CN111175794A - Vehicle-mounted auxiliary positioning system and positioning method thereof - Google Patents
Vehicle-mounted auxiliary positioning system and positioning method thereof Download PDFInfo
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- CN111175794A CN111175794A CN201811333429.7A CN201811333429A CN111175794A CN 111175794 A CN111175794 A CN 111175794A CN 201811333429 A CN201811333429 A CN 201811333429A CN 111175794 A CN111175794 A CN 111175794A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a vehicle-mounted auxiliary positioning system and a positioning method thereof, wherein the vehicle-mounted auxiliary positioning system comprises a vehicle data processing module and a navigation terminal module; the vehicle data processing module is used for acquiring driving data of a vehicle in the driving process and sending the driving data to the navigation terminal module; the navigation terminal module is used for receiving the driving data and displaying navigation data; the navigation terminal module is further used for determining real-time position data of the vehicle according to the navigation data and the driving data when the positioning signal of the vehicle meets a preset condition. The method and the device solve the problem that in the prior art, a vehicle navigation scheme has large navigation deviation in a weak positioning signal scene, improve vehicle navigation precision and improve user experience.
Description
Technical Field
The invention relates to the technical field of data acquisition, in particular to a vehicle-mounted auxiliary positioning system and a positioning method thereof.
Background
Positioning technology now plays more and more important roles in people's daily life, especially in a necessary path planning mode for travel navigation and real-time road condition positioning. The map display of the real-time Traffic condition actually displays Traffic condition data corresponding to a Traffic information Channel (TMC) on a cloud server. The scheme of relatively mature road condition data acquisition mainly comprises the following steps: a terminal with a GPS (global positioning system) function (such as a smart phone carrying an electronic map), a sensor for road arrangement, a camera at a road junction, a data sampling scheme for manual data collection, and the like.
However, some weak positioning signal scenes (such as severe weather, tunnel navigation, etc.) often appear in the current vehicle navigation scheme, which may cause a large navigation deviation, cause troubles to the user, and reduce user experience.
Disclosure of Invention
The technical problem to be solved by the invention is that the vehicle-mounted navigation scheme in the prior art has the defects of great navigation deviation in a weak positioning signal scene, trouble for users, reduction of user experience and the like, and the invention aims to provide the vehicle-mounted auxiliary positioning system and the positioning method thereof.
The invention solves the technical problems through the following technical scheme:
the invention provides a vehicle-mounted auxiliary positioning system, which comprises a vehicle data processing module and a navigation terminal module;
the vehicle data processing module is used for acquiring driving data of a vehicle in the driving process and sending the driving data to the navigation terminal module;
the navigation terminal module is used for receiving the driving data and displaying navigation data;
the navigation terminal module is further used for determining real-time position data of the vehicle according to the navigation data and the driving data when the positioning signal of the vehicle meets a preset condition.
Optionally, the vehicle-mounted auxiliary positioning system further comprises a server;
the server is used for acquiring the real-time position data of the vehicle sent by the navigation terminal module, updating the navigation data and sending the navigation data to the navigation terminal module for displaying.
Optionally, the vehicle data processing module includes a vehicle data acquisition unit, a vehicle data storage unit and a first data transmission unit;
the navigation terminal module comprises a first data receiving unit, a navigation data acquiring unit, a first storage unit and a second storage unit;
the vehicle data acquisition unit is used for acquiring the driving data and sending the driving data to the vehicle data storage unit;
the vehicle data storage unit is used for storing the driving data;
the first data sending unit is used for acquiring the driving data from the vehicle data storage unit and sending the driving data to the first data receiving unit;
the first data receiving unit is used for sending the driving data to the first storage unit for storage;
the navigation data acquisition unit is used for acquiring the navigation data and sending the navigation data to the second storage unit for storage.
Optionally, the navigation terminal module further includes a first determining unit, a calculating unit, an address data processing unit, a navigation display unit, and a second data sending unit;
the first judging unit is used for judging whether a positioning signal of a vehicle meets the preset condition, wherein the preset condition comprises: the intensity of the positioning signal of the navigation terminal module is smaller than or equal to a first set threshold value, and/or the distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold value; when the preset condition is met, calling the computing unit;
the calculation unit is used for respectively acquiring the driving data in the first storage unit and the navigation data in the second storage unit, performing weighting calculation on the navigation data and the driving data to obtain real-time position data of the vehicle, and sending the real-time position data to the address data processing unit for storage;
the navigation display unit updates and displays the real-time position of the vehicle according to the real-time position data of the vehicle acquired from the address data processing unit;
when the vehicle-mounted auxiliary positioning system comprises a server, the second data sending unit is used for acquiring the real-time position data of the vehicle from the address data processing unit and sending the real-time position data to the server;
the server is used for acquiring the real-time position data of the vehicle sent by the second data sending unit, updating the navigation data and sending the navigation data to the navigation display unit for displaying.
Optionally, the navigation terminal module further includes a second determination unit;
the second judging unit is used for judging whether the vehicle has an emergency or not according to the driving data, and if so, sending real-time position data of the vehicle and/or sending a calling request outwards; and/or sending the data of the emergency and the real-time position data of the vehicle to the server;
and the server is also used for generating alarm information according to the data of the emergency and the real-time position data of the vehicle and sending the alarm information to the navigation display unit for displaying.
The present invention also provides a positioning method of a vehicle-mounted auxiliary positioning system, the positioning method being implemented by the vehicle-mounted auxiliary positioning system according to claim 1, the positioning method comprising:
the navigation terminal module acquires driving data of the vehicle in the driving process, which is acquired by the vehicle data processing module;
the navigation terminal module receives the driving data and displays navigation data;
and the navigation terminal module determines real-time position data of the vehicle according to the navigation data and the driving data when a positioning signal of the vehicle meets a preset condition.
Optionally, the vehicle-mounted auxiliary positioning system further includes a server, and the positioning method further includes:
and the server acquires the real-time position data of the vehicle sent by the navigation terminal module, updates the navigation data and sends the navigation data to the navigation terminal module for display.
Optionally, the navigation terminal module includes a first determining unit, a calculating unit, an address data processing unit, a navigation display unit, and a second data sending unit, and when a positioning signal of a vehicle meets a preset condition, the step of determining real-time position data of the vehicle according to the navigation data and the driving data includes:
the first judging unit judges whether a positioning signal of a vehicle meets the preset condition, wherein the preset condition comprises: the intensity of the positioning signal of the navigation terminal module is smaller than or equal to a first set threshold value, and/or the distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold value; when the preset condition is met, calling the computing unit;
the calculation unit respectively acquires the driving data in the first storage unit and the navigation data in the second storage unit, performs weighting calculation on the navigation data and the driving data to obtain real-time position data of the vehicle, and then sends the real-time position data to the address data processing unit for storage;
the navigation display unit updates and displays the real-time position of the vehicle according to the real-time position data of the vehicle acquired from the address data processing unit;
the steps of acquiring the real-time position data of the vehicle sent by the navigation terminal module, updating the navigation data and sending the navigation data to the navigation terminal module for displaying comprise:
when the vehicle-mounted auxiliary positioning system comprises a server, the second data sending unit acquires real-time position data of the vehicle from the address data processing unit and sends the real-time position data to the server;
and the server acquires the real-time position data of the vehicle sent by the second data sending unit, updates the navigation data and sends the navigation data to the navigation display unit for displaying.
Optionally, the calculation formula for obtaining the real-time position data of the vehicle by performing weighted calculation on the navigation data and the driving data is as follows:
C＝a*A+b*B
wherein C represents the real-time position data of the vehicle, A represents the navigation data, a represents navigation positioning weight, B represents the driving data, and B represents driving positioning weight.
Optionally, the navigation terminal module further includes a second determination unit, and the positioning method further includes:
the second judging unit judges whether the vehicle has an emergency or not according to the driving data, and if so, sends real-time position data of the vehicle and/or sends a calling request to the outside; and/or the presence of a gas in the gas,
sending the data of the emergency and the real-time position data of the vehicle to the server;
and the server generates alarm information according to the data of the emergency and the real-time position data of the vehicle, and sends the alarm information to the navigation display unit for displaying.
The positive progress effects of the invention are as follows:
according to the invention, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data, so that the problem that the vehicle-mounted navigation scheme in the prior art has larger navigation deviation in a weak positioning signal scene is solved, the vehicle navigation precision is improved, and the user experience is improved.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle-mounted auxiliary positioning system according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of a vehicle-mounted auxiliary positioning system according to embodiment 2 of the present invention.
Fig. 3 is a schematic structural diagram of a vehicle-mounted auxiliary positioning system according to embodiment 3 of the present invention.
Fig. 4 is a schematic diagram of a first road condition of a navigation map in the vehicular auxiliary positioning system according to embodiment 3 of the present invention.
Fig. 5 is a schematic view illustrating a first road condition analysis of a navigation map in the vehicle-mounted auxiliary positioning system according to embodiment 3 of the present invention.
Fig. 6 is a schematic view illustrating a second road condition analysis of a navigation map in the vehicular auxiliary positioning system according to embodiment 3 of the present invention.
Fig. 7 is a schematic diagram of a second road condition of the navigation map in the vehicular auxiliary positioning system according to embodiment 3 of the present invention.
Fig. 8 is a schematic diagram of a third scenario of a navigation map in the vehicular assisted positioning system according to embodiment 3 of the present invention.
Fig. 9 is a flowchart of a positioning method of a vehicle-mounted auxiliary positioning system according to embodiment 4 of the present invention.
Fig. 10 is a flowchart of a positioning method of a vehicle-mounted auxiliary positioning system according to embodiment 5 of the present invention.
Fig. 11 is a flowchart of a positioning method of a vehicle-mounted auxiliary positioning system according to embodiment 6 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the vehicle-mounted auxiliary positioning system of the present embodiment includes a vehicle data processing module 1 and a navigation terminal module 2.
The vehicle data processing module 1 is used for acquiring driving data of a vehicle in a driving process and sending the driving data to the navigation terminal module 2.
The navigation terminal module 2 is used for receiving driving data and displaying navigation data.
The navigation terminal module 2 is further configured to determine real-time position data of the vehicle according to the navigation data and the driving data when the positioning signal of the vehicle meets a preset condition. The condition that the preset condition is met means that the current environment GPS signal of the vehicle running belongs to a weak signal.
The vehicle data processing module 1 includes a driving computer, but is not limited to a driving computer, and may also be any other device that can obtain driving data of the vehicle during driving.
Specifically, the driving data includes a driving speed value, a turning angle speed, a fuel consumption value, an intake pressure value, a vehicle failure parameter, a driving safety parameter, a detection value of an acceleration sensor, a detection value of a gyro sensor, detection values of other various sensors, and the like of the vehicle.
The navigation terminal module 2 comprises other intelligent terminal devices such as a mobile phone and a tablet personal computer, and the navigation data is navigation map information provided by a navigation application program installed on the navigation terminal module 2.
The vehicle data processing module 1 and the navigation terminal module 2 form a local area network for communication connection through other close-distance wireless networks such as Bluetooth or Wi-Fi (wireless local area network), after the vehicle data processing module 1 and the navigation terminal module 2 establish communication, the vehicle data processing module 1 transmits driving data to the navigation terminal module 2 for processing in real time, and the vehicle data processing module is mainly used for assisting in supporting the navigation terminal module 2 to position under the condition that a GPS signal is weak, so that accurate navigation positioning of a vehicle is realized under the condition that the GPS signal is weak.
In the embodiment, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data, so that the problem that the vehicle-mounted navigation scheme in the prior art has large navigation deviation in a weak positioning signal scene is solved, the vehicle navigation precision is improved, and the user experience is improved.
Example 2
As shown in fig. 2, the vehicle-mounted auxiliary positioning system of the present embodiment is a further improvement of embodiment 1, specifically:
the vehicle-mounted auxiliary positioning system further comprises a server 3.
The server 3 is used for acquiring the real-time position data of the vehicle sent by the navigation terminal module 2, updating the navigation data and sending the navigation data to the navigation terminal module for displaying. Wherein, the server 3 is a TMC cloud server.
When the positioning signal of the vehicle does not meet the preset condition, namely the current running environment GPS signal of the vehicle belongs to a strong signal, and at the moment, the accurate positioning can be realized only by navigating according to the navigation data.
Specifically, the navigation terminal module 2 of each vehicle synchronously transmits the real-time position data of the vehicle to the server 3 through a GPS, a base station, and the like, and inputs the real-time position data as the update information of the real-time road condition; meanwhile, the cloud server 3 integrates the data sent by each vehicle, displays the data on the navigation map of the navigation terminal module 2 in real time, displays real-time information such as congestion or traffic control on a vehicle running navigation route, reasonably plans a path and positions and navigates, and greatly improves the navigation reliability of the whole vehicle-mounted auxiliary positioning system.
In the embodiment, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data; meanwhile, the real-time position data is sent to the server, the navigation data is updated and sent to the navigation terminal module for displaying, so that the problem that in the prior art, the vehicle-mounted navigation scheme has large navigation deviation in a weak positioning signal scene is solved, the vehicle navigation precision is improved, and the user experience is improved.
Example 3
As shown in fig. 3, the vehicle-mounted auxiliary positioning system of the present embodiment is a further improvement of embodiment 2, specifically:
the vehicle data processing module 1 includes a vehicle data acquisition unit 11, a vehicle data storage unit 12, and a first data transmission unit 13.
The navigation terminal module 2 includes a first data receiving unit 21, a navigation data acquiring unit 22, a first storage unit 23, a second storage unit 24, a first judging unit 25, a calculating unit 26, an address data processing unit 27, a navigation display unit 28, a second data transmitting unit 29, and a second judging unit 210.
The vehicle data acquisition unit 11, the first data sending unit 13, the first data receiving unit 21, and the second data sending unit 29 are all wireless communication modules, such as bluetooth, Wi-Fi, or NFC (near field communication technology), which ensure that the vehicle data processing module 1 can maintain wireless communication with the navigation terminal module 2.
The vehicle data acquisition unit 11 is used for acquiring driving data and sending the driving data to the vehicle data storage unit 12;
the vehicle data storage unit 12 is used for storing driving data;
the first data sending unit 13 is used for acquiring driving data from the vehicle data storage unit 12 and sending the driving data to the first data receiving unit 21;
the first data receiving unit 21 is configured to send the driving data to the first storage unit 23 for storage;
the navigation data acquiring unit 22 is used for acquiring navigation data and sending the navigation data to the second storage unit 24 for storage.
The first judging unit 25 is configured to judge whether the positioning signal of the vehicle satisfies a preset condition, where the preset condition includes: the intensity of the positioning signal of the navigation terminal module is smaller than or equal to a first set threshold value, and/or the distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold value; when a preset condition is satisfied, the calculation unit 26 is called;
the calculating unit 26 is configured to obtain driving data in the first storage unit and navigation data in the second storage unit, perform weighting calculation on the navigation data and the driving data to obtain real-time position data of the vehicle, and send the real-time position data to the address data processing unit 27 for storage;
wherein, according to the positioning accuracy requirement, the number of the positioning satellites reaches 4 or more, and the accurate position can be obtained, that is, if the number of the positioning satellites is less than or equal to 4, the situation of inaccurate navigation positioning information occurs. The positioning signal intensity of the navigation terminal module is less than or equal to a first set threshold, which means that the number of the GPS positioning satellites showing the positioning signal intensity displayed in the navigation terminal module is less than or equal to 4.
The distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold, which means that the distance of the vehicle deviating from the driving track is larger than 5 m. According to the positioning precision requirement, the minimum requirement for realizing accurate GPS vehicle navigation is that the vehicle navigation deviates from a preset track by 5m, and the distance precision can be adjusted according to the actual use scene only by updating a corresponding software threshold.
Specifically, the calculation formula for obtaining the real-time position data of the vehicle by performing weighted calculation on the navigation data and the driving data is as follows:
C＝a*A+b*B
wherein, C represents the real-time position data of the vehicle, A represents the navigation data, a represents the navigation positioning weight, B represents the driving data, and B represents the driving positioning weight, wherein, the navigation positioning weight and the driving positioning weight are determined according to the actual situation.
In the practical process, when the GPS signal intensity of the vehicle is strong, the value of a is 100%, and the value of b is 0%, namely, the positioning accuracy can be ensured only by adopting the navigation terminal module for navigation positioning, the real-time position data and navigation data of the vehicle are not required to be calculated in a weighted manner, and the calculation load of the vehicle-mounted auxiliary positioning system is reduced.
When the GPS signal intensity of the vehicle is weak, the value of a is 10% and the value of b is 90%, namely the navigation data provides the initial condition of positioning, and the vehicle is mainly relied on the real-time position data to assist accurate positioning.
The navigation display unit 28 updates the real-time position of the display vehicle based on the real-time position data of the vehicle acquired from the address data processing unit 27;
the second data transmission unit 29 is used for acquiring the real-time position data of the vehicle from the address data processing unit 27 and transmitting the data to the server 3.
The server 3 is configured to obtain the real-time position data of the vehicle sent by the second data sending unit 29, update the navigation data, and send the navigation data to the navigation display unit 28 for display.
The following examples illustrate:
taking a typical GPS weak signal scene (tunnel model of driving vehicle) as an example, as shown in fig. 4, the route includes a route I and a route II, a section a-B in the route II is a tunnel, Car represents a position where a driving vehicle travels in the tunnel, and after the vehicle enters the tunnel, the positioning information of the GPS in the navigation terminal module 2 is weak, and at this time, the GPS positioning information of the vehicle mainly depends on an initial test condition and a subsequent driving state of the vehicle. As shown in fig. 5, at t0, the vehicle enters the GPS weak signal area (such as a tunnel in a-B segment), because the distance from point a to point B on the navigation map is known, on the basis of this, the time from t0 to t1 is integrated with the speed v (t) to obtain the distance traveled in this time period, and this distance is input as a map data stream to the navigation terminal, so as to obtain a real-time update of the position. Meanwhile, according to the running speed v (t) of the vehicle, the corresponding running information state (wherein v (t) is less than or equal to 15km/h and represents congestion, and v (t) is greater than 15km/h and represents smoothness) can be updated to the server, and then the real-time road condition can be updated on the navigation map of the navigation terminal module, so that the vehicle can still be accurately positioned in an auxiliary manner when the GPS signal intensity of the vehicle is weak.
In addition, as shown in fig. 6, v0 indicates a threshold of a clear speed and a congested speed, which is generally defaulted to 15km/h, each driving vehicle sends respective driving information to the server, and then the server updates the corresponding road condition information based on a large amount of driving big data, so that data (for example, data which is not congested but only data with a slower driving speed of a current vehicle) occurring in a special condition of individual vehicle information can be avoided, and real-time accurate updating is performed on the real-time road condition information. As shown in fig. 7, the section a is displayed based on the congested road section corresponding to fig. 6 by using the real-time road condition display implemented by the assisted navigation.
The second judging unit 210 is configured to judge whether an emergency occurs in the vehicle according to the driving data obtained by the first data receiving unit 21, and if so, send real-time position data of the vehicle and/or send a call request to the outside; and/or, sending the data of the emergency and the real-time position data of the vehicle to the server 3;
wherein the emergency event comprises at least one of the opening of an air bag, the detection value of the acceleration sensor exceeding a third set threshold value and the detection value of the gyroscope sensor exceeding a fourth set threshold value.
The impact speed for triggering the safety air bag to open is more than or equal to 50km/h, and the corresponding acceleration is about 11 g; when the acceleration corresponding to the vehicle is 11g, even if the safety airbag is not opened, as long as the detection value of the acceleration sensor is larger than or equal to 11g, an emergency is reported, and whether the situation such as overturning occurs or not is detected if the detection value of the gyroscope sensor is larger than or equal to 11 g. The report of the emergency can be triggered as long as the judgment condition of the emergency is met, so that the safety first-aid coefficient of the running vehicle is improved, and the fastest safety rescue is conveniently realized.
The sending of the real-time location data of the vehicle to the outside specifically includes: when an emergency happens, the address of the vehicle is sent to an emergency contact of a user driving the vehicle in real time;
the sending of the call request specifically includes: and calling the emergency contact instantly when the emergency happens.
In addition, after the data of the emergency and the real-time position data of the vehicle are sent to the server, the server obtains a corresponding emergency notice and sends out a rescue request.
The server 3 synchronously sends the data of the emergency and the real-time position data of the vehicle to the navigation map (such as a high-grade map, a Baidu map, etc.) in the navigation display unit 28 in real time to update the road condition in real time, generates the alarm information, and displays the alarm information in the navigation display unit 28.
As shown in fig. 8, the place where the accident occurs can be marked (C in the figure) on the navigation map by adopting a marking graph, so that timely rescue is realized, other vehicles are clearly reminded to avoid the accident scene, and detour driving is arranged in advance.
In the embodiment, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data, so that the problem that the vehicle-mounted navigation scheme in the prior art has larger navigation deviation in a weak positioning signal scene is solved; through the real-time interaction of the data of the vehicle data processing module, the navigation terminal module and the server, the accurate navigation of the vehicle, the update of the accurate real-time road condition and the emergency response to the emergency are realized, the vehicle navigation precision is improved, and the user experience is improved.
Example 4
As shown in fig. 9, the positioning method of the vehicle-mounted auxiliary system of the present embodiment is implemented by using the vehicle-mounted auxiliary positioning system of embodiment 1, and the positioning method includes:
s101, the navigation terminal module acquires driving data of the vehicle in the driving process, which is acquired by the vehicle data processing module;
s102, the navigation terminal module receives driving data and displays navigation data;
s103, the navigation terminal module determines real-time position data of the vehicle according to the navigation data and the driving data when the positioning signal of the vehicle meets a preset condition.
The condition that the preset condition is met means that the current environment GPS signal of the vehicle running belongs to a weak signal.
The vehicle data processing module includes a driving computer, but is not limited to a driving computer, and may also be any other device that can acquire driving data of the vehicle during driving.
Specifically, the driving data includes a driving speed value, a turning angle speed, a fuel consumption value, an intake pressure value, a vehicle failure parameter, a driving safety parameter, a detection value of an acceleration sensor, a detection value of a gyro sensor, detection values of other various sensors, and the like of the vehicle.
The navigation terminal module comprises other intelligent terminal equipment such as a mobile phone and a tablet personal computer, and navigation data is navigation map information provided by a navigation application program installed on the navigation terminal module.
The vehicle data processing module is mainly used for assisting in supporting the navigation terminal module to position under the condition that a GPS signal is weak, and therefore accurate navigation positioning is carried out on a vehicle under the condition that the GPS signal is weak.
In the embodiment, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data, so that the problem that the vehicle-mounted navigation scheme in the prior art has large navigation deviation in a weak positioning signal scene is solved, the vehicle navigation precision is improved, and the user experience is improved.
Example 5
As shown in fig. 10, the positioning method of the vehicle-mounted auxiliary system of the present embodiment is a further improvement of embodiment 4, specifically:
the vehicle-mounted auxiliary positioning system further comprises a server, and the positioning method further comprises the following steps:
and S014, the server acquires the real-time position data of the vehicle sent by the navigation terminal module, updates the navigation data and sends the navigation data to the navigation terminal module for display.
Wherein, the server is a TMC cloud server.
When the positioning signal of the vehicle does not meet the preset condition, namely the current running environment GPS signal of the vehicle belongs to a strong signal, and at the moment, the accurate positioning can be realized only by navigating according to the navigation data.
Specifically, the navigation terminal module of each vehicle synchronously transmits the real-time position data of the vehicle to the server through a GPS, a base station and the like, and the real-time position data is input as the updating information of the real-time road condition; meanwhile, the cloud server integrates the data sent by each vehicle, displays the data on a navigation map of the navigation terminal module in real time, displays real-time information such as congestion or traffic control on a vehicle running navigation route, reasonably plans a path and positions and navigates, and greatly improves the navigation reliability of the whole vehicle-mounted auxiliary positioning system.
In the embodiment, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data; meanwhile, the real-time position data is sent to the server, the navigation data is updated and sent to the navigation terminal module for displaying, so that the problem that in the prior art, the vehicle-mounted navigation scheme has large navigation deviation in a weak positioning signal scene is solved, the vehicle navigation precision is improved, and the user experience is improved.
Example 6
As shown in fig. 11, the positioning method of the vehicle-mounted auxiliary system of the present embodiment is a further improvement of embodiment 5, specifically:
the navigation terminal module comprises a first judging unit, a calculating unit, an address data processing unit, a navigation display unit and a second data transmitting unit,
step S103 includes:
s1031, the first judging unit judges whether the positioning signal of the vehicle meets a preset condition, wherein the preset condition comprises: the intensity of the positioning signal of the navigation terminal module is smaller than or equal to a first set threshold value, and/or the distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold value; when a preset condition is met, calling a computing unit;
s1032, the calculation unit respectively obtains the driving data in the first storage unit and the navigation data in the second storage unit, carries out weighting calculation on the navigation data and the driving data to obtain real-time position data of the vehicle, and then sends the real-time position data to the address data processing unit for storage;
wherein, according to the positioning accuracy requirement, the number of the positioning satellites reaches 4 or more, and the accurate position can be obtained, that is, if the number of the positioning satellites is less than or equal to 4, the situation of inaccurate navigation positioning information occurs. The positioning signal intensity of the navigation terminal module is less than or equal to a first set threshold, which means that the number of the GPS positioning satellites showing the positioning signal intensity displayed in the navigation terminal module is less than or equal to 4.
The distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold, which means that the distance of the vehicle deviating from the driving track is larger than 5 m. According to the positioning precision requirement, the minimum requirement for realizing accurate GPS vehicle navigation is that the vehicle navigation deviates from a preset track by 5m, and the distance precision can be adjusted according to the actual use scene only by updating a corresponding software threshold.
Specifically, the calculation formula for obtaining the real-time position data of the vehicle by performing weighted calculation on the navigation data and the driving data is as follows:
C＝a*A+b*B
wherein C represents the real-time position data of the vehicle, A represents the navigation data, a represents the navigation positioning weight, B represents the driving data, and B represents the driving positioning weight. And the navigation positioning weight and the driving positioning weight are determined according to the actual situation.
In the practical process, when the GPS signal intensity of the vehicle is strong, the value of a is 100%, and the value of b is 0%, namely, the positioning accuracy can be ensured only by adopting the navigation terminal module for navigation positioning, the real-time position data and navigation data of the vehicle are not required to be calculated in a weighted manner, and the calculation load of the vehicle-mounted auxiliary positioning system is reduced.
When the GPS signal intensity of the vehicle is weak, the value of a is 10%, the value of b is 90%, namely the navigation data provides the initial condition of positioning, and the vehicle is mainly relied on the real-time position data to assist accurate positioning.
S1033, the navigation display unit updates and displays the real-time position of the vehicle according to the real-time position data of the vehicle acquired from the address data processing unit;
step S014 includes:
s1041, the second data sending unit obtains real-time position data of the vehicle from the address data processing unit and sends the real-time position data to the server;
and S1042, the server acquires the real-time position data of the vehicle sent by the second data sending unit, updates the navigation data, and sends the navigation data to the navigation display unit for displaying.
The following examples illustrate:
taking a typical GPS weak signal scene (tunnel model of driving vehicle) as an example, as shown in fig. 4, the scene includes a route I and a route II, a section a-B in the route II is a tunnel, Car represents a position where a driving vehicle travels in the tunnel, and after the vehicle enters the tunnel, the positioning information of the GPS in the navigation terminal module is weak, and at this time, the GPS positioning information of the vehicle mainly depends on an initial test condition and a subsequent driving state of the vehicle. As shown in fig. 5, at t0, the vehicle enters the GPS weak signal area (such as a tunnel in a-B segment), because the distance from point a to point B on the navigation map is known, on the basis of this, the time from t0 to t1 is integrated with the speed v (t) to obtain the distance traveled in this time period, and this distance is input as a map data stream to the navigation terminal, so as to obtain a real-time update of the position. Meanwhile, according to the running speed v (t) of the vehicle, the corresponding running information state (wherein v (t) is less than or equal to 15km/h and represents congestion, and v (t) is greater than 15km/h and represents smoothness) can be updated to the server, and then the real-time road condition can be updated on the navigation map of the navigation terminal module, so that the vehicle can still be accurately positioned in an auxiliary manner when the GPS signal intensity of the vehicle is weak.
In addition, as shown in fig. 6, v0 indicates a threshold of a clear speed and a congested speed, which is generally defaulted to 15km/h, each driving vehicle sends respective driving information to the server, and then the server updates the corresponding road condition information based on a large amount of driving big data, so that data (for example, data which is not congested but only data with a slower driving speed of a current vehicle) occurring in a special condition of individual vehicle information can be avoided, and real-time accurate updating is performed on the real-time road condition information. As shown in fig. 7, the section a is displayed based on the congested road section corresponding to fig. 6 by using the real-time road condition display implemented by the assisted navigation.
The navigation terminal module further includes a second determination unit, and after step S102, the navigation terminal module further includes:
s105, the second judging unit judges whether the vehicle has an emergency or not according to the driving data, and if so, sends the real-time position data of the vehicle and/or sends a calling request; and/or the presence of a gas in the gas,
sending the data of the emergency and the real-time position data of the vehicle to a server;
and S106, the server generates alarm information according to the data of the emergency and the real-time position data of the vehicle, and sends the alarm information to the navigation display unit for displaying.
Wherein the emergency event comprises at least one of the opening of an air bag, the detection value of the acceleration sensor exceeding a third set threshold value and the detection value of the gyroscope sensor exceeding a fourth set threshold value.
The impact speed for triggering the safety air bag to open is more than or equal to 50km/h, and the corresponding acceleration is about 11 g; when the acceleration corresponding to the vehicle is 11g, even if the safety airbag is not opened, as long as the detection value of the acceleration sensor is larger than or equal to 11g, an emergency is reported, and whether the situation such as overturning occurs or not is detected if the detection value of the gyroscope sensor is larger than or equal to 11 g. The report of the emergency can be triggered as long as the judgment condition of the emergency is met, so that the safety first-aid coefficient of the running vehicle is improved, and the fastest safety rescue is conveniently realized.
The sending of the real-time location data of the vehicle to the outside specifically includes: when an emergency happens, the address of the vehicle is sent to an emergency contact of a user driving the vehicle in real time;
the sending of the call request specifically includes: and calling the emergency contact instantly when the emergency happens.
In addition, after the data of the emergency and the real-time position data of the vehicle are sent to the server, the server obtains a corresponding emergency notice and sends out a rescue request.
The server synchronously sends the data of the emergency and the real-time position data of the vehicle to a navigation map (such as a Gauss map, a Baidu map and the like) in a navigation display unit in real time to update road conditions in real time, generates alarm information and displays the alarm information in the navigation display unit.
As shown in fig. 8, the place where the accident occurs can be marked (C in the figure) on the navigation map by adopting a marking graph, so that timely rescue is realized, other vehicles are clearly reminded to avoid the accident scene, and detour driving is arranged in advance.
In the embodiment, the vehicle data processing module is used for acquiring the driving data of the vehicle in the driving process, the navigation terminal module is used for receiving the driving data and displaying the navigation data, and when the positioning signal of the vehicle does not meet the signal requirement of vehicle navigation, the real-time position data of the vehicle is determined according to the navigation data and the driving data, so that the problem that the vehicle-mounted navigation scheme in the prior art has larger navigation deviation in a weak positioning signal scene is solved; through the real-time interaction of the data of the vehicle data processing module, the navigation terminal module and the server, the accurate navigation of the vehicle, the update of the accurate real-time road condition and the emergency response to the emergency are realized, the vehicle navigation precision is improved, and the user experience is improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The vehicle-mounted auxiliary positioning system is characterized by comprising a vehicle data processing module and a navigation terminal module;
the vehicle data processing module is used for acquiring driving data of a vehicle in the driving process and sending the driving data to the navigation terminal module;
the navigation terminal module is used for receiving the driving data and displaying navigation data;
the navigation terminal module is further used for determining real-time position data of the vehicle according to the navigation data and the driving data when the positioning signal of the vehicle meets a preset condition.
2. The vehicular auxiliary positioning system of claim 1, further comprising a server;
the server is used for acquiring the real-time position data of the vehicle sent by the navigation terminal module, updating the navigation data and sending the navigation data to the navigation terminal module for displaying.
3. The vehicle-mounted auxiliary positioning system according to claim 1 or 2, wherein the vehicle data processing module comprises a vehicle data acquisition unit, a vehicle data storage unit and a first data transmission unit;
the navigation terminal module comprises a first data receiving unit, a navigation data acquiring unit, a first storage unit and a second storage unit;
the vehicle data acquisition unit is used for acquiring the driving data and sending the driving data to the vehicle data storage unit;
the vehicle data storage unit is used for storing the driving data;
the first data sending unit is used for acquiring the driving data from the vehicle data storage unit and sending the driving data to the first data receiving unit;
the first data receiving unit is used for sending the driving data to the first storage unit for storage;
the navigation data acquisition unit is used for acquiring the navigation data and sending the navigation data to the second storage unit for storage.
4. The vehicle-mounted auxiliary positioning system according to claim 3, wherein the navigation terminal module further comprises a first judging unit, a calculating unit, an address data processing unit, a navigation display unit and a second data transmitting unit;
the first judging unit is used for judging whether a positioning signal of a vehicle meets the preset condition, wherein the preset condition comprises: the intensity of the positioning signal of the navigation terminal module is smaller than or equal to a first set threshold value, and/or the distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold value; when the preset condition is met, calling the computing unit;
the calculation unit is used for respectively acquiring the driving data in the first storage unit and the navigation data in the second storage unit, performing weighting calculation on the navigation data and the driving data to obtain real-time position data of the vehicle, and sending the real-time position data to the address data processing unit for storage;
the navigation display unit updates and displays the real-time position of the vehicle according to the real-time position data of the vehicle acquired from the address data processing unit;
when the vehicle-mounted auxiliary positioning system comprises a server, the second data sending unit is used for acquiring the real-time position data of the vehicle from the address data processing unit and sending the real-time position data to the server;
the server is used for acquiring the real-time position data of the vehicle sent by the second data sending unit, updating the navigation data and sending the navigation data to the navigation display unit for displaying.
5. The vehicle-mounted auxiliary positioning system according to claim 4, wherein the navigation terminal module further comprises a second determination unit;
the second judging unit is used for judging whether the vehicle has an emergency or not according to the driving data, and if so, sending real-time position data of the vehicle and/or sending a calling request outwards; and/or sending the data of the emergency and the real-time position data of the vehicle to the server;
and the server is also used for generating alarm information according to the data of the emergency and the real-time position data of the vehicle and sending the alarm information to the navigation display unit for displaying.
6. A positioning method of a vehicle-mounted auxiliary positioning system, wherein the positioning method is implemented by the vehicle-mounted auxiliary positioning system according to claim 1, and the positioning method comprises:
the navigation terminal module acquires driving data of the vehicle in the driving process, which is acquired by the vehicle data processing module;
the navigation terminal module receives the driving data and displays navigation data;
and the navigation terminal module determines real-time position data of the vehicle according to the navigation data and the driving data when a positioning signal of the vehicle meets a preset condition.
7. The method as claimed in claim 6, wherein the vehicle-mounted auxiliary positioning system further comprises a server, and the positioning method further comprises:
and the server acquires the real-time position data of the vehicle sent by the navigation terminal module, updates the navigation data and sends the navigation data to the navigation terminal module for display.
8. The positioning method of the vehicular auxiliary positioning system according to claim 6 or 7, wherein the navigation terminal module comprises a first judging unit, a calculating unit, an address data processing unit, a navigation display unit and a second data transmitting unit, and the step of determining the real-time position data of the vehicle according to the navigation data and the driving data when the positioning signal of the vehicle meets the preset condition by the navigation terminal module comprises:
the first judging unit judges whether a positioning signal of a vehicle meets the preset condition, wherein the preset condition comprises: the intensity of the positioning signal of the navigation terminal module is smaller than or equal to a first set threshold value, and/or the distance of the vehicle deviating from the driving track corresponding to the navigation data is larger than a second set threshold value; when the preset condition is met, calling the computing unit;
the calculation unit respectively acquires the driving data in the first storage unit and the navigation data in the second storage unit, performs weighting calculation on the navigation data and the driving data to obtain real-time position data of the vehicle, and then sends the real-time position data to the address data processing unit for storage;
the navigation display unit updates and displays the real-time position of the vehicle according to the real-time position data of the vehicle acquired from the address data processing unit;
the steps of acquiring the real-time position data of the vehicle sent by the navigation terminal module, updating the navigation data and sending the navigation data to the navigation terminal module for displaying comprise:
when the vehicle-mounted auxiliary positioning system comprises a server, the second data sending unit acquires real-time position data of the vehicle from the address data processing unit and sends the real-time position data to the server;
and the server acquires the real-time position data of the vehicle sent by the second data sending unit, updates the navigation data and sends the navigation data to the navigation display unit for displaying.
9. The vehicle-mounted auxiliary positioning method according to claim 8, wherein the calculation formula for obtaining the real-time position data of the vehicle by performing the weighted calculation on the navigation data and the driving data is as follows:
C＝a*A+b*B
wherein C represents the real-time position data of the vehicle, A represents the navigation data, a represents navigation positioning weight, B represents the driving data, and B represents driving positioning weight.
10. The positioning method of the vehicular auxiliary positioning system according to claim 8, wherein the navigation terminal module further includes a second determination unit, and the positioning method further includes:
the second judging unit judges whether the vehicle has an emergency or not according to the driving data, and if so, sends real-time position data of the vehicle and/or sends a calling request to the outside; and/or the presence of a gas in the gas,
sending the data of the emergency and the real-time position data of the vehicle to the server;
and the server generates alarm information according to the data of the emergency and the real-time position data of the vehicle, and sends the alarm information to the navigation display unit for displaying.
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