CN106792528B - Data transmission method and device - Google Patents
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- CN106792528B CN106792528B CN201611179557.1A CN201611179557A CN106792528B CN 106792528 B CN106792528 B CN 106792528B CN 201611179557 A CN201611179557 A CN 201611179557A CN 106792528 B CN106792528 B CN 106792528B
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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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- H04W4/046—
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Abstract
This disclosure relates to a kind of data transmission method and device.Method includes: to obtain target sample space, and the target sample space includes the sample data of multiple location points of this vehicle 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, determine that the dispersion in the target sample space, the dispersion are used to indicate the bending degree of the historical path；It according to the dispersion, is determined from the multiple location point and represents location point, the location point that represents is for representing described vehicle historical path；The sample data for representing location point is sent to target side.Pass through this mode, it can either guarantee the motion profile for relatively accurately orienting vehicle, and the payload size of transmission message can be reduced to the full extent, and then it can packet loss problem brought by the collision to avoid message, it can preferably support the realization of upper layer application collection, guarantee the safety traffic in vehicle workshop to the maximum extent.
Description
Technical field
This disclosure relates to car networking field, and in particular, to a kind of data transmission method and device.
Background technique
With the rapid development of social economy, motor vehicles increase sharply in number, and privately owned automobile is bringing the faster efficiency of people
While more comfortable running environments, the traffic problems such as many problems, such as traffic accident, traffic jam are also caused increasingly
Seriously, huge economic and emotional distress is brought to the life of the mankind, therefore how reduces traffic accident, it has also become when
The important topic of this life circle traffic safety.
In the process of moving, the influence and driver's respond due to factors such as traffic environment, weather are limited for vehicle, lead
Traffic accident is caused to increase, and the factor of existing many street accidents risks can not be subject to effectively by specification driving behavior
Overcome.Between the past more than ten years, the academia of countries in the world and industry be dedicated to by develop intelligent transportation system (ITS,
Intelligent Transportation Systems), the shape of surrounding traffic and vehicle can be perceived to assist driving user
State information alerts existing dangerous information, avoids traffic accident, improves traffic efficiency.ITS is reduction traffic thing generally acknowledged at present
Therefore improvement environment, the optimal path for improving traffic efficiency and reduction air pollution etc..
In the solution of existing vehicle vehicle safety, it is based on DSRC (Dedicated Short Range
Communications, dedicated short-range communication technology) truck traffic technology be suggested and have apparent advantage.It is primarily based on
The transmission range of the truck traffic scheme of DSRC can arrive 1KM, which can be good at the demand for security for meeting vehicle；Its
The secondary program not will receive the influence of the factors such as weather, road shape and traffic condition, have stronger versatility.
In the truck traffic technology based on DSRC, vehicle constantly acquires the geographical location information and vehicle condition letter of itself
Breath, and BSM (Basic Safety Message, basic security message) periodic broadcast is packaged into nearby vehicle.Moreover, being
Better 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 (such as bend) of road, historical track information can not be accurately depicted in a small amount of point,
The application scenarios made a decision based on historical path can be needed to make troubles；And otherwise describe according to most points, this
Message Payload is virtually increased, network burden is increased, especially under the big environment of network node density, will increase message
Collision reduces the success rate of message between nodes communication, it will the real-time judge of the scenes such as collision between influence V2V.
Summary of the invention
Purpose of this disclosure is to provide one kind can dynamically adjust representative to be carried out data transmission, historical path position
The data transmission method and device of the number of point.
To achieve the goals above, the disclosure provides a kind of data transmission method, comprising: obtains target sample space, institute
State the sample data that target sample space includes multiple location points of this vehicle historical path, also, the sample number of each location point
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 indicate the bending degree 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 vehicle historical path；Position is represented to target side transmission is described
The sample data of point.
Optionally, the acquisition target sample space, comprising: obtain in this vehicle historical path, apart from this vehicle current location
The sample data of N number of location point within the scope of pre-determined distance；Data filtering behaviour is carried out to the sample data of N number of location point
Make, obtain the sample data of M 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.
Optionally, the sample data of each location point further includes the speed at the location point；It is described to N number of location point
Sample data carry out data filtering operation, comprising: by the sample data of N number of location point, speed be less than preset vehicle
The sample data of fast threshold value filters out.
Optionally, the sample data of each location point further includes the speed and longitude and latitude at the location point；It is described to the N
The sample data of a location point carries out data filtering operation, comprising: adjacent first position point is chosen from N number of location point
With second position point, at the time of correspondence at the time of the first position point corresponds to earlier than the second position point；According to described
The longitude and latitude of the longitude and latitude of one location point and second position point, determine the first position point and the second position point it
Between arc length distance；According to the speed of the speed of the first position point and second position point, the first position is determined
Displacement between point and second position point；According to the arc length distance and the displacement, determine that drift judges parameter；Work as institute
When stating drift and judge parameter greater than preset drift threshold, the sample data of the second position point is filtered out；Return it is described from
The step of adjacent first position point and second position point is chosen in N number of location point, until N number of location point is by whole
Until traversal.
Optionally, described according to the arc length distance and the displacement, determine that drift judges parameter, comprising:
Wherein, D indicates the displacement between the first position point and second position point；
D indicates the arc length distance between the first position point and second position point；
P indicates that the drift judges parameter.
Optionally, described according to the vehicle heading angle, determine the dispersion in the target sample space, comprising: determine
The mode at the vehicle heading angle in the target sample space；It counts in the target sample space, vehicle heading angle and the crowd
Meet the number of the sample data of preset condition between number；According to the number of the sample data for meeting preset condition, determine
The dispersion in the target sample space.
Optionally, deviation of the preset condition between vehicle heading angle and the mode is greater than preset deviation threshold
Value.
Optionally, the number according to the sample data for meeting preset condition, determines the target sample space
Dispersion, comprising:
Wherein, S indicates the dispersion；
N1Indicate the number of the sample data for meeting preset condition；
N indicates the sum of sample data in the target sample space.
Optionally, described according to the dispersion, determination represents location point from the multiple location point, comprising: according to
The dispersion determines 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 as described using discontinuous selection mode and represents location point.
Optionally, the number N ode of the representative location point to be chosen and the dispersion correlation.
Optionally, described according to the dispersion, determine the number N ode of representative location point to be chosen, comprising:
Wherein, S indicates the dispersion in the target sample space；K and b is preset constant.
The disclosure also provides a kind of data transmission device, comprising: module is obtained, it is described for obtaining target sample space
Target sample space includes the sample data of multiple location points of this vehicle historical path, also, the sample data of each location point
Including the vehicle heading angle at the location point；Dispersion determining module, for determining the target according to the vehicle heading angle
The dispersion of sample space, the dispersion are used to indicate the bending degree of the historical path；Location point determining module is represented,
For determining from the multiple location point and representing location point according to the dispersion, the location point that represents is for representing institute
State this vehicle historical path；Sending module, for sending the sample data for representing location point to target side.
Optionally, the acquisition module includes: the first acquisition submodule, for obtaining in this vehicle historical path, apart from this
The sample data of N number of location point of the vehicle current location within the scope of pre-determined distance；Filter submodule, for N number of position
The sample data of point carries out data filtering operation, obtains the sample data of M location point, the sample data of the M location point
Constitute the target sample space, wherein N and M is natural number, also, 2≤M≤N.
Optionally, the sample data of each location point further includes the speed at the location point；The data filtering operation packet
Include: by the sample data of N number of location point, speed be less than preset speed threshold value sample data filter out.
Optionally, the sample data of each location point further includes the speed and longitude and latitude at the location point；The data mistake
Filter operation includes: that adjacent first position point and second position point, the first position point pair are chosen from N number of location point
At the time of correspondence at the time of answering earlier than the second position point；According to the longitude and latitude of the first position point and the second position
The longitude and latitude of point, determines the arc length distance between the first position point and second position point；According to the first position
The speed of point and the speed of second position point, determine the displacement between the first position point and second position point；
According to the arc length distance and the displacement, determine that drift judges parameter；When the drift judges that parameter is greater than preset drift
When threshold value, the sample data of the second position point is filtered out；Adjacent first is chosen from N number of location point described in returning
The step of location point and second position point, until N number of location point is all traversed.
Optionally, described according to the arc length distance and the displacement, determine that drift judges parameter, comprising:
Wherein, D indicates the displacement between the first position point and second position point；
D indicates the arc length distance between the first position point and second position point；
P indicates that the drift judges parameter.
Optionally, the dispersion determining module includes: that mode determines submodule, for determining the target sample space
Vehicle heading angle mode；Statistic submodule, for counting in the target sample space, vehicle heading angle and the mode
Between meet preset condition sample data number；Dispersion determines submodule, for according to the preset condition of meeting
The number of sample data determines the dispersion in the target sample space.
Optionally, deviation of the preset condition between vehicle heading angle and the mode is greater than preset deviation threshold
Value.
Optionally, the dispersion determines submodule for determining the dispersion in the following manner:
Wherein, S indicates the dispersion；
N1Indicate the number of the sample data for meeting preset condition；
N indicates the sum of sample data in the target sample space.
Optionally, the location point determining module that represents includes: that quantity determines submodule, is used for according to the dispersion,
Determine 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 choosing Node location point described in using discontinuous selection mode from the multiple location point
Represent location point.
Optionally, the number N ode of the representative location point to be chosen and the dispersion correlation.
Optionally, the quantity determines that submodule is used for the number to determine representative location point to be chosen in the following manner
Mesh Node:
Wherein, S indicates the dispersion in the target sample space；K and b is preset constant.
Through the above technical solutions, can be determined according to the position point data of vehicle historical path for indicating the vehicle
The dispersion of the bending degree of historical path, later, the vehicle historical path can be represented by being dynamically determined according to the dispersion
Representative location point, and transmit sample data that these represent location point to target side.By this mode, it can either guarantee ratio
The motion profile of vehicle is relatively accurately oriented, and the payload size of transmission message can be reduced to the full extent, in turn
Can packet loss problem brought by the collision to avoid message, can preferably support the realization of upper layer application collection, to the maximum extent
Guarantee the safety traffic in vehicle workshop.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of data transmission method shown according to an exemplary embodiment.
Fig. 2 is the flow chart shown according to an exemplary embodiment for how obtaining target sample space.
How Fig. 3 is shown according to an exemplary embodiment according to vehicle heading angle, determine target sample space from
The flow chart of divergence.
Fig. 4 is a kind of structural block diagram of data transmission device shown according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of flow chart of data transmission method shown according to an exemplary embodiment, wherein this method application
In vehicle.As shown in Figure 1, this method may include:
In a step 101, target sample space is obtained, which may include the multiple of this vehicle 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 acquire GPS information under steam, wherein the GPS information may include vehicle longitude, latitude
The data such as degree, speed and azimuth.Also, continuous collected GPS information can be cached in corresponding buffer area by vehicle,
For example, caching the GPS information of 5000 to 6000 location points in buffer area in the case where frequency acquisition is 10HZ, and press
It is arranged according to timestamp by the early sequence to evening, these location points can orient the historical path of vehicle.It can be according to slow
The sample data of multiple location points in the car is deposited, to construct above-mentioned target sample space.
But, in the practical collected GPS information of institute, some noise datas are usually contained.If utilizing these noises
Data describe the historical path of vehicle or transmit these noise datas to target side, and it is inaccurate to may result in path locus
True problem.Therefore, in some optional embodiments of the disclosure, above-mentioned target can be obtained in the following manner
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, obtains in this vehicle historical path, is N number of within the scope of pre-determined distance apart from this vehicle current location
The sample data of location point.
As described above, vehicle can collect and record GPS information in real time.Due to the history bit closer apart from current location
The data set a little more can accurately indicate the recent driving trace of vehicle, therefore, can be from the GPS of a large amount of location points recorded
In information, the sample of N number of location point apart from this vehicle current location within the scope of pre-determined distance (for example, within 300 meters) is obtained
Data (that is, GPS information), to exclude apart from the farther away redundant data in current location.
In step 1012, data filtering operation is carried out to the sample data of N number of location point, 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, noise number wherein included can be filtered out
According to ensure the accuracy and reliability of the data in constructed target sample space.
It, can any one of in the following manner or more persons carry out when carrying out data filtering operation:
Mode one: may include the position as described above, in the sample data for each location point that vehicle collects and records
A speed at setting.When speed is excessively slow, the vehicle heading angular displacement of corresponding position is excessive, will affect to road curvature degree
Judgement.Therefore, a speed threshold value V can be presetth(for example, being 5KM/h).In this way, can be by N number of location point
In sample data, speed be less than the preset speed threshold value VthSample data filter out.
Mode two: may include the position as described above, in the sample data for each location point that vehicle collects and records
A speed and longitude and latitude (that is, longitude and latitude) at setting.It therefore, can be according to speed of the vehicle at two neighboring location point
And latitude and longitude information, judge whether GPS data generates drift, so as to filter out the point that GPS data generates drift, to avoid
There is " shake " phenomenon when describing vehicle historical track using sample space.
Specifically, adjacent first position point and second position point can be chosen from N number of location point first,
In, at the time of correspondence at the time of the first position point corresponds to earlier than the second position point.
Next, determining described according to the longitude and latitude of the longitude and latitude of the first position point and second position point
Arc length distance between one location point and second position point.
Illustratively, the arc length distance between first position point and second position point is determined by following equation (1):
Wherein, d indicates the arc length distance between first position point and second position point；R is earth mean radius；LatA table
Show the latitude of first position point；The longitude of LonA expression first position point；The latitude of LatB expression second position point；LonB is indicated
The longitude of second position point.
Next, determining described first according to the speed of the speed of the first position point and second position point
Set the displacement a little between the point of the second position.
Illustratively, the displacement between first position point and second position point is determined by following equation (2):
Wherein, D indicates the displacement between first position point and second position point；VAIndicate the speed of first position point；VBTable
Show the speed of second position point；tAAt the time of indicating that first position point corresponds to；tBAt the time of indicating that second position point corresponds to, and tB>
tA。
Next, determining that drift judges parameter according to the arc length distance d and the displacement D.
Illustratively, determine that drift judges parameter P by following equation (3):
Later, when drift judges that parameter P is greater than preset drift threshold (for example, 0.85), second position point phase is determined
GPS drift is had occurred for first position point, therefore, the sample data of the second position point is filtered out.
Repeat it is above-mentioned chosen from N number of location point adjacent first position point and second position point and
Subsequent step, until N number of location point is all traversed.Later, the sample data of remaining M location point may make up
Target sample space.
Back to Fig. 1, after getting target sample space, step 102 is executed.In a step 102, according to the vehicle
Azimuth determines the dispersion in the target sample space, wherein the dispersion is used to indicate the bending of the historical path
Degree.
Vehicle azimuthal variation collected can be used to identify the road conditions of road.For example, during straight-line travelling,
The problems such as azimuth in sample space should be a fixed value in principle, consider error existing when acquisition, then azimuth
Change rate should be a smaller range；And during negotiation of bends, the azimuthal variation in sample space is then opposite
It is larger.In the disclosure, the concept of sample space dispersion is proposed, for indicating the bending degree of historical path.Wherein, from
Divergence is bigger, indicates that more points deviates initial driving direction, the bending of the road of vehicle driving trace is indicated 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:
Firstly, determining the mode H at the vehicle heading angle in target sample space in step 1021mode.When mode is not present
When, then illustrate that there is no the identical points in azimuth in sample space, show that vehicle travels on bend always, at this point, using H0Generation
Table Hmode, wherein H0It indicates in target sample space, the vehicle heading angle in the sample data of the earliest location point of timestamp.
Next, being counted in the target sample space in step 1022, vehicle heading angle and the mode HmodeIt
Between meet preset condition sample data number.
Mode HmodeNumber how much represent the ratio of straight-line travelling in historical path, the number the more, represent straight-line travelling
Path it is longer.Then think that vehicle carries out turning driving when vehicle heading angle deviation mode is bigger.One can be preset
Deviation threshold value is Hth(HthIt can adjust based on practical experience, for example, being set as 5 degree).With HmodeBased on, when target sample space
In vehicle heading angle in some sample data relative to HmodeChanging value (that is, with mode HmodeBetween deviation) exceed
Deviation threshold value HthWhen, the sample data is recorded, and count all qualified numbers of samples, which is denoted as N1。
Finally, according to the number of the sample data for meeting preset condition, determining the target sample in step 1023
The dispersion in this space.
Illustratively, the dispersion in target sample space is determined by following equation (4):
Wherein, S indicates the dispersion in target sample space；N1Indicate target sample space in, vehicle heading angle with it is described
Meet the number of the sample data of preset condition between mode；N indicates 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 illustrate vehicle negotiation of bends always.
Back to Fig. 1, after the dispersion for determining target sample space, step 103 is executed.In step 103, root
According to the dispersion, determination represents location point from the multiple location point, wherein described to represent location point described for representing
This vehicle historical path.
Determine that representing location point is mainly concerned with two aspects: first is that determine the number for representing location point, it is another to be how
The location point that the number is chosen from multiple location points, which is used as, represents location point.For in a first aspect, can be according in step 102
In the dispersion in target sample space determined, to determine the number N ode of representative location point to be chosen, wherein Node is
Natural number more than or equal to 2.
From above-mentioned analytic process it is found that dispersion S ∈ [0,1], and illustrate that vehicle in straight-line travelling, then exists when S=0
When selecting GPS point, straight line can then be described with two points in sample space；Illustrate vehicle negotiation of bends always as S=1,
Multiple points in sample space may be selected to describe.It can thus be seen that indicating the curved of vehicle historical path with the increase of dispersion
Qu Chengdu is bigger, needs more points at this time 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, that is, S is bigger, and Node is bigger；Conversely, S is smaller, Node
It is smaller.
In order to simplify calculating process, the determination efficiency that raising represents location point can recognize in an illustrative embodiments
Relationship is changed linearly between Node and S, then is had:
Wherein, k and b is preset constant, and [] indicates floor operation.Illustratively, as S=0, it is believed that vehicle is straight always
Line driving status, at this time, it is only necessary to 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.In addition, being transmitted to more accurately determine path and reduce traffic load size
The most points of load are set to 23 in message (for example, BSM message), that is, choose 23 location points at most to represent vehicle
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 can include from target sample space
It sets in a little, Node location point is chosen as representing location point using discontinuous selection mode.So-called discontinuous selection mode, refers to
It is separated by least one other location point between selected two location points out, that is, selected two location points out are in the time
It is upper and non-conterminous.
When being selected, can be carried out according to the criterion of uniform design.Node position is needed for example, it is assumed that calculating
Point is to indicate historical path, and include in target sample space is location point apart from current location within 300 meters, then
It can be respectively that the location point of 300/Node*t (wherein, i=1,2 ..., Node) is determined as by the linear distance away from current location
The representative location point of the historical path accomplishes the uniform design to the location point in target sample space with this, so that selected
Location point out can accurately represent the historical path of vehicle.
Finally, at step 104, the sample data for representing location point is sent to target side.
In the disclosure, target side refers to the sample data of the representative location point for receiving the transmission of this vehicle, to know this
The equipment of the motion profile of vehicle.For example, the target side can be neighbours' vehicle, it is also possible to cloud server.When target terminates
After receiving the sample data, it can be based on the sample data, the motion profile of vehicle is precisely located out, for going through based on vehicle
The various data analysis operations that history motion profile carries out provide data accurately and securely and support.
In conclusion through the above technical solutions, can determine to be used for according to the position point data of vehicle historical path
Indicate the dispersion of the bending degree of the vehicle historical path, later, the vehicle can be represented by being dynamically determined according to the dispersion
The representative location point of historical path, and sample data that these represent location point is transmitted to target side.It, can by this mode
Enough motion profiles for guaranteeing relatively accurately to orient vehicle, and the load that can reduce transmission message to the full extent is big
It is small, so can packet loss problem brought by the collision to avoid message, can preferably support the realization of upper layer application collection, it is maximum
Guarantee to limit the safety traffic in vehicle workshop.
Fig. 4 is a kind of structural block diagram of data transmission device 400 shown according to an exemplary embodiment, wherein the dress
Setting 400 can be applied to vehicle.As shown in figure 4, the device 400 may include: to obtain module 401, for obtaining target sample
Space, the target sample space include the sample data of multiple location points of this vehicle historical path, also, each location point
Sample data includes the vehicle heading angle at the location point；Dispersion determining module 402 is used for according to the vehicle heading angle,
Determine that the dispersion in the target sample space, the dispersion are used to indicate the bending degree of the historical path；Represent position
A determining module 403 is set, for according to the dispersion, determination to represent location point, the representative from the multiple location point
Location point is for representing described vehicle historical path；Sending module 404, for sending the sample for representing location point to target side
Notebook data.
Optionally, the acquisition module 401 may include: the first acquisition submodule, for obtaining in this vehicle historical path,
Sample data apart from N number of location point of this vehicle current location within the scope of pre-determined distance；Filter submodule, for the N
The sample data of a location point carries out data filtering operation, obtains the sample data of M 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.
Optionally, the sample data of each location point further includes the speed at the location point；The data filtering operation packet
Include: by the sample data of N number of location point, speed be less than preset speed threshold value sample data filter out.
Optionally, the sample data of each location point further includes the speed and longitude and latitude at the location point；The data mistake
Filter operation includes: that adjacent first position point and second position point, the first position point pair are chosen from N number of location point
At the time of correspondence at the time of answering earlier than the second position point；According to the longitude and latitude of the first position point and the second position
The longitude and latitude of point, determines the arc length distance between the first position point and second position point；According to the first position
The speed of point and the speed of second position point, determine the displacement between the first position point and second position point；
According to the arc length distance and the displacement, determine that drift judges parameter；When the drift judges that parameter is greater than preset drift
When threshold value, the sample data of the second position point is filtered out；Adjacent first is chosen from N number of location point described in returning
The step of location point and second position point, until N number of location point is all traversed.
Optionally, the dispersion determining module 402 may include: that mode determines submodule, for determining the target
The mode at the vehicle heading angle of sample space；Statistic submodule, for counting in the target sample space, vehicle heading angle with
Meet the number of the sample data of preset condition between the mode；Dispersion determines submodule, for being met in advance according to described
If the number of the sample data of condition, the dispersion in the target sample space is determined.
Optionally, deviation of the preset condition between vehicle heading angle and the mode is greater than preset deviation threshold
Value.
Optionally, the dispersion determines submodule for determining the dispersion by above equation (4).
Optionally, the location point determining module 403 that represents may include: that quantity determines submodule, for according to
Dispersion determines the number N ode of representative location point to be chosen, wherein Node is the natural number more than or equal to 2；And
It represents location point and chooses submodule, for choosing Node location point with discontinuous selection mode from the multiple location point
Location point is represented as described.
Optionally, the number N ode of the representative location point to be chosen and the dispersion correlation.
Optionally, the quantity determines submodule for determining representative location point to be chosen by above equation (5)
Number N ode.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, 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, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (9)
1. a kind of data transmission method characterized by comprising
Target sample space is obtained, the target sample space includes the sample data of multiple location points of this vehicle 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, determine that the dispersion in the target sample space, the dispersion are gone through for indicating described
The bending degree in history path；
It according to the dispersion, is determined from the multiple location point and represents location point, the location point that represents is for representing institute
State this vehicle historical path；
The sample data for representing location point is sent to target side；
Wherein, described according to the vehicle heading angle, determine the dispersion in the target sample space, comprising:
Determine the mode at the vehicle heading angle in the target sample space；
It counts in the target sample space, the number of the sample data of preset condition is met between vehicle heading angle and the mode
Mesh；
According to the number of the sample data for meeting preset condition, the dispersion in the target sample space is determined.
2. the method according to claim 1, wherein the acquisition target sample space, comprising:
Obtain the sample data of N number of location point in this vehicle historical path, apart from this vehicle current location within the scope of pre-determined distance；
Data filtering operation is carried out to the sample data of N number of location point, obtains the sample data of M location point, the M is a
The sample data of location point constitutes the target sample space, wherein N and M is natural number, also, 2≤M≤N.
3. according to the method described in claim 2, it is characterized in that, the sample data of each location point further includes at the location point
Speed；
The sample data to N number of location point carries out data filtering operation, comprising:
By in the sample data of N number of location point, speed be less than preset speed threshold value sample data filter out.
4. according to the method in claim 2 or 3, which is characterized in that the sample data of each location point further includes the position
Speed and longitude and latitude at point；
The sample data to N number of location point carries out data filtering operation, comprising:
Adjacent first position point and second position point are chosen from N number of location point, when the first position point is corresponding
At the time of quarter corresponds to earlier than the second position point；
According to the longitude and latitude of the longitude and latitude of the first position point and second position point, the first position point and institute are determined
State the arc length distance between the point of the second position；
According to the speed of the speed of the first position point and second position point, the first position point and described the are determined
Displacement between two location points；
According to the arc length distance and the displacement, determine that drift judges parameter；
When the drift judges that parameter is greater than preset drift threshold, the sample data of the second position point is filtered out；
Described the step of adjacent first position point and second position point is chosen from N number of location point is returned to, until the N
A location point is by until all traversing.
5. according to the method described in claim 4, it is characterized in that, described according to the arc length distance and the displacement, determination
Drift judges parameter, comprising:
Wherein, D indicates the displacement between the first position point and second position point；
D indicates the arc length distance between the first position point and second position point；
P indicates that the drift judges parameter.
6. the method according to claim 1, wherein described according to the sample data for meeting preset condition
Number determines the dispersion in the target sample space, comprising:
Wherein, S indicates the dispersion；
N1Indicate the number of the sample data for meeting preset condition；
N indicates the sum of sample data in the target sample space.
7. the method according to claim 1, wherein described according to the dispersion, from the multiple location point
Middle determination represents location point, comprising:
According to the dispersion, the number N ode of representative location point to be chosen is determined, wherein Node is more than or equal to 2
Natural number；And
From the multiple location point, Node location point is chosen as described using discontinuous selection mode and represents location point.
8. the method according to the description of claim 7 is characterized in that described according to the dispersion, determining representative to be chosen
The number N ode of location point, comprising:
Wherein, S indicates the dispersion in the target sample space；K and b is preset constant.
9. a kind of data transmission device characterized by comprising
Module is obtained, for obtaining target sample space, the target sample space includes multiple positions of this vehicle 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 indicate the bending degree of the historical path；
Location point determining module is represented, for according to the dispersion, determination to represent location point from the multiple location point, institute
It states and represents location point for representing described vehicle historical path；
Sending module, for sending the sample data for representing location point to target side；
Wherein, the dispersion determining module includes:
Mode determines submodule, the mode at the vehicle heading angle for determining the target sample space；
Statistic submodule meets default item for counting in the target sample space, between vehicle heading angle and the mode
The number of the sample data of part；
Dispersion determines submodule, for the number according to the sample data for meeting preset condition, determines the target sample
The dispersion in this space.
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| CN108111173B (en) * | 2017-12-27 | 2021-03-26 | 东软集团股份有限公司 | Track compression method and device, storage medium and electronic equipment |
| JP7169832B2 (en) * | 2018-09-27 | 2022-11-11 | 株式会社Subaru | MOBILE OBJECT MONITORING DEVICE FOR VEHICLE AND VEHICLE CONTROL SYSTEM USING THE SAME |
| CN109670010B (en) * | 2018-12-29 | 2021-01-05 | 北斗天地股份有限公司 | Track data supplementing method and device |
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| US8805349B2 (en) * | 2011-05-04 | 2014-08-12 | General Motors Llc | Method for controlling mobile communications |
| CN103929719B (en) * | 2014-05-05 | 2018-01-12 | 重庆慧云科技有限公司 | The optimization method and optimization device of location information |
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