CN105702093A - Lane judgment method based on latitude and longitude acquisition points and positioning device thereof - Google Patents
Lane judgment method based on latitude and longitude acquisition points and positioning device thereof Download PDFInfo
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- CN105702093A CN105702093A CN201610251924.8A CN201610251924A CN105702093A CN 105702093 A CN105702093 A CN 105702093A CN 201610251924 A CN201610251924 A CN 201610251924A CN 105702093 A CN105702093 A CN 105702093A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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Abstract
The invention discloses a lane judgment method based on latitude and longitude acquisition points. Multiple reference points are set on a target road, and a principal coordinate matrix of the target rod and a sub-coordinate matrix of each lane are acquired; the lane in which a target vehicle is positioned is determined, the coordinate values of all the reference vehicles in the adjacent lanes of the lane in which the target vehicle is positioned are collected, and actual distance between the target vehicle and the reference vehicles is acquired through matrix calculation; and whether the target vehicle can change lane is judged by comparing the actual distance and safe distance. Meanwhile, the invention also discloses a positioning device applied to the method. Advantages of the method are that the method has higher reliability in comparison with that of an independent GPS and has better road fault tolerance in comparison with that of radar so that degree of safety is higher, data feedback is more rapid, and whether the vehicle can change lane is prejudged through establishment of a vehicle latitude and longitude matrix coordinate system and differential correction of precision of submitted distance calculation.
Description
Technical field
The present invention relates to a kind of localization method and positioner, particularly a kind of track that vehicle is travelled carries out method and the positioner of location determination。
Background technology
Along with expanding economy, the owning amount of automobile is increasing rapidly, and meanwhile, motor-vehicle accident also occurs again and again, and rear-end collision is one of main vehicle accident。
Mentioning rear-ended car accident, on complicated road, its main origin cause of formation is because vehicle spacing and controls bad, or because the unexpected lane change of front truck, and rear car has little time to slow down and causes。So for the judgement of vehicle location in certain road, being just particularly important, if the vehicle condition of adjacent lane can be judged in advance, it is possible to ready in advance for lane change, reduce the probability that rear-end collision occurs。
Existing fellow road-users situation judges mainly to have to be judged by radar range finding or GPS location determination, although its experimental technique is comparatively ripe, but still there is more technical problem:
For radar surveying, it carries out the range finding of wide scope mainly through radar, thus providing certain driving reference to driver, but its restriction being subject to road conditions is relatively big, some guardrails on track etc., and object is easy to affect the normal operation of radar；
For GPS position, it is well known that GPS is higher for the requirement of signal, and in the section that some gps signals are not as, GPS location can exist bigger locating bias, data can degree of accepting and believing very low。
Summary of the invention
Goal of the invention: for the problems referred to above, it is an object of the invention to provide a kind of method that track that vehicle is travelled carries out location determination, it is possible to determine whether rapidly can lane change, and provide the positioner being applied to this method。
Technical scheme: a kind of track decision method based on longitude and latitude collection point, comprises the following steps:
Step one: target road is set some reference points, indicates the coordinate figure of reference point, it is thus achieved that the principal coordinate matrix of target road；
Step 2: the reference point in tracks different in target road is carried out subregion, it is thus achieved that point coordinates matrix in each track；
Step 3: set the safe distance of vehicle lane change；
Step 4: collect coordinate figure when target vehicle travels, it is determined that the principal coordinate matrix at target vehicle place and point coordinates matrix, so that it is determined that the track, place that target vehicle is in target road；
Step 5: before target vehicle lane change, collects each coordinate figure with reference to vehicle in the adjacent lane in track, target vehicle place, obtains target vehicle and with reference to the actual range between vehicle by matrix calculus；
Step 6: compare actual range and safe distance, judge target vehicle whether can lane change, if actual range more than safe distance, then show that target vehicle can the result of determination of lane change, if actual range less than safe distance, then show that target vehicle cannot the result of determination of lane change；
Above-described coordinate figure is the coordinate figure determined with longitude and latitude。
In step 5, described actual range refers to: when reference vehicle is positioned at the right forward side of target vehicle direction of advance, and the distance taken between the reference point of target vehicle right front and the reference point of reference vehicle left back is actual range；When reference vehicle is positioned at the left forward side of target vehicle direction of advance, the distance taken between the reference point of target vehicle left front and the reference point of reference vehicle right back is actual range；When reference vehicle is positioned at the right rear side of target vehicle direction of advance, the distance taken between the reference point of target vehicle right back and the reference point of reference vehicle left front is actual range；When reference vehicle is positioned at the left rear side of target vehicle direction of advance, the distance taken between the reference point of target vehicle left back and the reference point of reference vehicle right front is actual range。
In order to improve the accuracy of actual distance calculation, in addition it is also necessary to the coordinate figure to the target vehicle collected, with reference to vehicle is modified, and comprises the following steps:
Set up vehicle longitude and latitude matrix coordinate system: set the width of vehicle as X, long for Y, with vehicle left rear corner position for initial point O, generate vehicle location matrix coordinate system；Set the density of reference point as Z, with (X/2, Y/2) position is as vehicle coordinate value bleeding point, longitude and latitude according to the bleeding point position relative to vehicle length and width direction and vehicle place at that time, at vehicle location matrix (X, Y) vehicle longitude and latitude matrix coordinate system is generated within the scope of the matrix of first quartile, it is thus achieved that and the longitude and latitude location parameter of each position of vehicle (i, j)；
Difference correction: set vehicle speed as W, it is θ to the instantaneous drift angle of direct north that vehicle travels phase, and the instantaneous actual longitude and latitude position of vehicle is (iN, jN), the actual longitude and latitude position of next second of vehicle is (iN+1, jN+1), the predetermined longitude and latitude position of next second of vehicle is (iN+1’, jN+1’), calculate (iN+1, jN+1) and (iN+1’, jN+1’) between distance L, relative drift angle δ, vehicle operating range M and L, θ and δ are carried out difference contrast, thus obtaining correction deviation, with this to vehicle coordinate value bleeding point collect data be modified。
(i, j) for the coordinate figure in described principal coordinate matrix for the longitude and latitude location parameter of described each position of vehicle。
A kind of positioner being applied to the above-described track decision method based on longitude and latitude collection point, including: gather the acquisition module of latitude and longitude coordinates, the logic module that actual range between reference vehicle and target vehicle and safe distance are judged, carry out the calculating integration module that the data such as distance calculate, the reminding module that result of determination is pointed out。
Beneficial effect: compared with prior art, the invention have the advantage that
1, by existing road is carried out matrixing, the reference point of array is set, is obtained the particular location of vehicle by static reference point, compared to independent GPS, there is higher reliability, having better road fault-tolerance compared to radar, degree of safety is higher, and data feedback is also faster；
2, vehicle error of data when unstable speeds is reduced by difference correction；
3, by setting up vehicle longitude and latitude matrix coordinate system, compensate for single GPS device and cannot adapt to the range finding of different size vehicle and the problem that gps data deviation is bigger；
4, it is likely to be affected bigger problem by vehicle actual size for spacing, sets a decision algorithm, to eliminate the error of the distance that different size vehicle is likely to bring。
Accompanying drawing explanation
Fig. 1 is the schematic diagram of four kinds of relative positions with reference to vehicle-to-target vehicle, and wherein A is target vehicle, B is actual range for reference vehicle, N；
Fig. 2 is the schematic diagram of vehicle longitude and latitude matrix coordinate system。
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, it is further elucidated with the present invention, it should be understood that these embodiments are merely to illustrate the present invention rather than restriction the scope of the present invention, after having read the present invention, the amendment of the various equivalent form of values of the present invention is all fallen within the application claims limited range by those skilled in the art。
A kind of track decision method based on longitude and latitude collection point, specifically includes following steps:
Step one: to target road set some reference points, in Fig. 1 with "+" represents, by longitude and latitude sign reference point coordinate figure, it is thus achieved that the principal coordinate matrix of target road。
Step 2: the reference point in tracks different in target road is carried out subregion, it is thus achieved that corresponding to point coordinates matrix in each track。
Step 3: set the safe distance of vehicle lane change。
Step 4: when target vehicle travels, by collecting the real-time longitude of target vehicle and latitude coordinate values, so that it is determined that the principal coordinate matrix at target vehicle place, thus calling a point coordinates matrix, determines the target vehicle which track in target road。
Step 5: before target vehicle is intended to lane change, collects each longitude with reference to vehicle and latitude coordinate values in the adjacent lane in track, target vehicle place, obtains target vehicle and with reference to the actual range between vehicle by matrix calculus。
According to target vehicle and the relative transport condition with reference to vehicle, as shown in Figure 1, actual range refers to: when reference vehicle B is positioned at the right forward side of target vehicle A direction of advance, and the distance taken between the reference point of target vehicle right front and the reference point of reference vehicle left back is actual range N；When reference vehicle B is positioned at the left forward side of target vehicle A direction of advance, the distance taken between the reference point of target vehicle left front and the reference point of reference vehicle right back is actual range N；When reference vehicle B is positioned at the right rear side of target vehicle A direction of advance, the distance taken between the reference point of target vehicle right back and the reference point of reference vehicle left front is actual range N；When reference vehicle B is positioned at the left rear side of target vehicle A direction of advance, the distance taken between the reference point of target vehicle left back and the reference point of reference vehicle right front is actual range N。
Longitude and latitude coordinate values to the target vehicle collected, with reference to vehicle also need to be modified, and to improve the accuracy of actual distance calculation, comprise the following steps:
First, set up vehicle longitude and latitude matrix coordinate system: set the width of vehicle as X, long for Y, with vehicle left rear corner position for initial point O, generate vehicle location matrix coordinate system；Set the density of reference point as Z, namely neighboring reference point "+" transverse direction, longitudinal pitch is equal, it is Z, with (X/2, Y/2) position is as vehicle coordinate value bleeding point, longitude and latitude according to the bleeding point position relative to vehicle length and width direction and vehicle place at that time, at vehicle location matrix (X, Y) generation vehicle longitude and latitude matrix coordinate system within the scope of the matrix of first quartile, as shown in Figure 2, obtain the longitude and latitude location parameter (i of each position of vehicle, j), visible, this parameter (i, j) it is consistent with the longitude of the reference point in principal coordinate matrix and latitude coordinate values。
Then, difference correction: set vehicle speed as W, unit m/s, it is θ to the instantaneous drift angle of direct north that vehicle travels phase, and the instantaneous actual longitude and latitude position of vehicle is (iN, jN), the actual longitude and latitude position of next second of vehicle is (iN+1, jN+1), the predetermined longitude and latitude position of next second of vehicle is (iN+1’, jN+1’), according to principal coordinate matrix calculus (iN+1, jN+1) and (iN+1’, jN+1’) between distance L, relative drift angle δ, vehicle operating range M and L, θ and δ in one second time are carried out difference contrast, thus obtaining correction deviation, data vehicle coordinate value bleeding point collected by this correction deviation are modified。M and L, θ and δ that can also be corresponding for time T carry out difference contrast。
Step 6: compare actual range and safe distance, judge target vehicle whether can lane change, if actual range more than safe distance, then show that target vehicle can the result of determination of lane change, if actual range less than safe distance, then show that target vehicle cannot the result of determination of lane change。
It is applied to the positioner of track of the present invention decision method, including: gather the acquisition module of latitude and longitude coordinates, the logic module that actual range between reference vehicle and target vehicle and safe distance are judged, carry out the calculating integration module that the data such as distance calculate, the reminding module that result of determination is pointed out。
Claims (5)
1. the track decision method based on longitude and latitude collection point, it is characterised in that comprise the following steps:
Step one: target road is set some reference points, indicates the coordinate figure of reference point, it is thus achieved that the principal coordinate matrix of target road；
Step 2: the reference point in tracks different in target road is carried out subregion, it is thus achieved that point coordinates matrix in each track；
Step 3: set the safe distance of vehicle lane change；
Step 4: collect coordinate figure when target vehicle travels, it is determined that the principal coordinate matrix at target vehicle place and point coordinates matrix, so that it is determined that the track, place that target vehicle is in target road；
Step 5: before target vehicle lane change, collects each coordinate figure with reference to vehicle in the adjacent lane in track, target vehicle place, obtains target vehicle and with reference to the actual range between vehicle by matrix calculus；
Step 6: compare actual range and safe distance, judge target vehicle whether can lane change, if actual range more than safe distance, then show that target vehicle can the result of determination of lane change, if actual range less than safe distance, then show that target vehicle cannot the result of determination of lane change；
Above-described coordinate figure is the coordinate figure determined with longitude and latitude。
2. a kind of track decision method based on longitude and latitude collection point according to claim 1, it is characterised in that: in step 5, described actual range refers to:
When reference vehicle is positioned at the right forward side of target vehicle direction of advance, the distance taken between the reference point of target vehicle right front and the reference point of reference vehicle left back is actual range；When reference vehicle is positioned at the left forward side of target vehicle direction of advance, the distance taken between the reference point of target vehicle left front and the reference point of reference vehicle right back is actual range；When reference vehicle is positioned at the right rear side of target vehicle direction of advance, the distance taken between the reference point of target vehicle right back and the reference point of reference vehicle left front is actual range；When reference vehicle is positioned at the left rear side of target vehicle direction of advance, the distance taken between the reference point of target vehicle left back and the reference point of reference vehicle right front is actual range。
3. a kind of track decision method based on longitude and latitude collection point according to claim 1, it is characterised in that: the coordinate figure to the target vehicle collected, with reference to vehicle is modified, and comprises the following steps:
Set up vehicle longitude and latitude matrix coordinate system: set the width of vehicle as X, long for Y, with vehicle left rear corner position for initial point O, generate vehicle location matrix coordinate system；Set the density of reference point as Z, with (X/2, Y/2) position is as vehicle coordinate value bleeding point, longitude and latitude according to the bleeding point position relative to vehicle length and width direction and vehicle place at that time, at vehicle location matrix (X, Y) vehicle longitude and latitude matrix coordinate system is generated within the scope of the matrix of first quartile, it is thus achieved that and the longitude and latitude location parameter of each position of vehicle (i, j)；
Difference correction: set vehicle speed as W, it is θ to the instantaneous drift angle of direct north that vehicle travels phase, and the instantaneous actual longitude and latitude position of vehicle is (iN, jN), the actual longitude and latitude position of next second of vehicle is (iN+1, jN+1), the predetermined longitude and latitude position of next second of vehicle is (iN+1’, jN+1’), calculate (iN+1, jN+1) and (iN+1’, jN+1’) between distance L, relative drift angle δ, vehicle operating range M and L, θ and δ are carried out difference contrast, thus obtaining correction deviation, with this to vehicle coordinate value bleeding point collect data be modified。
4. a kind of track decision method based on longitude and latitude collection point according to claim 3, it is characterised in that: (i, j) for the coordinate figure in described principal coordinate matrix for the longitude and latitude location parameter of described each position of vehicle。
5. the positioner being applied to the arbitrary described track decision method based on longitude and latitude collection point of claim 1-4, it is characterised in that including:
Gather the acquisition module of latitude and longitude coordinates,
The logic module that actual range between reference vehicle and target vehicle and safe distance are judged,
Carry out the calculating integration module that the data such as distance calculate,
The reminding module that result of determination is pointed out。
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| CN106971593A (en) * | 2017-04-01 | 2017-07-21 | 深圳市元征科技股份有限公司 | Lane recognition method and device |
| CN107764263A (en) * | 2016-08-22 | 2018-03-06 | 高德信息技术有限公司 | A kind of generation method and device of track sequence number |
| CN109964262A (en) * | 2016-10-17 | 2019-07-02 | 丰田自动车株式会社 | Vehicle identifier and vehicle identification method |
| CN110333083A (en) * | 2019-06-27 | 2019-10-15 | 中国第一汽车股份有限公司 | Test method, device, test equipment and the storage medium of vehicle durability test |
| CN110415545A (en) * | 2019-08-02 | 2019-11-05 | 辰芯科技有限公司 | A kind of lane location method, apparatus, electronic equipment and storage medium |
| CN110440818A (en) * | 2018-05-04 | 2019-11-12 | 沈阳美行科技有限公司 | Lane matrix model and its construction method, read method and device |
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| CN108983763B (en) * | 2017-06-05 | 2021-09-21 | 上海汽车集团股份有限公司 | Path planning method and device and vehicle-mounted terminal |
| CN114333298A (en) * | 2021-12-02 | 2022-04-12 | 河北雄安京德高速公路有限公司 | Traffic radar-based vehicle attribution lane estimation method |
| CN117058210A (en) * | 2023-10-11 | 2023-11-14 | 比亚迪股份有限公司 | Distance calculation method and device based on vehicle-mounted sensor, storage medium and vehicle |
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| CN110333083A (en) * | 2019-06-27 | 2019-10-15 | 中国第一汽车股份有限公司 | Test method, device, test equipment and the storage medium of vehicle durability test |
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| CN110658493A (en) * | 2019-09-05 | 2020-01-07 | 武汉致腾科技有限公司 | Lane-level vehicle positioning method, positioning system and intelligent spike |
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| CN111319623B (en) * | 2020-03-18 | 2021-10-26 | 东软睿驰汽车技术（上海）有限公司 | Vehicle screening method and device based on adaptive cruise control |
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| CN111833632B (en) * | 2020-07-03 | 2022-03-01 | 重庆蓝岸通讯技术有限公司 | Navigation positioning based accurate positioning prompting method for congested point congested lane |
| CN111833632A (en) * | 2020-07-03 | 2020-10-27 | 重庆蓝岸通讯技术有限公司 | Navigation positioning based accurate positioning prompting method for congested point congested lane |
| CN111898835B (en) * | 2020-08-11 | 2022-02-22 | 腾讯科技（深圳）有限公司 | Intelligent traffic management method, device, computer and readable storage medium |
| CN111898835A (en) * | 2020-08-11 | 2020-11-06 | 腾讯科技（深圳）有限公司 | Intelligent traffic management method, device, computer and readable storage medium |
| CN111933019A (en) * | 2020-08-19 | 2020-11-13 | 兰州深蓝图形技术有限公司 | Method and device for generating traffic route facility equipment distribution diagram |
| CN114333298A (en) * | 2021-12-02 | 2022-04-12 | 河北雄安京德高速公路有限公司 | Traffic radar-based vehicle attribution lane estimation method |
| CN114333298B (en) * | 2021-12-02 | 2024-02-23 | 河北雄安京德高速公路有限公司 | Vehicle attribution lane estimation method based on traffic radar |
| CN117058210A (en) * | 2023-10-11 | 2023-11-14 | 比亚迪股份有限公司 | Distance calculation method and device based on vehicle-mounted sensor, storage medium and vehicle |
| CN117058210B (en) * | 2023-10-11 | 2024-06-18 | 比亚迪股份有限公司 | Distance calculation method and device based on vehicle-mounted sensor, storage medium and vehicle |
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