CN105528815B - A kind of vehicle driving trace method of adjustment and vehicle driving trace adjustment system - Google Patents
A kind of vehicle driving trace method of adjustment and vehicle driving trace adjustment system Download PDFInfo
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- CN105528815B CN105528815B CN201410510577.7A CN201410510577A CN105528815B CN 105528815 B CN105528815 B CN 105528815B CN 201410510577 A CN201410510577 A CN 201410510577A CN 105528815 B CN105528815 B CN 105528815B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 32
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
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Abstract
The invention discloses a kind of vehicle driving trace method of adjustment and vehicle driving trace adjustment system.The system comprises the multiple terminal devices and vehicle monitoring center for being configured at more driving vehicles.The vehicle monitoring center is used to receive the initial alignment data X reported by the terminal device of any one driving vehicle and latter location data (X+1), using the initial alignment data X as data reliability test trigger condition judge benchmark with judge the location data (X+1) whether meet setting data reliability test trigger condition, and when the location data (X+1) meets that the data reliability tests trigger condition, reliability assessment is carried out successively to multiple location datas that the terminal device subsequently reports, all effective location datas are selected from the plurality of location data according to data reliability assessment result, the vehicle corrected based on selected location data generation travels curve, and show that the vehicle of the correction travels curve in traveling vehicle driving trace monitoring interface.
Description
Technical Field
The invention relates to the technical field of vehicle monitoring, in particular to a vehicle running track adjusting method and a vehicle running track adjusting system.
Background
Currently, there are two technical drawbacks to vehicle monitoring systems. On one hand, when the running vehicle enters an area with weak or no vehicle positioning signal, the running vehicle is in a temporary lost state for the vehicle monitoring center, and the vehicle monitoring center cannot acquire an accurate vehicle positioning signal, so that the running vehicle cannot be accurately positioned; on the other hand, because the positioning accuracy of the positioning chip adopted by the civil vehicle-mounted navigation terminal is poor, the vehicle monitoring center inevitably receives drifting positioning data (namely, vehicle position data indicating that the current position of the vehicle deviates from the actual position of the vehicle), and finally, the deviation of a vehicle running curve on the monitoring interface of the vehicle running track monitoring system from the actual running track of the vehicle is caused, so that misguidance to a vehicle driver is caused, and the navigation experience of a user is reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent vehicle running track adjusting method and system aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a vehicle running track adjusting method is constructed, and the method comprises the following steps:
s1, the vehicle monitoring center receives initial positioning data X and subsequent positioning data (X +1) reported by terminal equipment of any running vehicle, and the initial positioning data X is used as a judgment standard of a data reliability test trigger condition to judge whether the positioning data (X +1) meets the data reliability test trigger condition; wherein X is an increasing variable;
s2, when the vehicle monitoring center judges that the positioning data (X +1) meets the data credibility test triggering condition, sequentially carrying out data credibility evaluation on a plurality of positioning data subsequently reported by the terminal equipment;
s3, selecting all effective positioning data from the subsequently reported positioning data according to the data credibility evaluation result, generating a corrected vehicle driving curve based on the effective positioning data, and displaying the corrected vehicle driving curve to a driving track monitoring interface of the driving vehicle.
In the above method for adjusting a driving trajectory of a vehicle according to the present invention, before the step S1, the method further includes the steps of:
s0, presetting a positioning data reporting period T of the terminal equipment of the running vehicle and a running mileage threshold S of the running vehicle in the positioning data reporting period TmaxAnd a running speed threshold value V of the running vehicle in the positioning data reporting period Tmax。
In the method for adjusting a driving trajectory of a vehicle according to the present invention, the step of the vehicle monitoring center determining whether the positioning data (X +1) satisfies the data reliability test triggering condition in step S1 includes:
finding the vehicle position P on the vehicle monitoring map corresponding to the positioning data XXAnd the positioning data (X +1) corresponds to the vehicle position P on the vehicle monitoring map(X+1)According to the vehicle position PXAnd vehicle position P(X+1)Calculating the actual driving mileage S of the driving vehicle in the positioning data reporting period TX(X+1)And actual running speed VX(X+1)And calculating the actual driving distance SX(X+1)And actual running speed VX(X+1)The driving mileage threshold S of the driving vehicle in the positioning data reporting period TmaxAnd a threshold value V of the running speedmaxRespectively comparing;
if it is judged SX(X+1)< Smax and/or VX(X+1)If the vehicle positioning data is less than Vmax, the positioning data X and the positioning data (X +1) are used as effective vehicle positioning data and stored in a database;
if it is judged SX(X+1)Smax and/or VX(X+1)And if the position data (X +1) meets the data credibility test triggering condition, the position data (X +1) is regarded as suspicious vehicle position data and temporarily stored in the database 205.
In the method for adjusting a driving track of a vehicle according to the present invention, in step S2, the step of sequentially evaluating the reliability of the vehicle monitoring center with respect to a plurality of positioning data subsequently reported by the terminal device includes:
s21, setting the initial credible value M of the positioning data reported by the terminal equipment to be 0;
s22, receiving the next positioning data (X +2) reported by the terminal equipment, and calculating the actual driving mileage S of the driving vehicle in the next positioning data reporting period T(X+1)(X+2)And actual running speed V(X+1)(X+2)And calculating the actual driving distance S(X+1)(X+2)And actual running speed V(X+1)(X+2)The driving mileage threshold S of the driving vehicle in the positioning data reporting period TmaxAnd a threshold value V of the running speedmaxRespectively comparing; wherein M is a variable;
if it is judged S(X+1)(X+2)< Smax and/or V(X+1)(X+2)If the value is less than Vmax, the confidence value M is added by 1, and the step S22 is executed in a loop mode.
In the method for adjusting a driving track of a vehicle according to the present invention, the step of the vehicle monitoring center sequentially evaluating the reliability of the data of the plurality of positioning data subsequently reported by the terminal device in step S2 further includes:
s23, accumulating the credibility value M, and comparing the accumulated credibility value M with a set credibility threshold value N;
if M is greater than or equal to N, defining the positioning data (X +2) and N subsequently reported positioning data as valid positioning data, storing the valid positioning data in a designated storage area of the database, and executing the next step S3;
if M < N, the process returns to step S22.
In the above method for adjusting a driving trajectory of a vehicle according to the present invention, the step S22 further includes:
if it is judged S(X+1)(X+2)Smax and/or V(X+1)(X+2)And more than or equal to Vmax, defining the positioning data (X +1) and the positioning data (X +2) as the drifting positioning data, deleting the drifting positioning data, and resetting the credible value M of the positioning data from the terminal equipment to be 0.
The invention also constructs a vehicle running track adjusting system, which comprises a plurality of terminal devices configured on a plurality of running vehicles and a vehicle monitoring center establishing wireless communication with the terminal devices;
the vehicle monitoring center is used for receiving initial positioning data X and subsequent positioning data (X +1) reported by terminal equipment of any running vehicle, and judging whether the positioning data (X +1) meets a data reliability test triggering condition or not by taking the initial positioning data X as a judgment standard of the data reliability test triggering condition; wherein X is an increasing variable;
the vehicle monitoring center is further used for sequentially evaluating the credibility of a plurality of positioning data subsequently reported by the terminal equipment when the positioning data (X +1) meets a data credibility test triggering condition, selecting all effective positioning data from the plurality of positioning data according to a data credibility evaluation result, generating a corrected vehicle driving curve based on the selected positioning data, and displaying the corrected vehicle driving curve to a driving vehicle driving track monitoring interface.
In the above vehicle travel track adjustment system of the present invention, the terminal device includes:
the positioning module is used for acquiring positioning data of a running vehicle;
the first communication module is used for regularly transmitting the collected positioning data of the running vehicle to the vehicle monitoring center according to a set positioning data reporting period T;
the vehicle monitoring center includes:
a database for storing the driving mileage threshold S of the driving vehicle in a positioning data reporting period TmaxAnd a threshold value V of the running speedmax；
The display screen is used for displaying a vehicle running track monitoring interface in the form of an electronic map;
the second communication module is used for receiving positioning data X and positioning data (X +1) which are sequentially uploaded by each terminal device in a positioning data uploading period T;
a searching module for searching the vehicle position P of the positioning data X corresponding to the vehicle monitoring mapXAnd the positioning data (X +1) corresponds to the vehicle position P on the vehicle monitoring map(X+1)；
A second CPU for determining the position P of the vehicleXAnd vehicle position P(X+1)Calculating the driving mileage S of the driving vehicle in the positioning data reporting period TX(X+1)And average running speed VX(X+1)And calculating the driving distance SX(X+1)And average running speed VX(X+1)The preset driving mileage threshold S of the driving vehicle in a positioning data reporting period TmaxAnd a threshold value V of the running speedmaxRespectively comparing;
and for judging the driving distance SX(X+1)And average running speed VX(X+1)Whether the set data credibility test triggering condition is met or not and the driving mileage S is reachedX(X+1)And average running speed VX(X+1)When the set data reliability test triggering condition is met, defining the positioning data (X +1) as suspicious positioning data and temporarily storing the suspicious positioning data in the database, and meanwhile, setting an initial reliable value M of the positioning data from the terminal equipment to be 0; the data confidence test trigger conditions are as follows: sX(X+1)Smax and/or VX(X+1)≥Vmax。
In the above system for adjusting a vehicle driving track of the present invention, the second communication module is further configured to continue to receive next positioning data (X +2) reported by the terminal device;
the second CPU is also used for calculating the actual driving mileage S of the driving vehicle in the next positioning data reporting period T(X+1)(X+2)And actual running speed V(X+1)(X+2)The actual driving distance S(X+1)(X+2)And actual running speed V(X+1)(X+2)The running vehicle and the running vehicle are in a positioning data reporting period TIs a running mileage threshold SmaxAnd a threshold value V of the running speedmaxAre compared separately and S is obtained(X+1)(X+2)< Smax and/or V(X+1)(X+2)If the comparison result is less than Vmax, the confidence value M is increased by 1.
In the vehicle driving track adjusting system, the second CPU is further configured to accumulate the confidence value M, compare the accumulated confidence value M with a set confidence threshold N, and define the positioning data (X +2) and N positioning data subsequently reported by the terminal device as valid positioning data when a comparison result that M is greater than or equal to N is obtained;
the second CPU is also used for obtaining M < N, S(X+1)(X+2)Smax and/or V(X+1)(X+2)And when the comparison result is more than or equal to Vmax, defining the positioning data (X +1) and the positioning data (X +2) as the drifting positioning data, deleting the drifting positioning data, and resetting the credible value M of the positioning data from the terminal equipment to be 0.
The implementation of the vehicle running track adjusting method and the vehicle running track adjusting system has the following beneficial effects:
1. the vehicle monitoring center can measure the effectiveness of the positioning data according to the dynamic change of the credible value M of the positioning data reported by the terminal equipment, so that part of 'drifting' positioning data in the reported positioning data is eliminated, the error between a vehicle running curve 'drawn' by the vehicle monitoring center and the actual running track of the vehicle is reduced, the navigation precision of the running vehicle is improved, and the navigation experience of vehicle drivers and passengers is improved;
2. the invention makes great improvement on the software level, and the driving navigation experience can be greatly improved on the premise that a user does not need to be equipped with expensive terminal equipment (namely, the use cost is not increased).
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a vehicle speed monitoring system based on vehicle location information according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram showing the construction of any one of the terminal devices of the vehicle speed monitoring system shown in FIG. 1 based on vehicle position information;
FIG. 3 is a block diagram of a vehicle monitoring center of the vehicle speed monitoring system based on vehicle location information shown in FIG. 1;
FIG. 4 is a flow chart of a vehicle speed monitoring method based on vehicle location information according to a preferred embodiment of the invention.
Detailed Description
In order to solve the defect that a vehicle running curve drawn by a vehicle monitoring system based on collected positioning data is easy to deviate from an actual running track of a vehicle in the prior art, the invention has the main innovation points that:
1) setting a data reliability test trigger condition, judging whether the positioning data reported by the running vehicle meets the data reliability test trigger condition, and carrying out data reliability test on the positioning data meeting the condition;
2) by introducing the concept of the credible value M of the positioning data that can be dynamically changed, the vehicle monitoring center 200 can measure the effectiveness of the positioning data according to the dynamic change of the credible value M of the positioning data reported by the terminal device 100, so as to eliminate some 'drifting' positioning data in the positioning data reported by the terminal device 100.
According to the invention, the design that the data reliability test triggering condition is set, the concept of the positioning data reliability value M is introduced, and the effectiveness of the positioning data is measured through the reliability value M of the positioning data so as to eliminate drifting positioning data reported by the terminal device 100 is adopted, so that the technical problem that a vehicle running curve drawn by a vehicle monitoring system based on the collected positioning data in the prior art is seriously deviated from the actual running track of the vehicle is solved, the error between the vehicle running curve displayed on a monitoring interface of the vehicle monitoring center 200 and the actual running track of the vehicle is reduced under the condition that a positioning chip is not replaced and the hardware cost of a product is not increased, the navigation accuracy of the running vehicle is improved, and the navigation experience of a user is improved.
In order to make the purpose of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following will describe the system architecture of the vehicle driving track adjusting system according to the present invention by taking the first preferred embodiment of the present invention as an example:
as shown in fig. 1, the vehicle travel track adjustment system according to the present invention includes a plurality of terminal devices 100 respectively arranged in a plurality of traveling vehicles, and a vehicle monitoring center 200 that establishes wireless communication with the plurality of terminal devices 100. Wherein,
each terminal device 100 is configured to acquire positioning data of a running vehicle, and periodically report the acquired positioning data to the vehicle monitoring center 200.
The vehicle monitoring center 200 is configured to receive positioning data X and positioning data (X +1) continuously reported by any terminal device 100 in a positioning data reporting period T, and use the positioning data X as a criterion for determining whether the positioning data (X +1) meets a data reliability test trigger condition; in the present invention, X is an incremental variable.
The vehicle monitoring center 200 is further configured to determine whether the positioning data (X +1) satisfies a data reliability test trigger condition, and when the positioning data (X +1) satisfies the data reliability test trigger condition, sequentially perform data reliability evaluation on a plurality of positioning data subsequently reported by the terminal device 100, select all valid positioning data from the plurality of positioning data according to a data reliability evaluation result, generate a corrected vehicle driving track according to the selected positioning data, and display the corrected vehicle driving track on a driving vehicle driving track monitoring interface.
As shown in fig. 2, each terminal device 100 includes a first CPU102, a positioning module 101 electrically connected to the first CPU102, a storage module 104, and a first communication module 103.
The positioning module 101 is configured to collect positioning data of a driving vehicle where the terminal device 100 is located at regular time, and input the collected positioning data into the first CPU 102.
The first CPU102 is configured to store the received positioning data in the storage module 104 and forward the received positioning data to the first communication module 103, and instruct the first communication module 103 to periodically transmit the positioning data to the vehicle monitoring center 200 according to the positioning data reporting period T.
The positioning module 101 may include a GPS navigator and various positioning chips developed based on a beidou navigation system.
As shown in fig. 3, the vehicle monitoring center 200 of the present invention includes a second CPU203, a search module electrically connected to the second CPU203, a database 205 and a display screen 204, and a second communication module electrically connected to the search module.
The database 205 is pre-stored with the following parameters: firstly, a driving mileage threshold S of a driving vehicle in a positioning data reporting period Tmax(ii) a Secondly, the running speed threshold value V of the running vehicle in a positioning data reporting period Tmax。
The display screen 204 is used for displaying a vehicle running track monitoring interface in the form of an electronic map;
the second communication module is configured to receive positioning data X and positioning data (X +1) continuously reported by each terminal device 100 in a positioning data uploading period T.
The searching module is used for searching the positioning data X corresponding to the vehicle monitoringVehicle position P on mapXAnd the positioning data (X +1) corresponds to the vehicle position P on the vehicle monitoring map(X+1)And the vehicle position P is determinedXAnd vehicle position P(X+1)To the second CPU 203.
The second CPU203 is used for determining the position P of the vehicleXAnd vehicle position P(X+1)Calculating the driving mileage S of the driving vehicle in the positioning data reporting period TX(X+1)And average running speed VX(X+1)And calculating the driving distance SX(X+1)And average running speed VX(X+1)The preset driving mileage threshold value Smax and driving speed threshold value V of the driving vehicle in a positioning data reporting period TmaxThe comparisons were performed separately.
The second CPU203 is also used for judging the driving distance SX(X+1)And average running speed VX(X+1)Whether the set data credibility test triggering condition is met or not and the driving mileage S is reachedX(X+1)And average running speed VX(X+1)When the set data reliability test triggering condition is met, defining the positioning data (X +1) as suspicious vehicle positioning data and temporarily storing the suspicious vehicle positioning data in the database 205, and meanwhile, setting an initial reliability value M of the positioning data from the terminal device 100 to be 0; the data reliability test triggering conditions are as follows: sX(X+1)Smax and/or VX(X+1)≥Vmax。
The second communication module is configured to receive the positioning data (X +2) reported by the terminal device 100 in the next positioning data reporting period T.
The second CPU203 is further configured to calculate a driving distance S of the driving vehicle within a next positioning data reporting period T(X+1)(X+2)And average running speed V(X+1)(X+2)Calculating the driving distance S(X+1)(X+2)And average running speed V(X+1)(X+2)And the driving mileage threshold value SmaxAnd a threshold value V of the running speedmaxAre compared separately and S is obtained(X+1)(X+2)< Smax and/or V(X+1)(X+2)If the comparison result is less than Vmax, the confidence value M is increased by 1.
The second CPU203 is further configured to accumulate the confidence value M, compare the accumulated confidence value M with a preset confidence threshold N, and determine that the positioning data (X +2) and N positioning data subsequently reported by the terminal device 100 are valid positioning data when M is greater than or equal to N.
The second CPU203 is also used for obtaining M < N, S through comparison(X+1)(X+2)Smax and/or V(X+1)(X+2)And when the comparison result is larger than or equal to Vmax, defining the positioning data (X +1) and the positioning data (X +2) as the drifting positioning data, deleting the drifting positioning data, and resetting the credible value M of the positioning data from the terminal equipment 100 to be 0.
The following will describe the flow of the vehicle travel track correction method of the present invention, taking a second preferred embodiment of the present invention as an example:
as shown in fig. 4, in step S101, a vehicle travel track adjustment system manager sets a vehicle positioning data uploading period T (for example, 1min) and a mileage threshold S of the traveling vehicle within the positioning data uploading period T in advancemax(e.g., 2KM) and a driving speed threshold Vmax(e.g., 160KM/H), and a trust threshold N (e.g., 3) for determining the validity of the positioning data uploaded by the traveling vehicle terminal device 100.
In step S102, the vehicle monitoring center 200 receives the positioning data X and the positioning data (X +1) continuously reported by the terminal device 100 of any traveling vehicle in a positioning data uploading period T, and calculates the traveling distance S of the traveling vehicle in the positioning data uploading period T through the second CPU203X(X+1)And the average running speed VX(X+1)。
Wherein, the position point of the positioning data X corresponding to the vehicle running track monitoring interface is represented as PxAnd the position point of the positioning data (X +1) corresponding to the vehicle running track monitoring interface is represented as a position point P(x+1)；
The driving distance SX(X+1)Indicates a position point PxAnd the position point P(x+1)The distance between them;
the average running speed VX(X+1)Indicating the position of the traveling vehicle from the position point PxTravel to position point P(x+1)The average running speed of.
In step S103, the vehicle monitoring center 200 determines the traveled distance S by the second CPU203X(X+1)And average running speed VX(X+1)Whether the set data credibility test triggering condition is met or not. In the present invention, the data reliability test trigger conditions are as follows: sX(X+1)Smax and/or VX(X+1)≥Vmax。
If the second CPU203 judges the calculated driving distance SX(X+1)And average running speed VX(X+1)If the data reliability test triggering condition is met, executing the next step S104; otherwise, the process jumps back to step S102.
In step S104, the vehicle monitoring center 200 defines the positioning data (X +1) as suspicious positioning data and temporarily stores it in the database 205, and at the same time, sets the initial confidence value M of the positioning data from the terminal device 100 to 0. In the present invention, M is a variable.
In step S105, the vehicle monitoring center 200 continues to receive the next positioning data (X +2) reported by the driving vehicle terminal device 100, and calculates the driving distance S of the driving vehicle in the next positioning data reporting period T according to the positioning data (X +1) and the positioning data (X +2)(X+1)(X+2)And average running speed V(X+1)(X+2)。
In step S106, the second CPU203 compares the travel distance S with the reference distance S(X+1)(X+2)And average running speed V(X+1)(X+2)And the driving mileage threshold value SmaxAnd a threshold value V of the running speedmaxThe comparisons were performed separately. If the second CPU203 obtains S through comparison(X+1)(X+2)Smax and/or V(X+1)(X+2)If the comparison result is larger than or equal to Vmax, executing step S107; if the second CPU203 obtains S through comparison(X+1)(X+2)＜Smax and/or V(X+1)(X+2)< Vmax, the next step S108 is executed.
In step S107, the second CPU203 defines the positioning data (X +1) and the positioning data (X +2) temporarily stored in the database 205 as the drifting positioning data (that is, the positioning data indicating that the position of the traveling vehicle does not coincide with the actual position of the traveling vehicle), and deletes the positioning data defined as the drifting.
In step S108, the second CPU203 increments the confidence value M by 1, and calculates an accumulated value of the confidence value M.
In step S109, the second CPU203 determines whether the accumulated value of the confidence values M exceeds the set confidence threshold value N, that is, whether the value of M is greater than 3. And if the accumulated value of the credible value M is less than or equal to 3, jumping back to the step S105, otherwise, executing the next step S110.
In step S110, the second CPU203 defines both the positioning data (X +1) and the positioning data (X +2) as valid positioning data, and stores the positioning data defined as valid in a designated storage area of the database 205.
In step S111, the second CPU203 reads the positioning data of the designated storage area of the database 205, generates a corrected vehicle travel track based on the positioning data, and displays the vehicle travel track on the vehicle travel track monitoring interface.
After the execution of step S111 is completed, the process returns to step S105.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A method for adjusting a running locus of a vehicle, the method comprising the steps of:
s1, the vehicle monitoring center receives initial positioning data X and subsequent positioning data (X +1) reported by terminal equipment of any running vehicle, and the initial positioning data X is used as a judgment standard of a data reliability test trigger condition to judge whether the positioning data (X +1) meets the data reliability test trigger condition; wherein X is an increasing variable;
s2, when the vehicle monitoring center judges that the positioning data (X +1) meets the data credibility test triggering condition, sequentially carrying out data credibility evaluation on a plurality of positioning data subsequently reported by the terminal equipment;
s3, selecting all effective positioning data from the subsequently reported positioning data according to the data credibility evaluation result, generating a corrected vehicle driving curve based on the effective positioning data, and displaying the corrected vehicle driving curve to a driving track monitoring interface of a driving vehicle;
the method further comprises the following steps before the step S1:
s0, presetting a positioning data reporting period T of the terminal equipment of the running vehicle and a running mileage threshold S of the running vehicle in the positioning data reporting period TmaxAnd a running speed threshold value V of the running vehicle in the positioning data reporting period Tmax；
The step in which the vehicle monitoring center determines whether the positioning data (X +1) satisfies the data reliability test trigger condition in step S1 includes:
finding the vehicle position P on the vehicle monitoring map corresponding to the positioning data XXAnd the positioning data (X +1) corresponds to the vehicle position P on the vehicle monitoring map(X+1)According to the vehicle position PXAnd vehicle position P(X+1)Calculating the actual driving mileage S of the driving vehicle in the positioning data reporting period TX(X+1)And actual running speed VX(X+1)And calculating the actual driving distance SX(X+1)And actual running speed VX(X+1)The driving mileage threshold S of the driving vehicle in the positioning data reporting period TmaxAnd a threshold value V of the running speedmaxRespectively comparing;
if it is judged SX(X+1)<Smax and/or VX(X+1)<Vmax, then the positioning data X and the positioning data (X +1) are stored in a database as effective vehicle positioning data;
if it is judged SX(X+1)Smax and/or VX(X+1)And if the vehicle positioning data is more than or equal to Vmax, determining that the positioning data (X +1) meets the data reliability test triggering condition, and temporarily storing the positioning data (X +1) as suspicious vehicle positioning data in the database 205.
2. The method according to claim 1, wherein the step S2 in which the vehicle monitoring center sequentially performs reliability evaluation on a plurality of positioning data subsequently reported by the terminal device includes:
s21, setting the initial credible value M of the positioning data reported by the terminal equipment to be 0;
s22, receiving the next positioning data (X +2) reported by the terminal equipment, and calculating the actual driving mileage S of the driving vehicle in the next positioning data reporting period T(X+1)(X+2)And actual running speed V(X+1)(X+2)And calculating the actual driving distance S(X+1)(X+2)And actual running speed V(X+1)(X+2)The driving mileage threshold S of the driving vehicle in the positioning data reporting period TmaxAnd a threshold value V of the running speedmaxRespectively comparing; wherein M is a variable;
if it is judged S(X+1)(X+2)<Smax and/or V(X+1)(X+2)<Vmax, the confidence value M is incremented by 1, and step S22 is executed in a loop.
3. The method according to claim 2, wherein the step of the vehicle monitoring center sequentially evaluating the reliability of the data of the plurality of positioning data subsequently reported by the terminal device in step S2 further comprises:
s23, accumulating the credibility value M, and comparing the accumulated credibility value M with a set credibility threshold value N;
if M is greater than or equal to N, defining the positioning data (X +2) and N subsequently reported positioning data as valid positioning data, storing the valid positioning data in a designated storage area of the database, and executing the next step S3;
if M < N, the process returns to step S22.
4. The vehicle travel track adjustment method according to claim 3, wherein the step S22 further includes:
if it is judged S(X+1)(X+2)≥Smax and/or V(X+1)(X+2)And the positioning data (X +1) and the positioning data (X +2) are both defined as drifting positioning data, the drifting positioning data are deleted, and meanwhile, the credible value M of the positioning data from the terminal equipment is reset to 0.
5. A vehicle travel track adjustment system based on the vehicle travel track adjustment method according to any one of claims 1 to 4, characterized in that the system includes a plurality of terminal devices arranged in a plurality of traveling vehicles, and a vehicle monitoring center that establishes wireless communication with the plurality of terminal devices;
the vehicle monitoring center is used for receiving initial positioning data X and subsequent positioning data (X +1) reported by terminal equipment of any running vehicle, and judging whether the positioning data (X +1) meets a data reliability test triggering condition or not by taking the initial positioning data X as a judgment standard of the data reliability test triggering condition; wherein X is an increasing variable;
the vehicle monitoring center is further used for sequentially evaluating the credibility of a plurality of positioning data subsequently reported by the terminal equipment when the positioning data (X +1) meets a data credibility test triggering condition, selecting all effective positioning data from the plurality of positioning data according to a data credibility evaluation result, generating a corrected vehicle driving curve based on the selected positioning data, and displaying the corrected vehicle driving curve to a driving vehicle driving track monitoring interface;
the terminal device includes:
the positioning module is used for acquiring positioning data of a running vehicle;
the first communication module is used for regularly transmitting the collected positioning data of the running vehicle to the vehicle monitoring center according to a set positioning data reporting period T;
the vehicle monitoring center includes:
a database for storing the driving mileage threshold S of the driving vehicle in a positioning data reporting period TmaxAnd a threshold value V of the running speedmax；
The display screen is used for displaying a vehicle running track monitoring interface in the form of an electronic map;
the second communication module is used for receiving positioning data X and positioning data (X +1) which are sequentially uploaded by each terminal device in a positioning data uploading period T;
a searching module for searching the vehicle position P of the positioning data X corresponding to the vehicle monitoring mapXAnd the positioning data (X +1) corresponds to the vehicle position P on the vehicle monitoring map(X+1)；
A second CPU for determining the position P of the vehicleXAnd vehicle position P(X+1)Calculating the driving mileage S of the driving vehicle in the positioning data reporting period TX(X+1)And average running speed VX(X+1)And calculating the driving distance SX(X+1)And average running speed VX(X+1)The preset driving mileage threshold S of the driving vehicle in a positioning data reporting period TmaxAnd a threshold value V of the running speedmaxRespectively comparing;
and for judging the driving distance SX(X+1)And average running speed VX(X+1)Whether the set data credibility test triggering condition is met or not and the driving mileage S is reachedX(X+1)And average running speed VX(X+1)When the set data reliability test triggering condition is met, defining the positioning data (X +1) as suspicious positioning data and temporarily storing the suspicious positioning data in the database, and meanwhile, setting an initial reliable value M of the positioning data from the terminal equipment to be 0; the data confidence test trigger conditions are as follows: sX(X+1)Smax and/or VX(X+1)≥Vmax。
6. The system according to claim 5, wherein the second communication module is further configured to continue receiving next positioning data (X +2) reported by the terminal device;
the second CPU is also used for calculating the actual driving mileage S of the driving vehicle in the next positioning data reporting period T(X+1)(X+2)And actual running speed V(X+1)(X+2)The actual driving distance S(X+1)(X+2)And actual running speed V(X+1)(X+2)The driving mileage threshold S of the driving vehicle in a positioning data reporting period TmaxAnd a threshold value V of the running speedmaxAre compared separately and S is obtained(X+1)(X+2)<Smax and/or V(X+1)(X+2)<When Vmax is compared, 1 is added to the confidence value M.
7. The vehicle driving track adjustment system according to claim 6, wherein the second CPU is further configured to accumulate the confidence value M, compare the accumulated confidence value M with a set confidence threshold N, and define the positioning data (X +2) and N positioning data subsequently reported by the terminal device as valid positioning data when a comparison result that M is greater than or equal to N is obtained;
the second CPU is also used for obtaining M<N，S(X+1)(X+2)Smax and/or V(X+1)(X+2)And when the comparison result is more than or equal to Vmax, defining the positioning data (X +1) and the positioning data (X +2) as the drifting positioning data, deleting the drifting positioning data, and resetting the credible value M of the positioning data from the terminal equipment to be 0.
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| CN201410510577.7A CN105528815B (en) | 2014-09-28 | 2014-09-28 | A kind of vehicle driving trace method of adjustment and vehicle driving trace adjustment system |
| PCT/CN2015/079949 WO2016045398A1 (en) | 2014-09-28 | 2015-05-27 | Method for adjusting vehicle traveling track and system for adjusting vehicle traveling track |
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| CN110972071A (en) * | 2019-10-29 | 2020-04-07 | 福建星网智慧软件有限公司 | Multi-mode positioning method, positioning server, terminal and storage medium |
| CN113808298B (en) * | 2020-06-17 | 2023-05-09 | 上海汽车集团股份有限公司 | A method and system for extracting lane-changing behavior of vehicles based on test data |
| CN112114344B (en) * | 2020-09-04 | 2024-01-19 | Tcl通讯（宁波）有限公司 | Positioning method and device, storage medium and electronic equipment |
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