EA035933B1 - Vehicle route mapping method and system based on telematic data - Google Patents

Abstract

The invention relates to data processing, in particular, to processing of telematic data received from a vehicle telematic system for vehicle route mapping. The technical result is: improved precision of vehicle routing with reference to a digital map. The claimed result is achieved by using the vehicle route mapping method based on the telematic data comprising the stages at which data from at least one vehicle telematic system are received by the computer, the data include at least speed, geographic coordinates, vehicle engine rotational speed, degradation of precision (DOP), movement vector (MV) and the time of parameter recording at the route points; MV and DOP are determined for each route point, and if MV and DOP are not available for at least one route point, then MV and DOP of the next known route point are assigned to this point; filtration is performed for the points at which DOP in horizontal plane is higher than the pre-defined value, and for the points at which MV difference exceeds the pre-defined error as compared with MV for adjacent points; a set of filtered vehicle route points is formed; vehicle location radius is determined in the geographic region based on at least DOP reading for each point from the filtered set; data normalization is carried out by means of updating the filtered set of route points with points with averaged DOP and vehicle movement speed; normalized data are overlaid on the digital map; and the vehicle route map is generated with reference to the digital map.

Description

Technology area

The invention relates to the field of data processing, in particular to the processing of telematic data received from a vehicle telematics device (TS) for the purpose of building a map of its route.

State of the art

Today, many solutions are known for fixing vehicle route points, using, in addition to geo-coordinates, also data from the vehicle telematics device. Such solutions are usually used to implement the Map matching service, which performs coordinate processing and returns the coordinates associated with the road.

As an analogue of the declared solution, one can consider the Fleet Telematics software product of the HERE company. This solution allows you to fix route points and carry out their processing for the subsequent formation of a digital map of the vehicle's movement based on information received from the vehicle, in particular a telematic device.

The disadvantage of the known solutions is the high error and noise level of telematic data, which is caused by poor quality or insufficient preprocessing of data when overlaid on a digital map (Map matching). In other words, if you display raw, unfiltered data, or poorly processed data, then the final generated route will pass away from roads, for example, through buildings or on water, some route points may be very far from neighboring ones, or even pieces may be lost. route. An example of data display for such a route construction is shown in Fig. 1.

Disclosure of invention

To solve the existing technical problem in this field of technology, a new method is proposed for constructing a route of movement, which includes filtering information to form an accurate and correct route of a vehicle associated with a digital map.

The technical result is to improve the accuracy of the formation of the route of movement of the vehicle with reference to a digital map.

The claimed result is achieved by implementing a method for constructing a vehicle route map based on telematics data, which contains the stages at which data from at least one vehicle telematics device is received on a computing device, including at least speed, geographic coordinates, vehicle engine speed , the value of the reduction in accuracy (DOP), the motion vector (VD) and the fixation time of the specified parameters at the points of the route;

determine for each point of the route the air pressure and DOP, and if for at least one point of the route the air pressure and DOP are absent, then for this point the air pressure and DOP of the known next route point are assigned;

filtering route points for which the DOP index in the horizontal plane is higher than a predetermined value, as well as points for which the difference in VD is higher than a predetermined error in relation to VD for neighboring points;

form a set of filtered points of the vehicle route;

determining the radius of the vehicle in the geographic area based on at least the DOP readings for each point from the filtered set;

normalizing the data by enriching the filtered set of route points with points with an averaged DOP and vehicle speed;

overlaying normalized data on a digital map; and form a map of the vehicle route with reference to a digital map.

In a particular embodiment of the method, the route points are fixed at a given time interval or distance when the vehicle is moving.

In another particular embodiment of the method, the telematics device is an OBD adapter and / or a telematics control unit (TCU).

In another particular embodiment of the method, the processing of the filtered set of route points is additionally performed, in which the route points are divided into groups ordered by the time of their fixation.

In another particular embodiment of the method, for each point of the group, the distance to the arc connecting the first and last points of the group is calculated, and if the distance from each point is less than a predetermined value E, then only the start and end points of the group are taken into account.

In another particular embodiment of the method, at least one group is additionally divided into two groups at a point farthest from the arc.

In another particular embodiment of the method, at the stage of normalization, points with averaged parameters are added to the segment of the vehicle route containing at least two points with a given distance from each other.

In another particular embodiment of the method, for points with averaged parameters, the VD is determined based on the direction of movement of the vehicle.

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The invention is also carried out using a telematics-based vehicle route map system which comprises at least one processor;

at least one data storage device containing machine-readable instructions that, when executed by at least one processor, perform the steps at which they receive data from at least one vehicle telematics device, including at least speed, geographic coordinates, vehicle engine revolutions, Dilution of precision (DOP) value, motion vector (VD) and fixation time of the specified parameters at the route points;

determine for each point of the route the air pressure and DOP, and if for at least one point of the route the air pressure and DOP are absent, then for this point the air pressure and DOP of the known next route point are assigned;

filtering route points for which the DOP index in the horizontal plane is higher than a predetermined value, as well as points for which the difference in VD is higher than a predetermined error in relation to VD for neighboring points;

form a set of filtered points of the vehicle route;

determining the radius of the vehicle in the geographic area based on the DOP readings for each point from the filtered set;

normalizing the data by enriching the filtered set of route points with points with an averaged DOP and vehicle speed;

overlaying normalized data on a digital map; and form a map of the vehicle route with reference to a digital map.

Brief Description of Drawings

FIG. 1 illustrates the display of a vehicle route built from raw data;

fig. 2 - general view of the declared system;

fig. 3 is an example of a telematics device;

fig. 4 is a block diagram of the claimed method;

fig. 5 - graph of readings of speed and geo-coordinates when the vehicle is moving;

fig. 6 is an example of processing a route map using the claimed method;

fig. 7 - stage of additional filtering of route points;

fig. 8 is an example of a computer computing device.

Implementation of the invention

FIG. 2 shows the general principle of operation of the claimed solution, in particular the components of the system (100) for processing telematic data. The system (100) includes a vehicle (10), on which one or more telematics devices (110) are installed, providing the collection of the necessary information from the vehicle (10) and transmission to the computing device (120). The information collected by the telematics device (110) is, as a rule, the vehicle speed, geo coordinates, engine speed, reduction in accuracy (DOP) value, motion vector (VD), fixation time of parameters at a route point.

DOP (dilution of precision from English - precision reduction) is a term used in the field of global positioning systems to parametrically describe the geometric interposition of satellites relative to the GNSS receiver antenna (see https://ru.wikipedia.org/wiki/DOP). When satellites in the field of view are too close to each other, they speak of a weak location geometry (high DOP value), and, conversely, if the distance is sufficient, the geometry is considered strong (low DOP value).

FIG. 3 shows an example of a telematics device (110). As such a device (110), one can use, for example, a telematics terminal (TCU - Telematic control unit), OBD adapter (OBD dongle), or their combinations. In general, a telematics device (110) comprises a computing module or processor (111). It can also use a microcontroller, microprocessor or FPGA (Field-programmable gate array).

The device (110) also contains memory (112), for example, of a random access and / or permanent type (for example, flash memory). The memory (112) contains the necessary program instructions for their execution by the processor (111), and can also provide storage of the required type of data.

The device (110) contains a GNSS module (113), which is an antenna for receiving data from GNSS satellites, for example GPS, GLONASS, BeiDou, Magellan. The communication module (114) is one or more means for receiving / transmitting data over a data channel, for example, WLAN, GSM / GPRS / LTE / 5G, Bluetooth modules, etc.

The telematics device (110) is connected to the vehicle (10) via standardized interfaces (115), in particular, via OBD connector, CAN bus, Ethernet, etc. Interfaces (115) can additionally provide connection of external devices, for example, using USB, IrDa interfaces, etc. A specific example of a telematics device (110) depends on its final technical implementation, which can change the composition of its elements without losing the required functionality. The elements of the telematics device (110), as a rule, are interconnected by means of a bus

- 2 035933 data transmission.

The implementation of the claimed method (200) for constructing a map of the vehicle route is shown in FIG. 4. At the first stage (201), the computing device (120) receives from the telematics device (110) the vehicle (10) a set of input data, which contains the vehicle speed, geocoordinates, engine speed, DOP, VD and the time of fixing the specified parameters at the vehicle route point (ten). Points can be transmitted through specified time intervals or a specified distance, for example, every 2, 3, 5 s or every 20 m. These parameters were experimentally identified during the testing of the claimed method (200) and showed the greatest effect to achieve the claimed technical result. Table 1 below is an example of input data.

Table 1. Data types

Value A type Vehicle speed integer Geo-coordinates Longitude and Latitude - floating point Engine speed Integer DOP Floating point Motion vector (VD) Integer Fixation time ISO 8601 date and time

Next, at step (202), for each route point of the vehicle (10), the VD and DOP are determined. This is required to enrich the obtained data at each of the points. If there is no VD and DOP in the route points obtained at step (201), then data addition for such points is performed based on the generated initial data. The data is filled in based on the next waypoints, i.e. if there is no DOP and VD data at points from n to n + m, and data is available at point n + m + 1, then data from point n + m + 1 will be entered at points on the route from n to n + m. For example, information is known for several points:

T1 - 37.61219 °, 55.75457 °; DOP 11; Heading 140;

T2 - 37.61442 °, 55.75653 °; DOP 6; Heading 145;

T3 - 37.6179 °, 55.75845 °; DOP; Heading;

T4 - 37.62159 °, 55.7591 °; DOP 4; Heading 150.

For the above example, for point T3, DOP and Heading data from points 4-4 and 150 will be entered.

At step (203), the accumulated data is filtered. FIG. 5 is a graph showing the speed of the vehicle (10), obtained using the OBD dongle (PO), and the speed of the vehicle (10), calculated using the GNSS module (113) from the geo coordinates. As you can see, there are many outliers on the graph, both upward and downward. The problem with filtering data using standardized approaches, such as the Kalman filter, is that the data is rather heterogeneous and of low frequency. The essence of the filtering algorithm at stage (203) boils down to the fact that for all neighboring points of the route, the speed is calculated by the GNSS module and a comparison is made with the speed received from the vehicle (10), and if the difference is higher than the permissible error, then one of the points removed from the original dataset.

Also, at the filtering stage (203), points are removed by the HDOP parameter (decrease in accuracy in the horizontal plane), which filters out route points in which the HDOP value exceeds the threshold value, for example 20. Filtering route points (203) is also performed based on the VP indicator ... This type of filtering occurs with a 3-point window, at which the VD is calculated for pairs of route points, for example, 1 and 2, 2 and 3, 1 and 3. If the PD indicator for neighboring points is higher than the specified error, then a search is made inside the window for points with a similar PD. All route points for which the calculated and transmitted motion vector did not coincide are deleted.

As a result of filtering route points (203), a set of filtered points (204) of the vehicle route (10) is formed. However, to achieve the required accuracy of overlaying the vehicle route points (10) on the digital map, it is necessary to additionally process the data.

Next, according to the filtered set of route points (204), a step (205) of calculating the radius of search (finding) of the vehicle (10) is performed. At this stage (205), the radius of the vehicle (10) in the geographic area is determined based on the DOP readings for each point from the filtered set (204).

For each waypoint, the search radius is calculated based on the DOP parameter, for example

DOP <1 - search radius 5 m;

DOP> 1 - search radius 3 * DOP * 1.5 m.

It should be noted that the given calculation example, in particular the 1.5 m parameter for calculating DOP> 1, may differ for different types of telematics devices (110), and more precisely, depending on the specific model of the GNSS module (GPS or GLONASS receiver). Knowing the version of the GNSS module (113) and the accuracy with which it currently determines the coordinates of the vehicle (10), it is possible to predict the radius in which the vehicle (10) can be located at a time.

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The next step is data normalization (206). Due to the fact that the accuracy of building a route using map services, for example, MapMatching MapBox, may deteriorate based on data with uneven time series, it is necessary to enrich the data with points. To do this, waypoints are inserted at the center of large segments and filled with averaged DOP and speed data. As indicated in the example above, in the route two adjacent points were far enough away:

T1. Latitude 37.710919, Longitude 55.750522; DOP 11; Heading 140;

T2. Latitude 37.721959, Longitude 55.753132; DOP 6; Heading 145.

Another point will be added between them:

In = cos (lat2) * cos (lon2-lonl);

By = cos (lat2) * sin (lon2-lonl);

latMid = atan2 (sin (latl) + sin (lat2), ...

sqrt ((cos (latl) + Bx) * (cos (latl) + Bx) + By * By));

lonMid = lonl + atan2 (By, cos (latl) + Bx).

For DOP and Heading, the average will be taken.

For example, when filtering route points in the filtered selection (204), there are segments between neighboring route points with a distance of more than 500 m (this is an approximate parameter, and for different cases, it can be selected from 200 m to 1 km, which is set by the program settings). In this case, if one more point is added to the segment between these points, then the coordinates are calculated as the middle of the segment, the speed and DOP reading are calculated as the average, and the motion vector is calculated based on the current direction of the vehicle (10).

The normalized data at step (206) is then transmitted to the service for imposing the obtained route points on a digital map with reference to the places of movement of the vehicle (10), in particular, roads, lanes, etc., and building the final map (207) of the vehicle route ( ten).

FIG. 6 shows an example of the claimed method (200). Map A shows an example before applying the method (200), map B - after its application. FIG. 6, it can be seen that the accuracy of building a digital route on the terrain map has increased and the route is correctly tied to the streets along which the vehicle was moving (10).

When constructing a digital map of the vehicle route (10), the received and processed set of points is processed in batches (batches) and, as a rule, with an overlap, since in some cases, processing errors will occur with simple batching. The batching algorithm is as follows:

1) N is the number of points for overlapping processing;

2) the route is split into batches of no more than 100-N size;

3) then we process the first batch;

4) the last N points of the processed data and the second batch are taken;

5) the process is repeated until the last batch.

Route endpoints are often in places where the road is not marked on the map (parking lots, paths between houses, etc.). The existing Map matching algorithms in such situations do not work accurately enough, which is displayed on map A in Fig. 6. To solve this problem, before the stage of filtering route points (203), a cycle of processing not the entire route, but only internal points is performed, during which the beginning and end of the route are discarded, then we add the beginning and the end of the original route to the processed data. The beginning and end of the route is determined as follows: 5% of the route is taken, or a part before the speed of the car exceeds 10 km / h.

FIG. 7 shows a private addition to step (205). For a time-ordered set of points (P1-P7) a route, the distance for all points to the arc (C) connecting the first and last points in the set can be determined. If the distance from each point to the arc is less than a certain preset value E, then only the start and end points of the set (P1) and (P7) are processed. Otherwise, the set of points is divided into two groups, ordered by the time of fixing the route points, and the division occurs at the point of the route that is most distant from the arc (C), and then the procedure is repeated. This approach allows you to reduce the number of route points, due to which the points will be only in turns or in places with a high error of the GNSS module.

FIG. 8 shows a general example of a computing computer device (300), which is used to implement the claimed method (200). In general, the device (300) contains components such as one or more processors (301), at least one random access memory (302), persistent data storage (303), input / output interfaces (304), I / O means (305), networking tools (306).

The processor (301) of the device performs the basic computational operations necessary for the operation of the device (300) or the functionality of one or more of its components. The processor (301) executes the necessary computer-readable instructions contained in the main memory (302).

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Memory (302), as a rule, is made in the form of RAM and contains the necessary program logic to provide the required functionality. The data storage medium (303) can be performed in the form of HDD, SSD disks, raid array, network storage, flash memory, optical information storage devices (CD, DVD, MD, Blue-Ray disks), etc. The means (303) allows for long-term storage of various types of information, for example, the history of processing requests (logs), user IDs, camera data, images, etc.

Interfaces (304) are standard connectivity tools such as USB, RS232, RJ45, LPT, COM, HDMI, PS / 2, Lightning, FireWire, etc. The choice of interfaces (304) depends on the specific implementation of the device (300), which can be a personal computer, mainframe, server cluster, thin client, smartphone, laptop, etc.

As means of I / O data (305) can be used: keyboard, joystick, display (touch screen), projector, touchpad, mouse, trackball, light pen, speakers, microphone, etc.

Networking means (306) are selected from a device that provides network reception and transmission of data, such as an Ethernet card, WLAN / Wi-Fi module, Bluetooth module, BLE module, NFC module, IrDa, RFID module, GSM modem, etc. The tool (306) provides the organization of data exchange via a wired or wireless data transmission channel, for example, WAN, PAN, LAN, Intranet, Internet, WLAN, WMAN or GSM. The components of the device (300), as a rule, are interfaced through a common data bus.

In the present application materials, the preferred disclosure of the implementation of the claimed technical solution was presented, which should not be used as limiting other, particular embodiments of its implementation, which do not go beyond the scope of the claimed scope of legal protection and are obvious to specialists in the relevant field of technology.

Claims (9)

CLAIM 1. A method for constructing a route map of a vehicle (TC) based on telematics data, comprising the steps of receiving data on a computing device from at least one telematics device of a vehicle, including at least the speed, geographical coordinates, engine speed of the vehicle, Dilution of precision (DOP) value, motion vector (VD) and fixation time of the specified parameters at the route points; determine for each point of the route the air pressure and DOP, and if for at least one point of the route the air pressure and DOP are absent, then for this point the air pressure and DOP of the known next route point are assigned; filtering route points for which the DOP indicator in the horizontal plane is higher than a predetermined value, as well as points for which the difference in VD is higher than a predetermined error in relation to VD for neighboring points; form a set of filtered points of the vehicle route; determining the radius of the vehicle in the geographic area based on at least the DOP readings for each point from the filtered set; normalizing the data by enriching the filtered set of route points with points with an averaged DOP and vehicle speed; overlaying normalized data on a digital map; and form a map of the vehicle route with reference to a digital map. 2. The method according to claim 1, characterized in that the route points are fixed at a predetermined time interval or distance when the vehicle is moving. 3. A method according to claim 1, characterized in that the telematics device is an OBD adapter and / or a telematics control unit (TCU). 4. The method according to claim 1, characterized in that further processing of the filtered set of route points is performed, in which the route points are divided into groups, ordered by the time of their fixation. 5. The method according to claim 4, characterized in that for each point of the group, the distance to the arc connecting the first and last points of the group is calculated, and if the distance from each point is less than a predetermined value E, then only the start and end points of the group are taken into account. 6. The method according to claim 5, characterized in that at least one group is additionally divided into two groups at a point as far as possible from the arc. 7. The method according to claim 1, characterized in that, at the stage of normalization, points with averaged parameters are added to the segment of the vehicle's route, containing at least two points with a given distance from each other. 8. The method according to claim 7, characterized in that for points with averaged parameters, VD is determined based on the direction of movement of the vehicle. 9. The system for constructing a map of the route of a vehicle (TS) based on telematics data, - 5 035933 containing at least one processor; at least one data storage device containing machine-readable instructions that, when executed by at least one processor, perform the steps at which they receive data from at least one vehicle telematics device, including at least speed, geographic coordinates, engine speed Vehicle, Dilution of Precision (DOP) value, motion vector (VD) and fixation time of the specified parameters at route points; determine for each point of the route the air pressure and DOP, and if for at least one point of the route the air pressure and DOP are absent, then for this point the air pressure and DOP of the known next route point are assigned; filtering route points for which the DOP indicator in the horizontal plane is higher than a predetermined value, as well as points for which the difference in VD is higher than a predetermined error in relation to VD for neighboring points; form a set of filtered points of the vehicle route; determining the radius of the vehicle in the geographic area based on the DOP readings for each point from the filtered set; normalizing the data by enriching the filtered set of route points with points with an averaged DOP and vehicle speed; overlaying normalized data on a digital map; and form a map of the vehicle route with reference to a digital map.