CN115793005A - Positioning mode switching method, device, equipment and storage medium - Google Patents
Positioning mode switching method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of vehicles and discloses a positioning mode switching method, a positioning mode switching device, positioning mode switching equipment and a storage medium. The method comprises the following steps: acquiring positioning data and distance data in a first positioning mode; calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value; determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold value; and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode. By the mode, whether the positioning mode is switched is determined according to the distance deviation value and the target deviation threshold, when the positioning mode is determined to be switched, the positioning mode is switched from the first positioning mode to the second positioning mode, the reliability of positioning data in the first positioning mode can be quickly realized, the positioning mode is timely switched when the reliability is low, the positioning accuracy in the driving process of the vehicle is ensured, and the driving safety of the vehicle during automatic driving is ensured.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a device, and a storage medium for switching a positioning mode.
Background
The vehicle needs real-time positioning in the driving process, and particularly the vehicle with the automatic driving function has extremely high requirement on positioning accuracy. Therefore, in the prior art, the positioning signal needs to be detected in time, and when the positioning signal is inaccurate, the positioning mode needs to be switched, but most of the existing methods for detecting the positioning signal adopt whether the signal strength exceeds the strength threshold value within a certain duration as a judgment condition, but the method cannot meet the requirement of timeliness. Or the OBU and the RSU are communicated to obtain a vehicle switching positioning mode signal, and the RSU and the map data assist in judging whether the vehicle enters a tunnel or other special sections without GPS signals, but the mode cannot be implemented on the sections without the RSU, and the problem of poor temporary positioning signals cannot be effectively solved.
Disclosure of Invention
The invention mainly aims to provide a positioning mode switching method, a positioning mode switching device, positioning mode switching equipment and a storage medium, and aims to solve the technical problem of how to ensure accurate positioning in the driving process of a vehicle in the prior art.
In order to achieve the above object, the present invention provides a positioning mode switching method, including:
acquiring positioning data and distance data in a first positioning mode;
calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value;
determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold value;
and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode.
Optionally, the performing distance difference calculation according to the positioning data and the distance data, and determining a distance deviation value includes:
determining a first signal moment and a second signal moment according to the positioning data;
determining a vehicle driving distance and vehicle driving data according to the first signal time, the second signal time and the distance data;
and calculating a distance difference value according to the vehicle running distance and the vehicle running data, and determining a distance deviation value.
Optionally, the performing distance difference calculation according to the vehicle driving distance and the vehicle driving data to determine a distance deviation value includes:
determining segmented mileage data and receiving time corresponding to each segmented mileage data according to the vehicle driving data;
determining a plurality of segmented mileage distances according to each segmented mileage datum;
determining the driving mileage value according to the sectional mileage distance and the receiving time corresponding to the sectional mileage data;
and determining a distance deviation value according to the driving mileage value and the vehicle driving distance.
Optionally, the determining the driving mileage value according to each segmented mileage distance and the receiving time corresponding to each segmented mileage data includes:
determining an initial mileage moment according to the first signal moment and the distance data;
and calculating the mileage value according to the initial mileage moment, the first signal moment, the second signal moment, the mileage distance of each segment and the receiving time corresponding to the mileage data of each segment, and determining the driving mileage value.
Optionally, before determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold, the method further includes:
acquiring a plurality of target weighted values;
determining a plurality of jump difference values according to the distance data and the positioning data;
and calculating a threshold value according to each target weighted value and each jump difference value, and determining a target deviation threshold value.
Optionally, the determining a plurality of jump difference values according to the distance data and the positioning data includes:
acquiring a plurality of groups of positioning jump time points according to the positioning data;
determining mileage distance values corresponding to the positioning and hopping time points according to the distance data;
and determining a plurality of jump difference values according to the mileage distance value corresponding to each positioning jump time point.
Optionally, the determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold includes:
comparing the distance deviation value with a target deviation threshold value to obtain a comparison result;
determining whether to switch the positioning mode according to the comparison result;
when determining to switch the positioning mode, before switching the positioning mode from the first positioning mode to the second positioning mode, the method further includes:
and when the comparison result is that the distance deviation value is greater than the target deviation threshold value, determining to switch the positioning mode.
In addition, to achieve the above object, the present invention further provides a positioning mode switching device, including:
the acquisition module is used for acquiring positioning data and distance data in a first positioning mode;
the calculation module is used for calculating a distance difference value according to the positioning data and the distance data and determining a distance deviation value;
the determining module is used for determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold value;
and the switching module is used for switching the positioning mode from the first positioning mode to the second positioning mode when the positioning mode is determined to be switched.
In addition, to achieve the above object, the present invention further provides a positioning mode switching device, including: a memory, a processor and a positioning mode switching program stored on the memory and executable on the processor, the positioning mode switching program being configured to implement the positioning mode switching method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having a positioning mode switching program stored thereon, wherein the positioning mode switching program, when executed by a processor, implements the positioning mode switching method as described above.
The method comprises the steps of acquiring positioning data and distance data in a first positioning mode; calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value; determining whether to switch a positioning mode according to the distance deviation value and a target deviation threshold value; and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode. By the mode, the distance deviation value is calculated according to the positioning data and the distance data, whether the positioning mode is switched is determined according to the distance deviation value and the target deviation threshold, when the positioning mode is determined to be switched, the positioning mode is switched from the first positioning mode to the second positioning mode, the reliability of the positioning data in the first positioning mode can be quickly achieved, the positioning mode is timely switched when the reliability is low, the positioning accuracy in the driving process of the vehicle is guaranteed, and the driving safety of the vehicle during automatic driving is guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a positioning mode switching device in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a positioning mode switching method according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a positioning mode switching method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating interpolation calculation according to an embodiment of the positioning mode switching method of the present invention;
fig. 5 is a block diagram of a positioning mode switching device according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a positioning mode switching device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the positioning mode switching device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
It will be appreciated by those skilled in the art that the arrangement shown in figure 1 does not constitute a limitation of the positioning mode switching device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a positioning mode switching program.
In the positioning mode switching apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the positioning mode switching device of the present invention may be disposed in the positioning mode switching device, and the positioning mode switching device calls the positioning mode switching program stored in the memory 1005 through the processor 1001 and executes the positioning mode switching method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for switching a positioning mode, and referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a method for switching a positioning mode according to the present invention.
The positioning mode switching method comprises the following steps:
step S10: positioning data and distance data in a first positioning mode are acquired.
It should be noted that, the execution subject of the embodiment is a controller of a vehicle, and the controller of the vehicle may include a central computing unit of the vehicle, which determines a distance deviation value by acquiring positioning data and distance data in a first positioning mode, performing distance difference value calculation according to the positioning data and the distance data, determining whether to perform positioning mode switching according to the distance deviation value and a target deviation threshold, and when it is determined to perform positioning mode switching, switching the positioning mode from the first positioning mode to a second positioning mode.
It is understood that the first positioning mode refers to a positioning mode using a GNSS (Global Navigation Satellite System) signal positioning device. And acquiring positioning data generated by the GNSS signal positioning device in the first positioning mode and distance data generated by the wheel speed odometer.
Step S20: and calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value.
It should be noted that, the distance value difference within a certain time period is calculated according to the positioning data and the distance data, the difference between the mileage value corresponding to the positioning data and the mileage value corresponding to the distance data is determined, and the difference between the mileage value corresponding to the positioning data and the mileage value corresponding to the distance data within the certain time period is the distance deviation value.
Step S30: and determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold value.
It should be noted that the target deviation threshold refers to a distance deviation critical value determined according to the distance data and the positioning data. And comparing the distance deviation value with a target deviation threshold value to determine whether to switch the positioning mode.
It can be understood that, in order to obtain an accurate target deviation threshold, further, before determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold, the method further includes: acquiring a plurality of target weighted values; determining a plurality of jump difference values according to the distance data and the positioning data; and calculating a threshold value according to each target weighted value and each jump difference value, and determining a target deviation threshold value.
In a specific implementation, the target weighted value refers to a preset weighted value corresponding to each jump difference value, generally, 5 jump difference values can be determined according to the distance data and the positioning data, and the target weighted value has 5, and the selection rule of the target weighted value specifically is as follows: since the vehicle speed is continuously varied during the travel of the vehicle, the target weight values closer to the time point are the highest in accordance with the current trend, the target weight values are the highest and decrease in time order, and the target weight values are equal in the stationary state of the vehicle, but are not maintained in the case of an error, in which case the target weight values are equal to eliminate a single deviation, and the sum of the sums is 1. For example, there are 5 weighted values, a, b, c, d, e, respectively, when a = b = c = d = e =0.2.
It should be noted that, the mileage jump difference value in a plurality of preset time periods can be determined according to the distance data and the positioning data, and the mileage jump difference value is a jump difference value. And calculating a threshold value according to the target weighted value and each jump difference value, thus determining a target deviation threshold value. For example, there are currently 5 jump differences, Δ k each 1 、Δk 2 、Δk 3 、Δk 4 、Δk 5 If 5 target weight values a = b = c = d = e =0.2, the target deviation threshold is Δ k = a Δ k 1 +bΔk 2 +cΔk 3 +dΔk 4 +eΔk 5 。
It is understood that, in order to determine an accurate jump difference value according to the positioning data and the distance data, further, the determining a plurality of jump difference values according to the distance data and the positioning data includes: acquiring a plurality of groups of positioning jump time points according to the positioning data; determining mileage distance values corresponding to the positioning and hopping time points according to the distance data; and determining a plurality of jump difference values according to the mileage distance value corresponding to each positioning jump time point.
In the specific implementation, a plurality of groups of positioning and hopping time points are obtained from the positioning data, the mileage distance value corresponding to each positioning and hopping time point is determined according to the distance data, a plurality of hopping difference values are determined according to the mileage distance value corresponding to each positioning and hopping time point, and the specific process is as follows: and randomly selecting multiple groups of positioning and hopping data in the positioning data, wherein each positioning and hopping data corresponds to one group of positioning and hopping time points, and acquiring the mileage distance value corresponding to each group of positioning and hopping time points in the distance data. For example, in the positioning data 11:00:00 acquires a positioning signal, 11:00:20, the positioning signal jumps, 11:00:00 and 11:00:20 is the first group of positioning and hopping time points, and 11 is obtained: 00: mileage data of 00 is X kilometers and 11:00:20 kilometers of mileage data, the jump difference value corresponding to the first group of positioning jump time points is Y-X, and the second group of positioning jump time points is 11:00:30 and 11:00:50, then 11:00: mileage data of 30 is M kilometers and 11:00: and if the mileage data is N kilometers, the jump difference value corresponding to the second group of positioning jump time points is N-M.
It should be noted that, in order to accurately determine according to the target deviation threshold and the distance deviation value, further, determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold includes: comparing the distance deviation value with a target deviation threshold value to obtain a comparison result; determining whether to switch the positioning mode according to the comparison result; when determining to switch the positioning mode, before switching the positioning mode from the first positioning mode to the second positioning mode, the method further includes: and when the comparison result is that the distance deviation value is greater than the target deviation threshold value, determining to switch the positioning mode.
It can be understood that the distance deviation value and the target deviation threshold are compared to obtain a comparison result, whether the positioning mode is switched is determined according to the comparison result, when the distance deviation value is greater than the target deviation threshold as the comparison result, it indicates that the positioning signal in the first positioning mode is not authentic, at this time, it is determined that the positioning mode needs to be switched, and the positioning mode is switched from the first positioning mode to the second positioning mode. And when the comparison result shows that the distance deviation value is not greater than the target deviation threshold value, the positioning signal in the first positioning mode is credible, and the first positioning mode is kept for positioning.
Step S40: and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode.
It should be noted that the second positioning mode refers to a positioning mode using a sensor fusion positioning system. When the positioning mode is determined to be switched, the controller sends a switching instruction to switch the positioning mode from the first positioning mode to the second positioning mode.
In the embodiment, positioning data and distance data in a first positioning mode are acquired; calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value; determining whether to switch a positioning mode according to the distance deviation value and a target deviation threshold value; and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode. By the mode, the distance deviation value is calculated according to the positioning data and the distance data, whether positioning mode switching is carried out or not is determined according to the distance deviation value and the target deviation threshold value, when the positioning mode switching is determined, the positioning mode is switched from the first positioning mode to the second positioning mode, the reliability of the positioning data in the first positioning mode can be rapidly realized, the positioning mode is timely switched when the reliability is low, the positioning accuracy in the driving process of the vehicle is ensured, and the driving safety of the vehicle during automatic driving is ensured.
Referring to fig. 3, fig. 3 is a flowchart illustrating a positioning mode switching method according to a second embodiment of the present invention.
Based on the first embodiment, the step S20 in the positioning mode switching method of this embodiment includes:
step S21: and determining a first signal moment and a second signal moment according to the positioning data.
It should be noted that the first signal time refers to a time t at which the positioning signal is received for the second last time in the positioning data 1 ', second letterThe time is time t 'of the last time that the positioning signal is received (that is, the positioning signal is received this time) in the acquired positioning data' 2 。
Step S22: and determining the vehicle running distance and the vehicle running data according to the first signal time, the second signal time and the distance data.
After the first signal time and the second signal time are determined, the vehicle driving distance D is determined according to the positioning signal of the first signal time and the positioning signal of the second signal time in the positioning data, and the vehicle driving data refers to distance data received from the first signal time to the second signal time, which are obtained from the distance data.
Step S23: and calculating a distance difference value according to the vehicle running distance and the vehicle running data, and determining a distance deviation value.
It should be noted that, the vehicle driving data is calculated by using an interpolation method, so as to obtain a driving range value between the first signal time and the second signal time, and a distance difference value is calculated according to the driving range value S and the vehicle driving distance D, so as to obtain a distance deviation value Δ X.
It is understood that, in order to obtain an accurate distance deviation value, further, the distance difference calculation based on the vehicle travel distance and the vehicle travel data, determining the distance deviation value includes: determining segmented mileage data and receiving time corresponding to each segmented mileage data according to the vehicle driving data; determining a plurality of segmented mileage distances according to the segmented mileage data; determining the driving mileage value according to the sectional mileage distance and the receiving time corresponding to the sectional mileage data; and determining a distance deviation value according to the driving mileage value and the vehicle driving distance.
In specific implementation, n groups of mileage data sent by a wheel speed odometer are determined to be received between a first signal moment and a second signal moment according to vehicle running data, and the corresponding receiving time of each group of mileage data is t n And each group of mileage data is segmented mileage data. The segmented mileage corresponding to the segmented mileage data can be determined according to the segmented mileage dataAnd determining a distance, namely determining a driving mileage value between the first signal moment and the second signal moment according to the distance of each segmented mileage and the receiving time corresponding to the data of each segmented mileage, and determining a distance deviation value according to the driving mileage value and the driving distance of the vehicle.
It should be noted that, in order to obtain an accurate mileage value according to each segmented mileage distance and a receiving time corresponding to each segmented mileage data, further, determining the mileage value according to each segmented mileage distance and a receiving time corresponding to each segmented mileage data includes: determining an initial mileage moment according to the first signal moment and the distance data; and calculating the mileage value according to the initial mileage moment, the first signal moment, the second signal moment, the mileage distance of each segment and the receiving time corresponding to the mileage data of each segment, and determining the driving mileage value.
It can be understood that the initial mileage moment is determined according to the first signal moment and the distance data, and the specific process is as follows: as shown in fig. 4, a first signal time t is determined in the distance data 1 ' last previously acquired mileage data S 0 The corresponding receiving time is the initial mileage moment t 0 Calculating the mileage value according to the initial mileage moment, the first signal moment, the second signal moment, the mileage distance of each segment and the receiving time corresponding to the mileage data of each segment, and determining the mileage value
Wherein the segmented mileage distance from the n-1 th segmented mileage data to the n-th segmented mileage data is Δ S n ＝S n -S n-1 N is more than or equal to 1, and the receiving time corresponding to each segmented mileage data is t 1 ～t n 。
In the embodiment, a first signal moment and a second signal moment are determined according to the positioning data; determining a vehicle driving distance and vehicle driving data according to the first signal time, the second signal time and the distance data; and calculating a distance difference value according to the vehicle running distance and the vehicle running data, and determining a distance deviation value.
In addition, referring to fig. 5, an embodiment of the present invention further provides a positioning mode switching apparatus, where the positioning mode switching apparatus includes:
an obtaining module 10, configured to obtain positioning data and distance data in a first positioning mode.
And the calculating module 20 is configured to perform distance difference calculation according to the positioning data and the distance data, and determine a distance deviation value.
And a determining module 30, configured to determine whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold.
And a switching module 40, configured to switch the positioning mode from the first positioning mode to the second positioning mode when it is determined that the positioning mode is switched.
In the embodiment, positioning data and distance data in a first positioning mode are acquired; calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value; determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold value; and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode. By the mode, the distance deviation value is calculated according to the positioning data and the distance data, whether positioning mode switching is carried out or not is determined according to the distance deviation value and the target deviation threshold value, when the positioning mode switching is determined, the positioning mode is switched from the first positioning mode to the second positioning mode, the reliability of the positioning data in the first positioning mode can be rapidly realized, the positioning mode is timely switched when the reliability is low, the positioning accuracy in the driving process of the vehicle is ensured, and the driving safety of the vehicle during automatic driving is ensured.
In an embodiment, the calculating module 20 is further configured to determine a first signal time and the second signal time according to the positioning data;
determining a vehicle driving distance and vehicle driving data according to the first signal time, the second signal time and the distance data;
and calculating a distance difference value according to the vehicle running distance and the vehicle running data, and determining a distance deviation value.
In an embodiment, the calculating module 20 is further configured to determine segmented mileage data and a receiving time corresponding to each segmented mileage data according to the vehicle driving data;
determining a plurality of segmented mileage distances according to each segmented mileage datum;
determining the driving mileage value according to the sectional mileage distance and the receiving time corresponding to the sectional mileage data;
and determining a distance deviation value according to the driving mileage value and the vehicle driving distance.
In an embodiment, the calculating module 20 is further configured to determine an initial mileage instant according to the first signal instant and the distance data;
and calculating the mileage value according to the initial mileage moment, the first signal moment, the second signal moment, the mileage distance of each segment and the receiving time corresponding to the mileage data of each segment, and determining the driving mileage value.
In an embodiment, the determining module 30 is further configured to obtain a plurality of target weighting values;
determining a plurality of jump difference values according to the distance data and the positioning data;
and calculating a threshold value according to each target weighted value and each jump difference value, and determining a target deviation threshold value.
In an embodiment, the determining module 30 is further configured to obtain multiple sets of positioning jump time points according to the positioning data;
determining mileage distance values corresponding to the positioning and hopping time points according to the distance data;
and determining a plurality of jump difference values according to the mileage distance value corresponding to each positioning jump time point.
In an embodiment, the determining module 30 is further configured to compare the distance deviation value with a target deviation threshold value to obtain a comparison result;
determining whether to switch the positioning mode according to the comparison result;
when determining to switch the positioning mode, before switching the positioning mode from the first positioning mode to the second positioning mode, the method further includes:
and when the comparison result is that the distance deviation value is greater than the target deviation threshold value, determining to switch the positioning mode.
Since the device adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, an embodiment of the present invention further provides a storage medium, where a positioning mode switching program is stored on the storage medium, and the positioning mode switching program, when executed by a processor, implements the steps of the positioning mode switching method described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the positioning mode switching method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. a Read Only Memory (ROM)/RAM, a magnetic disk, and an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for switching a positioning mode, the method comprising:
acquiring positioning data and distance data in a first positioning mode;
calculating a distance difference value according to the positioning data and the distance data, and determining a distance deviation value;
determining whether to switch a positioning mode according to the distance deviation value and a target deviation threshold value;
and when the positioning mode is determined to be switched, switching the positioning mode from the first positioning mode to the second positioning mode.
2. The method of claim 1, wherein the performing a distance difference calculation based on the positioning data and the distance data to determine a distance deviation value comprises:
determining a first signal moment and a second signal moment according to the positioning data;
determining a vehicle driving distance and vehicle driving data according to the first signal time, the second signal time and the distance data;
and calculating a distance difference value according to the vehicle running distance and the vehicle running data, and determining a distance deviation value.
3. The positioning mode switching method according to claim 2, wherein said performing distance difference calculation based on said vehicle travel distance and said vehicle travel data, determining a distance deviation value, comprises:
determining segmented mileage data and receiving time corresponding to each segmented mileage data according to the vehicle driving data;
determining a plurality of segmented mileage distances according to the segmented mileage data;
determining a driving mileage value according to each segmented mileage distance and the receiving time corresponding to each segmented mileage data;
and determining a distance deviation value according to the driving mileage value and the vehicle driving distance.
4. The method of claim 3, wherein determining the mileage value according to the mileage distance and the received time corresponding to the mileage data comprises:
determining an initial mileage moment according to the first signal moment and the distance data;
and calculating the mileage value according to the initial mileage moment, the first signal moment, the second signal moment, the mileage distance of each segment and the receiving time corresponding to the mileage data of each segment, and determining the driving mileage value.
5. The method as claimed in claim 1, wherein said determining whether to perform positioning mode switching before determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold value further comprises:
acquiring a plurality of target weighted values;
determining a plurality of jump difference values according to the distance data and the positioning data;
and calculating a threshold value according to each target weighted value and each jump difference value, and determining a target deviation threshold value.
6. The method of claim 5, wherein said determining a plurality of jump differences based on said distance data and said positioning data comprises:
acquiring a plurality of groups of positioning jump time points according to the positioning data;
determining mileage distance values corresponding to the positioning and hopping time points according to the distance data;
and determining a plurality of jump difference values according to the mileage distance value corresponding to each positioning jump time point.
7. The method as claimed in claim 1, wherein said determining whether to perform positioning mode switching according to the distance deviation value and the target deviation threshold comprises:
comparing the distance deviation value with a target deviation threshold value to obtain a comparison result;
determining whether to switch the positioning mode according to the comparison result;
when determining to switch the positioning mode, before switching the positioning mode from the first positioning mode to the second positioning mode, the method further includes:
and when the comparison result is that the distance deviation value is greater than the target deviation threshold value, determining to switch the positioning mode.
8. A positioning mode switching apparatus, characterized in that the positioning mode switching apparatus comprises:
the acquisition module is used for acquiring positioning data and distance data in a first positioning mode;
the calculation module is used for calculating a distance difference value according to the positioning data and the distance data and determining a distance deviation value;
the determining module is used for determining whether to switch the positioning mode according to the distance deviation value and a target deviation threshold value;
and the switching module is used for switching the positioning mode from the first positioning mode to the second positioning mode when the positioning mode is determined to be switched.
9. A positioning mode switching device, characterized in that the device comprises: a memory, a processor, and a positioning mode switching program stored on the memory and executable on the processor, the positioning mode switching program configured to implement the positioning mode switching method of any one of claims 1 to 7.
10. A storage medium having a positioning mode switching program stored thereon, the positioning mode switching program, when executed by a processor, implementing the positioning mode switching method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211489466.3A CN115793005A (en) | 2022-11-25 | 2022-11-25 | Positioning mode switching method, device, equipment and storage medium |
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