger than the serial number of the third station data, determining that the vehicle running direction is the direction of the second station data; the current site is second site data;
when the direction of the second site data is different from the direction of the third site data or the serial number of the second site data is smaller than the serial number of the third site data, judging whether the direction of the first site data is the same as the direction of the fourth site data and whether the serial number of the first site data is larger than the serial number of the fourth site data;
When the direction of the first station data is the same as the direction of the fourth station data and the serial number of the first station data is larger than the serial number of the fourth station data, determining that the vehicle running direction is the direction of the first station data; the current site is first site data;
when the direction of the first site data is different from the direction of the fourth site data or the serial number of the first site data is smaller than the serial number of the fourth site data, judging whether the direction of the second site data is the same as the direction of the fourth site data and whether the serial number of the second site data is larger than the serial number of the fourth site data;
when the direction of the second station data is the same as the direction of the fourth station data and the serial number of the second station data is larger than the serial number of the fourth station data, determining that the vehicle running direction is the direction of the second station data; the current site is second site data;
when the direction of the second station data is different from the direction of the fourth station data or the serial number of the second station data is smaller than the serial number of the fourth station data, the judgment of the running direction of the vehicle of the current to-be-processed reported data fails.
Preferably, the step of determining the driving direction of the vehicle according to the serial numbers and the directions of the first station data, the second station data, the third station data and the fourth station data further includes:
When the first station data is a starting station, determining that the vehicle driving direction is the direction of the first station data when the direction of the fourth station data is opposite to the direction of the first station data or the direction of the third station data is opposite to the direction of the first station data; the current site is the site corresponding to the first site data.
An embodiment of the present invention provides a vehicle traveling direction determination device, including:
the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring all site data in the uplink and downlink directions of a line, the site data comprises a site name, a serial number, a direction, a GPS latitude coordinate and a GPS longitude coordinate, the serial number represents serial numbers of sites from small to large in sequence according to the running sequence of a vehicle, and the direction represents two values according to the uplink direction and the downlink direction;
the second acquisition unit is used for acquiring service report data sent by each person when getting on or off the vehicle and heartbeat report data sent by each preset interval, wherein the service report data comprises GPS latitude coordinates, GPS longitude coordinates and report time, and the heartbeat report data comprises the GPS latitude coordinates, the GPS longitude coordinates and the report time;
the first nearest site data obtaining unit is used for respectively calculating and obtaining first site data and second site data which are nearest to the current to-be-processed reported data in the uplink and downlink directions in all site data according to the current to-be-processed reported data and all site data, wherein the current to-be-processed reported data is current service reported data or current heartbeat reported data;
The second latest website data obtaining unit is used for sequentially calculating historical business report data and historical heartbeat report data in a preset period before the current to-be-processed report data arranged according to the descending order of the report time respectively with all website data until the latest report data of the history is obtained, wherein the latest report data of the history meets the conditions that the third website data and the fourth website data which are not the first website data, are not the second website data and are closest to the latest report data of the history in the uplink and downlink directions exist in all website data;
and the running direction judging unit is used for determining the running direction of the vehicle according to the serial numbers and the directions of the first station data, the second station data, the third station data and the fourth station data.
Preferably, the first nearest site data obtaining unit includes:
the first distance value obtaining unit is used for respectively carrying out distance calculation between two spherical points on the current to-be-processed reported data and all site data to obtain each first distance value;
a first station data obtaining unit, configured to select a minimum value from the first distance values, and obtain a first minimum distance value and station data corresponding to the first minimum distance value as first station data;
A first reverse direction station data obtaining unit configured to select station data opposite to a direction of the first station data from all station data as first reverse direction station data;
the second distance value obtaining unit is used for calculating the distance between two spherical points of the current to-be-processed reported data and all the first opposite-direction site data respectively to obtain each second distance value;
and the second station data obtaining unit is used for selecting a minimum value from the second distance values to obtain a second minimum distance value and station data corresponding to the second minimum distance value as second station data.
Preferably, the second nearest site data obtaining unit includes:
a third distance value obtaining unit, configured to perform distance calculation between two spherical points on the i-th reporting data and all site data in the historical service reporting data and the historical heartbeat reporting data in a preset period before the current to-be-processed reporting data arranged in descending order of reporting time, to obtain each third distance value, where i=1, 2, …, m, m is the total number of the historical service reporting data and the historical heartbeat reporting data in the preset period before the current to-be-processed reporting data;
A first preselected site data obtaining unit, configured to select a minimum value from the third distance values, and obtain a third minimum distance value and site data corresponding to the third minimum distance value as third preselected site data;
the first station data difference judging unit is used for judging whether the third preselected station data is the first station data or the second station data;
a first circulation unit for i increasing 1 when the third preselected site data is the first site data or the second site data, and returning to the third distance value obtaining unit when i is less than or equal to m; when i is greater than m, the vehicle running direction of the current service reporting data fails to be judged;
a third station data obtaining unit, configured to, when the third preselected station data is non-first station data and is non-second station data, use the third preselected station data as third station data, and use the ith report data as last preselected report data of history;
a second reverse direction station data obtaining unit configured to select station data opposite to the direction of the third station data from all the station data as second reverse direction station data;
A fourth distance value obtaining unit, configured to perform distance calculation between two spherical points on the last pre-selected report data of the history and all second reverse direction site data respectively, so as to obtain each fourth distance value;
a second preselected site data obtaining unit, configured to select a minimum value from the fourth distance values, and obtain a fourth minimum distance value and site data corresponding to the fourth minimum distance value as fourth preselected site data;
the second station data identity judging unit is used for judging whether the fourth preselected station data is the first station data or the second station data;
a second circulation unit for i increasing 1 when the fourth preselected site data is the first site data or the second site data, and returning to the third distance value obtaining unit when i is less than or equal to m; when i is larger than m, the current vehicle running direction of the to-be-processed reported data fails to be judged;
and the fourth site data obtaining unit is used for taking the fourth preselected site data as fourth site data when the fourth preselected site data is non-first site data and non-second site data, and determining the ith reporting data as the last historical reporting data.
Preferably, the travel direction determination unit includes:
a first judging unit for judging whether the direction of the first site data is the same as the direction of the third site data and whether the serial number of the first site data is larger than the serial number of the third site data; the first station data is a non-initial station;
the first driving direction judging unit is used for determining that the driving direction of the vehicle is the direction of the first station data when the direction of the first station data is the same as the direction of the third station data and the serial number of the first station data is larger than the serial number of the third station data; the current site is first site data;
a second judging unit, configured to judge whether the direction of the second site data is the same as the direction of the third site data and whether the sequence number of the second site data is greater than the sequence number of the third site data when the direction of the first site data is different from the direction of the third site data or the sequence number of the first site data is less than the sequence number of the third site data;
the second driving direction judging unit is used for determining that the driving direction of the vehicle is the direction of the second station data when the direction of the second station data is the same as the direction of the third station data and the serial number of the second station data is larger than the serial number of the third station data; the current site is second site data;
A third judging unit, configured to judge whether the direction of the first site data and the direction of the fourth site data are the same and whether the sequence number of the first site data is greater than the sequence number of the fourth site data when the direction of the second site data and the direction of the third site data are different or the sequence number of the second site data is less than the sequence number of the third site data;
a third running direction judging unit, configured to determine that the running direction of the vehicle is the direction of the first station data when the direction of the first station data is the same as the direction of the fourth station data and the serial number of the first station data is greater than the serial number of the fourth station data; the current site is first site data;
a fourth judging unit configured to judge whether the direction of the second station data is the same as the direction of the fourth station data and whether the sequence number of the second station data is greater than the sequence number of the fourth station data when the direction of the first station data is different from the direction of the fourth station data or the sequence number of the first station data is less than the sequence number of the fourth station data;
a fourth traveling direction determining unit configured to determine that the traveling direction of the vehicle is the direction of the second station data when the direction of the second station data is the same as the direction of the fourth station data and the serial number of the second station data is greater than the serial number of the fourth station data; the current site is second site data;
And the fifth running direction judging unit is used for judging the running direction of the vehicle of the current to-be-processed reporting data to fail when the direction of the second station data is different from the direction of the fourth station data or the serial number of the second station data is smaller than the serial number of the fourth station data.
Preferably, the travel direction determination unit further includes:
a sixth traveling direction determining unit configured to determine, when the first station data is a start station, that the traveling direction of the vehicle is the direction of the first station data when the direction of the fourth station data is opposite to the direction of the first station data or the direction of the third station data is opposite to the direction of the first station data; the current site is the site corresponding to the first site data.
The vehicle-mounted device of the embodiment of the invention is arranged on a vehicle and comprises:
one or more processors; and
a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle travel direction determination method described above.
The vehicle driving direction judging system of the embodiment of the invention comprises:
a remote server comprising one or more processors and storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle travel direction determination method described above.
The embodiment of the invention provides a computer readable storage medium, wherein instructions are stored on the storage medium, and the instructions realize the vehicle driving direction judging method when being executed by a processor.
The vehicle driving direction judging method, device, system, equipment and storage medium provided by the embodiment of the invention have the following advantages:
the vehicle driving direction and the current station are judged only through the GPS coordinates, the reporting time and the line station chain, no other data support is needed, and the correct driving direction and the correct station can be accurately and rapidly determined only under the relationship between the GPS coordinates and the station sequence, so that the vehicle driving direction and the station determining method has the advantages of short detection time consumption, high accuracy and simple algorithm.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart showing a specific example of a vehicle traveling direction determination method in embodiment 1 of the present invention;
Fig. 2 is a flowchart showing another specific example of the vehicle traveling direction determination method in embodiment 1 of the present invention;
fig. 3 is a flowchart of still another specific example of the vehicle traveling direction determination method in embodiment 1 of the present invention;
fig. 4 is a flowchart of still another specific example of the vehicle running direction determination method in embodiment 1 of the present invention;
fig. 5 is a schematic block diagram of a specific example of the vehicle traveling direction determination device in embodiment 2 of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
In the description of the present invention, it is to be understood that the terminology used is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "vehicle" includes public transportation equipment such as buses, subways, BRTs, and the like, as well as Sports Utility Vehicles (SUVs), trucks, buses, boats and ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, hydrogen powered vehicles, and other alternative fuel vehicles (e.g., fuel derived from sources other than petroleum). As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The use of the terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Although the exemplary embodiments are described as using multiple units to perform the exemplary process, it is understood that the exemplary process may also be performed by one or more modules.
Furthermore, some of the figures in this specification are flowcharts for illustrating methods. It will be understood that each block of the flowchart illustrations, and combinations of blocks in the flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be loaded onto a computer or other programmable apparatus to produce a machine, such that the instructions which execute on the computer or other programmable apparatus create means for implementing the functions specified in the flowchart block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart block or blocks. The computer program instructions may also be loaded onto a computer or other programmable apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.
The technical features of the different embodiments of the invention described below may be combined with one another as long as they do not conflict with one another.
Example 1
The present embodiment provides a vehicle driving direction determining method, which can be applied to a vehicle-mounted device or a remote server, as shown in fig. 1, and includes the following steps:
s1, acquiring all site data (site data sequence) S= { S in the uplink and downlink directions of a line (preset specified line) 1 ,S 2 ,…,S t ,…,S n Site data S t Including site name t Sequence number sequence t Direction of direction t GPS latitude coordinate lat t And GPS longitude coordinates lng t T=1, 2, …, n, i.e. S t ＝<name t ,sequence t ,direction t ,lat t ,lng t >Wherein the sequence number sequence t The serial numbers of stations are sequentially numbered from small to large according to the running sequence of the vehicle, for example, when the running line goes up, the serial number of the initial station is 1, and the serial numbers of the subsequent stations are sequentially increased by 1; similarly, in the downstream direction of the line, the number of the start station is 1, and the numbers of the following stations are sequentially incremented by 1. The direction t Representing two values in the uplink and downlink directions, e.g., 1 for the uplink and 2 for the downlink, to indicate the regionDividing into two parts. The GPS coordinates include GPS latitude coordinates lat t And GPS longitude coordinates lng t 。
S2, service report data sent by each person when getting on or off the vehicle and heartbeat report data sent by each preset interval are obtained, wherein the service report data comprises GPS latitude coordinates, GPS longitude coordinates and report time, and the heartbeat report data comprises the GPS latitude coordinates, the GPS longitude coordinates and the report time. The on-vehicle embedded device can detect whether a person gets on or off the vehicle in real time, and send service reporting data once when the person gets on or off the vehicle. The heartbeat report data is fixedly sent once at preset intervals, for example, the preset intervals are 1 minute. The service report data acquired at the current moment is current service report data, the heartbeat report data acquired at the current moment is current heartbeat report data, the service report data acquired at any moment before the current moment is historical service report data, and the heartbeat report data acquired at any moment before the current moment is historical heartbeat report data.
S3, reporting data and all site data S= { S according to current waiting to be processed 1 ，S 2 ，...，S t ，...，S n Respectively calculating and obtaining first site data closest to the current to-be-processed reported data in the uplink and downlink directions in all site data And second site data->The current to-be-processed report data is the report data of the current serviceOr the current heartbeat report data->
S4, reporting the data sequenceAnd (3) sequentially and respectively calculating with all site data from the first element until the last reported data of the history is obtained. The reported data sequence P data Comprising all historical service reporting data in a preset period of time before the current pending reporting data in descending reporting time order>And historical heartbeat reporting datax=1, 2, u, u is the total number of all historical service report data in a preset period before the current report data to be processed, y=1, 2, v, v is the total number of all historical heartbeat report data in the preset period before the current report data to be processed, and the last report data of the history satisfies the condition that the third site data which has non-first site data, non-second site data and has the closest distance to the last report data of the history in the uplink and downlink directions exists in all site data>And fourth site data->Is a condition of (2).
S5, according to the first site dataSecond site data->Third site data->And fourth site data- >And determining the running direction of the vehicle.
According to the vehicle running direction judging method, the vehicle running direction and the current station are judged only through the GPS coordinates, the reporting time and the line station chain, no other data support is needed, the correct running direction and the correct station can be accurately and rapidly determined only under the relation between the GPS coordinates and the station sequence, and the vehicle running direction judging method has the advantages of short detection time consumption, high accuracy and simplicity in algorithm.
Preferably, as shown in fig. 2, the step of S3 includes:
s31, current to-be-processed report data and site data sequence S= { S 1 ，S 2 ，...，S t ，...，S n Traversing calculation to obtain a first distance value sequence between two points of the sphere
S32, selecting the minimum value from the first distance value sequence to obtain a first minimum distance valueAnd a first minimum distance value +.>Corresponding site data as first site data +.>
S33, slave station data sequence S= { S 1 ，S 2 ，...，S t ，...，S n Selecting from among the first site dataIs opposite (e.g. the two values of the direction are 1 and 2, if the first site data +.>Is 1, thenWith first site dataThe station data of the opposite direction being 2) is taken as first opposite direction station data.
S34, current to-be-processed report data and first reverse direction site data sequence Performing traversal calculation, wherein b is the total number of the first reverse direction site data to obtain a second distance value sequence between two spherical points +.>
S35, selecting a minimum value from the second distance value sequence to obtain a second minimum distance valueAnd a second minimum distance value +.>Corresponding site data as second site data +.>
Preferably, as shown in fig. 3, the step of S4 includes:
s41, reporting the data sequence P data I-th element in (a) and site data sequence s= { S 1 ，S 2 ，...，S t ，...，S n Traversing calculation to obtain a third distance value sequence between two points of the spherei has an initial value of 1, i.e. traverses the reported data sequence starting from the first element.
S42, selecting the minimum value from the third distance value sequence to obtain a third minimum distance valueAnd a third minimum distance value +.>The corresponding site data is used as the third preselected site data.
S43, judging whether the third pre-selected site data is the first site dataOr second site data->
S44, when the third pre-selected site data is the first site dataOr second site data->When i is increased by 1, and when i is smaller than or equal to m, m=u+v, returning to S41, and continuing to traverse; when i is larger than m, the current vehicle running direction judgment of the to-be-processed reported data fails.
S45, when the third pre-selected site data is non-first site dataAnd non-second site data->When the third preselected site data is taken as third site data +.>Reporting data sequence P data The ith element (the ith reported data) of the history is used as the last preselected reported data of the history.
S46, slave station data sequence S= { S 1 ，S 2 ，...，S t ，...，S n Select from among and third site dataIs used as second reverse direction station data.
S47, historical last preselection report data and second reverse direction station data sequence Performing traversal calculation, wherein d is the total number of the second opposite-direction site data to obtain a fourth distance value sequence between two spherical points +.>
S48, selecting the minimum value from the fourth distance value sequence to obtain a fourth minimum distance valueAnd a fourth minimum distance value +.>The corresponding site data is referred to as fourth preselected site data.
S49, judging whether the fourth preselected site data is the first site dataOr second site data->
S410, when the fourth preselected site data is the first site dataOr second site data->When i is increased by 1, returning to S41 and continuing traversing when i is smaller than or equal to m; when i is larger than m, the current vehicle running direction judgment of the to-be-processed reported data fails.
S411, when the fourth preselected site data is non-first site dataAnd non-second site data->At this time, the fourth preselected site data is taken as the fourth site data +.>Reporting data sequence P data The i-th element (i-th reported data) in the history is determined as the last reported data, and the traversal is ended.
Preferably, as shown in fig. 4, the step of S5 includes:
s51, judging the first site dataDirection of->And third site data->Is of the direction of (2)Whether or not the first site data are identical +.>Sequence number->Whether or not it is greater than third site dataSequence number->Said first site data->Is a non-origin station;
s52, when the first site dataDirection of->And third site data->Is of the direction of (2)Identical and first site data->Sequence number->Greater than third site data->Sequence number->When it is determined that the vehicle traveling direction is first stop data +.>Direction of->The current site is the firstSite data corresponds to sites;
s53, when the first site dataDirection of->And third site data->Is of the direction of (2)Different or first site data +>Sequence number->Less than third site data->Sequence number->Judging the second site data +.>Direction of->And third site data->Direction of->Whether or not the same and the second site data +. >Sequence number->Whether or not it is greater than third site data +.>Sequence number->
S54, when the second site dataDirection of->And third site data->Is of the direction of (2)Identical and second site data->Sequence number->Greater than third site data->Sequence number->When it is determined that the vehicle traveling direction is second station data +.>Direction of->The current site is a site corresponding to the second site data;
s55, when the second site dataDirection of->And third site data->Is of the direction of (2)Different or second site data +.>Sequence number->Less than third site data->Sequence number->Judging the first site data +.>Direction of->And fourth site dataDirection of->Whether or not the first site data are identical +.>Sequence number->Whether or not it is greater than fourth site data +.>Sequence number->
S56, when the first site dataDirection of->And fourth site data->Is of the direction of (2)Identical and first site data->Sequence number->Greater than fourth site data->Sequence number->When it is determined that the vehicle traveling direction is first stop data +.>Direction of->The current site is a site corresponding to the first site data;
s57, when the first site dataDirection of->And fourth site data->Is of the direction of (2)Different or first site data +>Sequence number->Less than fourth site data- >Sequence number->Judging the second site data +.>Direction of->And fourth site dataDirection of->Whether or not the same and the second site data +.>Sequence number->Whether or not it is greater than fourth site data +.>Sequence number->
S58, when the second site dataDirection of->And fourth site data->Is of the direction of (2)Identical and second site data->Sequence number->Greater than fourth site data->Sequence number->When it is determined that the vehicle traveling direction is second station data +.>Direction of->The current site is a site corresponding to the second site data;
s59, when the second site dataDirection of->And fourth site data->Is of the direction of (2)Different or second site data +.>Sequence number->Less than fourth site data->Sequence number->And when the vehicle running direction judgment of the current to-be-processed reported data fails.
Preferably, the step of S5 further comprises:
when the first site dataWhen the fourth site data is +.>Direction of->Data->Direction of->Opposite or third site data->Direction of->Data->Direction of->On the contrary, determining the vehicle driving direction as the first station dataDirection of->The current site is the site corresponding to the first site data.
Example 2
Corresponding to embodiment 1, the present embodiment provides a vehicle traveling direction determination device, as shown in fig. 5, including:
A first acquiring unit 1 for acquiring all site data s= { S in the uplink and downlink directions of the line 1 ，S 2 ，...，S t ，...，S n }。
And the second acquisition unit 2 is used for acquiring service report data sent by each person when getting on or off the vehicle and heartbeat report data sent by each preset interval.
A first latest site data obtaining unit 3, configured to obtain current to-be-processed reporting data and all site data s= { S 1 ，S 2 ，...，S t ，...，S n Respectively calculating and obtaining first site data closest to the current to-be-processed reported data in the uplink and downlink directions in all site dataAnd second site data->
A second nearest site data obtaining unit 4 for reporting the data sequenceSequentially and respectively calculating with all site data from the first element until the last report data of the history is obtained, wherein the last report data of the history satisfies the third site data which is the non-first site data, the non-second site data and has the closest distance to the last report data of the history in the uplink and downlink directions in all the site data>And fourth site data->Is a condition of (2).
A traveling direction determining unit 5 for determining a traveling direction of the vehicle based on the first station dataSecond site data->Third site data- >And fourth site data->And determining the running direction of the vehicle.
According to the vehicle running direction judging device, the vehicle running direction and the current station are judged only through the GPS coordinates, the reporting time and the line station chain, no other data support is needed, and the correct running direction and the correct station can be accurately and rapidly determined only under the relation between the GPS coordinates and the station sequence, so that the vehicle running direction judging device has the advantages of short detection time consumption, high accuracy and simple algorithm.
Preferably, the first nearest site data obtaining unit includes:
a first distance value obtaining unit, configured to report data to be currently processed and a site data sequence s= { S 1 ，S 2 ，...，S t ，...，S n Traversing calculation to obtain a first distance value sequence between two points of the sphere
A first station data obtaining unit for selecting minimum value from the first distance value sequence to obtain first minimum distance valueAnd a first minimum distance value +.>Corresponding site data as first site data +.>
A first reverse direction station data obtaining unit for obtaining a station data sequence S= { S 1 ，S 2 ，...，S t ，...，S n Selecting from among the first site dataIs the direction phase of (a)The inverted site data is used as first inverted site data.
A second distance value obtaining unit for reporting the current data to be processed and the first reverse direction site data sequencePerforming traversal calculation, wherein b is the total number of the first reverse direction site data to obtain a second distance value sequence between two spherical points +.>
A second station data obtaining unit for selecting minimum value from the second distance value sequence to obtain a second minimum distance valueAnd a second minimum distance value +.>Corresponding site data as second site data +.>
Preferably, the second nearest site data obtaining unit includes:
a third distance value obtaining unit for reporting the data sequence P data I-th element in (a) and site data sequence s= { S 1 ，S 2 ，...，S t ，...，S n Traversing calculation to obtain a third distance value sequence between two points of the spherei has an initial value of 1, i.e. traverses the reported data sequence starting from the first element.
A first preselected site data obtaining unit for selecting a minimum value from the third distance value sequence to obtain a third minimum distance valueAnd a third minimum distance value +.>The corresponding site data is used as the third preselected site data.
A first station data difference judging unit for judging whether the third preselected station data is the first station dataOr second site data- >
A first circulation unit for when the third preselected site data is the first site dataOr second site dataWhen i is less than or equal to m, m=u+v, returning to the third distance value obtaining unit, and continuing to traverse; when i is larger than m, the current vehicle running direction judgment of the to-be-processed reported data fails.
A third station data obtaining unit for obtaining the third pre-selected station data when the third pre-selected station data is non-first station dataAnd non-second site data->When the third preselected site data is taken as third site data +.>Reporting data sequence P data The ith element (the ith reported data) of the history is used as the last preselected reported data of the history.
Second opposite sideA unit for obtaining the site data, which is used for obtaining the site data sequence S= { S 1 ，S 2 ，...，S t ，...，S n Select from among and third site dataIs used as second reverse direction station data.
A fourth distance value obtaining unit for preselecting the report data and the second reverse direction site data sequence in the last timePerforming traversal calculation, wherein d is the total number of the second opposite-direction site data to obtain a fourth distance value sequence between two spherical points +.>
A second preselected site data obtaining unit for selecting the minimum value from the fourth distance value sequence to obtain a fourth minimum distance value And a fourth minimum distance value +.>The corresponding site data is referred to as fourth preselected site data.
A second station data difference judging unit for judging whether the fourth preselected station data is the first station dataOr second site data->
A second circulation unit for when the fourth preselected site data is the first site dataOr second site dataWhen i is less than or equal to m, returning to the third distance value obtaining unit, and continuing traversing; when i is larger than m, the current vehicle running direction judgment of the to-be-processed reported data fails.
A fourth site data obtaining unit for obtaining the fourth preselected site data when the fourth preselected site data is not the first site dataAnd non-second site data->At this time, the fourth preselected site data is taken as the fourth site data +.>Reporting data sequence P data The i-th element (i-th reported data) in the history is determined as the last reported data, and the traversal is ended.
Preferably, the travel direction determination unit includes:
a first judging unit for judging the first site dataDirection of->And third site dataDirection of->Whether or not the first site data are identical +.>Sequence number->Whether or not it is greater than third site data +.>Sequence number->Said first site data- >Is a non-origin station;
a first driving direction determining unit for determining the first driving direction of the vehicle when the first station dataDirection of->And third site data->Direction of->Identical and first site data->Sequence number->Greater than third site data->Sequence number->When it is determined that the vehicle traveling direction is first stop data +.>Direction of->The current site is a site corresponding to the first site data;
a second judging unit for judging the first site dataDirection of->And third site dataDirection of->Different or first site data +>Sequence number->Less than third site data->Sequence number->Judging the second site data +.>Direction of->And third site data->Direction of->Whether or not the same and the second site data +.>Sequence number->Whether or not it is greater than third site data +.>Sequence number->
A second traveling direction determining unit for determining the traveling direction of the vehicle when the second station data is receivedDirection of->And third site data->Direction of->Identical and second site data->Sequence number->Greater than third site data->Sequence number->When determiningDetermining the driving direction of the vehicle as second station data +.>Is of the direction of (2)The current site is a site corresponding to the second site data;
a third judging unit for judging the second site dataDirection of->And third site data Direction of->Different or second site data +.>Sequence number->Less than third site data->Sequence number->Judging the first site data +.>Direction of->And fourth site data->Direction of->Whether or not the first site data are identical +.>Sequence number->Whether or not it is greater than fourth site data +.>Sequence number->
A third driving direction determining unit for determining the driving direction of the vehicle when the first station dataDirection of->And fourth site data->Direction of->Identical and first site data->Sequence number->Greater than fourth site data->Sequence number->When it is determined that the vehicle traveling direction is first stop data +.>Is of the direction of (2)The current site is a site corresponding to the first site data;
a fourth judging unit for judging the first site dataDirection of->And fourth site dataDirection of->Different or first site data +>Sequence number->Less than fourth site data->Sequence number->When judging that the second site data +>Direction of->And fourth site data->Direction of->Whether or not the same and the second site data +.>Sequence number->Whether or not it is greater than fourth site data +.>Sequence number->
A fourth traveling direction determining unit for determining the traveling direction of the vehicle when the second station data is receivedDirection of->And fourth site data->Direction of->Identical and second site data- >Sequence number->Greater than fourth site data->Sequence number->When it is determined that the vehicle traveling direction is second station data +.>Is of the direction of (2)The current site is a site corresponding to the second site data;
a fifth driving direction determining unit for determining the second station dataDirection of->And fourth site data->Direction of->Different or second site data +.>Sequence number->Less than fourth site data->Sequence number->And when the vehicle running direction judgment of the current to-be-processed reported data fails.
Preferably, the travel direction determination unit further includes:
a sixth traveling direction determining unit for determining, when the first station dataWhen the fourth site data is +.>Direction of->Data->Direction of->Opposite or third site data->Direction of->Data->Direction of->On the contrary, it is determined that the vehicle traveling direction is the first station data +.>Direction of->The current site is the site corresponding to the first site data.
Example 3
The present embodiment provides a vehicle-mounted device that can be provided on a vehicle, including:
one or more processors; and
a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle travel direction determination method of embodiment 1.
Example 4
The present embodiment provides a vehicle traveling direction determination system including:
a remote server comprising one or more processors and storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle travel direction determination method of embodiment 1.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (8)
1. A vehicle traveling direction determination method characterized by comprising the steps of:
acquiring all site data in the uplink and downlink directions of a line, wherein the site data comprises a site name, a serial number, a direction, GPS latitude coordinates and GPS longitude coordinates, wherein the serial number represents serial numbers of sites from small to large in sequence according to the running sequence of a vehicle, and the direction represents two values according to the uplink direction and the downlink direction;
Acquiring business report data sent by each person when getting on or off the vehicle and heartbeat report data sent by each preset interval, wherein the business report data comprises GPS latitude coordinates, GPS longitude coordinates and report time, and the heartbeat report data comprises the GPS latitude coordinates, the GPS longitude coordinates and the report time;
according to the current to-be-processed report data and all site data, respectively calculating and obtaining first site data and second site data which are closest to the current to-be-processed report data in the uplink and downlink directions in all site data, wherein the current to-be-processed report data is current service report data or current heartbeat report data;
the method comprises the steps that historical business report data and historical heartbeat report data in a preset period before current to-be-processed report data arranged according to a report time descending order are sequentially and respectively calculated with all site data until historical latest report data are obtained, wherein the historical latest report data meet the conditions that third site data and fourth site data which are not first site data, not second site data and have the closest distance to the historical latest report data in the uplink and downlink directions exist in all site data;
Determining the running direction of the vehicle according to the serial numbers and the directions of the first station data, the second station data, the third station data and the fourth station data;
the step of calculating the historical service report data and the historical heartbeat report data in a preset period before the current to-be-processed report data arranged according to the report time descending order with all site data one by one in sequence until the last report data of the history is obtained, wherein the last report data of the history meets the conditions that the third site data and the fourth site data which are not first site data, not second site data and have the closest distances between the last report data of the history and the third site data in the uplink and downlink directions exist in all the site data comprises the following steps:
performing spherical distance calculation between two points on the i-th reporting data and all site data in the historical service reporting data and the historical heartbeat reporting data in a preset period before the current to-be-processed reporting data arranged according to the reporting time descending order to obtain each third distance value, wherein i=1, 2, & gt, m and m are the total number of the historical service reporting data and the historical heartbeat reporting data in the preset period before the current to-be-processed reporting data;
Selecting a minimum value from the third distance values, and obtaining a third minimum distance value and site data corresponding to the third minimum distance value as third preselected site data;
judging whether the third preselected site data is the first site data or the second site data;
when the third preselected site data is non-first site data and non-second site data, the third preselected site data is used as third site data, and the ith report data is used as historical latest preselected report data;
selecting station data with the opposite direction to the third station data from all the station data as second opposite direction station data;
the last preselected report data of the history and all second reverse direction site data are respectively subjected to distance calculation between two spherical points to obtain fourth distance values;
selecting a minimum value from the fourth distance values, and obtaining a fourth minimum distance value and station data corresponding to the fourth minimum distance value as fourth preselected station data;
judging whether the fourth preselected site data is the first site data or the second site data;
and when the fourth preselected site data is not the first site data and is not the second site data, the fourth preselected site data is used as fourth site data, and the ith report data is determined to be the last report data of the history.
2. The method of claim 1, wherein the step of calculating, according to the current report data to be processed and all the site data, respectively obtaining, from all the site data, first site data and second site data closest to the current report data to be processed in the uplink and downlink directions includes:
the current to-be-processed reported data and all site data are respectively subjected to distance calculation between two spherical points to obtain first distance values;
selecting a minimum value from the first distance values, and obtaining a first minimum distance value and site data corresponding to the first minimum distance value as first site data;
selecting site data with the opposite direction to the first site data from all site data as first opposite direction site data;
the current to-be-processed reported data and all the first reverse direction site data are respectively subjected to distance calculation between two spherical points to obtain second distance values;
and selecting a minimum value from the second distance values, and obtaining a second minimum distance value and site data corresponding to the second minimum distance value as second site data.
3. The method of claim 2, wherein the step of determining the vehicle traveling direction based on the serial numbers and directions of the first, second, third, and fourth station data comprises:
Judging whether the direction of the first site data is the same as the direction of the third site data and whether the serial number of the first site data is larger than the serial number of the third site data;
when the direction of the first station data is the same as the direction of the third station data and the serial number of the first station data is larger than the serial number of the third station data, determining that the vehicle running direction is the direction of the first station data;
when the direction of the first site data is different from the direction of the third site data or the serial number of the first site data is smaller than the serial number of the third site data, judging whether the direction of the second site data is the same as the direction of the third site data and whether the serial number of the second site data is larger than the serial number of the third site data;
when the direction of the second station data is the same as the direction of the third station data and the serial number of the second station data is larger than the serial number of the third station data, determining that the vehicle running direction is the direction of the second station data;
when the direction of the second site data is different from the direction of the third site data or the serial number of the second site data is smaller than the serial number of the third site data, judging whether the direction of the first site data is the same as the direction of the fourth site data and whether the serial number of the first site data is larger than the serial number of the fourth site data;
When the direction of the first station data is the same as the direction of the fourth station data and the serial number of the first station data is larger than the serial number of the fourth station data, determining that the vehicle running direction is the direction of the first station data;
when the direction of the first site data is different from the direction of the fourth site data or the serial number of the first site data is smaller than the serial number of the fourth site data, judging whether the direction of the second site data is the same as the direction of the fourth site data and whether the serial number of the second site data is larger than the serial number of the fourth site data;
and when the direction of the second station data is the same as the direction of the fourth station data and the serial number of the second station data is larger than the serial number of the fourth station data, determining that the vehicle running direction is the direction of the second station data.
4. A vehicle traveling direction determination device, characterized by comprising:
the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring all site data in the uplink and downlink directions of a line, the site data comprises a site name, a serial number, a direction, a GPS latitude coordinate and a GPS longitude coordinate, the serial number represents serial numbers of sites from small to large in sequence according to the running sequence of a vehicle, and the direction represents two values according to the uplink direction and the downlink direction;
The second acquisition unit is used for acquiring service report data sent by each person when getting on or off the vehicle and heartbeat report data sent by each preset interval, wherein the service report data comprises GPS latitude coordinates, GPS longitude coordinates and report time, and the heartbeat report data comprises the GPS latitude coordinates, the GPS longitude coordinates and the report time;
the first nearest site data obtaining unit is used for respectively calculating and obtaining first site data and second site data which are nearest to the current to-be-processed reported data in the uplink and downlink directions in all site data according to the current to-be-processed reported data and all site data, wherein the current to-be-processed reported data is current service reported data or current heartbeat reported data;
the second latest website data obtaining unit is used for sequentially calculating historical business report data and historical heartbeat report data in a preset period before the current to-be-processed report data arranged according to the descending order of the report time respectively with all website data until the latest report data of the history is obtained, wherein the latest report data of the history meets the conditions that the third website data and the fourth website data which are not the first website data, are not the second website data and are closest to the latest report data of the history in the uplink and downlink directions exist in all website data;
The running direction judging unit is used for determining the running direction of the vehicle according to the serial numbers and the directions of the first station data, the second station data, the third station data and the fourth station data;
the second nearest site data obtaining unit includes:
a third distance value obtaining unit, configured to perform distance calculation between two spherical points on the i-th reporting data and all site data in the historical service reporting data and the historical heartbeat reporting data in a preset period before the current to-be-processed reporting data arranged in descending order of reporting time, to obtain each third distance value, where i=1, 2..m, m is the total number of the historical service reporting data and the historical heartbeat reporting data in the preset period before the current to-be-processed reporting data;
a first preselected site data obtaining unit, configured to select a minimum value from the third distance values, and obtain a third minimum distance value and site data corresponding to the third minimum distance value as third preselected site data;
the first station data difference judging unit is used for judging whether the third preselected station data is the first station data or the second station data;
a third station data obtaining unit, configured to, when the third preselected station data is non-first station data and is non-second station data, use the third preselected station data as third station data, and use the ith report data as last preselected report data of history;
A second reverse direction station data obtaining unit configured to select station data opposite to the direction of the third station data from all the station data as second reverse direction station data;
a fourth distance value obtaining unit, configured to perform distance calculation between two spherical points on the last pre-selected report data of the history and all second reverse direction site data respectively, so as to obtain each fourth distance value;
a second preselected site data obtaining unit, configured to select a minimum value from the fourth distance values, and obtain a fourth minimum distance value and site data corresponding to the fourth minimum distance value as fourth preselected site data;
the second station data identity judging unit is used for judging whether the fourth preselected station data is the first station data or the second station data;
and the fourth site data obtaining unit is used for taking the fourth preselected site data as fourth site data when the fourth preselected site data is non-first site data and non-second site data, and determining the ith reporting data as the last historical reporting data.
5. The apparatus of claim 4, wherein the first nearest site data obtaining unit comprises:
The first distance value obtaining unit is used for respectively carrying out distance calculation between two spherical points on the current to-be-processed reported data and all site data to obtain each first distance value;
a first station data obtaining unit, configured to select a minimum value from the first distance values, and obtain a first minimum distance value and station data corresponding to the first minimum distance value as first station data;
a first reverse direction station data obtaining unit configured to select station data opposite to a direction of the first station data from all station data as first reverse direction station data;
the second distance value obtaining unit is used for calculating the distance between two spherical points of the current to-be-processed reported data and all the first opposite-direction site data respectively to obtain each second distance value;
and the second station data obtaining unit is used for selecting a minimum value from the second distance values to obtain a second minimum distance value and station data corresponding to the second minimum distance value as second station data.
6. An in-vehicle apparatus provided on a vehicle, comprising:
one or more processors; and
a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle direction of travel determination method of any of claims 1-3.
7. A vehicle traveling direction determination system, characterized by comprising:
a remote server comprising one or more processors and storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle direction of travel determination method of any of claims 1-3.
8. A computer-readable storage medium having stored thereon instructions that, when executed by a processor, implement the vehicle travel direction determination method according to any one of claims 1 to 3.
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