CN106792528A - Data transmission method and device - Google Patents
Data transmission method and device Download PDFInfo
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- CN106792528A CN106792528A CN201611179557.1A CN201611179557A CN106792528A CN 106792528 A CN106792528 A CN 106792528A CN 201611179557 A CN201611179557 A CN 201611179557A CN 106792528 A CN106792528 A CN 106792528A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/021—Traffic management, e.g. flow control or congestion control in wireless networks with changing topologies, e.g. ad-hoc networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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Abstract
This disclosure relates to a kind of data transmission method and device.Method includes：Target sample space is obtained, the target sample space includes the sample data of multiple location points of this car historical path, also, the sample data of each location point includes the vehicle heading angle at the location point；According to the vehicle heading angle, the dispersion in the target sample space is determined, the dispersion is used to represent the degree of crook of the historical path；According to the dispersion, determine to represent location point from the multiple location point, the location point that represents is for representing described car historical path；The sample data for representing location point is sent to destination end.By this mode, the movement locus of vehicle can either be ensured relatively accurately to orient, and can to the full extent reduce the load of transmission message, and then the packet loss problem that the collision of message brought can be avoided, the realization of upper layer application collection can be preferably supported, the safety traffic in car workshop is ensured to greatest extent.
Description
Technical field
This disclosure relates to car networking field, in particular it relates to a kind of data transmission method and device.
Background technology
With developing rapidly for social economy, motor vehicles increase sharply in number, and privately owned automobile gives people faster efficiency in band
While more comfortable running environments, many problems, such as traffic problems such as traffic accident, traffic jam are also triggered increasingly
Seriously, the life to the mankind brings huge economy and emotional distress, therefore how to reduce the generation of traffic accident, it has also become when
The important topic of this life circle traffic safety.
Vehicle in the process of moving, because the influence of the factors such as traffic environment, weather and driver's respond are limited, is led
Traffic accident is caused to increase, and the factor of existing many street accidents risks cannot be subject to effectively by specification driving behavior
Overcome.Between the past more than ten years, the academia of countries in the world and industrial quarters be devoted to by develop intelligent transportation system (ITS,
Intelligent Transportation Systems) shape of surrounding traffic and vehicle can be perceived aiding in driving user
State information, alerts the dangerous information for existing, it is to avoid traffic accident, improves traffic efficiency.ITS is reduction traffic thing generally acknowledged at present
Therefore, improve environment, improve traffic efficiency and reduce the optimal path of air pollution etc..
In the solution of existing car car safety, based on DSRC (Dedicated Short Range
Communications, DSRC technology) truck traffic technology be suggested and possess obvious advantage.It is primarily based on
The transmission range of the truck traffic scheme of DSRC can arrive 1KM, and the transmission range can be good at meeting the demand for security of vehicle；Its
The secondary program will not be influenceed by factors such as weather, road shape and traffics, with stronger versatility.
In the truck traffic technology based on DSRC, geographical location information and the vehicle condition letter of vehicle constantly collection itself
Breath, and BSM (Basic Safety Message, basic security message) periodic broadcast is packaged into nearby vehicle.And, it is
More preferable support upper layer application scene, needs to carry the historical path information of vehicle in BSM message, and by historical path information
It is abstracted into discrete, equally distributed GPS point and is broadcast to nearby vehicle.However, in real messages transmission, if selection is fewer
Point when, then for the more complicated situation of road (such as bend), a small amount of point cannot accurately be depicted historical track information,
Can be to needing the application scenarios made a decision based on historical path to make troubles；Otherwise and describe according to most points, this
Message Payload is virtually increased, network burden is increased, especially under the big environment of network node density, message can be increased
Collision, reduces the success rate of message between nodes communication, it will the real-time judge of the scene such as collision between influence V2V.
The content of the invention
The purpose of the disclosure is to provide and a kind of can dynamically adjust representative position to be carried out data transmission, historical path
The data transmission method and device of the number of point.
To achieve these goals, the disclosure provides a kind of data transmission method, including：Obtain target sample space, institute
State the sample data of multiple location points in target sample space including this car historical path, also, each location point sample number
According to including the vehicle heading angle at the location point；According to the vehicle heading angle, the dispersion in the target sample space is determined,
The dispersion is used to represent the degree of crook of the historical path；According to the dispersion, from the multiple location point really
Surely location point is represented, the location point that represents is for representing described car historical path；Position is represented to destination end transmission is described
The sample data of point.
Alternatively, the acquisition target sample space, including：In obtaining this car historical path, apart from this car current location
The sample data of the N number of location point in the range of predeterminable range；Sample data to N number of location point carries out data filtering behaviour
Make, obtain the M sample data of location point, the sample data of the M location point constitutes the target sample space, wherein, N
It is natural number, also, 2≤M≤N with M.
Alternatively, the sample data of each location point also includes the speed at the location point；It is described to N number of location point
Sample data carry out data filtering operation, including：By in the sample data of N number of location point, speed be less than default car
The sample data of fast threshold value is filtered.
Alternatively, the sample data of each location point also includes the speed and longitude and latitude at the location point；It is described to the N
The sample data of individual location point carries out data filtering operation, including：Adjacent first position point is chosen from N number of location point
With second place point, moment corresponding earlier than the second place point at the first position point corresponding moment；According to described
The longitude and latitude of the longitude and latitude of one location point and second place point, determine the first position point and the second place point it
Between arc length distance；The speed of speed and second place point according to the first position point, determines the first position
Displacement between point and second place point；According to the arc length distance and the displacement, it is determined that drift judges parameter；Work as institute
State drift judge parameter more than default drift threshold when, the sample data of the second place point is filtered；Return it is described from
The step of adjacent first position point and second place point is chosen in N number of location point, until N number of location point is by whole
Untill traversal.
Alternatively, it is described according to the arc length distance and the displacement, it is determined that drift judges parameter, including：
Wherein, D represents the displacement between the first position point and second place point；
D represents the arc length distance between the first position point and second place point；
P represents that the drift judges parameter.
Alternatively, it is described according to the vehicle heading angle, determine the dispersion in the target sample space, including：It is determined that
The mode at the vehicle heading angle in the target sample space；In counting the target sample space, vehicle heading angle and the crowd
The number of pre-conditioned sample data is met between number；According to the number for meeting pre-conditioned sample data, it is determined that
The dispersion in the target sample space.
Alternatively, the pre-conditioned deviation between vehicle heading angle and the mode is more than default deviation threshold
Value.
Alternatively, it is described according to the number for meeting pre-conditioned sample data, determine the target sample space
Dispersion, including：
Wherein, S represents the dispersion；
N1Represent the number for meeting pre-conditioned sample data；
N represents the sum of sample data in the target sample space.
Alternatively, it is described according to the dispersion, determine to represent location point from the multiple location point, including：According to
The dispersion, it is determined that the number N ode of representative location point to be chosen, wherein, Node is the natural number more than or equal to 2；With
And, from the multiple location point, Node location point is chosen using discontinuous selection mode and represents location point as described.
Alternatively, the number N ode of the representative location point to be chosen and the dispersion correlation.
Alternatively, it is described according to the dispersion, it is determined that the number N ode of representative location point to be chosen, including：
Wherein, S represents the dispersion in the target sample space；K and b is preset constant.
The disclosure also provides a kind of data transmission device, including：Acquisition module, it is described for obtaining target sample space
The sample data of multiple location points in target sample space including this car historical path, also, each location point sample data
Including the vehicle heading angle at the location point；Dispersion determining module, for according to the vehicle heading angle, determining the target
The dispersion of sample space, the dispersion is used to represent the degree of crook of the historical path；Location point determining module is represented,
For according to the dispersion, determining to represent location point from the multiple location point, the location point that represents is for representing institute
State this car historical path；Sending module, for sending the sample data for representing location point to destination end.
Alternatively, the acquisition module includes：First acquisition submodule, for obtaining this car historical path in, distance this
The sample data of N number of location point of the car current location in the range of predeterminable range；Filter submodule, for N number of position
The sample data of point carries out data filtering operation, obtains the M sample data of location point, the sample data of the M location point
The target sample space is constituted, wherein, N and M is natural number, also, 2≤M≤N.
Alternatively, the sample data of each location point also includes the speed at the location point；The data filtering operation bag
Include：By in the sample data of N number of location point, speed filters less than the sample data of default speed threshold value.
Alternatively, the sample data of each location point also includes the speed and longitude and latitude at the location point；The data mistake
Filter operation includes：Adjacent first position point and second place point, the first position point pair are chosen from N number of location point
Moment corresponding earlier than the second place point at the moment answered；According to the longitude and latitude and the second place of the first position point
The longitude and latitude of point, determines the arc length distance between the first position point and second place point；According to the first position
The speed of point and the speed of second place point, determine the displacement between the first position point and second place point；
According to the arc length distance and the displacement, it is determined that drift judges parameter；When the drift judges that parameter is more than default drift
During threshold value, the sample data of the second place point is filtered；Described in returning adjacent first is chosen from N number of location point
The step of location point and second place point, until N number of location point is by untill all traveling through.
Alternatively, it is described according to the arc length distance and the displacement, it is determined that drift judges parameter, including：
Wherein, D represents the displacement between the first position point and second place point；
D represents the arc length distance between the first position point and second place point；
P represents that the drift judges parameter.
Alternatively, the dispersion determining module includes：Mode determination sub-module, for determining the target sample space
Vehicle heading angle mode；Statistic submodule, for counting the target sample space in, vehicle heading angle and the mode
Between meet the number of pre-conditioned sample data；Dispersion determination sub-module, for meeting pre-conditioned according to described
The number of sample data, determines the dispersion in the target sample space.
Alternatively, the pre-conditioned deviation between vehicle heading angle and the mode is more than default deviation threshold
Value.
Alternatively, the dispersion determination sub-module is used to determine the dispersion in the following manner：
Wherein, S represents the dispersion；
N1Represent the number for meeting pre-conditioned sample data；
N represents the sum of sample data in the target sample space.
Alternatively, the location point determining module that represents includes：Quantity determination sub-module, for according to the dispersion,
It is determined that the number N ode of representative location point to be chosen, wherein, Node is the natural number more than or equal to 2；And, represent position
Point chooses submodule, for from the multiple location point, Node location point is chosen as described using discontinuous selection mode
Represent location point.
Alternatively, the number N ode of the representative location point to be chosen and the dispersion correlation.
Alternatively, the quantity determination sub-module determines the number of representative location point to be chosen in the following manner
Mesh Node：
Wherein, S represents the dispersion in the target sample space；K and b is preset constant.
By above-mentioned technical proposal, can be determined for representing the car according to the position point data of vehicle historical path
The dispersion of the degree of crook of historical path, afterwards, being dynamically determined according to the dispersion can represent the vehicle historical path
Representative location point, and transmit sample data that these represent location point to destination end.By this mode, ratio can either be ensured
The movement locus of vehicle is relatively accurately oriented, and can to the full extent reduce the load for transmitting message, and then
The packet loss problem that the collision of message is brought can be avoided, the realization of upper layer application collection can be preferably supported, to greatest extent
Ensure the safety traffic in car workshop.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing further understanding of the disclosure, and to constitute the part of specification, with following tool
Body implementation method is used to explain the disclosure together, but does not constitute limitation of this disclosure.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the data transmission method according to an exemplary embodiment.
Fig. 2 is the flow chart for how obtaining target sample space according to an exemplary embodiment.
Fig. 3 be according to an exemplary embodiment how according to vehicle heading angle, determine target sample space from
The flow chart of divergence.
Fig. 4 is a kind of structured flowchart of the data transmission device according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with accompanying drawing specific embodiment of this disclosure.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of flow chart of the data transmission method according to an exemplary embodiment, wherein, the method application
In vehicle.As shown in figure 1, the method can include：
In a step 101, target sample space is obtained, the target sample space can include the multiple of this car historical path
The sample data of location point, also, the sample data of each location point includes the vehicle heading angle at the location point.
Vehicle can periodically gather GPS information under steam, wherein, the GPS information can include vehicle longitude, latitude
The data such as degree, speed and azimuth.Also, the GPS information that vehicle will can be collected constantly is cached in corresponding buffering area,
For example, in the case where frequency acquisition is 10HZ, 5000 to 6000 GPS informations of location point are cached in buffering area, and press
Arranged by the early order to evening according to timestamp, these location points can orient the historical path of vehicle.Can be according to slow
There is the sample data of the multiple location points in vehicle to build above-mentioned target sample space.
But, in the GPS information for actually being collected, some noise datas are usually contained.If using these noises
Data describe the historical path of vehicle or transmit these noise datas to destination end, may result in path locus and are forbidden
True problem.Therefore, in some optional implementation methods of the disclosure, above-mentioned target can in the following manner be obtained
Sample space, to reduce the influence of noise data.
Specifically, as shown in Fig. 2 above-mentioned steps 101 may further include：
In step 1011, in obtaining this car historical path, N number of in the range of predeterminable range apart from this car current location
The sample data of location point.
As described above, vehicle with Real-time Collection and can record GPS information.Due to apart from the closer history bit in current location
The data put a little more can exactly represent the recent driving trace of vehicle, therefore, it can the GPS from a large amount of location points for being recorded
In information, the sample apart from this car current location N number of location point of (for example, within 300 meters) in the range of predeterminable range is obtained
Data (that is, GPS information), so as to exclude the redundant data apart from current location farther out.
In step 1012, the sample data to N number of location point carries out data filtering operation, obtains M location point
Sample data, the sample data of the M location point constitutes the target sample space, wherein, N and M is natural number, and
And, 2≤M≤N.
Data filtering operation is carried out by the sample data to N number of location point, the noise number for wherein including can be filtered out
According to ensure the accuracy and reliability of the data in constructed target sample space.
When carrying out data filtering and operate, can any one of in the following manner or many persons are carried out：
Mode one：As described above, in the sample data of each location point that vehicle is gathered and recorded, the position can be included
A speed at putting.When speed is excessively slow, the vehicle heading angular displacement of corresponding position is excessive, can influence to road curvature degree
Judgement.Therefore, it can preset a speed threshold value Vth(for example, being 5KM/h).So, can be by N number of location point
In sample data, speed be less than the default speed threshold value VthSample data filter.
Mode two：As described above, in the sample data of each location point that vehicle is gathered and recorded, the position can be included
A speed and longitude and latitude (that is, longitude and latitude) at putting.Therefore, it can the speed at two neighboring location point according to vehicle
And latitude and longitude information, judge whether gps data produces drift, such that it is able to filter out the point that gps data produces drift, to avoid
There is " shake " phenomenon when describing vehicle historical track using sample space.
Specifically, adjacent first position point and second place point can be chosen from N number of location point first, its
In, the moment corresponding earlier than the second place point at the first position point corresponding moment.
Next, the longitude and latitude of the longitude and latitude and second place point according to the first position point, determines described
Arc length distance between one location point and second place point.
Illustratively, the arc length distance between first position point and second place point is determined by below equation (1)：
Wherein, d represents the arc length distance between first position point and second place point；R is earth mean radius；LatA tables
Show the latitude of first position point；LonA represents the longitude of first position point；LatB represents the latitude of second place point；LonB is represented
The longitude of second place point.
Next, the speed of the speed and second place point according to the first position point, determines described first
Put the displacement a little and between second place point.
Illustratively, the displacement between first position point and second place point is determined by below equation (2)：
Wherein, D represents the displacement between first position point and second place point；VARepresent the speed of first position point；VBTable
Show the speed of second place point；tARepresent the first position point corresponding moment；tBRepresent second place point corresponding moment, and tB>
tA。
Next, according to the arc length apart from the d and displacement D, it is determined that drift judges parameter.
Illustratively, determine that drift judges parameter P by below equation (3)：
Afterwards, when drift judges that parameter P is more than default drift threshold (for example, 0.85), second place point phase is determined
There occurs that GPS drifts about for first position point, therefore, the sample data of the second place point is filtered.
Repeat it is above-mentioned chosen from N number of location point adjacent first position point and second place point and
Follow-up step, until N number of location point is by untill all traveling through.Afterwards, the sample data of remaining M location point is that may make up
Target sample space.
Fig. 1 is returned to, after target sample space is got, step 102 is performed.In a step 102, according to the vehicle
Azimuth, determines the dispersion in the target sample space, wherein, the dispersion is used to represent the bending of the historical path
Degree.
Azimuthal change that vehicle is gathered can be for recognizing the road conditions of road.For example, during straight-line travelling,
Azimuth in sample space should be a fixed value in principle, it is considered to when gathering the problems such as existing error, then azimuth
Rate of change should be a smaller scope；And during negotiation of bends, the azimuthal variation in sample space is then relative
It is larger.In the disclosure, it is proposed that the concept of sample space dispersion, the degree of crook for representing historical path.Wherein, from
Divergence is bigger, indicates that more points deviate initial travel direction, and the bending of the road of vehicle driving trace is represented with this
Degree.
In an example embodiment of the disclosure, as shown in figure 3, target sample can be determined in the following manner
The dispersion in space：
First, in step 1021, the mode H at the vehicle heading angle in target sample space is determinedmode.When mode does not exist
When, then illustrate do not exist azimuth identical point in sample space, show that vehicle is travelled on bend always, now, use H0Generation
Table Hmode, wherein, H0In expression target sample space, the vehicle heading angle in the sample data of the earliest location point of timestamp.
Next, in step 1022, in counting the target sample space, vehicle heading angle and the mode HmodeIt
Between meet the number of pre-conditioned sample data.
Mode HmodeNumber how much represent the ratio of historical path cathetus traveling, number more at most represents straight-line travelling
Path it is more long.When vehicle heading angle deviate mode than it is larger when then think that vehicle carries out turning driving.One can be preset
Deviation threshold value is Hth(HthCan be adjusted according to practical experience, for example, being set as 5 degree).With HmodeBased on, when target sample space
In vehicle heading angle in certain sample data relative to HmodeChanging value (that is, with mode HmodeBetween deviation) exceed
Deviation threshold value HthWhen, the sample data is recorded, and all qualified numbers of samples are counted, the number is designated as N1。
Finally, in step 1023, according to the number for meeting pre-conditioned sample data, the target sample is determined
The dispersion in this space.
Illustratively, the dispersion in target sample space is determined by below equation (4)：
Wherein, S represents the dispersion in target sample space；N1In representing target sample space, vehicle heading angle with it is described
The number of pre-conditioned sample data is met between mode；N represents the sum of sample data in the target sample space.
From above equation (4)：The bigger explanation of S ∈ [0,1], dispersion S has more points to deviate initial traveling side
To；As S=0, then illustrate vehicle always in straight-line travelling；As S=1, then vehicle negotiation of bends always is illustrated.
Fig. 1 is returned to, after the dispersion for determining target sample space, step 103 is performed.In step 103, root
According to the dispersion, determine to represent location point from the multiple location point, wherein, it is described that to represent location point described for representing
This car historical path.
It is determined that representing location point is mainly concerned with two aspects：One is to determine the number for representing location point, another to be how
The location point of the number is chosen from multiple location points as representing location point.For in a first aspect, can be according in step 102
In the dispersion in target sample space determined determine the number N ode of representative location point to be chosen, wherein, Node is
Natural number more than or equal to 2.
Knowable to above-mentioned analysis process, dispersion S ∈ [0,1], and illustrate that vehicle in straight-line travelling, then exists during S=0
During selection GPS point, straight line can then be described with two points in sample space；Vehicle negotiation of bends always is illustrated as S=1,
Multiple points are described during sample space may be selected.It can thus be seen that with the increase of dispersion, representing the curved of vehicle historical path
Qu Chengdu is bigger, now needs more points to describe the historical path.Therefore, in the disclosure, the generation to be chosen
The number N ode of table location point and the dispersion correlation, i.e. S is bigger, and Node is bigger；Conversely, S is smaller, Node
It is smaller.
In order to simplify calculating process, raising represents the determination efficiency of location point, in an illustrative embodiments, can recognize
It is linear variation relation between Node and S, then has：
Wherein, k and b is preset constant, and [] represents floor operation.Illustratively, as S=0, it is believed that vehicle is always straight
Line transport condition, now, it is only necessary to which two location points in target sample space can describe the historical path of the straight line, because
This, the minimum value of Node can be set to 2.Additionally, in order to more accurately determine path and reduce traffic load size, transmitting
The most points of load are set to 23 in message (for example, BSM message), i.e. at most choose 23 location points to represent car
Historical path.Thus, it is possible to k=21 is set, b=2.
After the number N ode for determining representative location point to be chosen, the position that just can include from target sample space
In putting a little, Node location point is chosen as representing location point using discontinuous selection mode.So-called discontinuous selection mode, refer to
It is selected go out two location points between be separated by least one other location point, i.e. it is selected go out two location points in the time
It is upper and non-conterminous.
When being selected, can be carried out according to the criterion of uniform design.For example, it is assumed that calculate needing Node position
Point represents historical path, and it is location point apart from current location within 300 meters that target sample space includes, then
The location point that air line distance away from current location is respectively 300/Node*t (wherein, i=1,2 ..., Node) can be determined as
The representative location point of the historical path, accomplishes the uniform design to the location point in target sample space so that selected with this
The location point for going out can exactly represent the historical path of vehicle.
Finally, at step 104, the sample data for representing location point is sent to destination end.
In the disclosure, destination end refers to the sample data for receiving the representative location point of this car transmission, to know this
The equipment of the movement locus of car.For example, the destination end can be neighbours' vehicle, or cloud server.When target termination
After receiving the sample data, the sample data can be based on, the movement locus of vehicle is precisely located out, be going through based on vehicle
The data that the various data analysis operations that history movement locus is carried out provide accurately and securely are supported.
In sum, by above-mentioned technical proposal, can according to the position point data of vehicle historical path, determine for
The dispersion of the degree of crook of the vehicle historical path is represented, afterwards, being dynamically determined according to the dispersion can represent the vehicle
The representative location point of historical path, and sample data that these represent location point is transmitted to destination end.By this mode, can
Enough movement locus for ensureing relatively accurately to orient vehicle, and it is big to the full extent to reduce the load of transmission message
It is small, and then the packet loss problem that the collision of message brought can be avoided, the realization of upper layer application collection can be preferably supported, it is maximum
Limit ground ensures the safety traffic in car workshop.
Fig. 4 is a kind of structured flowchart of the data transmission device 400 according to an exemplary embodiment, wherein, the dress
Put 400 and can apply to vehicle.As shown in figure 4, the device 400 can include：Acquisition module 401, for obtaining target sample
Space, the sample data of multiple location points of the target sample space including this car historical path, also, each location point
Sample data includes the vehicle heading angle at the location point；Dispersion determining module 402, for according to the vehicle heading angle,
Determine the dispersion in the target sample space, the dispersion is used to represent the degree of crook of the historical path；Represent position
A determining module 403 is put, for according to the dispersion, determining to represent location point, the representative from the multiple location point
Location point is used to represent described car historical path；Sending module 404, for sending the sample for representing location point to destination end
Notebook data.
Alternatively, the acquisition module 401 can include：First acquisition submodule, for obtaining this car historical path in,
The sample data of the N number of location point apart from this car current location in the range of predeterminable range；Filter submodule, for the N
The sample data of individual location point carries out data filtering operation, obtains the M sample data of location point, the sample of the M location point
Notebook data constitutes the target sample space, wherein, N and M is natural number, also, 2≤M≤N.
Alternatively, the sample data of each location point also includes the speed at the location point；The data filtering operation bag
Include：By in the sample data of N number of location point, speed filters less than the sample data of default speed threshold value.
Alternatively, the sample data of each location point also includes the speed and longitude and latitude at the location point；The data mistake
Filter operation includes：Adjacent first position point and second place point, the first position point pair are chosen from N number of location point
Moment corresponding earlier than the second place point at the moment answered；According to the longitude and latitude and the second place of the first position point
The longitude and latitude of point, determines the arc length distance between the first position point and second place point；According to the first position
The speed of point and the speed of second place point, determine the displacement between the first position point and second place point；
According to the arc length distance and the displacement, it is determined that drift judges parameter；When the drift judges that parameter is more than default drift
During threshold value, the sample data of the second place point is filtered；Described in returning adjacent first is chosen from N number of location point
The step of location point and second place point, until N number of location point is by untill all traveling through.
Alternatively, the dispersion determining module 402 can include：Mode determination sub-module, for determining the target
The mode at the vehicle heading angle of sample space；Statistic submodule, for counting the target sample space in, vehicle heading angle with
The number of pre-conditioned sample data is met between the mode；Dispersion determination sub-module, for meeting pre- according to described
If the number of the sample data of condition, the dispersion in the target sample space is determined.
Alternatively, the pre-conditioned deviation between vehicle heading angle and the mode is more than default deviation threshold
Value.
Alternatively, the dispersion determination sub-module is used to determine the dispersion by above equation (4).
Alternatively, the location point determining module 403 that represents can include：Quantity determination sub-module, for according to described
Dispersion, it is determined that the number N ode of representative location point to be chosen, wherein, Node is the natural number more than or equal to 2；And,
Represent location point and choose submodule, for from the multiple location point, Node location point being chosen with discontinuous selection mode
Location point is represented as described.
Alternatively, the number N ode of the representative location point to be chosen and the dispersion correlation.
Alternatively, the quantity determination sub-module is used to determine representative location point to be chosen by above equation (5)
Number N ode.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
Describe the preferred embodiment of the disclosure in detail above in association with accompanying drawing, but, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, various letters can be carried out with technical scheme of this disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy is no longer separately illustrated.
Additionally, can also be combined between a variety of implementation methods of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of data transmission method, it is characterised in that including：
Target sample space is obtained, the target sample space includes the sample data of multiple location points of this car historical path,
Also, the sample data of each location point includes the vehicle heading angle at the location point；
According to the vehicle heading angle, the dispersion in the target sample space is determined, the dispersion is gone through for representing described
The degree of crook in history path；
According to the dispersion, determine to represent location point from the multiple location point, the location point that represents is for representing institute
State this car historical path；
The sample data for representing location point is sent to destination end.
2. method according to claim 1, it is characterised in that the acquisition target sample space, including：
The sample data of the N number of location point in obtaining this car historical path, apart from this car current location in the range of predeterminable range；
Sample data to N number of location point carries out data filtering operation, obtains the M sample data of location point, the M
The sample data of location point constitutes the target sample space, wherein, N and M is natural number, also, 2≤M≤N.
3. method according to claim 2, it is characterised in that the sample data of each location point also includes at the location point
Speed；
The sample data to N number of location point carries out data filtering operation, including：
By in the sample data of N number of location point, speed filters less than the sample data of default speed threshold value.
4. according to the method in claim 2 or 3, it is characterised in that the sample data of each location point also includes the position
Speed and longitude and latitude at point；
The sample data to N number of location point carries out data filtering operation, including：
Adjacent first position point and second place point is chosen from N number of location point, when the first position point is corresponding
Carve the moment corresponding earlier than the second place point；
The longitude and latitude of longitude and latitude and second place point according to the first position point, determines the first position point and institute
State the arc length distance between second place point；
The speed of speed and second place point according to the first position point, determines the first position point with described
Displacement between two location points；
According to the arc length distance and the displacement, it is determined that drift judges parameter；
When the drift judges that parameter is more than default drift threshold, the sample data of the second place point is filtered；
The step of adjacent first position point and second place point is chosen from N number of location point described in returning, until the N
Individual location point is by untill all traveling through.
5. method according to claim 4, it is characterised in that described according to the arc length distance and the displacement, it is determined that
Drift judges parameter, including：
Wherein, D represents the displacement between the first position point and second place point；
D represents the arc length distance between the first position point and second place point；
P represents that the drift judges parameter.
6. method according to claim 1, it is characterised in that described according to the vehicle heading angle, determines the target
The dispersion of sample space, including：
Determine the mode at the vehicle heading angle in the target sample space；
Count in the target sample space, the number of pre-conditioned sample data is met between vehicle heading angle and the mode
Mesh；
According to the number for meeting pre-conditioned sample data, the dispersion in the target sample space is determined.
7. method according to claim 6, it is characterised in that described to meet pre-conditioned sample data according to described
Number, determines the dispersion in the target sample space, including：
Wherein, S represents the dispersion；
N1Represent the number for meeting pre-conditioned sample data；
N represents the sum of sample data in the target sample space.
8. method according to claim 1, it is characterised in that described according to the dispersion, from the multiple location point
Middle determination represents location point, including：
According to the dispersion, it is determined that the number N ode of representative location point to be chosen, wherein, Node is more than or equal to 2
Natural number；And
From the multiple location point, Node location point is chosen using discontinuous selection mode and represents location point as described.
9. method according to claim 8, it is characterised in that described according to the dispersion, it is determined that representative to be chosen
The number N ode of location point, including：
Wherein, S represents the dispersion in the target sample space；K and b is preset constant.
10. a kind of data transmission device, it is characterised in that including：
Acquisition module, for obtaining target sample space, the target sample space includes multiple positions of this car historical path
The sample data of point, also, the sample data of each location point includes the vehicle heading angle at the location point；
Dispersion determining module, for according to the vehicle heading angle, determining the dispersion in the target sample space, it is described from
Divergence is used to represent the degree of crook of the historical path；
Location point determining module is represented, for according to the dispersion, determining to represent location point from the multiple location point, institute
State and represent location point for representing described car historical path；
Sending module, for sending the sample data for representing location point to destination end.
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| CN106792528B (en) | 2019-11-08 |
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