WO2019119550A1 - Procédé et appareil d'aide au positionnement d'automobile - Google Patents

Procédé et appareil d'aide au positionnement d'automobile Download PDF

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Publication number
WO2019119550A1
WO2019119550A1 PCT/CN2018/072004 CN2018072004W WO2019119550A1 WO 2019119550 A1 WO2019119550 A1 WO 2019119550A1 CN 2018072004 W CN2018072004 W CN 2018072004W WO 2019119550 A1 WO2019119550 A1 WO 2019119550A1
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WIPO (PCT)
Prior art keywords
information
driving
car
speed
module
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PCT/CN2018/072004
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English (en)
Chinese (zh)
Inventor
郑乐银
王辉耀
方杰
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深圳市沃特沃德股份有限公司
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Publication of WO2019119550A1 publication Critical patent/WO2019119550A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the invention relates to the field of automobile service, and in particular to a method and device for assisting vehicle positioning.
  • the SIM card slot is installed on the car system of the car. After the SIM card is installed, the car can be connected to the network, and the state information of the car is uploaded to the server. The user can access the server through the mobile phone to know the state of the car in real time.
  • the status information of the car cannot be uploaded to the server.
  • the user cannot know the status of the car through the mobile phone, especially when the car is loaned to others, when the car is lost in the network.
  • the location the user can not understand the real-time status of the car, can not understand the location information of the car.
  • the main purpose of the present invention is to solve the problem that the auxiliary user obtains the position information of the automobile through the mobile phone terminal after the network of the automobile is lost, and provides a method and device for assisting the positioning of the automobile.
  • the invention provides a method for assisting vehicle positioning, comprising the steps of:
  • the first car position information of the pre-stored previous time and the corresponding first time information are retrieved;
  • the current position is analyzed based on the simulated travel distance and the first vehicle position information.
  • the invention also provides an apparatus for assisting vehicle positioning, comprising:
  • a monitoring module configured to monitor whether the current location information is obtained
  • the calling module is configured to: if the current location information is not obtained, retrieve the first car location information of the pre-stored previous time, and the corresponding first time information;
  • a current time module configured to acquire current time information
  • a speed module for obtaining a pre-driving speed
  • a simulation module configured to calculate a first time interval between the current time information and the first time information, and calculate a simulated driving distance of the automobile according to the pre-driving speed and the first time interval;
  • an analysis module configured to analyze the current location according to the simulated driving distance and the position information of the first automobile.
  • the beneficial effects of the present invention are: when the GPS signal of the car is lost, or the network of the in-vehicle system cannot upload the GPS signal to the server, the server calculates the car according to the driving route and the driving speed before the signal is lost. The location helps the car to locate, and the user accesses the server to know the approximate location of the car. According to the navigation destination set by the driver, the pre-driving route of the car after the network of the in-vehicle system is lost can be accurately calculated.
  • FIG. 1 is a schematic diagram showing the steps of a method for assisting vehicle positioning according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an apparatus for assisting vehicle positioning according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural view of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a speed module of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a speed module of an apparatus for assisting vehicle positioning according to an embodiment of the present invention.
  • a method for assisting vehicle positioning is applied to a server or an in-vehicle system.
  • the present invention is applied to a server as an example, and the method includes the steps of:
  • the automobile has an in-vehicle system
  • the SIM card is installed on the in-vehicle system, and is connected to the server through a network.
  • the server monitors the location information of the car in real time, and the server fails to obtain the location information of the car.
  • the GPS signal of the car is lost, and it cannot be located indoors (underground parking lot) or tunnel; another main reason is the car.
  • the network signal is not good, the car can't connect to the server network, so the server can't get the location information of the car.
  • the server obtains and saves the vehicle position information corresponding to the first time of the in-vehicle system in real time, and after detecting the failure to obtain the position information of the vehicle, retrieves the position information of the vehicle immediately before the failure of the server to obtain the position information of the vehicle, that is, the automobile.
  • the first car position information also acquires the first time information of the first car position information.
  • the server also gets the pre-driving speed of the car.
  • the pre-driving speed can be the speed pre-stored by the server or the speed analyzed by other information. Then calculate the first time interval between the first time information of the current time, simulate the distance traveled after the signal of the car is lost, and then analyze the current position of the car according to the travel distance.
  • the server obtains the current time information, and calculates a first time interval between the first time information, for example, the first time information is 18:00, the current time information is 18:20, and the calculated first time interval is 20 minutes.
  • the pre-driving speed obtained is 60 km/h, and the simulated driving distance is 20 minutes multiplied by 60 km/h to obtain 20 km, and then 20 km is projected on the map to analyze the current position of the car.
  • the step of analyzing the current location step 10 further includes: transmitting the current location to the mobile terminal, so that the user knows the current location.
  • step of the monitoring to obtain the current location information includes:
  • the first car location information is marked on the navigation route, so that the user can know the location of the lost signal of the car through the mobile phone.
  • the server also obtains the location information of the car in real time.
  • the car location information finally acquired by the server is the first car location information. If the server and the car are always connected to each other, the first car location information is changed in real time. of.
  • the navigation route is a route that is set by the driver before the driving, and then the destination is the destination as the starting point.
  • the step of analyzing the current location according to the simulated travel route and the first vehicle location information includes:
  • the server marks the current location on the navigation route, so that the user can know the current location of the car in real time after the car signal is lost.
  • the current position is marked as a color different from the normal mark, so as to indicate the current position calculated according to the simulated travel route analysis after the signal is lost.
  • step of marking the first car location information on the navigation route includes:
  • the driver sets the driving destination on the center console of the car before driving
  • the in-vehicle system records and transmits the driving destination to the server
  • the server receives the driving destination set by the driver, and then acquires the position of the car. , that is, the starting point location information, and then plan a route from the starting point to the destination, which is the navigation route.
  • the navigation route is not unique, and there may be multiple lines depending on the specific road shape.
  • the step of retrieving the pre-stored first car information of the previous moment and the corresponding first time information includes:
  • the server after acquiring the lost car signal, the server re-plans the route, that is, the pre-driving route, with the signal-lost location, that is, the first car position information as the starting point, starting from the destination set by the driver, and similarly, the pre-driving
  • the route information can be multiple pieces of information.
  • the step of analyzing the current location according to the simulated travel route and the first vehicle location information includes:
  • the server after analyzing the current location of the car, marks the current location on the navigation route, so that the user can know the current location of the car in real time after the car signal is lost, and at the same time, mark the first car location information.
  • the current position is marked as a color different from the normal mark, so as to indicate the current position calculated according to the simulated travel route analysis after the signal is lost.
  • the step of retrieving the first car position information of the previous moment and the corresponding first time information includes:
  • the pre-driving route is generated according to the driven route and the direction information, and the principle to follow is to be as far as possible
  • the location of the car's start-up For example, when the car is started, it is 2 km east of Shennan Avenue on Shennan Avenue, then turn right into Nanhai Avenue and drive south. After 3 minutes, the server fails to obtain the car location information on Nanhai Avenue. The server determines that the direction information is southward. According to the driving route, the re-ruling pre-driving route is to drive south along Nanhai Avenue. At the next intersection, go straight to the south or turn left to the east instead of to the right. Turn to the west.
  • the step of acquiring the preset driving speed includes:
  • the pre-driving speed is calculated based on the speed at which the driver drives from the time of departure.
  • Calculate the startup start time information specifically, the ignition time of the car, or the time when the car is hung up in the forward gear (the first gear of the manual gear or the D gear of the automatic gear), and calculate the car start time and the first time information.
  • the second time interval between the two refers to the time of travel between the car and the network, and then calculates the traveled distance in the second time interval according to the odometer of the car, and divides the traveled distance by the second time interval.
  • the average driving speed can be derived, which is the pre-driving speed.
  • the step of acquiring the pre-driving speed includes:
  • the server acquires the road condition on the pre-driving route, wherein the road condition information includes the road attribute and the congestion situation, and the road attribute refers to the information of the road, such as the grade, the category, the number of lanes, and the like.
  • the maximum speed of road restrictions for different attributes is different.
  • the congestion situation is that the server obtains the average speed of the vehicle on the road obtained by other servers, and according to the combination of the two, the pre-driving speed is obtained.
  • other servers analyzed that the average speed of the vehicle on the road changes according to the change of time. For example, other servers analyzed the average travel speed on Nanhai Avenue:
  • the time in the parenthesis indicating the analyzed speed is based on the change of the pre-driving speed, and when calculating the simulated driving distance, the calculation may be superimposed.
  • the server first obtains the information at the first time information.
  • the average speed of the road is 30km/h, and the simulated driving distance within 3 minutes is 1.5 kilometers.
  • the first car position information of the car is moved along the pre-driving route for 1.5 kilometers to obtain the current position of the car.
  • the average speed of the road where the current position of the car is located is 60km/h.
  • the server obtains the average speed of the average vehicle on the road by analyzing the other servers every 3 seconds.
  • the method for assisting vehicle positioning calculates a car when the GPS signal of the car is lost or the network of the in-vehicle system cannot upload the GPS signal to the server, and the server calculates the driving route and the driving speed before the signal is lost.
  • the location helps the car to locate, and the user accesses the server to know the approximate location of the car.
  • the pre-driving route after the network is lost can be accurately calculated.
  • the server accesses the third-party server to obtain the average speed of the pre-driving road conditions, and more accurately simulates the real-time position of the car.
  • the present invention also provides an apparatus for assisting vehicle positioning.
  • the apparatus for assisting vehicle positioning is a server or an in-vehicle system.
  • the present invention is applied to a server as an example.
  • the server of the present invention includes:
  • the monitoring module 5 is configured to monitor whether the current location information is obtained
  • the calling module 6 is configured to: if the current location information is not obtained, retrieve the first car location information of the pre-stored previous time, and the corresponding first time information;
  • the current time module 7 is configured to acquire current time information.
  • a speed module 8 for obtaining a pre-driving speed
  • the simulation module 9 is configured to calculate a first time interval between the current time information and the first time information, and calculate a simulated driving distance of the automobile according to the pre-driving speed and the first time interval;
  • the analysis module 10 is configured to analyze the current location according to the simulated travel distance and the position information of the first automobile.
  • the automobile has an in-vehicle system
  • the SIM card is installed on the in-vehicle system, and is connected to the server through a network.
  • the monitoring module 5 monitors the location information of the car in real time, and the server fails to obtain the location information of the car, mainly for two reasons. First, the GPS signal of the car is lost, and the indoor (underground parking lot) or the tunnel cannot be located; another main reason The car's network signal is not good, the car can't connect with the server network, so the server can't get the car's location information.
  • the location of the server acquires and saves the vehicle location information corresponding to the first time of the in-vehicle system in real time.
  • the retrieval module 6 retrieves the location of the vehicle that is acquired and saved by the server from time to time.
  • the speed module 8 also acquires the pre-driving speed of the car.
  • the pre-driving speed may be a pre-stored speed of a pre-stored unit in the server, or may be a speed analyzed by other analysis units based on the information.
  • the simulation module 9 then calculates the first time interval between the first time information of the current time, simulates the distance traveled after the signal of the car is lost, and then the analysis module 10 analyzes the current position of the car according to the travel distance.
  • the current time module 7 obtains the current time information, and calculates a first time interval between the first time information, for example, the first time information is 18:00, the current time information is 18:20, and the calculated first time interval is In 20 minutes, the pre-driving speed obtained by the speed module 8 is 60 km/h, then the simulated driving distance is 20 minutes multiplied by 60 km/h, and 20 km is obtained, and then 20 km is projected on the map, and the analysis module 10 analyzes The current location of the car.
  • the server further includes:
  • the first location module 4 is marked for marking the first car location information on the navigation route.
  • the first location module 4 marks the first car location information on the navigation route, so that the user can know the location of the lost signal of the car through the mobile phone.
  • the server also obtains the location information of the car in real time.
  • the car location information finally acquired by the server is the first car location information. If the server and the car are always connected to each other, the first car location information is changed in real time. of.
  • the navigation route is a route that is set by the driver before the driving, and then the destination is the destination as the starting point.
  • the server further includes:
  • the current location module 11 is marked for marking the current location on the navigation route based on the simulated travel path.
  • the current location module 11 marks the current location on the navigation route, so that the user can know the current location of the car in real time after the car signal is lost.
  • marking the current position is marked as a color different from the normal mark, so as to indicate the current position calculated according to the simulated travel route analysis after the signal is lost.
  • the server further includes:
  • a destination module 1 for receiving a travel destination set by a driver
  • a starting position module 2 configured to obtain starting position information
  • the navigation route module 3 is configured to use the navigation route according to the starting vehicle location information and the driving destination rule.
  • the driver sets the driving destination on the center console of the car before driving
  • the in-vehicle system records and transmits it to the server
  • the destination module 1 receives the driving destination set by the driver, and then the starting point.
  • the location module 2 obtains the location of the car, ie the starting location information, and then the navigation route module 3 plans a route from the starting point to the destination, which is the navigation route.
  • the navigation route is not unique, and there may be multiple lines depending on the specific road shape.
  • the server further includes:
  • the first pre-driving route module 61 is configured to re-plan the pre-driving route according to the first car location information and the driving destination.
  • the first pre-driving route module 61 re-plans the route with the signal-missing location, that is, the first car position information as the starting point, and the destination set by the driver as the end point, that is, the pre-driving route.
  • the pre-driving route may be a plurality of pieces of road condition information.
  • the server further includes:
  • the marked dual position module 12 marks the current position on the navigation route, so that the user can know the current position of the car in real time after the car signal is lost, and at the same time, mark the dual position.
  • the module 12 also marks the first car location information on the navigation line, allowing the user to intuitively understand the distance and current location of the car signal loss.
  • marking the current position is marked as a color different from the normal mark, so as to indicate the current position calculated according to the simulated travel route analysis after the signal is lost.
  • the server further includes:
  • the obtaining direction module 62 is configured to acquire direction information of the first car location information
  • the second pre-driving route module 63 is configured to re-plan the pre-driving route according to the first car position information, the direction information, and the secret driving destination.
  • the GPS acquired by the acquisition direction module 62 is all oriented, and the second pre-driving route module 63 generates the driving route and the direction information according to the direction information.
  • the pre-driving route follows the principle of staying away from the starting position of the car. For example, when the car is started, it is 2 km east of Shennan Avenue on Shennan Avenue, then turn right into Nanhai Avenue and drive south. After 3 minutes, the server fails to obtain the car location information on Nanhai Avenue.
  • the obtaining direction module 62 determines that the direction information is southward, and the second pre-driving route module 63 follows the driven route.
  • the re-ruling pre-driving route is to go south along Nanhai Avenue, and go straight to the south or left at the next intersection. Turn to the east instead of turning right and west.
  • the speed module 8 includes:
  • a second time interval unit 81 configured to acquire a second time interval between the startup time information and the first time information
  • the traveled route unit 82 is configured to acquire the traveled route in the second time interval
  • the calculating speed unit 83 is configured to calculate a traveling speed of the automobile in a second time interval according to the traveled distance and the second time interval, and use the traveling speed as the pre-driving speed.
  • the pre-driving speed is calculated based on the speed at which the driver drives from the time of departure.
  • the second time interval unit 81 calculates the startup start time information, specifically, the time when the car is ignited, or the time when the car is hung up in the forward gear (the first gear of the manual gear or the D gear of the automatic gear), the second time The interval unit 81 calculates a second time interval between the vehicle start time and the first time information, which is the time when the car is connected to the network, and the traveled route unit 82 calculates the second time interval according to the odometer of the car.
  • the traveled distance, the calculated speed unit 83 divides the traveled distance by the second time interval, and the average driving speed, that is, the pre-driving speed, can be derived.
  • the speed module 8 includes:
  • the road condition information unit 84 is configured to acquire road condition information on the pre-driving route, where the road condition information includes road attributes and congestion conditions;
  • the generating speed unit 85 is configured to generate a corresponding pre-driving speed according to the road condition information.
  • the road condition information unit 84 acquires the road condition on the pre-driving route, wherein the road condition information includes the road attribute and the congestion situation, and the road attribute refers to the road grade, the category, the number of lanes, and the like. Information.
  • the maximum speed of road restrictions for different attributes is different.
  • the congestion situation is that the server acquires the average vehicle travel speed on the road obtained by other servers, and the generation speed unit 85 obtains the pre-drive speed according to the combination of the two.
  • other servers analyzed that the average speed of the vehicle on the road changes according to the change of time. For example, other servers analyzed the average speed of travel on Nanhai Avenue:
  • the time in the parenthesis indicating the analyzed speed is based on the change of the pre-driving speed, and when calculating the simulated driving distance, the calculation may be superimposed.
  • the server first obtains the information at the first time information.
  • the average speed of the road is 30km/h, and the simulated driving distance within 3 minutes is 1.5 kilometers.
  • the first car position information of the car is moved along the pre-driving route for 1.5 kilometers to obtain the current position of the car.
  • the average speed of the road where the current position of the car is located is 60km/h.
  • the server obtains the average speed of the average vehicle on the road by analyzing the other servers every 3 seconds.
  • the auxiliary vehicle positioning device of the present invention calculates the car when the GPS signal of the car is lost, or the network of the in-vehicle system cannot upload the GPS signal to the server, and the server calculates the driving route and the driving speed before the signal is lost.
  • the location helps the car to locate, and the user accesses the server to know the approximate location of the car.
  • the pre-driving route after the network is lost can be accurately calculated.
  • the server accesses the third-party server to obtain the average speed of the pre-driving road conditions, and more accurately simulates the real-time position of the car.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention appartient au domaine des services pour automobile. L'invention concerne un procédé et un appareil d'aide au positionnement d'automobile. Les principales étapes du procédé consistent à : surveiller pour voir si des informations de position actuelle ont été acquises ; si ce n'est pas le cas, récupérer des premières informations de position d'automobile pré-stockées d'un instant antérieur, et des premières informations temporelles correspondant à celles-ci ; acquérir des informations temporelles actuelles ; acquérir une vitesse de pré-conduite ; calculer un premier intervalle de temps entre les informations temporelles actuelles et les premières informations temporelles, et calculer une plage de déplacement simulée d'une automobile en fonction de la vitesse de pré-conduite et du premier intervalle de temps ; et analyser la position actuelle en fonction de la plage de déplacement simulée et des premières informations de position d'automobile. La présente invention peut aider à un positionnement d'automobile, et peut simuler et calculer la position d'une automobile même si l'automobile perd contact avec un serveur au cours du déplacement, de telle sorte qu'un utilisateur peut accéder au serveur par l'intermédiaire d'un téléphone mobile afin d'acquérir, en temps réel, la position de l'automobile.
PCT/CN2018/072004 2017-12-21 2018-01-09 Procédé et appareil d'aide au positionnement d'automobile WO2019119550A1 (fr)

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CN201711397276.8A CN108120449A (zh) 2017-12-21 2017-12-21 辅助汽车定位的方法及装置

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CN110967023B (zh) * 2018-09-30 2023-11-10 华为技术有限公司 汽车定位方法及汽车定位装置
CN111174777A (zh) * 2018-11-09 2020-05-19 阿里巴巴集团控股有限公司 定位方法、装置以及电子设备
CN110275933B (zh) * 2019-06-26 2022-05-13 广州小鹏汽车科技有限公司 车辆行驶的同步显示方法、装置、终端和计算机设备
CN110730423B (zh) * 2019-10-11 2021-04-20 深圳震有科技股份有限公司 车载gps终端模拟上报方法及装置、计算机设备、介质
CN111024061A (zh) * 2019-12-27 2020-04-17 上海闻泰电子科技有限公司 一种导航方法、装置、设备和介质
CN114384823B (zh) * 2022-03-23 2022-06-21 智能网联汽车(山东)协同创新研究院有限公司 基于智能网联汽车的模拟道路仿真测试***

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