CN107657810B - Method and device for recognizing actions of upper viaduct and lower viaduct - Google Patents
Method and device for recognizing actions of upper viaduct and lower viaduct Download PDFInfo
- Publication number
- CN107657810B CN107657810B CN201610597279.5A CN201610597279A CN107657810B CN 107657810 B CN107657810 B CN 107657810B CN 201610597279 A CN201610597279 A CN 201610597279A CN 107657810 B CN107657810 B CN 107657810B
- Authority
- CN
- China
- Prior art keywords
- navigation satellite
- vehicle
- satellite data
- data
- viaduct
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention discloses a method and a device for identifying actions of an upper viaduct and a lower viaduct, wherein navigation satellite data starts to be collected when a vehicle position approaches an exit or an entrance of the viaduct, and the collection is stopped until a preset collection termination condition is met; extracting navigation satellite data on the same side as the vehicle driving position as target navigation satellite data; acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the acquisition sequence of the target navigation satellite data; and obtaining the identification result of the current vehicle on/off the overhead according to the signal-to-noise ratio variation trend. The invention judges whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend of the navigation satellite data, and the satellite signal receiving module for outputting the navigation satellite data is a conventional module of vehicle-mounted equipment (such as a mobile phone and a vehicle machine).
Description
Technical Field
The invention relates to the technical field of geographic information, in particular to a method and a device for identifying actions of an upper viaduct and a lower viaduct.
Background
In the prior art, the actions of a vehicle on and off an overpass are mainly judged according to sensor parameters measured by a vehicle-mounted sensor, and specifically, the actions of the vehicle on and off the overpass are judged according to the change of the sensor parameters at the moment of the vehicle on and off the overpass.
However, the sensor is easily disturbed by external environments such as temperature, humidity, wind speed, etc., and the measurement result is inaccurate, so that the judgment result of the vehicle upper and lower viaducts obtained by the sensor may be deviated, and the conventional technology is restricted by the installation of the vehicle-mounted sensor, and the operation of the vehicle upper and lower viaducts cannot be judged by the conventional technology for a vehicle without the sensor, so that the method of judging the operation of the vehicle upper and lower viaducts in the conventional technology has the problems of poor versatility and low reliability.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for identifying an overpass movement, which can reliably position the movement of a vehicle on and off the overpass, and have strong versatility.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
a method for recognizing the actions of an upper viaduct and a lower viaduct comprises the following steps: judging whether the position of the vehicle is close to an exit or an entrance of the viaduct or not, if so, starting to acquire navigation satellite data, and stopping acquiring the navigation satellite data until a preset acquisition termination condition is met;
extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data;
acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data;
when the navigation satellite data is acquired when the vehicle approaches the exit of the viaduct, judging whether the current vehicle gets off the viaduct or not according to the signal-to-noise ratio variation trend;
and when the navigation satellite data is acquired when the vehicle approaches the entrance of the viaduct, judging whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend.
Preferably, the process of determining whether the position of the vehicle is close to the exit or entrance of the overpass specifically includes:
detecting whether an exit or an entrance of the viaduct exists in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
if so, judging whether the distance from the current position of the vehicle to the exit or the entrance of the viaduct meets a preset distance threshold value;
if so, it is determined that the current vehicle driving position is close to the exit or entrance of the overpass.
Preferably, the process of starting to collect the navigation satellite data and stopping collecting the navigation satellite data until a preset collection termination condition is met specifically includes:
after the navigation satellite data is collected, judging whether the collection time length from the moment of collecting the navigation satellite data to the current collection time reaches the preset collection time length, and if so, stopping collecting the navigation satellite data.
Preferably, the process of starting to collect the navigation satellite data and stopping collecting the navigation satellite data until a preset collection termination condition is met specifically includes:
after the navigation satellite data is collected, judging whether the collection time length from the moment of collecting the navigation satellite data to the current collection time reaches a preset collection time length or not;
if so, judging whether the vehicle running displacement from the moment of starting to collect the navigation satellite data to the current collection moment reaches a preset running distance, and if so, stopping collecting the navigation satellite data.
Preferably, the method further comprises the following steps: and thinning the collected navigation satellite data according to a preset time period.
Preferably, the process of extracting the navigation satellite data on the same side as the vehicle driving seat from the collected navigation satellite data as the target navigation satellite data specifically comprises:
when navigation satellite data is collected, determining a heading angle of vehicle running;
acquiring a satellite azimuth angle range of an area on the same side of the vehicle driving position on the basis of the course angle;
and acquiring satellite navigation data, wherein the satellite azimuth angle range of the satellite azimuth angle in the area on the same side as the driving position where the vehicle runs and the satellite elevation angle range of the satellite elevation angle in the preset satellite elevation angle range, as target navigation satellite data.
Preferably, when the signal-to-noise ratio of the target navigation satellite data has no significant variation trend, the method further comprises the following steps:
acquiring altitude data of a vehicle from the target navigation satellite data;
and obtaining the identification result of the current vehicle on/off the overhead according to the altitude data of the vehicle.
An upper and lower viaduct action recognition device, comprising: the vehicle position judging module is used for judging whether the position of the vehicle is close to an exit or an entrance of the viaduct;
the navigation satellite data acquisition module is used for starting to acquire navigation satellite data under the condition that the vehicle position judgment module judges that the position of the vehicle is close to the exit or the entrance of the viaduct, and stopping acquiring the navigation satellite data until a preset acquisition termination condition is met;
the target navigation satellite data extraction module is used for extracting navigation satellite data on the same side as the vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data;
the signal-to-noise ratio variation trend acquisition module is used for acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the acquisition sequence of the target navigation satellite data and the signal-to-noise ratio data of the satellite signals in the target navigation satellite data;
the first overhead identification module is used for judging whether the current vehicle is overhead or not according to the signal-to-noise ratio variation trend when the navigation satellite data is acquired when the vehicle approaches the exit of the overhead bridge;
and the first upper viaduct identification module is used for judging whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend when the navigation satellite data is acquired when the vehicle approaches the entrance of the viaduct.
Preferably, the vehicle position determination module includes:
the detection module is used for detecting whether an exit or an entrance of the viaduct exists in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
the distance judgment module is used for judging whether the distance from the current position of the vehicle to the exit or the entrance of the viaduct meets a preset distance threshold value or not under the condition that the detection module detects the exit or the entrance of the viaduct in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
and the vehicle position determining module is used for determining that the current driving position of the vehicle is close to the exit or entrance of the viaduct under the condition that the distance judging module judges that the distance from the current position of the vehicle to the exit or entrance of the viaduct meets a preset distance threshold.
Preferably, the navigation satellite data acquisition module comprises:
the first acquisition time length judgment module is used for judging whether the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition time reaches the preset acquisition time length or not after the navigation satellite data starts to be acquired;
and the first navigation satellite data acquisition stopping module is used for stopping acquiring the navigation satellite data under the condition that the acquisition time length judging module judges that the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition moment reaches the preset acquisition time length.
Preferably, the navigation satellite data acquisition module comprises:
the second acquisition time length judgment module is used for judging whether the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition time reaches the preset acquisition time length or not after the navigation satellite data starts to be acquired;
a vehicle running displacement judging module for judging whether the vehicle running displacement from the time of starting to collect the navigation satellite data to the current collection time reaches the preset running distance or not under the condition that the second collection time length judging module judges that the collection time length from the time of starting to collect the navigation satellite data to the current collection time reaches the preset collection time length,
and the second navigation satellite data acquisition stopping module is used for stopping acquiring the navigation satellite data under the condition that the vehicle running displacement judging module judges that the vehicle running displacement from the moment of starting to acquire the navigation satellite data to the current acquisition moment reaches the preset running distance.
Preferably, the method further comprises the following steps:
and the rarefying module is used for rarefying the collected navigation satellite data according to a preset time period.
Preferably, the target navigation satellite data extraction module includes:
the course angle determining module is used for determining the course angle of vehicle running when the navigation satellite data is collected;
the satellite azimuth angle range determining module is used for acquiring a satellite azimuth angle range of an area on the same side as the vehicle driving position on the basis of the course angle;
and the target navigation satellite data acquisition module is used for acquiring satellite navigation data of which the satellite azimuth angle is within the satellite azimuth angle range of the area on the same side as the driving position where the vehicle runs and the satellite elevation angle is within a preset satellite elevation angle range, and the satellite navigation data is used as target navigation satellite data.
Preferably, the method further comprises the following steps:
the altitude data acquisition module is used for acquiring altitude data of the vehicle from the target navigation satellite data;
and the second overhead/down-overhead identification module is used for obtaining the identification result of the current overhead/down-overhead of the vehicle according to the altitude data of the vehicle.
Based on the technical scheme, the embodiment of the invention discloses a method and a device for identifying the actions of going up and down a viaduct, wherein navigation satellite data starts to be collected when the position of a vehicle approaches to an exit or an entrance of the viaduct, and the navigation satellite data stops being collected until the preset collection termination condition is met; extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data; acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data; and obtaining the identification result of the current vehicle on/off overhead according to the signal-to-noise ratio variation trend. According to the embodiment of the invention, whether the vehicle is elevated or not is judged according to the signal-to-noise ratio variation trend of the navigation satellite data, and the satellite signal receiving module for outputting the navigation satellite data is a conventional module of vehicle-mounted equipment (such as a mobile phone and a car machine), so that the technical scheme provided by the embodiment of the invention has strong universality, and secondly, the signal-to-noise ratio of the satellite signal truly reflects the signal intensity of the navigation satellite, and the behavior of the vehicle on the elevated or not can be accurately judged according to the signal-to-noise ratio variation trend.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for identifying an action of an upper viaduct bridge and a lower viaduct bridge according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for extracting navigation satellite data on the same side as a vehicle driving seat from acquired navigation satellite data to serve as target navigation satellite data according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for obtaining the identification result of the current vehicle getting on/off the overhead according to the SNR variation trend according to the embodiment of the present invention
Fig. 4 is a flowchart of a method for recognizing the actions of getting on and off the viaduct based on the altitude data of the vehicle according to the embodiment of the present invention;
fig. 5 is a flowchart of a method for obtaining an identification result of a current vehicle getting on/off an overhead according to altitude data of the vehicle according to an embodiment of the present invention;
FIG. 6 is a graph illustrating signal-to-noise ratio variation of satellite signals according to an embodiment of the present invention;
fig. 7 is a block diagram of a device for recognizing actions of an upper viaduct and a lower viaduct according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The inventor of the scheme finds that the actions of the upper viaduct and the lower viaduct of the vehicle are judged mainly through sensor parameters measured by an on-vehicle sensor in the prior art, but the sensor is easily interfered by external environments such as temperature, humidity, wind speed and the like, so that the measured result is inaccurate, and the mode of judging the actions of the upper viaduct and the lower viaduct of the vehicle in the prior art is limited by the arrangement condition of the on-vehicle sensor, so that the problems of poor universality and low reliability exist.
Therefore, how to provide a method for judging the action of the vehicle for getting on and off the viaduct with strong universality and high reliability is an urgent problem to be solved at present.
In order to solve the problems, the technical scheme disclosed in the embodiment of the invention provides a method for identifying the actions of going up and down a viaduct, which is characterized in that navigation satellite data starts to be collected when the position of a vehicle approaches to an outlet or an inlet of the viaduct, and the navigation satellite data stops being collected until a preset collection termination condition is met; extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data; acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data; and obtaining the identification result of the current vehicle on/off overhead according to the signal-to-noise ratio variation trend. According to the embodiment of the invention, whether the vehicle is elevated or not is judged according to the signal-to-noise ratio variation trend of the navigation satellite data, and the satellite signal receiving module for outputting the navigation satellite data is a conventional module of vehicle-mounted equipment (such as a mobile phone and a car machine), so that the technical scheme provided by the embodiment of the invention has strong universality, and secondly, the signal-to-noise ratio of the satellite signal truly reflects the signal intensity of the navigation satellite, and the behavior of the vehicle on the elevated or not can be accurately judged according to the signal-to-noise ratio variation trend.
The following describes in detail a specific implementation of the method for identifying an upper and lower overpass in the embodiment of the present invention with reference to the drawings. As shown in fig. 1, an embodiment of the present invention discloses a method for identifying an action of an upper viaduct bridge and a lower viaduct bridge, where the method includes:
s101: judging whether the position of the vehicle is close to an exit or an entrance of the viaduct; if yes, executing S102, otherwise, continuing to judge;
it should be noted that, in the embodiment of the present invention, the process of determining whether the position of the vehicle is close to the exit or the entrance of the overpass specifically includes: detecting whether an exit or an entrance of the viaduct exists in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning; if so, judging whether the distance from the current position of the vehicle to the exit or the entrance of the viaduct meets a preset distance threshold value; if so, it is determined that the current vehicle driving position is close to the exit or entrance of the overpass.
In practical application, the technical solution provided by the embodiment of the present invention may be applied to electronic map software/application with a navigation function or navigation software/navigation application, and the applications may access electronic map data of a local or a server, so that a specific way of detecting whether an exit or an entrance of a viaduct exists in front of a current position of a vehicle may be:
according to the current position of the vehicle, in the electronic map data, it is detected whether an exit or entrance sign of the overpass exists in front of the road where the vehicle is currently located, for example, whether an exit or entrance sign of the overpass exists in front of the current position of the vehicle is detected, and the embodiment of the present invention is not particularly limited.
S102: starting to collect navigation satellite data, and stopping collecting the navigation satellite data until a preset collection termination condition is met;
optionally, in the embodiment of the present invention, the navigation satellite data may be acquired according to a preset acquisition frequency, where the preset acquisition frequency may be dynamically determined according to a vehicle driving speed and a distance from the vehicle to an exit or an entrance of the overpass.
For example, when the navigation satellite Data is collected, the measured distance between the position of the vehicle and the exit or entrance of the overpass is 250m, and the measured average speed of the vehicle is greater than 30km/h, 25 sets of GGA (Global Positioning System Fix Data), GSV (Global Positioning System satellite in View), GRMC (Recommended Positioning information) historical satellite Data are collected, wherein at least 5 sets of GSV historical satellite Data are obtained.
If the distance between the position of the vehicle and the exit or entrance of the viaduct is 250m when the navigation satellite data are collected, and the average speed of the vehicle is less than 30km/h, the ratio of the distance value between the position of the vehicle and the exit or entrance of the viaduct and the average speed of the vehicle is used as the group number of the GGA, GSV and GRMC historical satellite data to be collected; and the number of groups for collecting historical satellite data of the GSV is as follows: if speed is the average speed of the vehicle, and f represents the frequency of the GSV output, for example, if a group of GSVs is output for 5s, f is 0.2, and if the average speed of the vehicle is less than 30km/h, 250/speed groups of GGA, GSV and GRMC data need to be acquired, and 250 f/speed groups of GSV data are acquired.
Optionally, after the navigation satellite data is collected, when the vehicle is in a low speed (speed less than 1m/s) or stationary state, the collection process should be temporarily interrupted, the GSV at this time cannot be used as a counting period, and should be discarded, and the collection is continued until the vehicle recovers the movement speed.
It should be noted that the preset acquisition termination condition disclosed in the embodiment of the present invention at least includes:
the method comprises the following steps that the collection time length from the moment of starting to collect navigation satellite data to the current collection moment reaches the preset collection time length, or the vehicle running displacement from the moment of starting to collect navigation satellite data to the current collection moment reaches the preset running distance, and the like;
considering the problem of vehicle speed, if the vehicle is traveling slowly, within a preset acquisition time, sufficient navigation satellite data may not be acquired, and in order to make the acquisition result more accurate, the two acquisition conditions may also be used simultaneously, specifically as follows:
the method comprises the steps of starting to collect navigation satellite data, enabling the collection time length of the current collection time to reach preset collection time length, if not, continuing to collect the navigation satellite data, if so, further judging whether the vehicle running displacement of the current collection time from the starting to collect the navigation satellite data reaches preset running distance, if so, stopping collecting, if not, continuing to collect the navigation satellite data, judging whether the vehicle running displacement reaches the preset running distance, repeating the process until the vehicle running displacement reaches the preset running distance, and stopping collecting.
S103: extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data;
it should be noted that, in the process of selecting navigation satellite data, in consideration of the fact that in the process of an overpass and a lower overpass on a vehicle, the vehicle is shielded by a bridge body of the overpass positioned on the same side as a driving position, so that the value of the signal-to-noise ratio of a satellite signal in navigation satellite data received by the vehicle changes, in the embodiment of the present invention, the identification result of the current overpass/lower overpass on the vehicle is obtained by using the change rule of the signal-to-noise ratio of the satellite signal received by the vehicle, and therefore, in the embodiment of the present invention, the navigation satellite data on the same side as the driving position of the vehicle needs to be extracted.
S104: acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data;
s105: when the navigation satellite data is acquired when the vehicle approaches the exit of the viaduct, judging whether the current vehicle gets off the viaduct or not according to the signal-to-noise ratio variation trend;
s106: and when the navigation satellite data is acquired when the vehicle approaches the entrance of the viaduct, judging whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend.
The embodiment of the invention discloses a method for identifying actions of going up and down a viaduct, which is characterized in that navigation satellite data starts to be collected when a vehicle approaches to an exit or an entrance of the viaduct, and the navigation satellite data stops being collected until a preset collection termination condition is met; extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data; acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data; and obtaining the identification result of the current vehicle on/off overhead according to the signal-to-noise ratio variation trend. According to the embodiment of the invention, whether the vehicle is elevated or not is judged according to the signal-to-noise ratio variation trend of the navigation satellite data, and the satellite signal receiving module for outputting the navigation satellite data is a conventional module of vehicle-mounted equipment (such as a mobile phone and a car machine), so that the technical scheme provided by the embodiment of the invention has strong universality, and secondly, the signal-to-noise ratio of the satellite signal truly reflects the signal intensity of the navigation satellite, and the behavior of the vehicle on the elevated or not can be accurately judged according to the signal-to-noise ratio variation trend.
The above is a method for identifying an upper and lower overpass action provided in the embodiment of the present invention, and the embodiment of the present invention further provides a method for identifying an upper and lower overpass action, which is different from the foregoing method in that the method further includes the following steps before the step 103:
and performing a thinning step on the collected navigation satellite data according to a preset time period.
The embodiment not only abandons inaccurate or large-error navigation satellite data to obtain more accurate navigation satellite data, but also can reduce the data processing amount.
Optionally, fig. 2 is a flowchart of a method for extracting navigation satellite data ipsilateral to a vehicle driving seat from collected navigation satellite data to serve as target navigation satellite data according to an embodiment of the present invention, where the method may include:
s201: when navigation satellite data is collected, determining a heading angle of vehicle running;
it should be noted that, the heading angle of the vehicle is an included angle between the longitudinal axis direction of the vehicle and the north pole of the earth.
S202: acquiring a satellite azimuth angle range of an area on the same side of the vehicle driving position on the basis of the course angle;
the satellite azimuth is a distribution azimuth which takes the vehicle as a center and takes the true north as an angle of 0 degree, rotates clockwise, and is projected on the plane by the satellite.
In the process of selecting the navigation satellite data, considering that in the process of an upper viaduct and a lower viaduct of a vehicle, the vehicle can be shielded by a bridge body of the viaduct positioned on the same side of a driving position of the vehicle, so that the value of the signal to noise ratio of satellite data in the navigation satellite data received by the vehicle is changed, in the embodiment of the invention, the identification result of the current upper/lower viaduct of the vehicle is obtained by using the change rule of the signal to noise ratio of the satellite data received by the vehicle, and therefore, the satellite azimuth angle range on the same side of the driving position of the vehicle in the navigation satellite data needs to be extracted.
When the vehicle driving position is located on the left side of the vehicle, acquiring a satellite azimuth angle range located in a left side area of the vehicle;
when the vehicle driving seat is located on the right side of the vehicle, a satellite azimuth range located in the area on the right side of the vehicle is acquired.
S203: and acquiring satellite navigation data, wherein the satellite azimuth angle range of the satellite azimuth angle in the area on the same side as the driving position where the vehicle runs and the satellite elevation angle range of the satellite elevation angle in the preset satellite elevation angle range, as target navigation satellite data.
The satellite elevation angle is as follows: the satellite position and the horizontal ground of the vehicle are included.
It should be noted that, in the embodiment of the present invention, a satellite whose satellite elevation angle is within a preset satellite elevation angle range is selected, so that the influence of buildings near the viaduct area on the satellite signal can be eliminated, optionally, the preset satellite elevation angle range may be 15 degrees to 70 degrees, and the actual situation near the viaduct area can be determined specifically.
Optionally, fig. 3 is a flowchart illustrating a method for obtaining an identification result of a current vehicle getting on/off an overhead according to the snr trend, where the method may include:
s301: determining satellite signal-to-noise ratio data in target navigation satellite data acquired by each sampling point according to a preset sampling sequence of the target navigation satellite data;
optionally, because the target navigation satellite data acquired by each sampling point includes satellite signal to noise ratio data, in the embodiment of the present invention, the signal to noise ratio variation trend of the target navigation satellite data is acquired according to the acquisition sequence of the target navigation satellite data, so that the satellite signal to noise ratio data in the target navigation satellite data acquired by each sampling point needs to be acquired.
After satellite signal-to-noise ratio data in target navigation satellite data acquired by each sampling point is determined, singular points of the acquired multiple signal-to-noise ratio data can be removed by utilizing a filtering algorithm, and signal-to-noise ratio data with large errors can be removed.
S302: performing linear fitting on satellite signal-to-noise ratio data in target navigation satellite data acquired by each sampling point in a two-dimensional coordinate system to obtain a signal-to-noise ratio change curve with the horizontal axis as the sampling point and the vertical axis as the signal-to-noise ratio data;
it should be noted that, in the embodiment of the present invention, a straight line fitting algorithm is used to perform straight line fitting on the signal-to-noise ratio data corresponding to the multiple sampling points in the two-dimensional coordinate system.
S303: determining the slope of the change curve of the signal-to-noise ratio data;
optionally, in the embodiment of the present invention, a manner of determining the slope of the snr change curve is as follows:
according to the formula
Determining the slope of the signal-to-noise ratio curve, whereinx represents a sampling point, y represents the corresponding signal-to-noise ratio at the sampling point, and b represents the slope of the signal-to-noise ratio change curve.
S304: when the slope of the signal-to-noise ratio change curve is larger than or equal to a first preset slope value, determining that the vehicle is elevated;
s305: when the slope of the signal-to-noise ratio change curve is smaller than or equal to a negative first preset slope value, determining that the vehicle is elevated;
it should be noted that, in the embodiment of the present invention, positive and negative values of the first preset slope value indicate a change in signal strength, and the positive and negative first preset slope values respectively reflect a process from weak to strong and from strong to weak in signal strength, and through analysis of a process of raising a vehicle up and down, when the vehicle is raised, because a portion of the vehicle shielded by the raised bridge is less and less, a satellite signal received by the vehicle is stronger and stronger, that is, a slope of a determined snr change curve should be greater than or equal to the positive first preset slope value;
on the contrary, when the vehicle is elevated, because the vehicle is more and more shielded by the elevated bridge, the satellite signal received by the vehicle is weaker and weaker, that is, the slope of the determined signal-to-noise ratio change curve is less than or equal to the negative first preset slope value; therefore, the vehicle can be accurately judged to be elevated according to the signal-to-noise ratio and the variation trend thereof.
The method for identifying the action of the upper viaduct and the lower viaduct in the embodiment of the invention judges whether the vehicle is elevated or not at present according to the signal-to-noise ratio variation trend of the navigation satellite data, and the satellite signal receiving module for outputting the navigation satellite data is a conventional module of vehicle-mounted equipment (such as a mobile phone and a car machine).
When the signal-to-noise ratio of the target navigation satellite data has no obvious variation trend, a method for identifying the action of going up and down the viaduct based on the altitude data of the vehicle is adopted, and a specific process is shown in fig. 4, and the method may include:
s401: acquiring altitude data of a vehicle from the target navigation satellite data;
optionally, when the vehicle speed is higher than 30km/h, at least 25 groups of altitude data are acquired from the time of starting acquisition of the navigation satellite data to the time of ending acquisition; and when the speed of the vehicle is not higher than 30km/h, determining the number of groups for acquiring the altitude data according to the distance between the vehicle and an exit or an entrance of the viaduct.
S402: and obtaining the identification result of the current vehicle on/off the overhead according to the altitude data of the vehicle.
Optionally, fig. 5 is a flowchart illustrating a method for obtaining an identification result of a current vehicle on/off-rack according to altitude data of the vehicle, where the method may include:
s501: according to a preset sampling sequence of target navigation satellite data, determining altitude data in the target navigation satellite data acquired by each sampling point;
optionally, after the altitude data ratio in the target navigation satellite data acquired by each sampling point is determined, singular points of the acquired altitude data can be removed by using a filtering algorithm, so that altitude data with large error ratio can be removed.
S502: performing linear fitting on the altitude data corresponding to the plurality of sampling points in a two-dimensional coordinate system to obtain an altitude data change curve with the horizontal axis as sampling points and the vertical axis as altitude data;
it should be noted that, in the embodiment of the present invention, a straight line fitting algorithm is used to perform straight line fitting on the altitude data corresponding to the multiple sampling points in the two-dimensional coordinate system.
S503: determining the slope of the change curve of the altitude data;
optionally, in the embodiment of the present invention, a manner of determining a slope of the altitude data change curve is as follows: according to the formula
Determining the slope of the curve of the altitude data, where x1Represents a sample point, y1Indicating the corresponding altitude data at the sampling point, and b' indicating the slope of the change curve of the altitude data.
S504: when the slope of the vehicle altitude data change curve is greater than or equal to a second preset slope value, determining that the vehicle is elevated;
s505: and when the slope of the vehicle altitude data change curve is less than or equal to a negative second preset slope value, determining that the vehicle is elevated.
In practical applications, the first predetermined slope value and the second predetermined slope value may be the same.
The following describes the process of the method for identifying the upper and lower overpasses according to the embodiment of the present invention with reference to specific examples, which includes the following specific steps:
1. the collected historical satellite data is as follows:
$GPGGA：$GPGGA，022157.94，3111.7905，N，12123.0638，E，1，10，0.757，16.568，M，11.202，M，0，0*5D；
$GPRMC：$GPRMC，022157.94，A，3111.7905，N，12123.0638，E，13.562，56.878，101115，0，W，A*32；
three sets of $ GPGSV:
$GPGSV，3，1，10，2，30，287，23，3，10，41，20，5，12，221，
23，6，57，329，26*4C；
$GPGSV，3，2，10，9，32，115，30，12，19，315，25，17，69，94，39，19，16，121，31*7D；
$GPGSV，3，3，10，23，24，72，37，28，23，182，22*4E。
2. as can be seen from the historical satellite data acquired above, the satellite data indicating that 10 satellites are acquired is obtained, and the satellite elevation angle, the satellite azimuth angle, and the satellite signal to noise ratio information of the 10 satellites are sequentially extracted from the satellite data, so as to form the following table 1:
TABLE 1
3. The satellite heading angle (the 9 th data in the output device result information $ GPRMC) w obtained from the satellite data is 56.878, which is used as the criterion for the satellite azimuth angle range, and the data is obtained as follows, wherein a represents the azimuth angle of the satellite:
the range relation between the azimuth angle of the satellite and the heading angle in front of the vehicle is as follows: w-10< a < w +10, i.e.: 46.878< a < 66.878;
the range relationship between the azimuth angle of the satellite and the rear course angle of the vehicle is as follows: w +170< a < w +190, i.e., 226.878< a < 246.878;
the range relationship between the azimuth angle of the satellite and the heading angle of the right side of the vehicle is as follows: w +10< a < w +170, i.e., 66.878< a < ═ 226.878;
range relationship of azimuth of satellite to left of vehicle heading angle: a is more than or equal to w +190, or a is more than or equal to w-10, namely a is more than or equal to 246.878 or a is more than or equal to 46.878;
judging that the number of the satellites with azimuth angles falling within the range of the heading angle in front of the vehicle in the 10 satellite data is zero; the number of satellites falling within the range of the heading angle behind the vehicle is zero;
the number of the satellites falling in the range of the heading angle on the right side of the vehicle is 6, and the satellite elevation angle, the satellite azimuth angle and the satellite signal-to-noise ratio information corresponding to the 6 satellites are respectively as follows: 12, 221, 23; 32, 115, 30; 69, 94, 39; 16, 121, 31; 24, 72, 37; 23, 182, 22;
the number of satellites falling in the left side range of the vehicle course angle is 4, and satellite elevation angle, satellite azimuth angle and satellite signal-to-noise ratio information corresponding to the 4 satellites are respectively as follows: 30, 287, 23; 10, 41, 20; 57, 329, 26; 19, 315, 25;
the embodiment of the invention aims at the condition that the vehicle driving position is positioned on the left side of the vehicle, so that the satellite navigation data which is positioned in the satellite azimuth angle range of the area on the same side of the vehicle driving position (namely the area on the left side of the vehicle) and has the satellite elevation angle between 15 and 70 degrees is obtained on the basis of the heading angle: 30, 287, 23; 57, 329, 26; 19, 315, 25.
4. The sum of the signal-to-noise ratios of 3 satellites with the satellite elevation angle between 15 and 70 degrees is calculated as follows: 74.
5. repeatedly executing the processes of the steps 1-4, and repeatedly acquiring 6 groups of satellite data according to the sampling interval of 5 seconds; the signal-to-noise ratios of the satellites in the 6 sets of satellite data are respectively calculated as follows: 74909810210596.
6. as shown in fig. 6, curve fitting is performed on the signal-to-noise ratios corresponding to the plurality of sampling points in a two-dimensional coordinate system to obtain a signal-to-noise ratio variation curve of the satellite signal with the sampling point on the horizontal axis and the signal-to-noise ratio on the vertical axis, and the signal-to-noise ratio variation curve slope b is calculated by using the Kalman filtering theory and the least square polynomial curve fitting principle1＝0.3896。
7. According to the corresponding relationship between the preset slope value of the signal-to-noise ratio and the recognition result of the vehicle upper/lower elevated structure as shown in the following table 2, b is combined1And (4) judging whether the vehicle is an upper viaduct or a lower viaduct at the current moment.
8. When the signal-to-noise ratio variation trend of the target navigation satellite data is not obvious and the identification result of the vehicle upper/lower overhead cannot be obtained according to the following table 2, combining b and the corresponding relation between the preset slope value of the altitude and the identification result of the vehicle upper/lower overhead shown in the following table 22The value of k is determined, and the identification result of the current vehicle on/off-peak is determined, wherein k is a preset slope value, and k is a number greater than 0, so that research personnel can set the specific value of k according to actual experience, and the invention is not limited specifically.
TABLE 2
The method is described in detail in the embodiments disclosed above, and the method of the present invention can be implemented by various types of apparatuses, so that the present invention also discloses an apparatus, and the following detailed description will be given of specific embodiments.
Fig. 7 is a block diagram of a device for identifying actions of an upper viaduct bridge and a lower viaduct bridge according to an embodiment of the present invention, where the device may include:
an upper and lower viaduct action recognition device, comprising: the vehicle position judging module 11 is used for judging whether the position of the vehicle is close to an exit or an entrance of the viaduct;
the navigation satellite data acquisition module 12 is used for starting to acquire navigation satellite data under the condition that the vehicle position judgment module judges that the position of the vehicle is close to the exit or the entrance of the viaduct, and stopping acquiring the navigation satellite data until a preset acquisition termination condition is met;
the target navigation satellite data extraction module 13 is used for extracting navigation satellite data on the same side as the vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data;
the signal-to-noise ratio variation trend acquisition module 14 is used for acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the acquisition sequence of the target navigation satellite data and the signal-to-noise ratio data of the satellite signals in the target navigation satellite data;
the first overhead identification module 15 is configured to, when the navigation satellite data is acquired when the vehicle approaches an exit of the viaduct, determine whether the current vehicle is overhead according to the signal-to-noise ratio variation trend;
and the first upper viaduct identification module 16 is used for judging whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend when the navigation satellite data is collected when the vehicle approaches the entrance of the viaduct.
Based on the above embodiment of the device for identifying the upper and lower overpasses, the invention may further select a suitable unit from the following units to form a new application sorting device, and the specific forming manner may be determined according to the related description in the method embodiment, which is not described in detail in this embodiment.
The vehicle position determination module includes:
the detection module is used for detecting whether an exit or an entrance of the viaduct exists in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
the distance judgment module is used for judging whether the distance from the current position of the vehicle to the exit or the entrance of the viaduct meets a preset distance threshold value or not under the condition that the detection module detects the exit or the entrance of the viaduct in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
and the vehicle position determining module is used for determining that the current driving position of the vehicle is close to the exit or entrance of the viaduct under the condition that the distance judging module judges that the distance from the current position of the vehicle to the exit or entrance of the viaduct meets a preset distance threshold.
The navigation satellite data acquisition module comprises:
the first acquisition time length judgment module is used for judging whether the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition time reaches the preset acquisition time length or not after the navigation satellite data starts to be acquired;
and the first navigation satellite data acquisition stopping module is used for stopping acquiring the navigation satellite data under the condition that the acquisition time length judging module judges that the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition moment reaches the preset acquisition time length.
The navigation satellite data acquisition module comprises:
the second acquisition time length judgment module is used for judging whether the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition time reaches the preset acquisition time length or not after the navigation satellite data starts to be acquired;
a vehicle running displacement judging module for judging whether the vehicle running displacement from the time of starting to collect the navigation satellite data to the current collection time reaches the preset running distance or not under the condition that the second collection time length judging module judges that the collection time length from the time of starting to collect the navigation satellite data to the current collection time reaches the preset collection time length,
and the second navigation satellite data acquisition stopping module is used for stopping acquiring the navigation satellite data under the condition that the vehicle running displacement judging module judges that the vehicle running displacement from the moment of starting to acquire the navigation satellite data to the current acquisition moment reaches the preset running distance.
Further comprising:
and the rarefying module is used for rarefying the collected navigation satellite data according to a preset time period.
The target navigation satellite data extraction module comprises:
the course angle determining module is used for determining the course angle of vehicle running when the navigation satellite data is collected;
the satellite azimuth angle range determining module is used for acquiring a satellite azimuth angle range of an area on the same side as the vehicle driving position on the basis of the course angle;
and the target navigation satellite data acquisition module is used for acquiring satellite navigation data of which the satellite azimuth angle is within the satellite azimuth angle range of the area on the same side as the driving position where the vehicle runs and the satellite elevation angle is within a preset satellite elevation angle range, and the satellite navigation data is used as target navigation satellite data.
Further comprising:
the altitude data acquisition module is used for acquiring altitude data of the vehicle from the target navigation satellite data;
and the second overhead/down-overhead identification module is used for obtaining the identification result of the current overhead/down-overhead of the vehicle according to the altitude data of the vehicle.
In summary, the following steps:
the embodiment of the invention discloses a method and a device for identifying actions of an upper viaduct and a lower viaduct, wherein navigation satellite data starts to be collected when a vehicle approaches an exit or an entrance of the viaduct, and the navigation satellite data stops being collected until a preset collection termination condition is met; extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data; acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data; and obtaining the identification result of the current vehicle on/off overhead according to the signal-to-noise ratio variation trend. According to the embodiment of the invention, whether the vehicle is elevated or not is judged according to the signal-to-noise ratio variation trend of the navigation satellite data, and the satellite signal receiving module for outputting the navigation satellite data is a conventional module of vehicle-mounted equipment (such as a mobile phone and a car machine), so that the technical scheme provided by the embodiment of the invention has strong universality, and secondly, the signal-to-noise ratio of the satellite signal truly reflects the signal intensity of the navigation satellite, and the behavior of the vehicle on the elevated or not can be accurately judged according to the signal-to-noise ratio variation trend.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method for recognizing the actions of an upper viaduct and a lower viaduct is characterized by comprising the following steps: judging whether the position of the vehicle is close to an exit or an entrance of the viaduct or not, if so, starting to acquire navigation satellite data, and stopping acquiring the navigation satellite data until a preset acquisition termination condition is met;
extracting navigation satellite data on the same side as a vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data;
acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the signal-to-noise ratio data of the satellite signals in the target navigation satellite data and the acquisition sequence of the target navigation satellite data;
when the navigation satellite data is acquired when the vehicle approaches the exit of the viaduct, judging whether the current vehicle gets off the viaduct or not according to the signal-to-noise ratio variation trend;
when the navigation satellite data is acquired when the vehicle approaches the entrance of the viaduct, judging whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend;
the process of extracting the navigation satellite data on the same side as the vehicle driving position from the acquired navigation satellite data as the target navigation satellite data specifically comprises the following steps:
when navigation satellite data is collected, determining a heading angle of vehicle running;
acquiring a satellite azimuth angle range of an area on the same side of the vehicle driving position on the basis of the course angle;
and acquiring satellite navigation data, wherein the satellite azimuth angle range of the satellite azimuth angle in the area on the same side as the driving position where the vehicle runs and the satellite elevation angle range of the satellite elevation angle in the preset satellite elevation angle range, as target navigation satellite data.
2. The method according to claim 1, wherein the determining whether the vehicle is located near an exit or entrance of the overpass comprises:
detecting whether an exit or an entrance of the viaduct exists in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
if so, judging whether the distance from the current position of the vehicle to the exit or the entrance of the viaduct meets a preset distance threshold value;
if so, it is determined that the current vehicle driving position is close to the exit or entrance of the overpass.
3. The method as claimed in claim 1, wherein the starting of the acquisition of the navigation satellite data and the stopping of the acquisition of the navigation satellite data until the preset acquisition termination condition is satisfied specifically comprises:
after the navigation satellite data is collected, judging whether the collection time length from the moment of collecting the navigation satellite data to the current collection time reaches the preset collection time length, and if so, stopping collecting the navigation satellite data.
4. The method as claimed in claim 1, wherein the starting of the acquisition of the navigation satellite data and the stopping of the acquisition of the navigation satellite data until the preset acquisition termination condition is satisfied specifically comprises:
after the navigation satellite data is collected, judging whether the collection time length from the moment of collecting the navigation satellite data to the current collection time reaches a preset collection time length or not;
if so, judging whether the vehicle running displacement from the moment of starting to collect the navigation satellite data to the current collection moment reaches a preset running distance, and if so, stopping collecting the navigation satellite data.
5. The method of claim 1, further comprising: and thinning the collected navigation satellite data according to a preset time period.
6. The method as claimed in claim 1, wherein when there is no significant variation trend in the signal-to-noise ratio of the target navigation satellite data, further comprising:
acquiring altitude data of a vehicle from the target navigation satellite data;
and obtaining the identification result of the current vehicle on/off the overhead according to the altitude data of the vehicle.
7. The utility model provides an upper and lower overpass action recognition device which characterized in that includes: the vehicle position judging module is used for judging whether the position of the vehicle is close to an exit or an entrance of the viaduct;
the navigation satellite data acquisition module is used for starting to acquire navigation satellite data under the condition that the vehicle position judgment module judges that the position of the vehicle is close to the exit or the entrance of the viaduct, and stopping acquiring the navigation satellite data until a preset acquisition termination condition is met;
the target navigation satellite data extraction module is used for extracting navigation satellite data on the same side as the vehicle driving position from the acquired navigation satellite data to serve as target navigation satellite data;
the signal-to-noise ratio variation trend acquisition module is used for acquiring the signal-to-noise ratio variation trend of the target navigation satellite data according to the acquisition sequence of the target navigation satellite data and the signal-to-noise ratio data of the satellite signals in the target navigation satellite data; the first overhead identification module is used for judging whether the current vehicle is overhead or not according to the signal-to-noise ratio variation trend when the navigation satellite data is acquired when the vehicle approaches the exit of the overhead bridge;
the first upper viaduct identification module is used for judging whether the current vehicle is elevated or not according to the signal-to-noise ratio variation trend when the navigation satellite data is acquired when the vehicle approaches the entrance of the viaduct;
wherein, the target navigation satellite data extraction module comprises:
the course angle determining module is used for determining the course angle of vehicle running when the navigation satellite data is collected;
the satellite azimuth angle range determining module is used for acquiring a satellite azimuth angle range of an area on the same side as the vehicle driving position on the basis of the course angle;
and the target navigation satellite data acquisition module is used for acquiring satellite navigation data of which the satellite azimuth angle is within the satellite azimuth angle range of the area on the same side as the driving position where the vehicle runs and the satellite elevation angle is within a preset satellite elevation angle range, and the satellite navigation data is used as target navigation satellite data.
8. The apparatus of claim 7, wherein the vehicle position determination module comprises:
the detection module is used for detecting whether an exit or an entrance of the viaduct exists in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
the distance judgment module is used for judging whether the distance from the current position of the vehicle to the exit or the entrance of the viaduct meets a preset distance threshold value or not under the condition that the detection module detects the exit or the entrance of the viaduct in front of the current position of the vehicle according to the position information of the vehicle for real-time positioning;
and the vehicle position determining module is used for determining that the current driving position of the vehicle is close to the exit or entrance of the viaduct under the condition that the distance judging module judges that the distance from the current position of the vehicle to the exit or entrance of the viaduct meets a preset distance threshold.
9. The apparatus of claim 7, wherein the navigation satellite data acquisition module comprises: the first acquisition time length judgment module is used for judging whether the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition time reaches the preset acquisition time length or not after the navigation satellite data starts to be acquired;
and the first navigation satellite data acquisition stopping module is used for stopping acquiring the navigation satellite data under the condition that the acquisition time length judging module judges that the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition moment reaches the preset acquisition time length.
10. The apparatus of claim 7, wherein the navigation satellite data acquisition module comprises: the second acquisition time length judgment module is used for judging whether the acquisition time length from the moment of starting to acquire the navigation satellite data to the current acquisition time reaches the preset acquisition time length or not after the navigation satellite data starts to be acquired; a vehicle running displacement judging module for judging whether the vehicle running displacement from the time of starting to collect the navigation satellite data to the current collection time reaches the preset running distance or not under the condition that the second collection time length judging module judges that the collection time length from the time of starting to collect the navigation satellite data to the current collection time reaches the preset collection time length,
and the second navigation satellite data acquisition stopping module is used for stopping acquiring the navigation satellite data under the condition that the vehicle running displacement judging module judges that the vehicle running displacement from the moment of starting to acquire the navigation satellite data to the current acquisition moment reaches the preset running distance.
11. The apparatus of claim 7, further comprising:
and the rarefying module is used for rarefying the collected navigation satellite data according to a preset time period.
12. The apparatus of claim 7, further comprising:
the altitude data acquisition module is used for acquiring altitude data of the vehicle from the target navigation satellite data;
and the second overhead/down-overhead identification module is used for obtaining the identification result of the current overhead/down-overhead of the vehicle according to the altitude data of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597279.5A CN107657810B (en) | 2016-07-26 | 2016-07-26 | Method and device for recognizing actions of upper viaduct and lower viaduct |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597279.5A CN107657810B (en) | 2016-07-26 | 2016-07-26 | Method and device for recognizing actions of upper viaduct and lower viaduct |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107657810A CN107657810A (en) | 2018-02-02 |
| CN107657810B true CN107657810B (en) | 2020-05-08 |
Family
ID=61126714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610597279.5A Active CN107657810B (en) | 2016-07-26 | 2016-07-26 | Method and device for recognizing actions of upper viaduct and lower viaduct |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107657810B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488322B (en) * | 2018-05-15 | 2023-08-08 | 北京搜狗科技发展有限公司 | Parking lot entrance and exit recognition method and device |
| CN109658707A (en) * | 2018-12-23 | 2019-04-19 | 郑州威科姆华大北斗导航科技有限公司 | The overhead recording method violating the regulations of electric vehicle and system |
| CN111062320B (en) * | 2019-12-16 | 2023-09-15 | Oppo广东移动通信有限公司 | Overpass identification method and related products |
| CN114791299B (en) * | 2021-01-25 | 2024-03-22 | 深圳市万普拉斯科技有限公司 | Identification method, device and equipment for inter-layer switching of terminal equipment movement |
| CN113419266B (en) * | 2021-08-23 | 2021-12-10 | 腾讯科技（深圳）有限公司 | Positioning method and device, electronic equipment and computer readable storage medium |
| CN116256780B (en) * | 2023-05-16 | 2023-09-08 | 智道网联科技(北京)有限公司 | Method and device for positioning vehicles in viaduct area, electronic equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0821335A1 (en) * | 1996-07-26 | 1998-01-28 | Aisin Aw Co., Ltd. | Vehicular navigation system |
| CN1453186A (en) * | 2002-04-26 | 2003-11-05 | 株式会社日立制作所 | Artificial satellite signal receiving method, receiving apparatus, transmitting method and information system |
| US7353110B2 (en) * | 2004-02-13 | 2008-04-01 | Dvs Korea Co., Ltd. | Car navigation device using forward real video and control method thereof |
| CN101441262A (en) * | 2007-11-20 | 2009-05-27 | 那微微电子科技（上海）有限公司 | Tridimensional traffic navigation method and apparatus |
| CN101634560A (en) * | 2008-07-23 | 2010-01-27 | 佛山市顺德区顺达电脑厂有限公司 | Running position identifying system and method |
| CN101685148A (en) * | 2008-09-27 | 2010-03-31 | 佛山市顺德区顺达电脑厂有限公司 | Backlight illumination automatic regulation device and method |
| CN102445204A (en) * | 2010-10-14 | 2012-05-09 | 环达电脑(上海)有限公司 | Elevated road positioning method |
| CN103335655A (en) * | 2013-05-29 | 2013-10-02 | 周眉 | Navigator and navigation method |
| CN105526935A (en) * | 2014-09-29 | 2016-04-27 | 博世汽车部件(苏州)有限公司 | Elevated road auxiliary judging method and system thereof as well as navigation equipment |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5764163A (en) * | 1995-09-21 | 1998-06-09 | Electronics & Space Corp. | Non-imaging electro-optic vehicle sensor apparatus utilizing variance in reflectance |
| JP6169945B2 (en) * | 2013-10-25 | 2017-07-26 | アルパイン株式会社 | Navigation device and elevated vertical path determination method |
| CN105547309B (en) * | 2015-12-02 | 2018-11-02 | 百度在线网络技术（北京）有限公司 | A kind of recognition methods of overpass road and device |
-
2016
- 2016-07-26 CN CN201610597279.5A patent/CN107657810B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0821335A1 (en) * | 1996-07-26 | 1998-01-28 | Aisin Aw Co., Ltd. | Vehicular navigation system |
| CN1453186A (en) * | 2002-04-26 | 2003-11-05 | 株式会社日立制作所 | Artificial satellite signal receiving method, receiving apparatus, transmitting method and information system |
| US7353110B2 (en) * | 2004-02-13 | 2008-04-01 | Dvs Korea Co., Ltd. | Car navigation device using forward real video and control method thereof |
| CN101441262A (en) * | 2007-11-20 | 2009-05-27 | 那微微电子科技（上海）有限公司 | Tridimensional traffic navigation method and apparatus |
| CN101634560A (en) * | 2008-07-23 | 2010-01-27 | 佛山市顺德区顺达电脑厂有限公司 | Running position identifying system and method |
| CN101685148A (en) * | 2008-09-27 | 2010-03-31 | 佛山市顺德区顺达电脑厂有限公司 | Backlight illumination automatic regulation device and method |
| CN102445204A (en) * | 2010-10-14 | 2012-05-09 | 环达电脑(上海)有限公司 | Elevated road positioning method |
| CN103335655A (en) * | 2013-05-29 | 2013-10-02 | 周眉 | Navigator and navigation method |
| CN105526935A (en) * | 2014-09-29 | 2016-04-27 | 博世汽车部件(苏州)有限公司 | Elevated road auxiliary judging method and system thereof as well as navigation equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107657810A (en) | 2018-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107657810B (en) | Method and device for recognizing actions of upper viaduct and lower viaduct | |
| KR101534927B1 (en) | Apparatus and method for recognizing of vehicle | |
| EP1764581B1 (en) | Apparatus and method for detecting step in a personal navigator | |
| US9217757B2 (en) | Systems and methods for 3-axis accelerometer calibration | |
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| US8725404B2 (en) | Method for updating digital maps using altitude information | |
| CN109521450B (en) | Positioning drift detection method and device | |
| CN109001488B (en) | Method and system for detecting static motion of vehicle position monitoring | |
| US9778370B2 (en) | Method for determining a spatially resolved extent of error for position finding with a GNSS | |
| CN104796866A (en) | Indoor positioning method and device | |
| JP2010538243A (en) | GNSS positioning using pressure sensor | |
| CN106017342A (en) | Three-dimensional-live-action-model-based automatic detection and system for building changing | |
| CN108974054B (en) | Seamless train positioning method and system | |
| EP2264402A2 (en) | Pedestrian navigation device and method using heading information of terminal | |
| CN110906953A (en) | Relative position precision evaluation method and device for automatic driving positioning | |
| US8423276B2 (en) | Systems and methods for determining entry of a navigation system into a structure | |
| CN105957355B (en) | A kind of vehicle speed measuring method | |
| CN109711276A (en) | A kind of deck detection method and device | |
| KR101684067B1 (en) | Positioning apparatus using a rssi pattern and method thereof | |
| CN108254775A (en) | Onboard navigation system and its implementation | |
| JP3540106B2 (en) | Navigation apparatus for mobile object, current position determination method thereof, and medium storing current position determination program | |
| CN111239720B (en) | Vehicle speed measuring method and device, computer equipment and storage medium | |
| CN110411499B (en) | Evaluation method and evaluation system for detection and identification capability of sensor | |
| CN103869350A (en) | Magnetic field information-based urban complex road condition satellite navigation auxiliary positioning method and equipment | |
| CN110194200B (en) | Method, device and medium for determining kilometer post of running vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200508 Address after: 310052 room 508, floor 5, building 4, No. 699, Wangshang Road, Changhe street, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Alibaba (China) Co.,Ltd. Address before: 100080 Beijing City, Haidian District Suzhou Street No. 3 floor 16 room 2 Patentee before: AUTONAVI INFORMATION TECHNOLOGY Co.,Ltd. |