WO2018018943A1 - Vehicle travel path calculation method and apparatus, path management method and apparatus, and vehicle-mounted terminal - Google Patents

Abstract

A vehicle travel path calculation method and apparatus, a path management method and apparatus, and a vehicle-mounted terminal. Travel parameters of a vehicle can be monitored and then combined with vehicle parameters to calculate a vehicle travel path. A travel path of a vehicle is acquired on the basis of parameters of the vehicle.

Description

Vehicle travel path calculation method, path management method, device and vehicle terminal Technical field

The present application relates to the field of communications technologies, and in particular, to a vehicle travel path calculation method, a path management method, an apparatus, and an in-vehicle terminal.

Background technique

At present, with the development of society and the growth of the population, the more buildings appear, the more and more complex the distribution of buildings on the ground, resulting in more and more complex roads. When users drive into a strange place, for example When a large parking lot or a complicated road section is used, due to the unfamiliarity of the terrain, the user may not be able to recall the base position of the parked vehicle after leaving the parking place, or the vehicle may not be remembered in a complicated road condition. When these situations occur, the average user will use the existing car search system to achieve.

The traditional car-hunting system often locates according to a certain information of the parking space, or locates by GPS (Global Positioning System), or obtains the initial position and parking position by means of map positioning, etc. The external conditions are relatively strong. When there are remote areas or places with more obstructions, the network conditions are often not good, resulting in inaccurate GPS positioning. The accuracy and accuracy of the positioning results cannot be guaranteed. These methods can be difficult to find a car. Moreover, the cost is generally higher by means of GPS positioning.

Summary of the invention

The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.

Embodiments of the present invention provide a vehicle travel path calculation method, a path management method, a device, and an in-vehicle terminal, which solve the problem that the current localization method has strong dependence on external conditions, inaccurate positioning in a special area, and high cost.

An embodiment of the present invention provides a method for calculating a travel path of a vehicle, including:

Real-time monitoring of driving parameters, driving parameters including driving angle and number of runners;

Calling vehicle parameters, vehicle parameters including front and rear tire distance and tire radius;

The vehicle travel path is calculated based on the driving parameters and the vehicle parameters.

The embodiment of the invention further provides a vehicle path management method, including:

Determine the initial point position;

Real-time monitoring of driving parameters, driving parameters including driving angle and number of runners, calling vehicle parameters, vehicle parameters including front and rear tire distance and tire radius, calculating vehicle driving path according to driving parameters and vehicle parameters;

Generating a vehicle path according to an initial point position and a vehicle travel path;

After receiving the call request, the corresponding vehicle path is called.

The embodiment of the invention further provides a vehicle travel path calculation device, comprising: a detection module, a calling module and a calculation module, wherein

The detection module is configured to monitor the driving parameters in real time, and the driving parameters include the driving angle and the number of runners;

Calling the module, set to call the vehicle parameters, the vehicle parameters include the front and rear tire distance and the tire radius;

The calculation module is configured to calculate the vehicle travel path based on the driving parameters and the vehicle parameters.

The embodiment of the invention further provides a vehicle path management device, comprising:

An initial position selection module configured to determine an initial point position;

The vehicle travel path calculation module is configured to monitor the travel parameters in real time, the travel parameters include the travel angle and the number of runners, call the vehicle parameters, the vehicle parameters include the front and rear tire distances and the tire radius, and calculate the vehicle travel path according to the driving parameters and the vehicle parameters;

a vehicle path synthesis module configured to generate a vehicle path according to an initial point position and a vehicle travel path;

The vehicle path call module is set to call the corresponding vehicle path after receiving the call request.

An embodiment of the present invention further provides an in-vehicle terminal, including a processor and a communication interface, where the processor is connected to the vehicle detecting device through a communication interface, where

The vehicle detecting device includes a sensor disposed on the steering wheel and an angle measurement on the tire sensor;

The processor is configured to monitor the angle of the steering wheel and the turning body through the sensor, obtain the driving angle, obtain the number of runners by the angle measuring sensor, call the front and rear tire distance and the tire radius, according to the driving angle, the number of rotating wheels, the front and rear tire distance and the tire Radius, calculate the vehicle's driving path.

Embodiments of the present invention also provide a computer readable storage medium storing computer executable instructions that, when executed by a processor, implement any of the above methods.

The embodiment of the invention discloses a vehicle travel path calculation method, a path management method, a device and an in-vehicle terminal, which can calculate a travel route of the vehicle according to the travel parameters of the monitored vehicle and the vehicle parameters, and the embodiment of the invention is based on the vehicle itself. The parameters are achieved by the acquisition of the vehicle's travel path. Compared with the current GPS or other positioning methods, the acquisition path of the vehicle travel path is not limited by the network, the geographical location or the path complexity, and the dependence on the external conditions is weak. It can work smoothly in places where GPS positioning is not accurate, has good practicability and adaptability, and has the advantage of low cost. In addition, the embodiment of the present invention can calculate the actual driving route of the user, and is helpful for discovering the driving habits of the user, driving bad habits, and improving the driving experience of the user.

Other aspects will be apparent upon reading and understanding the drawings and detailed description.

DRAWINGS

1 is a flowchart of a method for calculating a travel path of a vehicle according to Embodiment 1 of the present invention;

2 is a schematic view showing the calculation of the travel path of the vehicle in the first embodiment;

3 is a flowchart of a vehicle path management method according to Embodiment 2 of the present invention;

4 is a schematic block diagram of a vehicle travel path calculation device according to Embodiment 3 of the present invention;

FIG. 5 is a schematic block diagram of a vehicle path management apparatus according to Embodiment 4 of the present invention.

FIG. 6 is a schematic block diagram of a vehicle-mounted terminal according to Embodiment 5 of the present invention.

detailed description

The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Embodiment 1:

Referring to FIG. 1 , the present embodiment provides a vehicle travel path calculation method, which can calculate a vehicle travel path by acquiring a vehicle's travel parameters and vehicle parameters, and effectively record a path experienced by the vehicle, which can help when the road condition is complicated. The user determines information such as the parking location based on the path experienced. The vehicle travel path calculation method of this embodiment includes:

S101, real-time monitoring of driving parameters, driving parameters including driving angle and number of runners;

S102, calling vehicle parameters, the vehicle parameters include front and rear tire distances and tire radius;

S103. Calculate a vehicle travel path according to the driving parameter and the vehicle parameter.

The above-described vehicle path calculation method of the present embodiment can be applied to various automobiles, such as a passenger car, a passenger car, a truck, etc., and is particularly suitable for a private car whose travel route is complicated.

In the present embodiment, in S101, the driving parameters can be monitored in real time. It can be understood that in order to monitor the driving parameters in real time, it is possible to use a monitoring device provided on the vehicle.

Among them, the driving parameters include the driving angle and the number of runners. The driving angle and the number of runners here are all real-time exercise parameters in the vehicle running. The driving angle can reflect the angle of the vehicle in the vertical direction in real time, and the deflection of the general vehicle is controlled by the steering wheel, so in this embodiment The monitoring of the steering angle can be realized by monitoring the rotation of the steering wheel, that is, the driving angle is obtained by monitoring the angle between the steering wheel and the turning body. Of course, in addition to this, the present embodiment can also obtain the driving angle of the running vehicle by using other feasible methods. For example, a sensor is disposed on the tire to monitor the rotation angle, the rotation direction, and the like of the tire in real time, and then according to the collected rotation correlation. The data gets the driving angle.

Among them, the detection of the number of turns of the vehicle can also be realized by a related sensor provided on the tire. Since the tire rotates one turn and correspondingly rotates 360 degrees, the number of tire turns can be calculated from the angle at which the tire rotates about its own axis. In this way, even if the parameters such as the size of the front and rear wheels of the vehicle do not match, an accurate number of runners can be obtained. In the embodiment, the sensor used to obtain the number of turns of the runner may be an angle measuring sensor disposed on the tire. In this embodiment, the number of runners of the tire can be obtained by detecting the angle measuring sensor on the tire.

In this embodiment, the setting position of the angle measuring sensor may change according to the tire size of the vehicle. For example, when the four wheels of the vehicle have the same size, the angle measuring sensor may be arbitrarily set. In one of the four wheels, when the four wheels of the vehicle are different in size, the angle measuring sensor may be disposed on the front wheel or on the rear wheel. This embodiment is not limited thereto.

It can be understood that the driving angle and the number of rotating wheels of the embodiment have a certain correspondence relationship. Generally, during the running process, the driving angle of the vehicle changes, so in S101, the number of runners corresponding to each driving angle is actually monitored. For example, when the vehicle starts to exercise, the driving angle is 30 degrees to the right, and the initial tire rotation angle is set to 0 degrees. When the driver turns the steering wheel to change the driving angle to 20 degrees to the left, the tire has rotated 7380 degrees. That is 20.5 laps, so the number of runners corresponding to a right turn of 30 degrees is 20.5 laps. When the driving angle of the vehicle is 20 degrees to the left, the angle of the tire rotation can be cleared to 0, the rotation angle can be calculated again, and the recording can be continued on the basis of 7380 degrees, assuming that the recording is continued until the driving angle changes again. The rotation angle is 16000 degrees, and the rotation angle corresponding to the driving angle of 20 degrees to the left is 16000-7380=8620, that is, 23.94 circles.

For a factory vehicle, generally its tire radius and front and rear tire distance are already fixed parameters, unless there is a big modification, generally no change, so in this embodiment, the vehicle parameters include the front and rear tire distance and tire The radius can be the parameter when the vehicle leaves the factory. The distance between the front and rear tires is generally the distance between the front and rear tires on the same side. The calculation method is to calculate the distance of the center of the tire in the horizontal direction. When the current rear tire size is the same, the front and rear tire distances are the same. The distance between the centers of the front and rear tires on the side.

It should be noted that the radius of the tire in this embodiment has a certain relationship with the number of runners in S101. For the accuracy of calculation, when the current rear tire size is the same, in S101, the installation angle measuring sensor calculates the number of runners. The radius of the tire is naturally consistent with the radius of the tire in S102. At this time, the tire radius of any tire is obtained, which has no effect on the calculation in S103. However, when the size of the current rear tire is different, the radius of the tire obtained in S102 can be compared with S101. The installation angle measurement sensor calculates the tire matching of the number of runner turns.

After the driving parameters and the vehicle parameters are acquired, the distance traveled by the vehicle can be obtained according to the number of runners and the radius of the runner, and the driving route of the vehicle can be drawn according to the driving angle and the front and rear tire distances.

In combination with the above analysis, it can be known that during the running of the vehicle, there may be multiple changes in the driving angle, so the calculation of the driving path of the vehicle can be calculated based on the change of the driving angle multiple times. In S103 of the embodiment, the calculation of the travel path of the vehicle can be performed every time When the driving angle changes, the number of turns of the tire before the change of the steering wheel and the angle of the driving are calculated, and finally the running path of the vehicle before the change of the steering wheel is calculated. After the end of the journey, the vehicle travel paths calculated multiple times can be combined to obtain the full path of the vehicle travel.

Further, in the present embodiment S103, the vehicle travel route may be recalculated after the vehicle travels. Of course, it is calculated based on the travel angle recorded during driving and the number of runners.

In the present embodiment, the calculation of the travel path of the vehicle in S103 can be realized by the following steps:

The first step is to calculate the steering radius and the position of the steering center point based on the front and rear tire distance and the driving angle;

The second step is to calculate the driving distance according to the tire radius and the number of runners;

The third step is to calculate the driving track according to the steering radius, the steering center point position and the driving distance;

The fourth step is to combine the driving trajectory into a vehicle driving path.

There is actually no order relationship between the first step and the second step. The above sorting is only done for the convenience of the description. In fact, the second step may be performed before the first step, or in the processor. The computing resources allow for the case where both the first and second steps are calculated.

As an example, suppose that the front and rear tire distance of a car is L, the tire radius is r, and the right front wheel is provided with a relatively accurate angle measuring sensor, and the right front tire is used as a coordinate point. Referring to Fig. 2, there is shown a schematic diagram of the calculation of the travel path of the vehicle in the present embodiment.

圈达到点P，当ω不为0的时候，则可以计算各个参数值如下：

In Fig. 2, the black rectangle represents the vehicle, and since the right front wheel of the vehicle is a coordinate point, the right front end point of the rectangle is taken as a coordinate point. ω in Fig. 2 is the direction of the steering wheel, and the tire rotates.

The circle reaches point P. When ω is not 0, the values of each parameter can be calculated as follows:

(1) The steering radius is

(2) The coordinates of the steering center point are

圈后，汽车绘出来的圆形轨迹的长度(即(3) Direction ω remains unchanged, experience

After the circle, the length of the circular trajectory drawn by the car (ie

The arc length from the coordinate point to the point P in Fig. 2 is

(4) The coordinates of point P are: (R × cos(ω) - R × cos(ω + θ), R × sin(ω + θ) - L), where

圈后的行驶轨迹。 After calculating the coordinates of the P point, the vehicle can be drawn when the driving angle is ω according to the coordinates of the P point and the position of the coordinate point and the steering radius.

The trajectory after the circle.

According to the above manner, the corresponding driving trajectory can be calculated for each steering wheel change. After each ω corresponding driving trajectory is calculated, each driving trajectory is combined in a chronological order in a chronological manner, and drawn together. The total vehicle travel path can be formed.

即P点的坐标为

When the vehicle travel angle is 0, that is, when the vehicle is traveling straight ahead, the steering radius is 0, and there is no steering center point, or the assumption in FIG. 2 is taken as an example. When ω is 0 degrees, the P point is located at y. On the axis, the length to the coordinate point is the distance traveled by the vehicle wheel, ie:

That is, the coordinates of point P are

In order to facilitate the viewing of the drawn graphics, in the process of obtaining the driving path of the vehicle described above, each of the calculated driving trajectories can be scaled down proportionally using the same ratio. Specifically, the driving track may be first reduced and then drawn together to form a driving path of the vehicle, or may be drawn to complete the driving path of the vehicle and then scaled down.

In the above solution, if the initial angle of the vehicle body is at an angle with the vertical direction, the above formula is used to accurately calculate the travel trajectory of the vehicle. At this time, you can input the front and rear tire distance, driving angle, tire radius and number of runners, call the preset calculation formula to calculate the driving trajectory; then combine the driving trajectory into the vehicle driving path.

In the preset calculation formula, the initial angle of the vehicle body and the coordinates of the initial point can also be used. Assuming that the initial angle of the vehicle body is β and the initial point is at the (M, N) position, it can be recalculated in combination with the following preset calculation formula. Turn the center point to sit:

Coordinate of the center point of rotation: (O _x cosβ-O _y sinβ+M, O _x sinβ+O _y cosβ+N)

Point P coordinates: (P _x cosβ-P _y sinβ+M, P _x sinβ+P _y cosβ+N).

After calculating the coordinates of the center point, the travel trajectory is calculated, and the multi-calculated travel trajectories are combined to finally obtain the vehicle travel path.

With the vehicle travel path calculation method of the present embodiment, the travel path of the vehicle can be calculated according to the travel parameters of the monitored vehicle and the vehicle parameters. The solution of the embodiment is the acquisition of the travel path of the vehicle based on the parameters of the vehicle itself. Compared with the current dependence of GPS or other positioning methods on external conditions, the acquisition side of the vehicle travel path of this example is not limited by the network, geographical location or path complexity, and the dependence on external conditions is weak, in GPS. Locations with inaccurate positioning can also work smoothly, have good practicability and adaptability, and have the advantage of low cost. In addition, the method of the embodiment can calculate the actual driving route of the user, which is helpful for discovery. Driving habits, driving habits, and improving the user's driving experience.

Embodiment 2:

Referring to FIG. 3, the embodiment provides a vehicle path management method, including:

S301. Determine an initial point position.

S302, real-time monitoring driving parameters, driving parameters including driving angle and number of runners, calling vehicle parameters, vehicle parameters including front and rear tire distance and tire radius, calculating vehicle driving path according to driving parameters and vehicle parameters;

S303. Generate a vehicle path according to the initial point position and the vehicle driving path.

S304. After receiving the call request, calling the corresponding vehicle path.

It can be seen from the above steps that the solution of the embodiment is obtained based on the vehicle travel path calculation method of the first embodiment. The manner of calculating the vehicle travel path in step S302 of the embodiment is the vehicle travel path calculation in the first embodiment. method. This embodiment will not be described again.

In S301, the initial point position refers to the initial position where the vehicle travels, that is, the position stopped before traveling. It is conceivable that in order to facilitate the user to recall the actual driving street, road condition, area, etc. according to the driving route of the vehicle. The initial point position can be associated with the actual road condition and the building of the driving area, for example, using the building position near the stop position of the vehicle as the initial point position, or using other means such as GPS or AGPS positioning to position the vehicle before the initial driving. Positioning.

In this embodiment, the manner of determining the initial point position by S301 may include: acquiring latitude and longitude coordinates of the initial position of the vehicle, and using the latitude and longitude coordinates as the initial point position. At this time, in S302, the coordinate point position at the time of calculating the first-stage traveling trajectory is the initial point position of the present embodiment. In S303, after calculating the vehicle path, the vehicle path may be converted into a path marked by latitude and longitude according to the latitude and longitude of the initial point position.

In this embodiment, the manner of determining the initial point position by S301 may also be: acquiring a reference of the initial position of the vehicle, and using the reference object as the initial point position. The reference here may be a building near the vehicle, or an identification position such as a number of a street where the vehicle is located.

，并监测ω角度的变化，一旦ω有变化，则记录新的ω值，并计算以角度之前的ω角度转过的转轮圈数

的值，并画出对应的行驶轨迹。如果ω＝0，则行驶轨迹画直线。如果ω>或<0，则按照实施例一中的相关公式计算转向中心点坐标、转向半径和转向圆弧的终点P，以转向半径和转向中心点坐标分别作为半径和圆心，从转向的起点画到终点P的圆形线，表示车辆的最近一次转向前的行驶轨迹。In this embodiment, in order to prevent the related equipment or module on the vehicle from running all the time and waste resources, an open command can be set for the vehicle management of the open vehicle, and when the user drives to an area that is relatively unfamiliar or has complicated road conditions, the open command can be triggered. Controlling the activation of related equipment on the vehicle, such as the opening of the angle measuring sensor, the opening of the relevant calculation drawing module, etc., and then acquiring the current initial point position, which may be the latitude and longitude coordinates of the initial position of the vehicle or the initial position of the vehicle. The reference object or the like, and then obtain the steering angle of the current tire, that is, the ω angle in the first embodiment, and then the related drawing software can set the initial vehicle position according to the initial point position and the ω angle. Record the tire's runner rim value while the vehicle is in motion

And monitor the change in the ω angle. Once ω changes, record the new ω value and calculate the number of laps that are rotated by the ω angle before the angle.

The value and draw the corresponding driving trajectory. If ω = 0, the driving trajectory draws a straight line. If ω> or <0, calculate the steering center point coordinates, the steering radius, and the end point P of the steering arc according to the correlation formula in the first embodiment, and use the steering radius and the steering center point coordinates as the radius and the center of the circle, respectively. The circular line drawn to the end point P represents the trajectory of the vehicle before the last turn.

After that, continue to monitor the change of the ω angle, and enter the next calculation cycle. Once ω changes, continue the above calculation and drawing process until the end command is automatically sent after the user triggers or the vehicle stops driving.

Through the above drawing, the vehicle path can be obtained, and the vehicle path can be stored in the vehicle for user's access. When the call request is received, the corresponding vehicle path can be invoked, wherein the call request can be to look up the vehicle path in the history on the display of the vehicle. It may also be an acquisition request initiated by the user through the terminal. In S304, when the calling request is an acquisition request sent by the user, calling the corresponding vehicle path includes feeding back the requested vehicle path to the user terminal.

By adopting the vehicle path management method of the embodiment, it is possible to combine accurate GPS positioning, or use a certain point of the outside to locate the initial point position of the driving, thereby bringing different user experiences to the user. The solution of the embodiment has the advantages of low dependence on external conditions and low cost, and can call the completed vehicle path. The vehicle path obtained in this embodiment is used as a map for finding a car, and at the same time, the user completes according to the drawing. Vehicle roads can dig their own driving habits, find driving habits, and improve the user's driving experience.

Embodiment 3:

Referring to FIG. 4, the embodiment provides a vehicle travel path calculation device, including: a detection module 41, a calling module 42, and a calculation module 43, wherein

The detecting module 41 is configured to monitor driving parameters in real time, and the driving parameters include a driving angle and a number of runners;

Calling module 42, set to invoke vehicle parameters, vehicle parameters including front and rear tire distance and tire radius;

The calculation module 43 is configured to calculate a vehicle travel path based on the driving parameters and the vehicle parameters.

The above-described vehicle path calculation device of the present embodiment can be applied to various automobiles, such as a car, a passenger car, a truck, etc., and is particularly suitable for a private car whose travel route is complicated.

Among them, the driving parameters include the driving angle and the number of runners. The driving angle and the number of runners here are all real-time exercise parameters in the vehicle running. The driving angle can reflect the angle of the vehicle in the vertical direction in real time, and the deflection of the general vehicle is controlled by the steering wheel, so in this embodiment The detecting module 41 can monitor the driving angle by monitoring the rotation of the steering wheel, that is, obtaining the driving angle by monitoring the angle between the steering wheel and the turning body. Of course, in addition to this, the present embodiment can also obtain the driving angle of the running vehicle by using other feasible methods. For example, a sensor is disposed on the tire to monitor the rotation angle, the rotation direction, and the like of the tire in real time, and then according to the collected rotation correlation. The data gets the driving angle.

Among them, the detection of the number of turns of the vehicle can also be realized by a related sensor provided on the tire. Since the tire rotates one turn and correspondingly rotates 360 degrees, the number of tire turns can be calculated from the angle at which the tire rotates about its own axis. In the present embodiment, the number of turns of the wheel can be measured by an angle provided on the tire. Therefore, the detecting module 41 of the present embodiment can monitor the number of turns of the tire by using an angle measuring sensor provided on the tire.

During the running of the vehicle, multiple changes in the driving angle may occur, so the calculation module 43 can calculate the vehicle travel path based on the change of the driving angle multiple times. In the present embodiment, the calculation module 43 calculates the number of turns of the tire and the angle of travel before the current steering wheel change for each calculation of the driving angle, and finally calculates the steering wheel. The vehicle's driving path before the change. After the end of the journey, the vehicle travel paths calculated multiple times can be combined to obtain the full path of the vehicle travel. That is, the calculation module 43 of the present embodiment can calculate the vehicle travel path when the travel angle in the travel parameters changes. It is also possible to calculate the vehicle travel path after the vehicle has finished running. It can be foreseen that if the calculation module 43 calculates the vehicle travel path after the vehicle has finished running, it will record during the running of the vehicle. Each time the detection module 41 detects a change in the driving angle, the previous driving angle and the corresponding number of revolutions.

In this embodiment, the calculation module 43 of the embodiment may be configured to calculate the steering radius and the steering center point position according to the front and rear tire distances and the driving angle, and calculate the driving distance according to the tire radius and the number of the rotating wheels, according to the steering radius. The steering trajectory is calculated by turning to the center point position and the driving distance, and the driving trajectory is combined into a driving path of the vehicle.

For a specific calculation process, reference may be made to the relevant explanation part of FIG. 2 in the first embodiment.

In the above solution, if the initial angle of the vehicle body is at an angle with the vertical direction, the driving trajectory of the vehicle may not be accurately calculated by using the above solution. At this time, the calculation module 43 is set to input the front and rear tire distance, the driving angle, the tire radius and the number of runners, and call the preset calculation formula to calculate the driving track; and then combine the driving track into the vehicle driving path. For the preset calculation formula, refer to the related description of the embodiment i.

According to the vehicle travel path calculation device of the present embodiment, the detection module can calculate the travel route of the vehicle according to the travel parameter and the vehicle parameter respectively acquired by the detection module and the calling module according to the travel parameter of the monitored vehicle, and the vehicle of the embodiment The travel path calculation device is the acquisition of the vehicle travel route based on the parameters of the vehicle itself. Compared with the current strong dependence of GPS or other positioning methods on external conditions, the vehicle travel path calculation device of the present example is not limited by network, geographical location or path complexity, and has weak dependence on external conditions, and is located in GPS. Inaccurate places can also work smoothly, with good practicability and adaptability, and also has the advantage of low cost. In addition, the vehicle travel path calculation device of the present embodiment can calculate the actual driving route of the user, and is helpful for discovering the driving habits of the user, driving habits, and improving the driving experience of the user.

Embodiment 4:

Referring to FIG. 5, this embodiment shows a vehicle path management apparatus, including:

The initial position selection module 51 is configured to determine an initial point position;

The vehicle travel path calculation module 52 is configured to monitor the travel parameters in real time, the travel parameters include the travel angle and the number of runners, call the vehicle parameters, the vehicle parameters include the front and rear tire distances and the tire radius, and calculate the vehicle travel path according to the driving parameters and the vehicle parameters. ;

The vehicle path synthesis module 53 is configured to generate a vehicle path according to the initial point position and the vehicle travel path;

The vehicle path invocation module 54, is configured to invoke the corresponding vehicle path upon receipt of the call request.

In the present embodiment, the initial point position determined by the initial position selecting module 51 is the initial position at which the vehicle travels, that is, the position stopped before traveling. It is conceivable that in order to facilitate the user to recall the actual driving street, road condition, area, etc. according to the driving route of the vehicle. When the initial position selection module 51 determines the initial point position, the initial point position can be associated with the actual road condition and the building of the driving area, for example, using the building position near the stop position of the vehicle as the initial point position, or using other means such as GPS or AGPS positioning locates the position of the vehicle before the initial travel.

In this embodiment, the initial position selection module may be configured to acquire the latitude and longitude coordinates of the initial position of the vehicle, and use the latitude and longitude coordinates as the initial point position; or acquire the reference object of the initial position of the vehicle, and use the reference object as the initial point position.

The vehicle travel path calculation module in this embodiment can be implemented by using the vehicle travel path calculation device in the third embodiment, and the function of this embodiment will not be described again.

With the vehicle path management device of the embodiment, the accurate GPS positioning can be used to locate the initial point position of the driving, or the position of the initial point of the driving is used for a certain point of the outside, which brings different user experiences to the user. The vehicle path management device of the embodiment has the advantages of low dependence on external conditions and low cost. When the user needs the vehicle path, the vehicle path calling module can call the completed vehicle path as a map for finding a car. At the same time, the user can mine his driving habits according to the completed vehicle road, find driving habits, and improve the user driving experience.

Embodiment 5:

Referring to FIG. 6, the embodiment discloses an in-vehicle terminal, which includes a processor 61 and a communication interface 62. The processor is connected to the vehicle detecting device 70 through a communication interface, where

The vehicle detecting device includes a sensor disposed on the steering wheel and an angle measuring sensor disposed on the tire;

The processor is configured to monitor the angle of the steering wheel and the turning body through the sensor to obtain the driving angle. Over-angle measuring sensor, obtain the number of runners, call the front and rear tire distance and tire radius, calculate the vehicle's driving path according to the driving angle, the number of runners, the front and rear tire distance and the tire radius.

Generally, for a factory vehicle, the tire radius and the front and rear tire distances are already fixed parameters, and unless a large modification occurs, generally no change occurs, so in the present embodiment, the front and rear tire distances acquired by the processor are The tire radius can be the parameter of the vehicle when it leaves the factory. The distance between the front and rear tires is generally the distance between the front and rear tires on the same side. The calculation method is to calculate the distance of the center of the tire in the horizontal direction. When the current rear tire size is the same, the front and rear tire distance is The distance between the centers of the front and rear tires on the same side.

It should be noted that the radius of the tire acquired by the processor has a certain relationship with the number of runners obtained by the processor through the angle measurement sensor. For the accuracy of the calculation, when the current rear tire size is the same, the processor acquires the tire of any tire. The radius has no effect on the processor calculating the vehicle travel path, but when the size of the current rear tire is different, the installation angle measuring sensor calculates the radius of the tire of the runner number, which is consistent with the tire radius acquired by the processor.

During the running of the vehicle, there may be multiple changes in the driving angle, so the calculation of the driving path of the vehicle can be calculated based on the change of the driving angle multiple times. In the calculation of the vehicle travel path, the processor of the embodiment can calculate the number of turns of the tire before the change of the steering wheel and the angle of travel before each change of the steering angle, and finally calculate the vehicle before the change of the steering wheel. Driving path. After the end of the journey, the vehicle travel paths calculated multiple times can be combined to obtain the full path of the vehicle travel. In addition, the processor can also calculate the vehicle travel path after the vehicle has finished running. At this time, the processor is calculated based on the traveling angle and the number of runners recorded during driving, and the front and rear tire distance and tire radius.

In this embodiment, the processor is configured to calculate the steering radius and the steering center point position according to the front and rear tire distances and the driving angle, and calculate the driving distance according to the tire radius and the number of the rotating wheels, according to the steering radius, the steering center point position, and the driving. The distance is calculated to calculate the driving track, and the driving track is combined into the driving path of the vehicle; or, the front and rear tire distance, the driving angle, the tire radius and the number of runners are input, the preset calculation formula is called, the driving track is calculated, and the driving track is combined. The path for the vehicle.

In this embodiment, the in-vehicle terminal may be a navigator, and the navigator may be a device independent of the vehicle or integrated with the vehicle.

In this embodiment, the processor is further configured to determine the initial point position, according to the initial point position and the car. A driving path that generates a vehicle path.

Among them, the initial point position refers to the initial position of the vehicle, that is, the position stopped before the driving. It is conceivable that in order to facilitate the user to recall the actual driving street, road condition, area, etc. according to the driving route of the vehicle. The initial point position can be associated with the actual road condition and the building of the driving area, for example, using the building position near the stop position of the vehicle as the initial point position, or using other means such as GPS or AGPS positioning to the initial position of the vehicle before driving. Positioning.

In an embodiment, the processor may acquire the latitude and longitude coordinates of the initial position of the vehicle, and use the latitude and longitude coordinates as the initial point position; or, obtain the reference of the initial position of the vehicle, and use the reference object as the initial point position.

In the present embodiment, in order to facilitate the user's use of the vehicle path obtained by the processor, the in-vehicle terminal of the embodiment further includes a memory configured to store the vehicle path. The stored vehicle path can be processed according to the user's call. For example, the user can view the vehicle path on the vehicle terminal. The vehicle terminal of the embodiment may further include a display configured to display the vehicle path.

In addition, the in-vehicle terminal of the embodiment may include a communication module that performs data transmission with the user terminal by means of wireless communication, short-range communication, etc., and the processor may acquire a request message sent by the user, and determine the vehicle requested by the user according to the information carried in the request message. The path, and then the vehicle path of the storage module is sent to the user terminal through the communication module.

With the vehicle-mounted terminal of the embodiment, the acquisition of the vehicle path during the driving process of the user can be realized by using a simple device without using the GPS and the existing positioning device, and the vehicle-mounted terminal of the embodiment is used for the external condition. The dependence is weak, and it is not limited by factors such as network, geographical location or path complexity. It can work smoothly in the place where the existing GPS positioning is not accurate. It has good practicability and adaptability, and has a relative GPS positioning. The advantage of low cost. In addition, the in-vehicle terminal of the present embodiment stores and displays the vehicle path, which helps to discover the driving habits of the user, driving habits, and improving the driving experience of the user. At the same time, the user can obtain the stored vehicle path as a map through the mobile phone to determine the parking place.

Embodiments of the present invention also provide a computer readable storage medium storing computer executable instructions that, when executed by a processor, implement any of the above methods.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and functional blocks/units of the methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical The components work together. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer readable medium, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and nonvolatile, implemented in any method or technology for storing information, such as computer readable instructions, data structures, program modules or other data. Sex, removable and non-removable media. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridge, magnetic tape, magnetic disk storage or other magnetic storage device, or may Any other medium used to store the desired information and that can be accessed by the computer. Moreover, it is well known to those skilled in the art that communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and can include any information delivery media. .

The above is a further detailed description of the present invention in connection with the specific embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

Industrial applicability

The embodiment of the invention discloses a vehicle travel path calculation method, a path management method, a device and an in-vehicle terminal, which can calculate a travel route of the vehicle according to the travel parameters of the monitored vehicle and the vehicle parameters, and the embodiment of the invention is based on the vehicle itself. The parameters are achieved by the acquisition of the vehicle's travel path. Compared with the current GPS or other positioning methods, the acquisition path of the vehicle travel path is not limited by the network, the geographical location or the path complexity, and the dependence on the external conditions is weak. It can work smoothly in places where GPS positioning is not accurate. Good practicality and adaptability, in addition to the advantages of low cost. In addition, the embodiment of the present invention can calculate the actual driving route of the user, and is helpful for discovering the driving habits of the user, driving bad habits, and improving the driving experience of the user. Therefore, the present invention has industrial applicability.

Claims (16)

A vehicle travel path calculation method includes: Monitoring driving parameters in real time, the driving parameters including a driving angle and a number of runners (S101); Calling vehicle parameters, the vehicle parameters including front and rear tire distances and tire radius (S102); The vehicle travel route is calculated based on the travel parameter and the vehicle parameter (S103). The vehicle travel path calculation method according to claim 1, wherein the calculating the vehicle travel route (S103) according to the travel parameter and the vehicle parameter comprises at least one of the following steps: Calculating the travel path of the vehicle after the vehicle is exhausted; The vehicle travel path is calculated when the travel angle in the travel parameter changes. The vehicle travel path calculation method according to claim 1, wherein said monitoring the travel parameter (S101) comprises: Obtaining the driving angle by monitoring the angle of the steering wheel and the turning body; The number of turns of the runner is obtained by detecting an angle measuring sensor provided on the tire. The vehicle travel route calculation method according to any one of claims 1 to 3, wherein the calculating the vehicle travel route (S103) according to the travel parameter and the vehicle parameter comprises: Calculating the steering radius and the steering center point position according to the front and rear tire distances and the driving angle; Calculating the driving distance according to the tire radius and the number of runners; Calculating a driving track according to the steering radius, the steering center point position, and the driving distance; The travel trajectory is combined into the vehicle travel path. The vehicle travel route calculation method according to any one of claims 1 to 3, wherein the calculating the vehicle travel route (S103) according to the travel parameter and the vehicle parameter comprises: Input the front and rear tire distance, driving angle, tire radius and number of runners, call the preset calculation formula to calculate the driving track; The travel trajectory is combined into the vehicle travel path. A vehicle path management method includes: Determining an initial point position (S301); Monitoring driving parameters in real time, the driving parameters including a driving angle and a number of runners, invoking vehicle parameters, the vehicle parameters including front and rear tire distances and tire radius, and calculating a vehicle driving path according to the driving parameters and the vehicle parameters ( S302); Generating a vehicle path according to the initial point position and the vehicle travel path (S303); After receiving the call request, the corresponding vehicle path is called (S304). The vehicle path management method according to claim 6, wherein said determining an initial point position (S301) comprises: Obtaining latitude and longitude coordinates of the initial position of the vehicle, and using the latitude and longitude coordinates as the initial point position; or, A reference to the initial position of the vehicle is obtained, and the reference is used as the initial point position. A vehicle travel path calculation device includes: a detection module (41), a calling module (42), and a calculation module (43), wherein The detecting module (41) is configured to monitor driving parameters in real time, and the driving parameters include a driving angle and a number of runners; The calling module (42) is configured to invoke a vehicle parameter, and the vehicle parameters include front and rear tire distances and a tire radius; The calculation module (43) is configured to calculate a vehicle travel path according to the driving parameter and the vehicle parameter. The vehicle travel path calculation device according to claim 8, wherein the calculation module (43) is configured to calculate a steering radius and a steering center point position according to the front and rear tire distances and a running angle, according to the tire radius and the rotation Calculating the driving distance according to the number of rims, calculating the driving trajectory according to the steering radius, the steering center point position and the driving distance, and combining the driving trajectory into the vehicle driving path; or, setting the front and rear tire distance and the driving angle The tire radius and the number of runners are called, and a preset calculation formula is called to calculate a travel track, and the travel track is combined into the vehicle travel path. A vehicle path management device includes: An initial position selection module (51) configured to determine an initial point position; The vehicle travel path calculation module (52) is configured to monitor the travel parameters in real time, the travel parameters include a travel angle and a number of runners, and call the vehicle parameters, the vehicle parameters including front and rear tire distances and tire radius, according to the travel parameters And the vehicle parameters, calculating a vehicle travel path; a vehicle path synthesis module (53) configured to generate a vehicle path according to the initial point position and the vehicle travel path; The vehicle path calling module (54) is arranged to call the corresponding vehicle path after receiving the call request. The vehicle path management device according to claim 10, wherein said initial position selection module (51) is configured to: Obtaining latitude and longitude coordinates of the initial position of the vehicle, and using the latitude and longitude coordinates as the initial point position; or, A reference to the initial position of the vehicle is obtained, and the reference is used as the initial point position. An in-vehicle terminal includes a processor (61) and a communication interface (62), and the processor is connected to the vehicle detecting device (70) through the communication interface, wherein The vehicle detecting device (70) includes a sensor disposed on the steering wheel and an angle measuring sensor disposed on the tire; The processor (61) is configured to monitor the angle of the steering wheel and the turning body by the sensor, obtain the driving angle, obtain the number of runners by the angle measuring sensor, and call the front and rear tire distance and the tire radius, according to the driving angle and the rotating wheel ring. Number, front and rear tire distance and tire radius, calculate the vehicle's driving path. The vehicle-mounted terminal according to claim 12, wherein said processor (61) is configured to calculate a steering radius and a steering center point position based on said front and rear tire distances and a running angle, according to said tire radius and number of runners Calculating a driving distance, calculating a driving trajectory according to the steering radius, a steering center point position, and a driving distance, combining the driving trajectory into the vehicle driving path; or setting the input front and rear tire distance, the driving angle, and the tire radius And the number of runners, the preset calculation formula is called, the driving trajectory is calculated, and the driving trajectory is combined into the driving path of the vehicle. The in-vehicle terminal according to claim 12, wherein the in-vehicle terminal is a navigator. The vehicle-mounted terminal according to any one of claims 12 to 14, wherein the processor (61) is further configured to determine an initial point position, and generate a vehicle path based on the initial point position and the vehicle travel path. The in-vehicle terminal of claim 15, further comprising: a memory, or a display, or a memory and a display; the memory being configured to store the vehicle path, the display being configured to display the vehicle path.

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