CN116224337A - Driving positioning method, intelligent wearable device and storage medium - Google Patents
Driving positioning method, intelligent wearable device and storage medium Download PDFInfo
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- CN116224337A CN116224337A CN202211714050.7A CN202211714050A CN116224337A CN 116224337 A CN116224337 A CN 116224337A CN 202211714050 A CN202211714050 A CN 202211714050A CN 116224337 A CN116224337 A CN 116224337A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention relates to the technical field of intelligent wearing equipment and discloses a driving positioning method, intelligent wearing equipment and a storage medium. The driving positioning method comprises the following steps: receiving a ranging signal sent by a range finder, wherein the ranging signal comprises an echo signal and a white noise signal, and the time lengths of the echo signal and the white noise signal are the same; denoising the echo signal by using the white noise signal; and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the denoising processing, and sending out an alarm when the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value. The intelligent wearing equipment is utilized to remind a driver whether other vehicles approach or not, so that the driver can be reminded more easily. In addition, the collected white noise signals are used for denoising signals detected by the range finder, so that the accuracy of detection results is ensured.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent wearing equipment, in particular to a driving positioning method, intelligent wearing equipment and a storage medium.
Background
Most of the current automobiles have the function of automatically reminding the vehicles approaching quickly during driving. Such functions are typically detected by a range finder and an alarm is given by the vehicle.
The inventor finds that when the noise of the running environment of the automobile is too loud, a driver may not notice the alarm sent by the vehicle at the first time, and potential safety hazards exist. In addition, the signal generated by the distance meter detecting the approach of the vehicle may also cause inaccurate signal detection due to white noise.
Disclosure of Invention
The embodiment of the invention aims to provide a driving positioning method, intelligent wearing equipment and a storage medium, and the intelligent wearing equipment is used for reminding a driver whether other vehicles are approaching or not, so that the driver can be reminded more easily. In addition, the signal detected by the range finder is subjected to denoising treatment, so that the accuracy of a detection result is ensured.
In order to solve the technical problems, an embodiment of the present invention provides a driving positioning method, which is applied to an intelligent wearable device, and the method includes: receiving a ranging signal sent by a range finder, wherein the ranging signal comprises an echo signal and a white noise signal, and the time lengths of the echo signal and the white noise signal are the same; denoising the echo signal by using the white noise signal; and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the denoising processing, and sending out an alarm when the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value.
The embodiment of the invention also provides intelligent wearable equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the vehicle positioning method.
The embodiment of the invention also provides a computer readable storage medium which stores a computer program, and the computer program realizes the driving positioning method when being executed by a processor.
Compared with the prior art, the embodiment of the invention still maintains the signal acquisition state until the white noise signal with the same time length as the echo signal is acquired after the distance meter detects the echo signal reflected by the approaching vehicle. The collected white noise signals and the echo signals are overlapped to realize the denoising treatment of the echo signals, and the echo signals after the denoising treatment eliminate the interference of the white noise, so that the echo signals after the denoising treatment are used for determining the position of surrounding vehicles relative to the current vehicle to be more accurate, and the sent alarm is more accurate. On the other hand, whether the driver has other vehicles to approach is reminded by utilizing the intelligent wearable device, so that the driver can be reminded more easily.
In addition, after denoising the echo signal using the white noise signal, the method further includes: carrying out wavelet denoising treatment on the echo signal after denoising treatment; determining the position of surrounding vehicles relative to the current vehicle according to the echo signals after denoising, comprising: and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the wavelet denoising treatment. After the white noise signal is used for denoising, wavelet is used for denoising, and the accuracy of signal measurement is further improved.
In addition, the wavelet denoising processing is performed on the echo signal after denoising processing, and the wavelet denoising processing comprises: decomposing the echo signal after denoising treatment to obtain a wavelet coefficient; threshold processing is carried out on the wavelet coefficient; and carrying out wavelet reconstruction on the wavelet coefficient subjected to the threshold processing to obtain an echo signal subjected to wavelet denoising processing.
In addition, the method for decomposing the echo signal after denoising to obtain wavelet coefficients comprises the following steps: determining the number of wavelet decomposition layers and selecting an optimal wavelet base; and decomposing the wavelet decomposition layer number of the echo signal after denoising by using the optimal wavelet base to obtain wavelet coefficients.
In addition, the optimal wavelet basis is selected and determined according to the ratio of wavelet energy and energy entropy.
In addition, the number of wavelet decomposition layers is determined by white noise characteristics included in the echo signal.
In addition, when the distance between the current vehicle and the surrounding vehicles reaches a preset threshold value, an alarm is sent out, which comprises the following steps: determining a first azimuth of the surrounding vehicle relative to the current vehicle under the condition that the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value; and sending out an alarm by using an alarm module corresponding to the first position in the intelligent wearing equipment, wherein the second position of the alarm module in the intelligent wearing equipment is consistent with the first position. When vehicles approaching in different directions are detected, the alarm module in different directions is used for giving an alarm, and a driver can know which direction has the vehicle approaching through the difference of the alarm.
In addition, the preset threshold is determined according to the speed of the current vehicle and the steering state of the current vehicle.
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One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a flow chart of a method of driving positioning in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of wavelet denoising according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a smart wearable device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a smart wearable device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present invention, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
The following embodiments are divided for convenience of description, and should not be construed as limiting the specific implementation of the present invention, and the embodiments can be mutually combined and referred to without contradiction.
The embodiment of the invention relates to a driving positioning method, which is applied to intelligent wearable equipment and comprises the following steps: receiving a ranging signal sent by a range finder, wherein the ranging signal comprises an echo signal and a white noise signal, and the time lengths of the echo signal and the white noise signal are the same; denoising the echo signal by using the white noise signal; and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the denoising processing, and sending out an alarm when the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value. The intelligent wearing equipment is utilized to remind a driver whether other vehicles approach or not, so that the driver can be reminded more easily. In addition, the signal detected by the range finder is subjected to denoising treatment, so that the accuracy of a detection result is ensured. The following details of implementation of the driving positioning method of the present embodiment are specifically described, and the following details are provided only for facilitating understanding, and are not necessary for implementing the present embodiment.
The driving positioning method in this embodiment is shown in fig. 1, and includes:
And step 103, determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after denoising, and sending out an alarm when the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value.
Compared with the prior art, the embodiment of the invention still maintains the signal acquisition state until the white noise signal with the same time length as the echo signal is acquired after the distance meter detects the echo signal reflected by the approaching vehicle. The collected white noise signals and the echo signals are overlapped to realize the denoising treatment of the echo signals, and the echo signals after the denoising treatment eliminate the interference of the white noise, so that the echo signals after the denoising treatment are used for determining the position of surrounding vehicles relative to the current vehicle to be more accurate, and the sent alarm is more accurate. On the other hand, whether the driver has other vehicles to approach is reminded by utilizing the intelligent wearable device, so that the driver can be reminded more easily.
In addition, after the echo signal is denoised by the white noise signal, wavelet denoising is also carried out on the denoised echo signal; and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the wavelet denoising treatment. After the white noise signal is used for denoising, wavelet is used for denoising, and the accuracy of signal measurement is further improved.
As shown in fig. 2, the process of denoising by using a wavelet is shown, in which an echo signal S (t) is subjected to wavelet decomposition to obtain a scale coefficient and a wavelet coefficient, the wavelet coefficient is processed according to a suitable threshold, and after filtering the noise, the wavelet reconstruction is performed to obtain a denoised echo signal S' (t).
In order to ensure the effect of wavelet denoising, the number of wavelet decomposition layers needs to be determined, an optimal wavelet base is selected, and the optimal wavelet base is used for decomposing the number of wavelet decomposition layers of the echo signal after denoising, so as to obtain wavelet coefficients.
Wherein the optimal wavelet basis is selected and determined according to the ratio of wavelet energy and energy entropy. The wavelet with the highest ratio of wavelet energy to energy entropy is selected as the optimal wavelet base, and the ratio is calculated as follows:
wherein R is j Represents the ratio, E j Representing wavelet energy, W j Represents the energy entropy and j represents the number of layers of the decomposition. The wavelet energy at the number j of decomposition layers is: />
Wherein d j ， k Representing the energy of the kth wavelet of the jth layer. The energy entropy under the decomposition layer number j is:
wherein P is j ， k Energy distribution probability for wavelet coefficients, +.>
The best wavelet basis determined in the above manner can be obtained because the smaller the energy entropy, the more concentrated the signalTo select the wavelet with the greatest energy and more concentrated signal.
In addition, the number of wavelet decomposition layers is determined by white noise characteristics included in the echo signal. And simulating to perform wavelet decomposition layer by layer, if white noise signals are taken as the dominant signal under the layer after simulation decomposition, determining that the current layer number is the optimal solution of the wavelet decomposition layer number, and performing wavelet decomposition, otherwise, continuing simulation to perform the decomposition of the next layer. In order to avoid the occurrence of signal distortion caused by unlimited wavelet decomposition, an upper limit of the number of decomposition layers may be set, and if the decomposition is still to the upper limit layer to obtain the optimal solution, the upper limit layer is taken as the wavelet decomposition layer number.
In addition, the thresholding is based on a threshold determination model proposed by Donoho-Johnstone
Wherein T represents a threshold and σ represents a standard deviation calculated for the wavelet coefficients of each layer.
In addition, besides the method of denoising the echo signals by utilizing the wavelet denoising method, the method of denoising the white noise signals by utilizing the wavelet can also be used for denoising the white noise signals by utilizing the same method to obtain more accurate white noise signals, and then the denoising purpose is realized by utilizing the denoised white noise signals to be overlapped to the echo signals.
After the denoised echo signals are obtained in the mode, the positions of surrounding vehicles relative to the current vehicle can be determined according to the echo signals. And establishing a plane rectangular coordinate system by taking the current vehicle as an origin to calculate the distance between the vehicle and surrounding vehicles. After determining the distance and the azimuth of surrounding vehicles, the intelligent wearable device can determine whether the current vehicle has collision danger according to the driving deflection angle detected by the built-in gyroscope, for example: the left rear vehicle of the current vehicle has the deflection direction of the left side, and the distance between the current vehicle and surrounding vehicles is increased, so that the collision risk is avoided; the left rear coming vehicle of the current vehicle has the deflection direction of the left side, but the distance between the current vehicle and surrounding vehicles is reduced, so that the collision risk exists; the left rear coming vehicle of the current vehicle has the deflection direction of the right side, so that no collision risk exists; the vehicle coming from the right rear of the current vehicle is deflected to the right, and the distance between the current vehicle and surrounding vehicles is increased, so that collision risk is avoided; the vehicle coming from the right rear of the current vehicle is deflected to the right, and the distance between the current vehicle and surrounding vehicles is reduced, so that collision danger exists; the current vehicle comes right and back, and the deflection direction is left, so that no collision risk exists.
Determining a first azimuth of a surrounding vehicle relative to a current vehicle under the condition that the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value; and sending out an alarm by using an alarm module corresponding to the first position in the intelligent wearing equipment, wherein the second position of the alarm module in the intelligent wearing equipment is consistent with the first position. As shown in fig. 3, taking a smart watch as an example, a first linear motor 1 and a second linear motor 2 are installed at the illustrated positions of the smart watch as alarm modules to give an alarm through a vibration mode. According to the wearing habit of the user, the direction represented by the motor is set, if the user wears the intelligent watch with the left hand, the first motor 1 at the upper part of the watch is used for sending out a prompt when the user gets on the left side, and the second motor 2 at the lower part of the watch is used for sending out a prompt when the user gets on the right side. The reverse is set if the user wears the smart watch with his right hand. In addition, the smart wearable device may be a wearable device such as a bracelet, and the type of the smart wearable device is not limited herein.
In addition, the position and the distance of the vehicle which is rapidly approaching in the driving process can be prompted through the motor position and the vibration intensity, and compared with voice reminding or video reminding, the reminding method is more direct, and the driving safety is improved.
In addition, the preset threshold value used for determining the alarm can be adjusted according to the speed of the current vehicle and the steering state of the current vehicle, when the speed is high, the preset threshold value is set to be high, and when the speed is low, the preset threshold value is set to be low. When the steering direction of the vehicle is consistent with the direction of the coming vehicle, the preset threshold value is set larger, and when the steering direction of the vehicle is inconsistent with the direction of the coming vehicle, the preset threshold value is set smaller.
The above steps of the methods are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they include the same logic relationship, and they are all within the protection scope of this patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
The embodiment of the invention also relates to intelligent wearable equipment, as shown in fig. 4, comprising at least one processor 401; and a memory 402 communicatively coupled to the at least one processor 401; the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401, so that the at least one processor 401 can execute the driving positioning method.
Where the memory 402 and the processor 401 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 401 and the memory 402 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 401.
The processor 401 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 402 may be used to store data used by processor 401 in performing operations.
The embodiment of the invention also relates to a computer readable storage medium which stores a computer program. The computer program implements the above-described method embodiments when executed by a processor.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A driving positioning method, characterized by being applied to an intelligent wearable device, the method comprising:
receiving a ranging signal transmitted by a range finder, wherein the ranging signal comprises an echo signal and a white noise signal, and the time lengths of the echo signal and the white noise signal are the same;
denoising the echo signal by using the white noise signal;
and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the denoising processing, and sending out an alarm when the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value.
2. The vehicle positioning method according to claim 1, characterized by further comprising, after said denoising said echo signal with said white noise signal:
carrying out wavelet denoising treatment on the echo signal after denoising treatment;
the determining the position of the surrounding vehicles relative to the current vehicle according to the echo signals after denoising processing comprises the following steps:
and determining the position of the surrounding vehicle relative to the current vehicle according to the echo signals after the wavelet denoising treatment.
3. The driving positioning method according to claim 2, wherein the performing wavelet denoising processing on the denoised echo signal includes:
decomposing the echo signal after denoising treatment to obtain a wavelet coefficient;
threshold processing is carried out on the wavelet coefficient;
and carrying out wavelet reconstruction on the wavelet coefficient subjected to the threshold processing to obtain an echo signal subjected to wavelet denoising processing.
4. The driving positioning method according to claim 3, wherein the decomposing the echo signal after the denoising process to obtain the wavelet coefficient comprises:
determining the number of wavelet decomposition layers and selecting an optimal wavelet base;
and decomposing the wavelet decomposition layer number of the echo signal after the denoising treatment by using the optimal wavelet base to obtain a wavelet coefficient.
5. The driving positioning method according to claim 4, wherein the optimal wavelet basis is determined selectively according to a ratio of wavelet energy and energy entropy.
6. The vehicle localization method of claim 4, wherein the number of wavelet decomposition levels is determined by white noise characteristics contained in the echo signal.
7. The driving positioning method according to claim 1, wherein the alarming when the current vehicle reaches a preset threshold from the surrounding vehicles comprises:
determining a first azimuth of a surrounding vehicle relative to a current vehicle under the condition that the distance between the current vehicle and the surrounding vehicle reaches a preset threshold value;
and sending an alarm by using an alarm module corresponding to the first position in the intelligent wearable equipment, wherein a second position of the alarm module in the intelligent wearable equipment is consistent with the first position.
8. The driving positioning method according to claim 7, wherein the preset threshold is determined according to a speed of the current vehicle and a steering state of the current vehicle.
9. A smart wearable device comprising a memory and a processor, the memory storing instructions executable by the processor to enable the processor to perform the driving localization method of any one of claims 1 to 8.
10. A computer storage medium storing a computer program, which when executed by the processor implements the driving localization method of any one of claims 1 to 8.
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| CN202211714050.7A CN116224337A (en) | 2022-12-29 | 2022-12-29 | Driving positioning method, intelligent wearable device and storage medium |
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| CN202211714050.7A CN116224337A (en) | 2022-12-29 | 2022-12-29 | Driving positioning method, intelligent wearable device and storage medium |
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