CN106530789B - A kind of the static drift detection method and system of parking of automobile point - Google Patents
A kind of the static drift detection method and system of parking of automobile point Download PDFInfo
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- CN106530789B CN106530789B CN201610934509.2A CN201610934509A CN106530789B CN 106530789 B CN106530789 B CN 106530789B CN 201610934509 A CN201610934509 A CN 201610934509A CN 106530789 B CN106530789 B CN 106530789B
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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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
- G01S19/38—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
- G01S19/52—Determining velocity
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- General Physics & Mathematics (AREA)
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Abstract
The present invention provides a kind of static drift detection methods of parking of automobile point and system, this method to include：When determining that automobile is in dead ship condition, the stop information of the multiple automobiles of pre-acquiring, stop information is added in parking point list in chronological order；According to the stop information in parking point list, the logic parking central point and logic Parking range of automobile are determined；Reacquire the new stop information of automobile；According to the position coordinates and speed of new cars stop, judge whether that new cars stop is located in logic Parking range and speed is less than or equal to preset travel and determines speed；If so, two last parking of automobile points of acquisition time in connection new cars stop and point list of stopping, constitute stop angle；Judge whether the angle of stop angle is greater than or equal to default drift and determines angle, if so, determining that new cars stop is static drift point.Whether technical solution of the present invention is able to detect in location information the case where parking of automobile point drift.
Description
Technical field
The present invention relates to fields of communication technology, more specifically, are related to a kind of static drift detection of parking of automobile point
Method and system.
Background technique
Automobile GPS (Global Positioning System, global positioning system) location technology is widely used in automobile
Positioning, navigation and the fields such as antitheft.In order to realize the positioning of automobile, generally requires that GPS car antenna is arranged in automobile, lead to
It crosses the car antenna and emits signal of communication to GPS satellite, so that GPS satellite determines the number such as position of automobile according to the signal of communication
According to then the GPS positioning signal comprising vehicle location data can be sent to terrestrial user equipment (such as GPS receiver by GPS satellite
Machine or server), terrestrial user equipment is by carrying out analytical Calculation to the GPS positioning signal, to realize the positioning to automobile.
Such as：When automobile is in dead ship condition, GPS satellite can send GPS positioning signal, GPS positioning letter by user equipment to the ground
It number include stop information, terrestrial user equipment parses the GPS positioning signal, gets stop information.
However, in automobile GPS positioning technology, stop information that terrestrial user equipment is got and automobile actually stop
There may be errors between vehicle point, and in actual use, the position coordinates of the parking of automobile point that terrestrial user equipment is shown will be through
Often variation, such error are known as static drift.The error that parking of automobile point occurs during GPS positioning can mainly be divided into three
Class：Error related with GPS satellite propagates related error and the error with terrestrial user device-dependent with signal.These
Influence of the error to GPS positioning is different；And the size of error is also set with the position of satellite, waypoint location, terrestrial user
The factors such as standby, observation time, atmospheric environment and geographical environment are related.Such as the clocking error of GPS satellite, even if GPS satellite
Very accurate complexity, it can calculate some atomic small information, but still can have some small errors and generate, even if defending
The positioning of star can constantly be monitored, but be not each second all in monitored state, during this period once having small
The generation of position error or satellite ephemeris error will influence terrestrial user equipment in the stop location Calculation side to automobile
The accuracy in face, to generate static drift phenomenon.
The stop information that terrestrial user equipment is got may be accurate parking of automobile point, it is also possible to static drift
Point.In actual use, it is difficult to accurate to determine that the stop information that ground user equipment is got whether there is static drift.This
Sample has led to the case where position inaccurate, or even influences the positioning accuracy of equipment.
Summary of the invention
The object of the present invention is to provide a kind of technical solutions of the static drift of parking of automobile point detection, to solve background skill
It is difficult to accurately determine the problem of stop information is with the presence or absence of static drift in the prior art described in art.
In order to solve the above technical problem, the present invention provides following technical solutions：
The present invention provides a kind of static drift detection method of parking of automobile point, the detection method includes：
When determining that automobile is in dead ship condition, the stop information of the multiple automobiles of pre-acquiring, is incited somebody to action in chronological order
The stop information of the multiple automobile is added in parking point list, wherein includes parking of automobile in the stop information
Position coordinates, speed and the acquisition time of point；
According to the stop information in the parking point list, determines the logic parking central point of the automobile and surround
The logic Parking range of the logic parking central point；
The new stop information of the automobile is reacquired, includes the position of new cars stop in the new stop information
Set coordinate, speed and acquisition time；
According to the position coordinates and speed of the new cars stop, it is described to judge whether that the new cars stop is located at
In logic Parking range and speed is less than or equal to preset travel and determines speed；
If the new cars stop is located in the logic Parking range and speed determines less than or equal to preset travel
Speed then connects two parking of automobile points last in acquisition time in the new cars stop and parking point list, constitutes
Stop angle, wherein the stop angle is to be stopped with an automobile last in acquisition time in the parking point list
Vehicle point is the angle on vertex；
Judge whether the angle of the stop angle is greater than or equal to default drift and determines angle, if the angle of the angle
Degree is greater than or equal to default drift and determines angle, it is determined that the new cars stop is static drift point.
Preferably, judging whether that the new cars stop is located in the logic Parking range and speed is less than or waits
Before preset travel determines speed, the method also includes：
Judge a parking of automobile point last in acquisition time in the new cars stop and the parking point list
Acquisition time interval whether be less than or equal to predetermined minimum time interval, if so, determine that the automobile is in driving status,
The new cars stop is invalid；
It is preset most if the acquisition time interval of the new cars stop and a last parking of automobile point is greater than
Small time interval, then judge the new cars stop position coordinates whether the position with a last parking of automobile point
It is identical to set coordinate；
If the position coordinates are identical, it is determined that the automobile is in dead ship condition, and the new stop information is added
To in the parking point list；
If the position coordinates are different, execute described in judge whether new cars stop be located at logic Parking range it is interior and
Speed is less than or equal to the step of preset travel determines speed.
Preferably, judging whether that the new cars stop is located in the logic Parking range and speed is less than or waits
After preset travel determines speed, the method also includes：
If the new cars stop, which is greater than preset travel beyond the logic Parking range or speed, determines speed,
Determine that the automobile is in driving status, the new cars stop is invalid；
If the new cars stop is located in the logic Parking range and speed determines less than or equal to preset travel
Speed, then judge whether the speed of the new cars stop is less than or equal to default stop and determines speed and the new cars
Stop is located at default stop and determines in range；
If the speed of the new cars stop, which is less than or equal to default stop, determines speed and the new cars stop
Determine in range positioned at default stop, it is determined that the automobile is in dead ship condition, and the new stop information is added to institute
It states in parking point list, wherein the default stop determines that speed is less than the preset travel and determines speed, the default stop
Determine that range is less than the logic Parking range；
If the speed of the new cars stop, which is greater than the default stop, determines that speed or the new cars stop are super
The default stop determines range out, then it is last to execute acquisition time in the connection new cars stop and parking point list
The step of two parking of automobile points, composition stop angle.
Preferably, when determining the new cars stop is static drift point, the method also includes：
Calculate the position of the position coordinates of all parking of automobile points and logic parking central point in the parking point list
Set the spacing variance of coordinate；
The stop information that the parking point list medium spacing variance is greater than or equal to default variance threshold values is deleted, according to institute
The position coordinates for stating remaining parking of automobile point in parking point list calculate the new logic parking central point of the automobile and surround
The new logic Parking range of the new logic parking central point；
Original logic parking central point is replaced using new logic parking central point, and is stopped using the new logic
Vehicle range replaces original logic Parking range.
Preferably, the method also includes：
If the angle of the stop angle, which is less than default drift, determines angle, the new parking of the automobile is reacquired
Point information, whether the angle for rejudging the stop angle, which is less than default drift, determines angle；
The angle of accumulative stop angle is less than the frequency of occurrence that default drift determines angle, if the frequency of occurrence is greater than
Or it is equal to predetermined frequency of occurrence, it is determined that the automobile is in driving status, and the corresponding automobile of the frequency of occurrence stops
Vehicle point is invalid.
Preferably, the stop information according in parking point list determines the logic parking central point of the automobile
And the logic Parking range around logic parking central point, including：
According to the position coordinates of parking of automobile point, the normal state of each parking of automobile point position in the parking point list is determined
Distribution；
According to the probability density size of the position coordinates of parking of automobile point in the normal distribution, patrolling for the automobile is determined
Collect parking central point；
According to probability density size and the logic parking of the position coordinates of parking of automobile point in the normal distribution
Central point determines the logic Parking range.
According to the second aspect of the invention, a kind of static drift detection system of parking of automobile point, the inspection are additionally provided
Examining system includes：
First obtains module, for when determining that automobile is in dead ship condition, multiple vapour of pre-acquiring in chronological order
The stop information of the multiple automobile is added in parking point list by the stop information of vehicle, wherein the stop letter
It include position coordinates, speed and the acquisition time of parking of automobile point in breath；
First determining module, for determining the logic of the automobile according to the stop information in the parking point list
Stop central point and the logic Parking range around logic parking central point；
Second acquisition module is wrapped in the new stop information for reacquiring the new stop information of the automobile
Position coordinates, speed and the acquisition time of the stop containing new cars；
First judgment module judges whether described new for the position coordinates and speed according to the new cars stop
Parking of automobile point is located in the logic Parking range and speed is less than or equal to preset travel and determines speed；
Module is constructed, if being located in the logic Parking range for the new cars stop and speed is less than or equal to
When preset travel determines speed, two automobiles last in acquisition time in the new cars stop and parking point list are connected
Stop, constitute stop angle, wherein the stop angle be in the parking point list in acquisition time it is last
One parking of automobile point is the angle on vertex；
Second judgment module determines angle for judging whether the angle of the stop angle is greater than or equal to default drift
Degree, if the angle of the angle is greater than or equal to default drift and determines angle, it is determined that the new cars stop is static drift
Move point.
Preferably, the system also includes：
Third judgment module, for judging in the new cars stop and the parking point list in acquisition time finally
The acquisition time interval of a parking of automobile point whether be less than or equal to predetermined minimum time interval,
Second determining module determines if be less than or equal to predetermined minimum time interval for the acquisition time interval
The automobile is in driving status, and the new cars stop is invalid；
4th judgment module, if when acquisition for the new cars stop and a last parking of automobile point
Between interval be greater than predetermined minimum time interval when, judge the new cars stop position coordinates whether with last described vapour
The position coordinates of vehicle stop are identical；
Third determining module will be described if determining that the automobile is in dead ship condition when identical for the position coordinates
New stop information is added in the parking point list；
If the first judgment module is specifically used for the position coordinates difference, judge whether that new cars stop described in execution
Vehicle point is located in logic Parking range and speed is less than or equal to the step of preset travel determines speed.
Preferably, the system also includes：
4th determining module, if being greater than in advance for the new cars stop beyond the logic Parking range or speed
If traveling determines speed, determine that the automobile is in driving status, the new cars stop is invalid；
5th judgment module, if be located in the logic Parking range for the new cars stop and speed be less than or
When determining speed equal to preset travel, judge whether the speed of the new cars stop is less than or equal to default stop and determines vehicle
Speed and the new cars stop are located at default stop and determine in range；
5th determining module, if the speed for the new cars stop be less than or equal to it is default stop determine speed,
And the new cars stop determines that the automobile is in dead ship condition positioned at when presetting in stop judgement range, it will be described new
Stop information is added in the parking point list, wherein the default stop determines that speed is less than the preset travel and sentences
Determine speed, the default stop determines that range is less than the logic Parking range；
The building module, if the speed specifically for the new cars stop is greater than the default stop judgement speed
Or the new cars stop determines range beyond the default stop, then executes the connection new cars stop and stop
The step of two last parking of automobile points of acquisition time in list, composition stop angle.
Preferably, the system also includes：
Computing module stops for calculating the position coordinates of all parking of automobile points and the logic in the parking point list
The spacing variance of the position coordinates of vehicle central point；
Removing module, the parking for being greater than or equal to default variance threshold values for deleting the parking point list medium spacing variance
Point information calculates in the new logic parking of the automobile according to the position coordinates of remaining parking of automobile point in the parking point list
Heart point and around the new logic parking central point new logic Parking range；
Replacement module is used to replace original logic parking central point using new logic parking central point, and makes
Original logic Parking range is replaced with the new logic Parking range.
Preferably, the system also includes：
Third obtains module, if the angle for the stop angle is less than default drift judgement angle, obtains again
Take the new stop information of the automobile；
6th judgment module, whether the angle for rejudging the stop angle, which is less than default drift, determines angle
Degree；
Accumulation module, the angle for adding up stop angle is less than the frequency of occurrence that default drift determines angle, if institute
Frequency of occurrence is stated more than or equal to predetermined frequency of occurrence, it is determined that the automobile is in driving status, and the frequency of occurrence point
Not corresponding parking of automobile point is invalid.
Preferably, first determining module, including：
First determines submodule, for the position coordinates according to parking of automobile point in parking point list, determines the parking
The normal distribution of each parking of automobile point position in point list；
Second determines submodule, big for the probability density according to the position coordinates of parking of automobile point in the normal distribution
It is small, determine the logic parking central point of the automobile；
Third determines submodule, big for the probability density according to the position coordinates of parking of automobile point in the normal distribution
The small and described logic parking central point, determines the logic Parking range.
The static drift detection scheme of parking of automobile point provided by the invention, the stop by obtaining multiple automobiles are believed
Breath determines the logic parking central point of automobile according to stop information and around the logic parking model of logic parking central point
It encloses, when determining that new cars stop is located in logic Parking range and speed is less than or equal to preset travel judgement speed, leads to
The stop angle that most latter two parking of automobile point is constituted in acquisition time in connection new cars stop and parking point list is crossed,
Angle is determined by judging whether the angle of stop angle is greater than or equal to default drift, so that it is determined that the new cars stop
It whether is static drift point.
When new cars stop is located in logic Parking range and speed is less than or equal to preset travel judgement speed, base
Originally it can determine that automobile is in dead ship condition.When static drift, the parking of automobile point of display is often with logic parking central point
Center changes.And static drift in most cases, in new cars stop and parking point list in acquisition time most
The angle that two parking of automobile points afterwards are constituted often is greater than certain angle, therefore, by the angle for judging stop angle
Whether it is greater than or equal to default drift and determines angle, can accurately determines whether the new cars stop is static drift point, from
And reduce the location error between the stop and practical stop of display.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, for those of ordinary skills, do not making the creative labor
Under the premise of property, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of application of the static drift detection method of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram of a scenario；
Fig. 2 is a kind of process of the static drift detection method of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 3 is a kind of motion state of automobile schematic diagram shown in an exemplary embodiment of the invention；
Fig. 4 is a kind of process of the static drift detection method of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 5 is a kind of process of the static drift detection method of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 6 is a kind of process of the static drift detection method of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 7 is a kind of process of the static drift detection method of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 8 is a kind of structure of the static drift detection system of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Fig. 9 is a kind of structure of the static drift detection system of parking of automobile point shown in an exemplary embodiment of the invention
Schematic diagram；
Figure 10 is a kind of knot of the static drift detection system of parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram；
Figure 11 is a kind of knot of the static drift detection system of parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram；
Figure 12 is a kind of knot of the static drift detection system of parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram；
Figure 13 is a kind of knot of the static drift detection system of parking of automobile point shown in an exemplary embodiment of the invention
Structure schematic diagram.
Specific embodiment
The static drift detection scheme of parking of automobile point provided in an embodiment of the present invention, solves described in background technique
Be difficult to the problem of accurately determining stop information with the presence or absence of static drift.
Technical solution in embodiment in order to enable those skilled in the art to better understand the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, with reference to the accompanying drawing to the technology in the embodiment of the present invention
Scheme is described in further detail.
Attached drawing 1 is referred to, Fig. 1 is a kind of application scenarios schematic diagram shown in an exemplary embodiment of the invention, such as Fig. 1
Shown, in the application scenarios, GPS satellite 1 obtains the motion state of automobile by the GPS car antenna on automobile 2, thus real
Now to the positioning of automobile 2.When automobile is in dead ship condition, GPS satellite 1 can send the GPS about the automobile 2 to server 3
Positioning signal, GPS positioning signal include the stop information of automobile 2.Server 3 parses the GPS positioning signal, is stopped
Point information, and by determining that the stop angle that new cars stop is constituted determines angle with default drift in multiple stop information
The relationship of degree determines whether new cars stop is static drift point.Wherein, server 3 can be special server, can also
To be integrated with the equipment (such as mobile phone) with GPS receiver function, a part as such equipment.
Attached drawing 2 is please referred to, Fig. 2 is a kind of static drift inspection of parking of automobile point shown in an exemplary embodiment of the invention
The flow diagram of survey method, as shown in Fig. 2, being somebody's turn to do, detection method includes the following steps：
S110：The stop information of multiple automobiles is added the stop information of the multiple automobiles of pre-acquiring in chronological order
Into parking point list.The stop information is when primarily determining that automobile is in dead ship condition, to be arrived according to GPS positioning signal acquisition
Automobile stop information.It wherein, include position coordinates, speed and the acquisition time etc. of parking of automobile point in stop information
Information.
S120：According to the stop information in parking point list, the logic parking central point of automobile is determined and around patrolling
Collect the logic Parking range of parking central point.
The logic parking central point of automobile is the practical parking of automobile according to the stop information estimation in parking point list
Point；And the logic Parking range around logic parking central point is the possible Parking range of automobile estimated.When the vapour of acquisition
When the position coordinates of the new cars stop of vehicle are in the Parking range, illustrate the new cars stop may be automobile be in stop
Stop when car state.
Wherein, step S120：It determines the logic parking central point of automobile and stops around the logic of logic parking central point
Vehicle range, includes the following steps：S121：According to the position coordinates of parking of automobile point, determine that each automobile stops in parking point list
The normal distribution of vehicle point position；S122：According to the probability density size of the position coordinates of parking of automobile point in normal distribution, determine
The logic parking central point of automobile；S123：According to the probability density size of the position coordinates of parking of automobile point in normal distribution with
And logic parking central point, determine logic Parking range.
Specifically, it is possible, firstly, to using logic parking central point as the center of circle, with the preset distance apart from logic parking central point
As logic radius of circle, construction logic circle, wherein the logic radius of circle can be in distance logic parking in parking point list
The spacing of the position coordinates of the farthest parking of automobile point of heart point；Then, using logic parking central point as the center of circle, with 2 times of logic
Radius of the radius of circle as logic Parking range, surrounds logic Parking range.According to new cars stop and logic parking model
The relationship enclosed, determines whether automobile is in driving status.
S130：The new stop information of automobile is reacquired, includes the position of new cars stop in new stop information
Coordinate, speed and acquisition time；
S140：According to the position coordinates and speed of new cars stop, judge whether that new cars stop stops positioned at logic
Within the scope of vehicle and speed is less than or equal to preset travel and determines speed；
Logic Parking range is the possible Parking range of automobile of estimation, according to the position of the new cars stop newly obtained
Whether coordinate determines that new cars stop is located in logic Parking range, and is less than or waits according to the speed of new cars stop
Speed is determined in preset traveling, can determine whether the automobile is in dead ship condition.
Fig. 3 is a kind of schematic diagram of motion state of automobile shown in an exemplary embodiment of the invention.As shown in figure 3,
In the map of Fig. 3, the vertex of the bell curve for the Gaussian Profile that all stops of automobile can be taken to constitute is stopped as logic
Central point；Using logic parking central point as the center of circle, with distance where the probability density distribution range of most of parking of automobile points
For radius, logic Parking range is constituted.
S150：If new cars stop is located in logic Parking range and speed is less than or equal to preset travel and determines vehicle
Speed then connects two parking of automobile points last in acquisition time in new cars stop and parking point list, constitutes stop
Angle, wherein stop angle is using a parking of automobile point last in acquisition time in point list of stopping as the folder on vertex
Angle；
When new cars stop is located in logic Parking range and speed is less than or equal to preset travel judgement speed, energy
Enough preliminary automobiles that excludes are in driving status, primarily determine that automobile is in dead ship condition.To facilitate according to new stop information
Determine it includes new cars stop whether be for static drift point.
S160：Judge whether the angle of stop angle is greater than or equal to default drift and determines angle, if stop angle
Angle be greater than or equal to default drift and determine angle, then follow the steps S170；
Due to static drift in most cases, it is last in acquisition time in new cars stop and parking point list
The angle that two parking of automobile points are constituted often is greater than certain angle, thus the angle by judging the stop angle whether
Angle is determined more than or equal to default drift, can be greater than or equal to default drift in the angle of stop angle and be determined angle
When, determine that the new cars stop is static drift point.Wherein it is preferred to which default drift determines that angle can be at 30 degree to 50
It spends in range, preferred angle is 45 degree.
S170：If the angle of stop angle, which is greater than or equal to default drift, determines angle, it is determined that new cars stop
For static drift point.
The static drift detection method of parking of automobile point provided in an embodiment of the present invention, by the parking for obtaining multiple automobiles
Point information determines the logic parking central point of automobile according to stop information and stops around the logic of logic parking central point
Vehicle range is determining that new cars stop is located in logic Parking range and speed is less than or equal to preset travel and determines speed
When, pass through the stop of most latter two parking of automobile point composition in acquisition time in connection new cars stop and point list of stopping
Angle determines angle by judging whether the angle of stop angle is greater than or equal to default drift, so that it is determined that the new cars
Whether stop is static drift point.
When new cars stop is located in logic Parking range and speed is less than or equal to preset travel judgement speed, base
Originally it can determine that automobile is in dead ship condition.When static drift, the parking of automobile point of display is often with logic parking central point
Center changes.And static drift in most cases, in new cars stop and parking point list in acquisition time most
The angle that two parking of automobile points afterwards are constituted often is greater than certain angle, therefore, by the angle for judging stop angle
Whether it is greater than or equal to default drift and determines angle, can accurately determines whether the new cars stop is static drift point, from
And reduce the location error between the stop and practical stop of display.
As shown in figure 4, embodiment as one preferred, step S140 in the embodiment depicted in figure 2：Judge whether new
Parking of automobile point is located in logic Parking range and speed is less than or equal to before preset travel judgement speed, the present embodiment provides
Parking of automobile point static drift detection method other than each step shown in Fig. 2, further include：
S210：Judge obtaining for new cars stop and a parking of automobile point last in acquisition time in point list of stopping
Take whether time interval is less than or equal to predetermined minimum time interval；If so, thening follow the steps S220；If it is not, thening follow the steps
S230。
Under normal circumstances, new cars stop and a parking of automobile point last in acquisition time in parking point list
Acquisition time was spaced between 25-35 seconds, and preferred acquisition time interval is about at 30 seconds or so.
S220：Determine that automobile is in driving status, new cars stop is invalid.
When the acquisition time interval is less than or equal to prefixed time interval (such as 15 seconds), automobile is likely to be at particular field
Scape, such as：In automobile turning, data can be uploaded immediately；In tracking motor, acquisition time interval can also become smaller.At this point, can
Determine that parking of automobile point is in driving status, new cars stop is invalid.
S230：Judge new cars stop position coordinates whether with a parking of automobile point last in acquisition time
Position coordinates are identical；If position coordinates are identical, S240 is thened follow the steps.
S240：It determines that automobile is in dead ship condition, new stop information is added in parking point list.
If a parking of automobile point last in acquisition time in the position coordinates of new cars stop and parking point list
Position coordinates it is identical, then illustrate the automobile may can determine that automobile is in dead ship condition for real parking of automobile point.
If position coordinates are different, execute and judge whether new cars stop is located in logic Parking range and speed is less than
Or it is equal to the step of preset travel determines speed.
It is analyzed by acquisition time interval to parking of automobile point and position coordinates, to accurately determine that automobile is
No to be kept in motion, whether parking of automobile point is effective, reduces the erroneous judgement of the static drift detection to parking of automobile point.
Embodiment as one preferred, as shown in figure 5, the inspection of the static drift of parking of automobile provided in this embodiment point
Survey method, in the embodiment depicted in figure 2 step S140：Judge whether that new cars stop is located in logic Parking range and speed
After determining speed less than or equal to preset travel, further include：
S310：If new cars stop, which is greater than preset travel beyond logic Parking range or speed, determines speed, it is determined that
Automobile is in driving status, and new cars stop is invalid.
Logic Parking range is the possible Parking range of automobile of estimation, and new cars stop is beyond logic parking model
Enclose or speed be greater than preset travel determine speed when, can determine that automobile is in driving status like clockwork, new cars stop
Vehicle point is invalid, to exclude the possibility that automobile is in dead ship condition or static drift.
S320：If new cars stop is located in logic Parking range and speed is less than or equal to preset travel and determines vehicle
Speed then judges whether the speed of new cars stop is less than or equal to default stop judgement speed and new cars stop is located at
Default stop determines in range.
S330：If the speed of new cars stop, which is less than or equal to default stop, determines speed and new cars parking point
Determining in range in default stop, it is determined that automobile is in dead ship condition, and new stop information is added in parking point list,
Wherein, it presets and stops judgement speed less than preset travel judgement speed, preset and stop judgement range less than logic Parking range.
Default stop determines that speed is the max speed allowed when determining whether automobile is in dead ship condition；And it presets and stops
It stays and determines that whether range is the position of determining vehicle without the mobile judgement range for being in dead ship condition, by judging that new cars stop
Whether the speed of vehicle point is less than or equal to default stop judgement speed and whether new cars stop is located at default stop and determines model
In enclosing, can determine whether automobile is in dead ship condition like clockwork, and the position of automobile there is no change or automobile just
It is in motion process.Wherein, it presets to stop and determines that speed can be set as 0m/s；And default stop determines that range may be configured as to patrol
Collecting parking central point is the center of circle, the logic circle surrounded with above-mentioned preset distance.
If the speed of new cars stop, which is greater than default stop, determines that speed or new cars stop are sentenced beyond default stop
Determine range, thens follow the steps S150：Connection new cars stop two automobiles last with acquisition time in point list of stopping stop
Che Dian constitutes stop angle.
It is greater than default stop in the speed of new cars stop and determines speed, illustrates that automobile may move slowly at either
GPS information is wrong；And new cars stop determines range beyond default stop, and illustrates that automobile is likely to be at motion state or quiet
In state drifting state.Two parking of automobile that acquisition time is last in connection new cars stop and parking point list are executed at this time
Point constitutes stop angle, can accurately determine whether the new cars stop is static drift point, to reduce new stop
The location error between new cars stop and practical stop for including in information.
The generation of static error, may position, parking of automobile point position, GPS receiver position, atmosphere with GPS satellite
The factors such as environment and geographical environment are related.When detecting a static error, illustrate in a period of time, in point list of stopping
Parking of automobile point or subsequently received parking of automobile point may also be static drift point.
In order to accurately determine the motion state of automobile, and static drift point is detected as much as possible, to avoid static state
Interference of the shift point to motion state of automobile is determined, as a kind of preferred embodiment of the present invention, as shown in fig. 6, in the present invention
Embodiment provide parking of automobile point static drift detection method in, when determine new cars stop be static drift point
When, this detection method further includes：
S410：The position of the position coordinates of all parking of automobile points and logic parking central point is sat in calculated target point list
Target spacing variance.
The position coordinates of all parking of automobile points have relative to logic parking central point and far have closely in parking point list, pass through
Calculate the spacing variance of the position coordinates of parking of automobile point and the position coordinates of logic parking central point.So as to accurately determine
Distance of the parking of automobile point apart from logic parking central point, and then delete apart from farther away parking of automobile point, in terms of again
More accurate logic Parking range.
S420：The stop information that parking point list medium spacing variance is greater than or equal to default variance threshold values is deleted, according to
The position coordinates of remaining parking of automobile point calculate the new logic parking central point of automobile and surround new logic in point list of stopping
The new logic Parking range of parking central point.
Wherein it is possible to be arranged successively parking of automobile point according to the sequence of spacing variance from big to small, delete spacing variance compared with
The parking of automobile point of big preceding 30%, and retain the lesser rear 70% parking of automobile point of spacing variance.Implement according to Fig.2,
Logic Parking range calculation method in example it is found that selected distance logic is stopped, sit by the position of the farthest parking of automobile point of central point
The spacing of the position coordinates of mark and logic parking central point is as logic radius of circle, construction logic circle；Then, it is stopped with logic
Central point is the center of circle, using 2 times of logic radius of circle as the radius of the logic Parking range, surrounds the new logic parking model
It encloses.Since 70% parking of automobile point can be taken, in the case where having more static drift point, new logic Parking range
It will become larger relative to original logic Parking range；And when GPS positioning is accurate, new logic Parking range is patrolled relative to original
Collecting Parking range will become smaller.
S430：Original logic parking central point is replaced using new logic parking central point, and is stopped using new logic
Range replaces original logic Parking range.
Original logic parking central point is replaced by using new logic parking central point, can more accurately determine vapour
The parking position of vehicle；Original logic Parking range is replaced by using new logic Parking range, due to there is more static drift
In the case where point, new logic Parking range will become larger relative to original logic Parking range, therefore, the method energy of the present embodiment
It is enough to detect static drift point as much as possible, and further progress is distinguished, and determines the final motion state of automobile.
In the embodiment depicted in figure 2, the new cars stop parking of automobile point last with acquisition time in parking point list
Position it is different, when the angle of stop angle, which is less than default drift, determines angle, illustrate that the automobile is likely to be at low-angle
Driving states at a slow speed (such as low-angle turning).In order to accurately determine the state of automobile according to new cars stop, as one kind
Preferred embodiment, as shown in fig. 7, static drift detection method provided in this embodiment is also wrapped other than method shown in Fig. 2
It includes：
S510：If the angle of stop angle, which is less than default drift, determines angle, the new stop of automobile is reacquired
Information, whether the angle for rejudging stop angle, which is less than default drift, determines angle.
When the angle of stop angle, which is less than default drift, determines angle, illustrate that the automobile is likely to be at the slow of low-angle
Fast driving states (such as low-angle turning).
S520：The angle of accumulative stop angle is less than the frequency of occurrence that default drift determines angle.
S530：If frequency of occurrence is greater than or equal to predetermined frequency of occurrence, it is determined that automobile is in driving status, and occurrence out
The corresponding parking of automobile point of number is invalid.
When the angle of stop angle is less than default drift judgement angle, there may be static drift or automobiles for automobile
In easeing turn for very low-angle, at this time by reacquiring the new stop information of automobile, repetition judges that stop presss from both sides
Whether the angle at angle, which is less than default drift, determines angle.The angle of accumulative stop angle is less than default drift and determines going out for angle
Occurrence number determines that automobile is in driving status, so that it is determined that automobile stops when frequency of occurrence is greater than or equal to predetermined frequency of occurrence
Vehicle point is invalid.Determine that the frequency of occurrence of angle is less than the predetermined occurrence out when the angle of accumulative stop angle is less than to preset to drift about
When number, illustrate that automobile does not travel, can determine that the corresponding parking of automobile point of frequency of occurrence is static drift point at this time.
Based on the same inventive concept, the embodiment of the present application also provides the static drift detection system of parking of automobile point, by
In the corresponding method of system be the static drift detection method in the embodiment of the present application, and the principle that solves the problems, such as of the system with
Method is similar, therefore the implementation of the system may refer to the implementation of method, and overlaps will not be repeated.
Attached drawing 8 is referred to, as shown in figure 8, the embodiment of the invention provides a kind of detections of the static drift of parking of automobile point
System, detection system include：
First obtains module 801, for when determining that automobile is in dead ship condition, multiple automobiles of pre-acquiring in chronological order
Stop information, by the stop information of multiple automobiles be added to parking point list in, wherein in stop information include vapour
Position coordinates, speed and the acquisition time of vehicle stop；
First determining module 802, for determining in the logic parking of automobile according to the stop information in parking point list
Heart point and around logic parking central point logic Parking range；
Second obtains module 803, includes live steam in new stop information for reacquiring the new stop information of automobile
Position coordinates, speed and the acquisition time of vehicle stop；
First judgment module 804 judges whether that new cars stop for the position coordinates and speed according to new cars stop
Vehicle point is located in logic Parking range and speed is less than or equal to preset travel and determines speed；
Module 805 is constructed, logic Parking range is interior and speed is less than or equal to default if being located at for new cars stop
When traveling determines speed, two parking of automobile points last in acquisition time in connection new cars stop and point list of stopping,
Constitute stop angle, wherein stop angle is with a parking of automobile point last in acquisition time in point list of stopping
For the angle on vertex；
Second judgment module 806 determines angle for judging whether the angle of stop angle is greater than or equal to default drift
Degree, if the angle of stop angle is greater than or equal to default drift and determines angle, it is determined that new cars stop is static drift
Point.
Preferably, as shown in figure 9, system further includes：
Third judgment module 807, for judge new cars stop and point list of stopping in last one in acquisition time
Whether the acquisition time interval of a parking of automobile point is less than or equal to predetermined minimum time interval,
If second determining module 808 determines vapour be less than or equal to predetermined minimum time interval for acquisition time interval
Vehicle is in driving status, and new cars stop is invalid；
4th judgment module 809, if between new cars stop and the acquisition time of a last parking of automobile point
Every be greater than predetermined minimum time interval when, judge new cars stop position coordinates whether with a last parking of automobile point
Position coordinates it is identical；
Third determining module 810, if determining that automobile is in dead ship condition, by new stop when identical for position coordinates
Information is added in parking point list；
The first judgment module 804, if be specifically used for position coordinates difference, execution judges whether new cars stop
In logic Parking range and speed is less than or equal to the step of preset travel determines speed.
Preferably, as shown in Figure 10, system further includes：
4th determining module 811, if being greater than preset travel beyond logic Parking range or speed for new cars stop
When determining speed, determine that automobile is in driving status, new cars stop is invalid；
5th judgment module 812, if being located in logic Parking range for new cars stop and speed is less than or equal to
When preset travel determines speed, judge whether the speed of new cars stop is less than or equal to default stop and determines speed and new
Parking of automobile point is located at default stop and determines in range；
5th determining module 813, if the speed for new cars stop be less than or equal to it is default stop determine speed and
When new cars stop is located in default stop judgement range, determines that automobile is in dead ship condition, new stop information is added
Into parking point list, wherein default stop determines that speed is less than preset travel and determines speed, and default stop determines that range is less than
Logic Parking range；
The building module 805, if the speed specifically for new cars stop is greater than default stop and determines speed or new
Parking of automobile point determines range beyond default stop, then executes in connection new cars stop and parking point list acquisition time most
The step of two parking of automobile points afterwards, composition stop angle.
Preferably, as shown in figure 11, system further includes：
Computing module 814, in position coordinates and the logic parking of parking of automobile points all in calculated target point list
The spacing variance of the position coordinates of heart point；
Removing module 815, the parking for being greater than or equal to default variance threshold values for deleting parking point list medium spacing variance
Point information, using the position coordinates of remaining parking of automobile point in parking point list calculate automobile new logic parking central point and
Around the new logic Parking range of new logic parking central point；
Replacement module 816 is used to replace original logic parking central point, and use using new logic parking central point
New logic Parking range replaces original logic Parking range.
Preferably, as shown in figure 12, system further includes：
Third obtains module 817, if the angle for stop angle is less than default drift judgement angle, reacquires
The new stop information of automobile；
6th judgment module 818, whether the angle for rejudging stop angle, which is less than default drift, determines angle；
Accumulation module 819, the angle for adding up stop angle are less than the frequency of occurrence that default drift determines angle, if
Frequency of occurrence is greater than or equal to predetermined frequency of occurrence, it is determined that automobile is in driving status, and the corresponding vapour of frequency of occurrence
Vehicle stop is invalid.
Preferably, as shown in figure 13, the first determining module 802, including：
First determines submodule 8021, for the position coordinates according to parking of automobile point, determines each in parking point list
The normal distribution of parking of automobile point position；
Second determines submodule 8022, big for the probability density according to the position coordinates of parking of automobile point in normal distribution
It is small, determine the logic parking central point of automobile；
Third determines submodule 8023, big for the probability density according to the position coordinates of parking of automobile point in normal distribution
Small and logic parking central point, determines logic Parking range.
Those skilled in the art should be understood that the embodiment of the present invention can provide as method, apparatus or computer journey
Sequence product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and the highlights of each of the examples are differences from other embodiments.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of static drift detection method of parking of automobile point, which is characterized in that the detection method includes：
When determining that automobile is in dead ship condition, the stop information of the multiple automobiles of pre-acquiring in chronological order will be described
The stop information of multiple automobiles is added in parking point list, wherein comprising parking of automobile point in the stop information
Position coordinates, speed and acquisition time；
According to the stop information in the parking point list, the logic parking central point of the automobile is determined and around described
The logic Parking range of logic parking central point；
The new stop information of the automobile is reacquired, the position comprising new cars stop is sat in the new stop information
Mark, speed and acquisition time；
According to the position coordinates and speed of the new cars stop, judge whether that the new cars stop is located at the logic
In Parking range and speed is less than or equal to preset travel and determines speed；
If the new cars stop is located in the logic Parking range and speed is less than or equal to preset travel and determines speed,
Two parking of automobile points last in acquisition time in the new cars stop and parking point list are then connected, stop is constituted
Angle, wherein the stop angle is to be with a parking of automobile point last in acquisition time in the parking point list
The angle on vertex；
Judge whether the angle of the stop angle is greater than or equal to default drift and determines angle, if the stop angle
Angle is greater than or equal to default drift and determines angle, it is determined that the new cars stop is static drift point.
2. static drift detection method according to claim 1, which is characterized in that judging whether the new cars parking
Point is located in the logic Parking range and speed is less than or equal to before preset travel judgement speed, the method also includes：
Judge obtaining for the new cars stop and a parking of automobile point last in acquisition time in the parking point list
Take whether time interval is less than or equal to predetermined minimum time interval, if so, determine that the automobile is in driving status, it is described
New cars stop is invalid, the acquisition time interval of a parking of automobile point last in acquisition time in the parking point list
It is related to the state of automobile；
If the acquisition time interval of the new cars stop and a last parking of automobile point is greater than default minimum
Between be spaced, then judge whether the position coordinates of the new cars stop are sat with the position of a last parking of automobile point
It marks identical；
If the position coordinates are identical, it is determined that the automobile is in dead ship condition, and the new stop information is added to institute
It states in parking point list；
If the position coordinates are different, execute described in judge whether the new cars stop be located at logic Parking range it is interior and
Speed is less than or equal to the step of preset travel determines speed.
3. static drift detection method according to claim 1, which is characterized in that judging whether the new cars parking
Point be located at the logic Parking range in and speed be less than or equal to preset travel determine speed after, the method also includes：
If the new cars stop, which is greater than preset travel beyond the logic Parking range or speed, determines speed, it is determined that
The automobile is in driving status, and the new cars stop is invalid；
If the new cars stop is located in the logic Parking range and speed is less than or equal to preset travel and determines vehicle
Speed then judges whether the speed of the new cars stop is less than or equal to default stop judgement speed and the new cars stop
Vehicle point is located at default stop and determines in range；
If the speed of the new cars stop is less than or equal to, default stop determines speed and the new cars stop is located at
Default stop determines in range, it is determined that the automobile is in dead ship condition, and the new stop information is added to described stop
In vehicle point list, wherein the default stop determines that speed is less than the preset travel and determines speed, and the default stop determines
Range is less than the logic Parking range；
If the speed of the new cars stop, which is greater than the default stop, determines that speed or the new cars stop exceed institute
It states to preset to stop and determines range, then execute acquisition time is last in the connection new cars stop and parking point list two
The step of parking of automobile point, composition stop angle.
4. static drift detection method according to claim 1, which is characterized in that when determining that the new cars stop is
When static drift point, the method also includes：
The position of the position coordinates of all parking of automobile points and logic parking central point in the parking point list is calculated to sit
Target spacing variance；
The stop information that the parking point list medium spacing variance is greater than or equal to default variance threshold values is deleted, is stopped according to described
The position coordinates of remaining parking of automobile point calculate the new logic parking central point of the automobile and around described in vehicle point list
The new logic Parking range of new logic parking central point；
Original logic parking central point is replaced using new logic parking central point, and uses new logic parking model
Enclose the original logic Parking range of replacement.
5. static drift detection method according to claim 1, which is characterized in that the method also includes：
If the angle of the stop angle, which is less than default drift, determines angle, the new stop letter of the automobile is reacquired
Breath, whether the angle for rejudging the stop angle, which is less than default drift, determines angle；
The angle of accumulative stop angle is less than the frequency of occurrence that default drift determines angle, if the frequency of occurrence is greater than or waits
In predetermined frequency of occurrence, it is determined that the automobile is in driving status, and the corresponding parking of automobile point of the frequency of occurrence
In vain.
6. static drift detection method according to claim 1, which is characterized in that described to stop according in parking point list
Vehicle point information determines the logic parking central point of the automobile and the logic parking model around logic parking central point
It encloses, including：
According to the position coordinates of parking of automobile point, the normal state minute of each parking of automobile point position in the parking point list is determined
Cloth；
According to the probability density size of the position coordinates of parking of automobile point in the normal distribution, determine that the logic of the automobile is stopped
Vehicle central point；
According to probability density size and the logic parking center of the position coordinates of parking of automobile point in the normal distribution
Point determines the logic Parking range.
7. a kind of static drift detection system of parking of automobile point, which is characterized in that the detection system includes：
First obtain module, for when determining that automobile is in dead ship condition, multiple automobiles of pre-acquiring in chronological order
The stop information of the multiple automobile is added in parking point list, wherein in the stop information by stop information
Position coordinates, speed and acquisition time comprising parking of automobile point；
First determining module, for determining the logic parking of the automobile according to the stop information in the parking point list
Central point and around the logic parking central point logic Parking range；
Second obtains module, includes new in the new stop information for reacquiring the new stop information of the automobile
Position coordinates, speed and the acquisition time of parking of automobile point；
First judgment module judges whether the new cars for the position coordinates and speed according to the new cars stop
Stop is located in the logic Parking range and speed is less than or equal to preset travel and determines speed；
Module is constructed, the logic Parking range is interior and speed is less than or equal to default if being located at for the new cars stop
When traveling determines speed, two parking of automobile last in acquisition time in the new cars stop and parking point list are connected
Point constitutes stop angle, wherein the stop angle is with one last in acquisition time in the parking point list
Parking of automobile point is the angle on vertex；
Second judgment module determines angle for judging whether the angle of the stop angle is greater than or equal to default drift,
If the angle of the stop angle, which is greater than or equal to default drift, determines angle, it is determined that the new cars stop is static state
Shift point.
8. static drift detection system according to claim 7, which is characterized in that the system also includes：
Third judgment module, for judging in the new cars stop and the parking point list last one in acquisition time
Whether the acquisition time interval of a parking of automobile point is less than or equal to predetermined minimum time interval, obtains in the parking point list
The acquisition time interval of a last parking of automobile point is related to the state of automobile on time；
Second determining module, if be less than or equal to predetermined minimum time interval for the acquisition time interval, described in determination
Automobile is in driving status, and the new cars stop is invalid；
4th judgment module, if between the new cars stop and the acquisition time of a last parking of automobile point
Every be greater than predetermined minimum time interval when, judge the new cars stop position coordinates whether with a last vapour
The position coordinates of vehicle stop are identical；
Third determining module, if determining that the automobile is in dead ship condition when identical for the position coordinates, newly stopping described
Vehicle point information is added in the parking point list；
The first judgment module judges whether that new cars stop if be specifically used for the position coordinates difference described in execution
Point is located in logic Parking range and speed is less than or equal to the step of preset travel determines speed.
9. static drift detection system according to claim 7, which is characterized in that the system also includes：
Computing module, for calculating in the parking point list in the position coordinates and logic parking of all parking of automobile points
The spacing variance of the position coordinates of heart point；
Removing module, the stop letter for being greater than or equal to default variance threshold values for deleting the parking point list medium spacing variance
Breath calculates the new logic parking central point of the automobile according to the position coordinates of remaining parking of automobile point in the parking point list
And the new logic Parking range around new logic parking central point；
Replacement module is used to replace original logic parking central point using new logic parking central point, and uses institute
It states new logic Parking range and replaces original logic Parking range.
10. static drift detection system according to claim 7, which is characterized in that the system also includes：
Third obtains module, if the angle for the stop angle is less than default drift judgement angle, reacquires institute
State the new stop information of automobile；
6th judgment module, whether the angle for rejudging the stop angle, which is less than default drift, determines angle；
Accumulation module, the angle for adding up stop angle are less than the frequency of occurrence that default drift determines angle, if it is described go out
Occurrence number is greater than or equal to predetermined frequency of occurrence, it is determined that the automobile is in driving status, and the frequency of occurrence is right respectively
The parking of automobile point answered is invalid.
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| CN1353821A (en) * | 1999-06-01 | 2002-06-12 | 剑桥定位系统有限公司 | Improvements in radio positioning system |
| CN103139700A (en) * | 2011-11-28 | 2013-06-05 | 联想(北京)有限公司 | Method and system of terminal positioning |
| CN104103095A (en) * | 2013-04-11 | 2014-10-15 | 深圳市金溢科技股份有限公司 | Positioning method, device and system |
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