A linear electronic fence calculation method based on path planning

Abstract

This invention provides a linear electronic fence calculation method based on path planning, comprising: obtaining the vehicle's navigation path; setting the basic radius R0 of the electronic fence according to the navigation path; determining each road segment in the journey based on neighboring nodes on the navigation path; and obtaining the positioning accuracy R at each node on the navigation path. x Positioning accuracy R x This represents the positioning error distance of the vehicle's positioning system at the current node due to the influence of the surrounding environment; two circles with radius R are drawn, centered on the two nodes of each road segment. The radius R is the base radius R0 and the positioning accuracy R... x The method involves drawing two common external tangents to two circles on the same road segment. These two tangents, combined with the two circles, form a smooth, pocket-shaped region. Connecting these smooth, pocket-shaped regions end-to-end across all road segments creates a linear electronic fence. This method can quickly generate high-precision linear electronic fences, enabling timely and accurate detection of vehicle deviations.

Description

Technical Field

[0001] This invention relates to the field of vehicle navigation technology, and in particular to a linear electronic fence calculation method based on path planning. Background Technology

[0002] In existing technologies, vehicle geofencing involves drawing a graphical area on a map using a GPS vehicle management cloud platform. When a vehicle equipped with a GPS locator enters or leaves this area, the monitoring system triggers relevant processing procedures according to pre-set conditions and sends an alert to the fleet manager. The fleet manager can proactively send alarm information to the onboard monitoring platform when vehicles enter or leave a specific area, which can prevent undesirable vehicle behavior, improve vehicle safety, and standardize vehicle management.

[0003] Currently, vehicle geofences are classified into two types according to different standards, such as... Figure 1 As shown, there are two types of electronic fences: one is a regular-shaped electronic fence, such as a circle or rectangle; the other is a hand-drawn irregular-shaped electronic fence. However, for navigation routes with high real-time variability and long lengths, neither of these electronic fence methods is accurate or convenient enough. Especially when the vehicle's positioning system experiences unavoidable positioning errors during driving (for example, when driving in tunnels or mountainous areas, the vehicle's GPS positioning signal is poor, resulting in positioning deviation), it becomes impossible to accurately limit the range of the entire route. This leads to the inability to detect and alert long-distance transport trucks and other vehicles that have deviated from their routes in a timely manner, and may also result in false alarms. In addition, the existing electronic fence generation methods are slow to automatically generate electronic fences for navigation routes with long and variable straight-line distances.

[0004] Therefore, it is necessary to design a dedicated electronic fence for vehicle route planning and navigation to improve the accuracy of the electronic fence and the speed of its automatic planning. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] This invention provides a linear electronic fence calculation method based on path planning. By using the driving route as the center and calculating the electronic fence of the navigation route according to the road conditions of the positioning system, a high-precision electronic fence driving route can be generated quickly, enabling cloud platforms or fleet managers to detect vehicles deviating from their routes in a timely and accurate manner.

[0007] (II) Technical Solution

[0008] This invention provides a linear electronic fence calculation method based on path planning, comprising the following steps:

[0009] S1: Obtain the vehicle's navigation route;

[0010] S2: Set the basic radius R0 of the electronic fence according to the navigation path;

[0011] S3: Determine each segment of the journey based on the adjacent nodes on the navigation path;

[0012] S4: Obtain the positioning accuracy R at each node on the navigation path. x The positioning accuracy R x This refers to the positioning error distance of the vehicle's positioning system at the current node, affected by the surrounding environment.

[0013] S5: Using the two nodes of each road segment as centers, draw two circles with radius R, where radius R is the base radius R0 and the positioning accuracy R... x The sum, i.e., R = R0 + R x Two common external tangents are drawn on the two circles on the same road segment. The two common external tangents and the two circles combine to form a smooth pocket-shaped region. The smooth pocket-shaped regions of all road segments are connected end to end, and only the outer lines of the overlapping parts are retained, thereby forming a linear electronic fence.

[0014] Preferably, the vehicle is a vehicle in a platoon, and all vehicles in the same platoon follow the same navigation path.

[0015] Preferably, a navigation route is generated based on the input starting point, destination, and waypoints.

[0016] Preferably, the base radius R0 is determined based on the total width of the widest road on the navigation path, and the base radius R0 is half the total width of the widest road.

[0017] Preferably, the basic radius R0 is an empirical value that is preset by humans.

[0018] Preferably, the navigation path is a set of all road IDs on the path, obtained by retrieving the Roads array from the map API using Amap.RoadInfoSearch, and then obtaining the node set {P0, P1, P2, P3, ..., P} for the entire road. n-1 P n}, where P0 is the starting point, P n As the endpoint, each pair of adjacent nodes forms a line segment (P0, P1) as road segment C0, (P1, P2) forms road segment C1, (P2, P3) forms road segment C2, and so on (P... n-1 P n Forming section C n-1 The subscript n represents the total number of road segments.

[0019] Preferably, the positioning accuracy Rx The positioning error model is as follows:

[0020] a) When the number of satellites received X < 4, R x =R un And in the message "System not located", R um This is the error constant for the positioning failure;

[0021] b) When the number of satellites received X ≥ 4, R x =N / log a (bX+c), where N, a, b, and c are function parameter constants.

[0022] Preferably, the number of satellites X or the positioning signal strength obtained by the lead vehicle in the convoy when it passes the preceding node is obtained, thereby calculating the positioning accuracy R corresponding to each node. x .

[0023] Preferably, based on statistics from the vehicle-to-everything (V2X) big data system, other vehicles at node P are obtained. x The number of satellites received or the positioning signal strength at each location are used to calculate the average of the number of satellites received or the positioning signal strength at multiple vehicles. This average is then used as the number of satellites received (X) or the positioning signal strength at each location. This allows for the estimation of the positioning accuracy (R) for each node. x .

[0024] In another aspect, the present invention also discloses a linear electronic fence calculation system based on path planning, characterized in that it includes at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the linear electronic fence calculation method based on path planning described above by calling the program instructions.

[0025] (III) Beneficial Effects

[0026] The linear electronic fence calculation method based on path planning of the present invention has the following advantages:

[0027] 1) The linear electronic fence calculation method based on path planning of the present invention can support the automatic generation of electronic fences for vehicles on long-distance driving navigation routes. Compared with the establishment of irregular fences, the linear electronic fence generated by the method of the present invention is faster, and the outer surface of the linear electronic fence is a smooth contour composed of curves and straight lines, which makes it easy for the cloud platform to determine whether the vehicle exceeds the range of the linear electronic fence. In addition, the electronic fence formed is highly reusable and can be quickly applied to vehicles of the same task fleet, making it more suitable for the management of fixed route transportation vehicles.

[0028] 2) Considering that different road conditions can affect the accuracy of GPS positioning, and that GPS positioning errors can affect the accurate judgment of whether a vehicle has deviated from its route within the electronic fence (road width is generally around 10m to 30m, while the positioning accuracy error of civilian GPS can be as high as 3m to 10m), this invention generates different positioning radii based on GPS signals from different nodes along the path, which are consistent with the road conditions of each node. The electronic fences of each road segment with the common tangent are smoothly connected, and finally, they overlap to form a linear electronic fence that conforms to the specific road conditions. This ensures the accuracy of the range defined by the generated linear electronic fence, so that the cloud platform can promptly and accurately remind the vehicle that it has deviated from the route, and avoid false alarms caused by GPS positioning errors when the vehicle is traveling within the route range.

[0029] 3) Furthermore, the linear electronic fence of this invention is easier to modify. The basic radius R0 for different vehicles and routes can be configured by manually modifying or automatically acquiring parameters in advance. The positioning accuracy distance R can also be adjusted according to the positioning accuracy of different types of positioning systems (such as various civilian GPS, BeiDou, or GLONASS). x The basic parameters N, a, b, c, and R in the data are: un This ensures that the method can be adapted to the actual situation to form a variable node positioning radius R, making it suitable for vehicle driving monitoring scenarios with various configurations and environments. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the types of electronic fences for vehicles in the existing technology;

[0032] Figure 2 It is a schematic diagram of the planned navigation route;

[0033] Figure 3 This is a diagram showing the nodes of the navigation path;

[0034] Figure 4 This is a flowchart of the linear electronic fence calculation method based on path planning in this invention;

[0035] Figure 5 The positioning accuracy distance R in this invention x A schematic diagram illustrating the changing trend of the sublogarithmic function;

[0036] Figure 6 This is a schematic diagram of the linear electronic fence generated under case 1 by the linear electronic fence calculation method based on path planning in this invention;

[0037] Figure 7 This is a schematic diagram of the linear electronic fence generated in case 2 using the path planning-based linear electronic fence calculation method of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0039] In existing technologies, the width of the electronic fence for vehicles in a platoon is generally fixed based on the lane width, which is typically between 10m and 40m (depending on the number of roads, such as national highways, mountain roads, and expressways). The positioning accuracy error of civilian GPS and other positioning systems can sometimes be as high as 3m to 10m. Therefore, different road conditions can affect the accuracy of GPS positioning on the vehicle, especially when the positioning accuracy error and the road width are on the same order of magnitude (for example, when urban and rural roads are 10m wide and the GPS positioning error is as high as 5m). In such cases, the GPS positioning accuracy error can easily affect the accurate judgment of whether the vehicle has deviated from the fixed electronic fence route, and electronic fences generally have relatively high accuracy requirements for the defined range.

[0040] To address the challenge of electronic fence monitoring of the entire driving route while reducing unnecessary vehicle out-of-range warnings, this invention designs a linear electronic fence calculation method based on path planning, centered on the driving route. This improves the accuracy and automatic planning speed of the electronic fence, enabling it to better adapt to navigation environments such as long-distance vehicle platooning, thereby facilitating the management of fixed-route transport vehicles.

[0041] See Figure 2-4 As shown, this invention proposes a linear electronic fence calculation method based on path planning, comprising the following steps:

[0042] S1: Obtain the vehicle's navigation route.

[0043] In step S1, the vehicles can be those in a platoon. Vehicles in the same platoon share the same navigation path, and each vehicle in the platoon can upload its corresponding vehicle information to the cloud server, thereby enabling information sharing and communication between vehicles. Furthermore, the lead vehicle can generate a navigation path on the in-vehicle map based on the driver's input of the starting point, destination, and waypoints, and send the information to the cloud server. A schematic diagram of the navigation path on the map can be found here. Figure 2 .

[0044] S2: Set the basic radius R0 of the electronic fence according to the navigation path.

[0045] In this implementation, considering that roads are categorized into national highways, mountain roads, and expressways, and that the total width of roads varies significantly depending on the number of roads and the configuration of one-way and two-way lanes, the total lane width of each road segment on the navigation path is inconsistent. An excessively wide or narrow geofence will affect the computational load or the accuracy of the defined range. For example, if the navigation path includes a 3km long and 5m wide (base radius 2.5m) one-way road segment and a 5km long and 10m wide (base radius 5m) national highway segment, and no expressway segment (whose base radius is generally over 10m and width over 20m), if the base radius R0 of the entire geofence is set to the 2.5m base radius of the one-way road segment, false alarms of vehicles exceeding the range are likely to occur when vehicles are driving normally on the national highway segment. If the base radius R0 of the entire geofence is uniformly fixed at the maximum base radius of 15m (i.e., 30m wide) of the expressway segment, then… Electronic fences for navigation routes only on one-way streets and national highways can lead to inaccurate coverage, easily resulting in vehicles exceeding the restricted area on national highways without timely detection and warnings. Furthermore, if each segment of the navigation route has a corresponding width for its road type (e.g., a base radius of 2.5m for a 3km long one-way street and 5m for a 5km long national highway segment), while fence accuracy improves, the long-distance electronic fences may be less effective due to the frequent intersections and segmentations of national highways and one-way streets in actual driving. Figure 1 Irregular fences are more complex, leading to a surge in the computational workload for generating electronic fences and for calculating areas outside the fence's limits. Therefore, setting a uniform base radius R0 for the electronic fence can ensure the accuracy of the defined area and reduce unnecessary computation.

[0046] Based on this, and considering that the actual road width may vary depending on the road information along the navigation path, the standardized base radius R0 of the electronic fence for the entire navigation path can be preset in the following way:

[0047] (A) The basic radius R0 is set in advance by the driver; for example, the basic radius R0 can be an empirical value determined by the driver based on the driving experience on the previous navigation route, so that the modification of the linear electronic fence is more convenient.

[0048] (B) The base radius R0 is automatically determined based on the total width of the widest road on the navigation path; that is, the base radius R0 is half the total width of the widest road on the navigation path. For example, when there are one-way streets, national highways and expressways on the navigation path, the base radius corresponding to the maximum road width of the expressway section is taken as 10-15m (even for expressways, the maximum road width may vary depending on whether there are six or four lanes) and uniformly used as the base radius R0 for the entire navigation path. Although this reduces the sensitivity to exceeding the range on narrow roads such as one-way streets and national highways, it can effectively reduce the amount of calculation for linear electronic fence planning and judgment while ensuring that the restriction range is generally accurate, which is especially effective for long-distance navigation paths.

[0049] It is worth mentioning that "determining the base radius R0 based on the widest road type on the navigation path" can be done automatically by software. For example, a cloud server can obtain the total width L of the widest road on the navigation path by uploading navigation path information, and then set L / 2 as the same base radius R0 for the electronic fence.

[0050] S3: Determine the various segments of the journey based on the neighboring nodes on the navigation path.

[0051] See Figure 3 As shown, in this embodiment, the planned navigation path is a set of all road IDs on the path. The `Roads` array is obtained through the map API `Amap.RoadInfoSearch`, where the road attribute `polylines` represents the set of road nodes. Therefore, the node set {P0, P1, P2, P3, ..., P} of the entire road can be obtained. n-1 P n}, where P0 is the starting point, P n The endpoint is determined by the intersection of the two adjacent nodes. Each pair of adjacent nodes forms a line segment (P0, P1) as road segment C0, (P1, P2) forms road segment C1, (P2, P3) forms road segment C2, and so on (P...). n-1 P n Forming section C n-1 The index n represents the total number of road segments, and the total number of nodes is n+1, with neighboring nodes P... n It can be any type of point on an electronic map, such as intersections or points of interest.

[0052] S4: Obtain the positioning accuracy R at each node on the navigation path. x Positioning accuracy Rx This refers to the positioning error distance of the vehicle's positioning system at the current node, affected by the surrounding environment.

[0053] In this embodiment, let x = 0, 1, 2, ..., n, because each node P x The vehicle's location is affected by the surrounding environment during its journey, leading to different positioning states and thus affecting the accuracy of the positioning. For example, a vehicle traveling on a highway with a basic radius R0 of 10m may be incorrectly positioned on a rural road more than 5m away from the highway edge due to obstacles such as mountains around the road. In other words, the vehicle's location on the map is now far from node P. x At a distance of 15m from the center, the positioning accuracy R is... x The distance was more than 5 meters, which led to the incorrect judgment that the vehicle was outside the 10-meter radius of the electronic fence.

[0054] Considering that acquiring 4 satellites generally guarantees positioning, and that acquiring more satellites results in higher positioning accuracy with less impact, it is generally accepted that once the number of satellites acquired reaches a certain level, maintaining positioning accuracy and positioning error is essentially considered to remain constant. Therefore, this invention further defines the following positioning accuracy R. x Positioning error model:

[0055] a) When the number of satellites received X < 4, R x =R un The navigation system displays a message saying "System not located". um This is the error constant for the positioning failure;

[0056] b) When the number of satellites received X ≥ 4, R x =N / log a (bX+c), where N, a, b, and c are function parameter constants.

[0057] See Figure 5 The logarithmic function curve in log a As can be seen from x, in the positioning error model of the present invention, the function constants N, a, b, c, and R... un This can generally be determined based on the specific hardware model of different positioning systems, because the positioning accuracy varies between different positioning systems or even between different hardware models within the same type of positioning system. The preset function constants N, a, b, c, and error constant R are used. un After setting, when the number of satellites received (X) is greater than or equal to 4, the positioning accuracy distance (R) is [not specified]. x Then, as X increases, R gradually decreases non-linearly until the number of satellites X reaches a certain threshold. x If the position remains essentially unchanged, the positioning system is least affected by the environment. For example, the positioning error R of a high-precision GPS positioning system...x The minimum value is as low as 0.1m. Furthermore, similar to the number of satellites received (X), the positioning signal strength of the positioning system can also be chosen as a metric for calculating the positioning accuracy (R). x The basis for the variables.

[0058] It should be noted that the positioning accuracy R x In reality, the system reports the positioning error values ​​for each node, while the vehicle requiring navigation has not yet reached the next node P. x Therefore, it is actually necessary to address R. x Pre-measurement or estimation, including but not limited to the following methods:

[0059] 1. For vehicles in a convoy, following vehicles obtain the path previously taken by the lead vehicle to the preceding node P. x The number of satellites received at a location, X, or the positioning signal strength, is used to calculate the positioning accuracy, R, in advance. x ;

[0060] 2. For lone vehicles, the location of other vehicles at node P can also be determined based on statistics from the vehicle-to-everything (V2X) big data system. x The number of satellites received or the positioning signal strength at a location are calculated by averaging the number of satellites received or the signal strength of multiple vehicles as the number of satellites received (X) or the signal strength, thereby pre-estimating the location of node P. x Positioning accuracy R x .

[0061] S5: Using the two nodes of each road segment as centers, draw two circles with radius R, where R = R0 + R x That is, the radius R is the base radius R0 and the positioning accuracy R x The sum of the two circles on the same road segment is used to draw two external common tangents, one above the other. The two external common tangents and the two circles combine to form a smooth pocket-shaped region. The smooth pocket-shaped regions of all road segments are connected end to end, and only the outer lines of the overlapping parts are retained, thus forming a linear electronic fence.

[0062] In this embodiment, each line segment automatically generates two outlines, upper and lower, for road segment C. m The corresponding smooth sac-like region can be geometrically represented as L m =C m ±(R0+R x This involves drawing a circular region with radius R for each node. The circle and its external common tangent form a closed region, creating a smooth, pocket-like area. It's worth noting that because R0 is a preset fixed value, R... x Since the positioning accuracy distance is determined based on different nodes, it will change accordingly with different environments at different nodes, resulting in the circular radius R = R0 + R xThe value will vary within a certain range depending on the situation of different nodes. In addition, the linear electronic fence of the present invention is composed of each road segment connected in series. Each road segment is extended to form a closed smooth capsule-shaped area. The exterior of the smooth capsule-shaped area is composed of a circular outer curve and an outer common tangent. After two smooth capsule-shaped areas overlap and connect, the internal lines of the overlapping parts of multiple circular areas are removed, and only the outer lines of the overlapping parts are retained, thus forming a linearized and relatively regular linear electronic fence.

[0063] It should be noted that the range limitation of this smooth, sac-like region takes into account not only the width of the road itself, but also the error of the positioning system, and ensures that the accuracy of the limited area it forms is high enough, and that the calculation speed for generating the image and judging the over-limit is fast enough.

[0064] See Figure 6-7 As can be seen, this invention takes four nodes as an example (the actual navigation path has far more than four nodes), and respectively according to... Figure 6 straight path and Figure 7 The non-linear path is used to construct the sac-like region, and the signal strength of each node in the figure is as follows: the positioning signal of point A is stronger than that of point B, the positioning signal of point C is stronger than that of point B, and the information strength of points C and D is similar. See also Figure 6 It can be seen that because the signal at point B is significantly weak, R x The value is relatively large, so the radius of the circle at point B is larger than that at points A, C, and D. Furthermore, because the outer perimeter is a common external tangent, the segments connecting the top and bottom of ABCD are all broken line segments formed by connecting these common external tangents. Additionally, see [link to other documentation]. Figure 7 It can be seen that, with Figure 6 different, Figure 7 ABC and BCD are right angles, meaning the angles at points B and C are right angles. Because the positioning signal strength and satellite reception count (X) differ between points B and C, their AB and BC segments respectively form two irregular, smooth, pocket-shaped regions. Points C and D, due to similar signal strength, form a long, narrow region shaped like a waist. Therefore, regardless of the situation, the linear electronic fence formed by multiple smooth, pocket-shaped regions of this invention can effectively represent its restricted area using circular and linearized mathematical formulas, facilitating rapid graphic generation and dynamic programming-based limit exceedance judgment.

[0065] In another aspect, the present invention also claims a linear electronic fence calculation system based on path planning, comprising at least one processor; and at least one memory communicatively connected to the processor, wherein the memory stores program instructions executable by the processor, and the processor, by invoking the program instructions, can execute the aforementioned linear electronic fence calculation method based on path planning. This calculation system is preferably located on a cloud server.

[0066] The methods described above can be converted into software program instructions, which can be implemented using a system including a processor and memory, or by computer instructions stored in a non-transitory computer-readable storage medium. The integrated units implemented as software functional units can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A linear electronic fence calculation method based on path planning, characterized in that, include: Obtain the vehicle's navigation route; Set the basic radius R0 of the electronic fence according to the navigation path; The various road segments in the journey are determined based on the adjacent nodes on the navigation path; Obtain the positioning accuracy R at each node on the navigation path. x The positioning accuracy R x This refers to the positioning error distance of the vehicle's positioning system at the current node, affected by the surrounding environment. Using the two nodes of each road segment as centers, draw two circles with radius R, where radius R is the sum of the base radius R0 and the positioning accuracy R. x The sum of the two circles on the same road segment is used to draw two external common tangents, which, together with the two circles, form a smooth pocket-shaped region. The smooth pocket-shaped regions of all road segments are connected end to end, retaining only the outer lines of the overlapping parts, thus forming a linear electronic fence.

2. The linear electronic fence calculation method based on path planning according to claim 1, characterized in that, The vehicles mentioned are those in a platoon, and all vehicles in the same platoon follow the same navigation path.

3. The linear electronic fence calculation method based on path planning according to claim 1, characterized in that, Generate a navigation route based on the input starting point, destination, and waypoints.

4. The linear electronic fence calculation method based on path planning according to claim 1, characterized in that, The base radius R0 is determined based on the total width of the widest road on the navigation path, and the base radius R0 is half the total width of the widest road.

5. The linear electronic fence calculation method based on path planning according to claim 1, characterized in that, The basic radius R0 is an empirical value that is preset by humans.

6. The linear electronic fence calculation method based on path planning according to any one of claims 1 to 5, characterized in that, The navigation path is a collection of all road IDs along the path. This is obtained by retrieving the `Roads` array from the map API using `Amap.RoadInfoSearch`, which then retrieves the node set {P0, P1, P2, P3, ..., P} for the entire road. n-1 P n }, where P0 is the starting point, P n As the endpoint, each pair of adjacent nodes forms a line segment, where (P0, P1) forms road segment C0, (P1, P2) forms road segment C1, (P2, P3) forms road segment C2, and so on (P... n-1 P n Section C is formed n-1 The subscript n represents the total number of road segments.

7. The linear electronic fence calculation method based on path planning according to any one of claims 1 to 5, characterized in that, The positioning accuracy R x The positioning error model is as follows: a) When the number of satellites received X < 4, R x = R un It also displayed the message "System not located", R un This is the error constant for the positioning failure; b) When the number of satellites received X ≥ 4, R x = N / log a (bX + c), where N, a, b, and c are constant parameters.

8. The linear electronic fence calculation method based on path planning according to claim 2, characterized in that, The number of satellites X or the positioning signal strength obtained by the lead vehicle in the convoy when it passes the node ahead are obtained, and the positioning accuracy R corresponding to each node is calculated. x .

9. The linear electronic fence calculation method based on path planning according to any one of claims 1 to 5, characterized in that, According to statistics from the vehicle-to-everything (V2X) big data system, other vehicles are at node P. x The number of satellites received or the positioning signal strength at each location are used to calculate the average of the number of satellites received or the positioning signal strength across multiple vehicles. This average is then used as the number of satellites received (X) or the positioning signal strength to estimate the positioning accuracy (R) for each node. x .

10. A linear electronic fence calculation system based on path planning, characterized in that, It includes at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor can execute the linear electronic fence calculation method based on path planning according to any one of claims 1-9 by calling the program instructions.

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