TW201226852A - Track detection and alarm method and navigation device using the method - Google Patents

Abstract

A track detection and alarm method which is applied to a navigation device is disclosed. A plurality of positioning data points are retrieved from a navigation module of the navigation device. A plurality of deflections and a plurality of average speeds that corresponds to the position data points are calculated and generated. A plurality of maximum deflections are calculated and generated according to the average speeds. When a deflection of a positioning data point is greater than a maximum deflection thereof, one is added to a frequency of unsafe driving. When the frequency of unsafe driving is greater than a preset threshold value, an unsafe driving alarm is sent out.

Description

201226852 VI. Description of the Invention: [Technical Field] The present invention relates to a navigation device, and more particularly to a method for warning of a trajectory of a navigation device. [Prior Art] [〇〇〇2] When the car is driving on a curve, the limit of the minimum radius of the curve is

When the car is driving on the curved part of the road, the centrifugal force generated is equal to the upper limit allowed by the lateral force not exceeding the friction between the tire and the road surface. When turning (including straight turns and corner turns), the bend radius of the turn should not be less than the upper limit of the minimum radius of the curve, otherwise the vehicle will slip or tip over and cause a traffic accident. [0003] When a driver drives in an unsafe state such as after drinking or fatigue, the trajectory of the car is usually S-shaped, that is, the vehicle frequently appears to turn f during driving, and how to use the safety aid The system to avoid or reduce the occurrence of the accident will be an important issue. [〇〇〇4] f knowledge _ exposed - kind of infrared eye scan II ‘When the lens is aimed at the driver's eye, the middle ’ 'sweeper will continuously emit infrared rays to scan the white of the eye. The score is determined to determine the degree of fatigue of the driver. However, the red ray line illuminates the human eye and causes eye damage. [〇〇〇5] The prior art also discloses that the technology is to locate the human eye of the Mi image recognition device, the video camera, and the eyelid opening and closing technology is easily subject to environmental interference. An error has occurred. A blood pressure discriminating device used to detect whether a driver is abnormal or not to determine the driver's physical condition. However, by 099145620 Form No. 〇1〇ι Page 3 of 31 0992078554-0 201226852 It is troublesome to wear, and sometimes the driver's physiological phenomenon may be misjudged due to many unknown factors. SUMMARY OF THE INVENTION [0007] In view of this, an embodiment of the present invention provides a driving strike warning method and a navigation device using the same, by analyzing data generated by a Global Positioning System (GPS). Calculate the latitude and longitude values, the speed over ground and the ground over ground to analyze the trajectory of the car. When the turning radius is less than the specified value, the safe driving prompt is automatically issued to the driver, thereby reducing the occurrence of traffic accidents and improving the driving safety of the vehicle. An embodiment of the present invention provides a driving trajectory warning method, which is applicable to a navigation device. The method includes acquiring a plurality of positioning data points via one navigation module of the navigation device, and calculating and obtaining a positioning data point corresponding to the navigation data. a plurality of eccentric angles and a plurality of average velocities; calculating a plurality of maximum yaw angles of the locating data points according to the average velocities; and when an angling angle of one of the positioning data points is greater than a maximum yaw angle thereof, an abnormal driving number Adding 1; and issuing a driving abnormality warning when the abnormal driving number is greater than a predetermined threshold. [0009] In the driving track warning method of the embodiment of the present invention, the step of obtaining the positioning data points further includes obtaining a plurality of ground speeds and a plurality of ground directions from the positioning data points, and calculating the obtained declination angles. With these average speeds. [0010] The embodiment of the present invention further provides a driving trajectory warning method, which is applicable to a navigation device, and the method comprises: using one of the navigation devices, a navigation module 0992078554-0 099145620, a form number A0101, a fourth page, a total of 31 pages, 201226852 [0011] [0013] [0013]

[0014] the group performs a positioning operation; obtaining a first positioning data point and a second positioning data point via the navigation module; and calculating, according to the first and second positioning data points, obtaining the second positioning data point a second average speed and a second declination; calculating a second maximum declination of the second positioning data point according to the second average speed; and when the second declination is greater than the second maximum declination, an abnormal driving The number of times is increased by 1; and when the abnormal driving number is greater than a predetermined threshold, a driving abnormal warning is issued. The driving trajectory warning method of the embodiment of the invention further includes: extracting a first ground speed from the first positioning data point; extracting a second ground speed from the second positioning data point; and according to the first and second ground speeds The second average speed is calculated. The driving trajectory warning method of the embodiment of the present invention further includes: capturing a first ground direction from the first positioning data point; extracting a second ground direction from the second positioning data point; and according to the first and second ground The direction calculation obtains the second yaw angle. The driving warning warning method of the embodiment of the present invention further includes calculating the second maximum yaw angle by using the following formula: a 127 χ 〇χ 180, V χ π [0015] wherein, the second maximum yaw angle 7 indicates the second The average velocity Μ represents a lateral force coefficient, which represents a lateral slope and represents a pi. 099145620 Form No. 101 0101 Page 5 / Total 31 Page 0992078554-0 201226852 [0016] The driving trajectory warning method of the embodiment of the present invention further includes calculating the second yaw angle by using the following formula: [0017] ak = Article (n) ABS ( ABS{Ok - OkA)-360) Fu (K) <9〇ABSH) >90 [0019] [0020] wherein, the second declination is represented, ABS represents an absolute value function, n And j indicate the first and second ground directions respectively

Uk Embodiments of the present invention provide a navigation device including a navigation module, a navigation system, a computing module, a determination module, and an output device. The navigation module is configured to generate a plurality of positioning data points. The navigation system is configured to obtain the positioning data points from the navigation module. The calculation module is configured to calculate a plurality of declinations and a plurality of average speeds corresponding to the positioning data points. The determining module is configured to calculate a plurality of maximum declination angles of the positioning data points according to the average speeds, and increase an abnormal driving number by one when a declination angle of one of the positioning data points is greater than a maximum declination angle thereof, and When the abnormal driving number is greater than a predetermined threshold, a driving abnormal warning is issued. The output device is configured to display the driving abnormality warning. The navigation device of the embodiment of the present invention further includes an analysis module for obtaining a plurality of ground speeds and a plurality of ground directions from the positioning data points, and calculating the declination and the average speed. The embodiment of the invention further provides a navigation device, which comprises a navigation module 099145620, a form number A0101, a sixth page, a total of 31 pages 0992078554-0 201226852. A navigation system, a calculation module, a determination module and an output device . The navigation module is configured to perform a positioning operation and generate a first positioning data point and a second positioning data point. The navigation system is configured to obtain the first and second positioning data points from the navigation module. The computing module is configured to calculate a second average speed and a second off angle of the second positioning data point according to the first and second positioning data points. The determining module is configured to calculate a second maximum yaw angle of the second positioning data point according to the second average speed, and increase the number of abnormal driving times by one when the second yaw angle is greater than the second maximum yaw angle. And when the abnormal driving number is greater than a predetermined threshold, a driving abnormal warning is issued. The output device is configured to display the driving abnormality warning. [0022] The navigation device of the embodiment of the invention further includes an analysis module. The parsing module extracts a first ground speed from the first positioning data point and a second ground speed from the second positioning data point. The computing module calculates the second average speed based on the first and second ground speed calculations. [0023] The navigation device of the embodiment of the invention further includes an analysis module. The parsing module extracts a first ground direction from the first positioning data point and a second ground direction from the second positioning data point. The computing module calculates the second yaw angle based on the first and second ground direction calculations. [0024] The judging module of the navigation device of the embodiment of the present invention calculates the second maximum declination angle by using the following formula: [0025]

127 X (//+i) xl 80V χπ 099145620 Form No. 1010101 Page 7 of 31 0992078554-0 201226852 [0026] where wide/represents the second maximum declination, and f denotes the second average speed. The γ degree, / / represents a lateral force coefficient, / represents a lateral slope, and · 7 Γ represents the pi. [0027] The computing module of the navigation device of the embodiment of the present invention calculates the second yaw angle by using the following formula: [0028] ABS{dk-ekA) ABS(ABSH) — 360) ABS{0k - dkA) < 90 ABS(H)>90 [0029] wherein, the second off angle is represented, ABS indicates that the absolute value functions n and Λ represent the first and second ground directions, respectively, and k=2

Uk 3, ..., N ° [0030] The above and many advantages of the invention will be readily apparent from the following detailed description of the embodiments. [Embodiment] [0031] In order to make the features and characteristics of the present invention more comprehensible, the following detailed description of the preferred embodiments and the accompanying drawings of Figures 1 to 4 will be described in detail. The present specification provides various embodiments to illustrate the technical features of various embodiments of the present invention. The arrangement of the components in the embodiments is for illustrative purposes and is not intended to limit the invention. In the embodiment, the portions of the drawings are repeated for the sake of simplicity of explanation, and are not intended to refer to different embodiments of 099145620. Form No. A0101 Page 8/Total 31 Page 0992078554-0 201226852 [0032] [0033] 大小 Size to judge [0034 Inter-related relationship The driving track alarm (4) method of the embodiment of the present invention overcomes the deficiencies of the prior art, and provides a smart reminder for fatigue driving according to the large deviation of the ground direction of the vehicle. The method of the present invention can be applied to existing navigation devices. The far method can be implemented in a software manner to add additional hardware costs. The method for warning of the trajectory of the embodiment of the present invention includes: 1·, [1] reading and parsing GPS positioning information to calculate the declination of the GPS data point #平=1; and (2) according to the automobile If the ground direction is offset during the break, the driver will have fatigue driving. FIG. 1 is a flow chart showing the steps of calculating the declination and the average enrollment and speedometer according to an embodiment of the present invention. Raw angle [0035] First, start and initialize the navigation system in a navigation device (set variable k=l' means the first record pointing to the angular velocity table L), '-3έ. 逢 套 τί? Ο the navigation device The GPS module is positioned (the step of the navigation system includes hot start, cold start or warm enemy GPS navigation system - each time interval (for example, 1 second) Got Gu, for example, 100 meters), from GPS The module obtained data points from the National Marine Electronics A (ASs〇ciati〇n, hereinafter referred to as NMEA). It is preset that within this fixed interval/distance, a total of N NMEA data points are to be obtained. It should be noted that the size of N is related to the ground speed and road conditions. Therefore, the GPS navigation system will automatically set N = for different ground speeds and road conditions. The details of the operation are not described herein, and the invention is not limited thereto. 099145620 Form No. A0101 Page 9 / Total 31 Page 0992078554-0 [0036] 201226852 [0037] When receiving the kth NMEA data point (step S102), the NMEA data point is parsed to determine the kth NMEA data Whether the point is valid (step S1 03) 'where, 2...N. [雠] This parsing operation reads the Gps recommended minimum transfer data of the _^ data point (Global Position Recommended Minimum)

The Specific 'hereinafter referred to as GpRMC) statement (Sentence) determines whether the kth NMEA data point is valid. The GRRMC statement is divided into 12 fields, as follows: [0039] <1> World Time (Coordinated Universal Time » UTC): 'Format = hhmmss· sss (time, minute, second, second, second, second, second) <2> Positioning status: A = effective positioning; V = invalid positioning <3> TM ~~~ _, latitude..degree format = ddmm.mmmm (degrees 丨... ....degree points. points and points) <4> 蟀: degree distinction: N = northern hemisphere; S = southern hemisphere <5> ~ ~~-——._·_· Longitude: format = dddfflm. mmmm (degrees and points) <6> Longitude distinction: E = east longitude; W == west longitude <7> - ground speed :〇. 〇~1851. 8 knots (knots) <8> ~~''''''---- Ground direction: 000· 〇~359· 9 degrees-------- <9&gt UTC Date: Format = ddmmyy (曰------ Form No. A0101 Page 10 of 31 0992078554-0 099145620 201226852 〇Ο

曰月月年年) &lt;10&gt; Magnetic pole variable (magnetic declination)· 000. 0~180. 0 degree &lt;11&gt; Magnetic azimuth: E (east) or W (west) &lt;12&gt; The &lt;2&gt; field in the GPRMC statement is used to determine whether the read EA data point is valid. [〇_] If the NMEA data point is valid, the ground speed and the ground direction of the kth 匪EA data point are extracted from the &lt;7&gt;, <8&gt; fields in the GPRMC statement (step S104). If it is invalid, it returns to step S12 to continue to obtain the next NMEA data point. The ground speed y recorded in the kth NMEA data point and the ground direction λ are recorded in the angle table L (step S105). [0041] It is judged whether or not the n値NMEA data point (k = N?) has been recorded in the angular velocity table L (step S1〇6). If not, let k = k + 1 (step S107) to continue reading the next NMEA data point, and repeat steps S102 to S106' to obtain and record the ground speed of the remaining NMEA data points, and Vh ground direction to angular velocity In the table. [0042] When N NMEA data points have been recorded in the angular velocity table L, the actual declination from the 2nd point to the nth point from 099145620 Form No. A0101 Page 11/31 Page 0992078554-0 201226852 is started. The average speed is set so that k == 2 (indicating the second record in the angular velocity table L) (step S108), and the off angle of the kth NMEA data point is calculated (step S109).

A The actual declination of the kth NMEA data point is equal to the angle between the ground direction of the kth NMEA data point and the ground direction of the k-th NMEA data point, which can be calculated by the angle formula (7) below. [0043] Next, the average speed of the kth NMEA data point is calculated (step S110). The average speed of the kth NMEA data point is equal to the ground speed of the kth NMEA data point and the average of the ground speed of the k-th NMEA data point.

. The actual declination A # average speed of the kth NMEA data point is recorded in the kth record in the angular velocity table L (step S1U). It is judged whether or not the calculation has been completed for all the NMEA reputation points (i.e., k:=N?) (step S112). [0044] If there is still an NMEA data point that is not completed, let k==k + i (step S113), and repeat steps si〇9~sin to calculate the actual (10) and average speed of the remaining NMEA data points. And remember to the angular velocity table l (there are a total of Nm records). If all _A data points have been calculated, the bundle is recorded, and then the (4) process is executed. FIG. 2 is a schematic flow chart showing the steps of the vehicle fine warning method according to the embodiment of the present invention for determining whether a driving abnormality has occurred. 099145620 Form No. A0101 Page 12 of 31 0992078554-0 [0045] 201226852 . [0046] The initial setting includes setting the number of driving abnormalities s = 〇 and k == 2. The off angle and the average speed of the kth NMEA data point are read (step S201) and the maximum off angle is calculated based on the average speed of the kth NME A data point (step S202). Judging the actual declination of the data point of the ΜιΝΜΕΑ data is

No greater than its maximum yaw angle (ak &gt; €C (step S203). If Ο [0047] [0048] 实际 The actual yaw angle is greater than its maximum yaw angle, the abnormal driving number is increased (ie, S = S+1) (Step S204). Regardless of whether the actual declination of the kth NMEA data point is greater than its maximum declination, the next step is to determine whether the calculation has been completed for all data points (ie, k = N?) ( Step S205) If there is still an NMEA data point that has not been calculated, let k = k+1 (step S2〇6), and repeat steps S201 to S205. After the N NME A data points are calculated, judge And, the normal driving number s is greater than a predetermined threshold M:" (ie, 's &gt; Μ ? ) / (step s 2 〇 7 ). In the embodiment of the present invention, the threshold Μ is preset to 3. If the abnormal driving number s is greater than the threshold value Μ, a driving abnormality warning is issued (step S2〇8) to remind the driver to pay attention to safety. [0049] When a driving fall abnormal warning has been issued, or no driving disagreement has occurred (ie, Μ), repeat the steps of Figures 1 and 2 to continue collecting the next round of data points, and perform analysis and judgment operations. (Steps s2〇9 [0050] The following describes the cornering radius limit formula of highway engineering technical standard 099145620 Form No. 1010101 Page 13/Total 31 Page 0992078554-0 201226852 [0051] Refer to the Ministry of Communications of the People's Republic of China January 29, 2004 According to the "Technical Standards for Highway Engineering" issued by Japan (JTGB0 1 -2003), the force condition of the vehicle traveling on a curve can be obtained according to formula (1): [0052]

R V2127χ{μ+ΐ (1) is the average vehicle speed [0053] where D is the bending radius (m), c κ v km/h ) P is the lateral force coefficient and is the lateral gradient of the road surface. In addition, the critical value is the lateral friction coefficient between the road surface and the tire. [0054] When the turning radius of the automobile is less than a critical value, slippage or dumping may occur, causing a traffic accident. Therefore, when driving on a straight or curved road, the turning radius of the car is less than this critical value and will be judged as unsafe turning. [0055] The following describes whether it is safe to analyze the turning of the vehicle by GPS data. [0056] As shown in Figure 3, in the car In the driving curve of the driving, an analysis point, that is, a GPS data point (ie, an NMEA data point) is marked every second. For two consecutive GPS data points, if the value of the ground direction changes, the trajectory of the car must be a curve within 1 second, that is, the car has a turn. Therefore, it is possible to determine whether the turn is safe by analyzing the degree of bending of the curve [0057] According to the research data, the trajectory of the center of gravity of the moving car has the following geometrical features: 099145620 Form No. A0101 Page 14 of 31 pages 0992078554-0 201226852 [0058] (1) The trajectory is continuous and rounded; [2] the curvature is continuous, two curvature values do not appear at any point; and [0060] (3) the curvature change is continuous There is no two curvature change rate values at any point. [0061] Within a short distance, the trajectory line of a car can be considered as a plane line, which is composed of a straight line, a circular curve, and a mitigation curve. The easing curve is defined as &gt; setting a curve of continuous curvature between the "between a straight line and a circular curve" or "the two turns of the same circular curve with a large difference in radius". By analyzing the degree of bending of the circular curve, it is possible to analyze the degree of bending of the plane line. Therefore, in a short distance, the degree of bending of the trajectory curve of the vehicle is analyzed by analyzing the degree of bending of the circular curve in the trajectory curve. [0062] Between 2 GPS data points, for example, when the vehicle is traveling for 1 second, it can be assumed that the vehicle's track is a constant radius arc within 1 second because of the inertia of the car.几何 [0063] In geometric mathematics, the arc length formula of a circular curve is: [0064] Λ ...... (2) 〇, θ χ πxr l = ———— 180 [0065] where $ is the central angle ( Degree), and γ is the radius of the circle (m). [0066] According to the formula (2), when the arc length is known, the radius of the circle is obtained as follows: 0992078554-0 099145620 Form number A0101 Page 15 of 31 (3). 201226852 [0067] r

IxlEOθχπ [0069] [0069] The arc length of the car is 1 second, and f is the adjacent two

Average value of ground speed between V xls V GPS data points. Bringing the arc length into the formula 3) gives the following formula: r vximθχπ (4) [0070] According to the geometrical theorem, the central angle of the arc 为 is Θ

The angle between the tangential directions of the two points on the arc residue is a, so k can be obtained. Therefore, the formula (4) can be rewritten as follows: Γ rxisoakx π (5) [0072] where is the adjacent two GPS data Angle of the ground direction of the point

A

[0073] If the car is turning, if D, there may be slippage or

Γ &gt; K overturned. Therefore, according to the formulas (1) and (5), the following formula can be obtained: 099145620 Form No. A0101 Page 16 of 31 0992078554-0 (6) 201226852 [0074]

Γ xlSO &lt; V2 127 x (// +〇xl80 V χπ [0075] Therefore, if the ground direction angle of two adjacent GPS data points is larger than ❹ 127 X + QxlSO ( β ) ' then the turn is not V χ π safe turn Otherwise, it is a safe turn. [0076] The following is a numerical analysis of the lateral force coefficient (^) and the lateral slope (j) of the road surface [0077] In the highway engineering technical standard, the formula (1) is defined for different requirements. The values of the coefficients &quot; and, ·.

〇 r1 I

[0078] Requirement 1: Limit Minimum Radius [0079] The ultimate minimum radius is the limit value allowed for each level of road in the route design. The setting of the lateral force coefficient P and the lateral gradient / of the minimum radius of the limit is as follows: [0080] Car 120 100 80 60 40 30 20 Speed form number A0101 Page 17 of 31 0992078554-0 099145620 201226852 (km/ h) ----------- 0. 1〇0. 11 ------- 0. 12 0.13 0.14 0. 15 0. 16 8 8 8 8 8 8 8 Requirement 2: Minimum curve radius ( Minimum Radius of Curve) [0083] [0083] The minimum curve radius is specified in the highway engineering technical standard. The lateral force coefficient &quot; and the lateral slope, · are set as follows: [0082] Vehicle speed (km / h) 120 100 80 60 40 30 20 0. 05 0. 05 0. 06 0. 06 0.06 0. 05 0. 05 6 6 7 8 7 6 6 Requirement 3: Minimum circular curve radius without cornering of the slope When a certain radius of the road line is greater than a certain value, even if the car is driving outside the circular curve, sufficient safety and good comfort can be obtained. In this case, there is no bank on the curved road surface, and the road arch is a two-way cross slope. Moreover, the lateral slope of the road arch of the secondary and above grade highways is set to I· = -0. 0 2~-〇. 〇1, the lateral slope β of the road arch of the second grade or lower road is set to ^ = -0.04~ - 0.03, and the lateral force coefficient is set to //= 〇· 035~〇, 〇6. In addition, the road arch of a straight section road is also a two-way cross slope, and its slope value is the same as that of a corner without a slope. 099145620 Form No. A0101 Page 18 of 31 0992078554-0 201226852 , same. [0084] The curve design of highway engineering generally refers to the above minimum curve radius, and in order to ensure the sensitivity of the algorithm, Table 3 is used to determine the coefficients // and / in equation (6). [0085] The following describes the calculation of the ground direction loss angle of two adjacent GPS data points. [0086] In the continuous advancement of the vehicle, the turning angle within one second may only be less than 9 degrees. Assuming that Θ and Λ are the ground direction values of two adjacent GPS data points, the ground direction angle of the GPS data point k can be calculated by the following formula [0087] ak [commission (n) [ABS(ABS(ek - 9k_x)] ~ 360) &lt;90 &gt;90 • · * · · · (7)

[0088] Its t, ABS represents the absolute value function, k = 2, 3,

N and :-1 Λ indicate the ground direction of two adjacent GPS data points. 4 is a schematic diagram showing a module architecture of a navigation device according to an embodiment of the present invention. [0090] The navigation device 400 of the embodiment of the present invention includes a GPS guidance system 41, a GPS module 420, a storage device 430, an analysis module, a calculation module 450, a determination module 460, and a round out Farming 47. 0992078554-0 099145620 Form No. A0101 Page 19 of 31 201226852 [0091] When the navigation device 400 is activated, the GPS navigation system 410 performs an initialization operation and causes the GPS module 420 to perform positioning. The GPS navigation system 41 obtains (NMEA) data points from the GPS module 420 at regular intervals or distances, and stores the data points in the angular velocity table L of the storage device 43A. [0092] The parsing module 440 parses each GPS data point, and determines the ground speed p and the ground direction g° parsing module from the gas GPRMC data according to the GPRMC data in a GPS data point. [0094] 440 stores the ground speeds obtained from each GPS data point in the angular velocity table L of the storage device 430. With the ground side, when the GPRMC data of the N GPS data points have been recorded, the calculation module 45 calculates the actual declination and the average ak vk of all the GPS data points, respectively, and records them in the angular velocity k table L of the storage device 430. The judging module 460 sequentially reads the real η angle and the average speed % of each gpS data point from the angular velocity table L to calculate the maximum yaw angle of each GPS data point and records it in the angular velocity table L of the storage device 430. . Then, the determination module 460 determines whether each of the GPS data points is greater than its maximum declination, and if so, the abnormal driving number is increased. After performing the judgment operation for each GPS data point, the judgment module 099145620 form number A0101 page 20/31 page 0992078554-0 201226852 460 will accumulate the abnormal driving number S with a preset threshold M (for example, Μ = 3) compared, and when the abnormal driving number S is greater than the threshold value ,, a driving abnormality warning is transmitted to the output device 470 to remind the driver to pay attention to safety [0095] [0097] [0098] [0101] It should be noted that the output device 470 can be a screen or a speaker of the navigation device 400, and the driving abnormality alert can be image, text or voice. The advantages of the driving trajectory warning method of the embodiment of the invention include: (1) combining existing GPS navigation devices, which can be implemented in a software manner without adding any additional hardware cost; (2) the algorithm is not complicated, no Affects system performance, ideal for running on embedded devices; and (3) does not require active cooperation from the driver. In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. However, the above-mentioned embodiments are merely preferred embodiments of the present invention, and those skilled in the art will be able to incorporate the equivalent modifications and variations in the spirit of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a flow chart showing the steps of calculating an off-angle and an average speed to generate an angular velocity table according to an embodiment of the present invention. Fig. 2 is a flow chart showing the steps of the method for warning of the trajectory of the vehicle according to the embodiment of the present invention. Figure 3 is a schematic diagram showing the trajectory curve of a car. FIG. 4 is a schematic diagram showing the module architecture of the navigation device according to the embodiment of the present invention. [Main component symbol description] 099145620 Form number Α 0101 Page 21 / Total 31 page 0992078554-0 201226852 [0102] Navigation device: 400 [0103] GPS navigation system. 41 0 [0104] GPS module: 420 [0105] Storage Device: 430 [0106] Analysis module: 440 [0107] Calculation module: 4 5 0 [0108] Judgment module: 460 [0109] Output device: 470 0992078554-0 099145620 Form number A0101 Page 22 of 31

Claims (1)

201226852 VII. Patent application scope: The method includes a driving track warning method, which is applicable to a navigation device comprising the following steps: obtaining a plurality of positioning data points via the navigation device of the navigation device. According to the average speed, the plurality of maximum declination angles of the positioning data points are calculated, and the declination angle of the positioning data points is greater than the maximum deviation (four), and the driving will be different. The number of times is increased by 1; and, often, when the abnormal driving number is greater than a predetermined threshold, a warning is issued. 2. For example, the scope of the application for patents! The driving track warning method of the item, wherein the step of obtaining the positioning data points further comprises obtaining a plurality of ground speeds and a plurality of ground directions from the positioning data points, for calculating the declination and the average speed . 〇3 ·-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- a data point and a second positioning data point; calculating, according to the first and second positioning data points, a second average speed of the second positioning data point and a second declination; calculating the first according to the second average speed Two positioning data point declination; 099145620 Form No. A0101 Page 23 / Total 31 Page 0992078554-0 201226852 乂 When the ― 偏 angle is greater than the second maximum yaw angle, an abnormal driving sub-breast is added; and Tian Yuan abnormal driving When the number of times is greater than _preset threshold, a soft abnormality is issued, such as the method of applying the trajectory (4) described in the patent specification, which further includes the following steps:: capturing a first ground speed from the first positioning data point; The second ground speed is retrieved from the second positioning data point and the second average speed is calculated based on the first and second ground speed calculations. For example, the driving gamma warning method described in the third item includes the following steps:: capturing a first ground direction from the first positioning data point; and capturing a second ground from the second positioning data point a direction; and calculating the second off angle according to the 4th-and second ground direction calculations. For example, when the light-tracking police method described in item 3 of the full-time division of Shenqing further includes the data points of the field, the habitat-positioning state determines whether the obtained positioning data point is valid. &quot; As claimed in claim 3, wherein the second maximum declination is calculated by the following formula: a 127 X (/1 +1 ') χΐ 8 〇 V χ η where β is not the first A maximum declination angle, 〆 represents the second average speed, // represents a lateral force coefficient I indicating a lateral slope, π table 099145620 Form number Α 0101 page 24 / total 3 page 0992078554-0 201226852 pi. 8. The method of claim trajectory warning according to claim 3, wherein the second yaw angle is calculated by the following formula: ABS (0k &lt; 90 ABS(ek-ekA) &gt; 90 (referred to as (AD - 360) Where: the second declination is represented, and ABS represents an absolute value function, The first and second ground directions are respectively indicated, k = 2, 3 &gt; · · · &gt; ^ 〇9. A navigation device comprising: a navigation module for generating a plurality of positioning data points; a navigation system for obtaining the positioning data points from the navigation module; a computing module for calculating a plurality of declinations and a plurality of average speeds corresponding to the positioning data points; The method is configured to calculate a plurality of maximum declination angles of the positioning data points according to the average speed, and when an angling angle of one of the positioning data points is greater than a maximum yaw angle thereof, increase an abnormal driving number by one, and when the abnormality When the number of driving is greater than a predetermined threshold, a driving abnormal warning is issued; and an output device is configured to display the driving abnormality warning. 10. The navigation device of claim 9, further comprising an analysis module for obtaining a plurality of ground speeds and a plurality of ground directions from the positioning data points, and calculating the deviation angles The average speed. 099145620 Form No. A0101 Page 25 of 31 0992078554-0 201226852 11 12 13 099145620 A navigation device comprising: - a navigation switch group for performing a bit operation and generating - a first positioning data point and a second positioning The data point; the V-air system # is used to obtain the first and second positioning data points from the navigation module; the calculation module is configured to calculate the first and second positioning data points according to the first and second positioning data points. Locating a second average speed of the data point and a second yaw angle; determining a pull group 'for calculating a second maximum yaw angle of the second locating data point according to the second average speed, when the second yaw angle When it is greater than the second maximum declination, 'add an abnormal driving number! And issuing an abnormal driving warning when the abnormal number of driving times is greater than a preset threshold; and outputting means for displaying the driving abnormality warning. The navigation device of claim U, further comprising: an analysis module, wherein: the analysis module extracts a first ground speed from the first positioning data point and operates from the second positioning data point Taking an upper ground speed; and - the Haiji County nuclear group calculates the second average speed based on the first and second ground speed calculations. The navigation device of claim U, further comprising an analysis module, wherein: the profiling module grabs a first-ground direction from the first positioning data point, and from the second positioning data The point spine - the second ground direction and the I ten nose module calculate the second off angle according to the first and second ground directions. The navigation device of claim U, wherein, when the positioning data point is obtained, the navigation system determines the number of the form number to be 26s/31 pages 〇992〇?8 14 . V201226852 according to a positioning state. • Whether the positioning data point is valid. 15. The navigation device of claim U, wherein the column break mode calculates the second maximum yaw angle using the following formula: Group a ❹ 16 wherein the second maximum yaw angle r. indicates the second The average speed, # indicates a lateral force coefficient, 丨· indicates a lateral slope Ί indicates the pi. The navigation device of claim 11, wherein the calculation module calculates the second yaw angle by using the following formula: 趣叭-U &lt;90 [Dish (H) ABS(ABS{9k- θ^)~ 360) ABS(&amp;k-ak_l)&gt; 90 Ο where the wire deflection angle is indicated, ABS represents the absolute value function, and € represents the first-to-second ground direction, k=2, 3 N, respectively. 099145620 I Part No. A0101 Page 27 of 31 0992078554-0