A station reporting method and device of a vehicle and a computer readable storage medium

Abstract

This application relates to the field of vehicle technology and provides a vehicle station reporting method, device, and computer-readable storage medium. This application determines multiple fenced areas for full coverage of a preset driving route based on the coordinates of the station and the coordinates of the trajectory points. This enables the vehicle to promptly and accurately identify whether it has deviated from its course based on the positional relationship between the vehicle's current position coordinates and each fenced area. During the process of the vehicle resuming normal driving from a deviated state, it can promptly track the fenced area where the vehicle is located by using the positional relationship between the current position coordinates and each fenced area. Furthermore, when it is identified that the vehicle's current position coordinates are located in the circular or rectangular fenced area corresponding to the station, it can immediately report the station based on the distance between the vehicle and the station, thereby achieving timely and accurate station reporting and effectively reducing the occurrence of missed and incorrect reports.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a method, apparatus and computer-readable storage medium for announcing stops for vehicles. Background Technology

[0002] Currently, buses automatically announce stops while in operation. Specifically, when a bus enters or leaves a stop, the announcement program broadcasts the arrival or departure information. This information can include the stop number, stop name, and arrival / departure status, allowing passengers to easily understand the vehicle's operating status.

[0003] However, current station announcement methods generally suffer from the problem of failing to announce stations in a timely and accurate manner, resulting in a poor user experience. Summary of the Invention

[0004] This application provides a vehicle station announcement method, apparatus, and computer-readable storage medium, which can solve the problem that current station announcement methods cannot announce stations in a timely and accurate manner.

[0005] In a first aspect, embodiments of this application provide a method for vehicle announcement at designated stops, comprising:

[0006] Obtain the station announcement file; the station announcement file stores the coordinates of stations included in the preset driving route, as well as the coordinates of trajectory points located between two adjacent stations;

[0007] Based on the coordinates of the stations and the coordinates of the trajectory points, multiple fenced areas are determined to fully cover the preset driving route. The fenced areas include: circular fenced areas corresponding to each station and trajectory point with a preset radius, and multiple rectangular fenced areas with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of the rectangles.

[0008] During vehicle operation, the vehicle's current position coordinates are collected at preset time intervals;

[0009] The vehicle's yaw is identified and tracked based on its current location coordinates and the positional relationship between each fenced area.

[0010] When the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station, a station announcement is made based on the distance between the vehicle's current location coordinates and the station.

[0011] Secondly, embodiments of this application provide a vehicle announcement device, comprising:

[0012] The acquisition unit is used to acquire the station report file; the station report file stores the coordinates of the stations included in the preset driving route, as well as the coordinates of the trajectory points located between two adjacent stations;

[0013] The determining unit is used to determine multiple fenced areas for full coverage of the preset driving route based on the coordinates of the station and the coordinates of the trajectory point; the fenced areas include: circular fenced areas corresponding to each station and trajectory point with each station and trajectory point as the center and based on a preset radius, and multiple rectangular fenced areas with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of rectangles.

[0014] The data acquisition unit is used to acquire the current position coordinates of the vehicle at preset time intervals during vehicle operation.

[0015] A yaw recognition and tracking unit is used to recognize and track the vehicle's yaw based on the vehicle's current position coordinates and the positional relationship between each fenced area;

[0016] The station reporting unit is used to report a station based on the distance between the vehicle's current location coordinates and the station when the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station.

[0017] Thirdly, embodiments of this application provide a station announcement device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0018] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0019] In this embodiment, multiple fenced areas are determined based on the coordinates of stations and trajectory points to provide full coverage of the preset driving route. This allows the vehicle to promptly and accurately identify whether it has deviated from its course based on the positional relationship between its current location coordinates and the various fenced areas. After a vehicle deviates, it can be tracked in a timely manner using the positional relationship between its current location coordinates and the various fenced areas. This enables the station reporting device to quickly determine whether the vehicle has recovered from the deviation and returned to the preset driving route. When the vehicle returns to the preset driving route, it can accurately locate the fenced area where the vehicle is located. Furthermore, when the current location coordinates of the vehicle are identified as being within the circular or rectangular fenced area corresponding to the station, the station reporting process can be initiated immediately based on the distance between the vehicle and the station. This achieves timely and accurate station reporting, effectively reducing the occurrence of missed and incorrect reporting. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram illustrating the implementation process of a vehicle station announcement method provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the fenced area provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the entry and exit ranges provided in the embodiments of this application;

[0024] Figure 4 This is a schematic diagram of the first implementation process of step 104 of a vehicle station announcement method provided in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the second implementation process of step 104 of a vehicle station announcement method provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the third implementation process of step 104 of a vehicle station announcement method provided in an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of the fourth implementation process of step 104 of a vehicle station announcement method provided in this application embodiment;

[0028] Figure 8This is a schematic diagram of the fifth implementation process of step 104 of a vehicle station announcement method provided in this application embodiment;

[0029] Figure 9 This is a schematic diagram of the Q-shaped route provided in the embodiments of this application;

[0030] Figure 10 This is a schematic diagram of the cross-shaped route provided in the embodiments of this application;

[0031] Figure 11 This is a schematic diagram of the station announcement device provided in the second embodiment of this application;

[0032] Figure 12 This is a schematic diagram of the station announcement device provided in the third embodiment of this application. Detailed Implementation

[0033] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0034] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0035] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0036] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0037] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0039] Currently, the main methods for automatic station announcement in related technologies are as follows: one is to announce stations based on the station order and by real-time detection of the distance between the current GPS coordinates and the station coordinates; the second is to collect trajectory points on the vehicle's driving path, treat each station as a special trajectory point, and calculate the distance between the bus and the trajectory point to announce the station. However, both of these methods are prone to problems with timely and accurate station announcements.

[0040] The first method of reporting stations, which relies solely on the station number and the distance between the current GPS coordinates and the station coordinates, cannot accurately identify stations in Q-shaped and cross-shaped road conditions, thus causing premature or incorrect station reporting.

[0041] The second method of station announcement has a gap between the two track points. Therefore, when a vehicle deviates from the designated route and then re-enters the normal route, this method cannot quickly determine whether it is on the correct route, which may lead to missed announcements. For example, if a vehicle deviates from the designated route and re-enters the gap between the track point and the station, it needs to travel at least two track points before it can be determined that the vehicle is on the designated route. As a result, even if the vehicle passes a station during this period, it will not announce the station, leading to missed announcements.

[0042] To address the aforementioned issues, this application provides a vehicle station announcement method, apparatus, and computer-readable storage medium, which can solve the problem that current station announcement methods cannot announce stations in a timely and accurate manner.

[0043] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation process of a vehicle stop announcement method according to the first embodiment of this application. The stop announcement method in this embodiment is executed by a stop announcement device on a stop announcement equipment. This stop announcement equipment can be configured on operating vehicles such as buses, trains, and high-speed trains, or other non-operating vehicles; this application does not limit the type of vehicle. For ease of description, a bus will be used as an example below to illustrate the solution of this application.

[0044] like Figure 1 The station reporting method shown may include steps 101 to 105.

[0045] Step 101: Obtain the station announcement file. This station announcement file stores the coordinates of the stations included in the preset driving route, as well as the coordinates of the track points located between two adjacent stations.

[0046] In this embodiment, when the vehicle is a bus, the stops included in the preset route are bus stops, and one or more track points can be set between every two bus stops. The aforementioned stop announcement file can be pre-stored in the vehicle's stop announcement device. When the vehicle is traveling on the preset route, the stop announcement device reads the stop announcement file and executes the methods described in steps 102 to 105 below to announce the stops.

[0047] In this embodiment, when creating the station announcement file, the coordinates of stations and trajectory points can be collected as the vehicle travels along a preset route, or the coordinates of each station included in the preset route can be obtained from map software. A trajectory point is set at a preset distance interval along the preset route; for example, a trajectory point is set at a 200m interval along the preset route, thus obtaining the coordinates of each trajectory point between two adjacent stations. This application does not limit the process of creating the station announcement file.

[0048] In some embodiments of this application, during the process of creating the station announcement document, each station and track point can be numbered sequentially according to the time sequence of each station and track point passed by the vehicle during normal driving on the preset route.

[0049] For example, the stops and track points on the upbound bus route can be numbered sequentially. When both the upbound and downbound bus routes contain 200 stops and track points, the stops and track points on both routes can be numbered sequentially starting from 1, with the last stop numbered 400.

[0050] It should be noted that, in order to more accurately identify yaws, a trajectory point can be set on each curve of the preset driving route when creating the station announcement file.

[0051] Step 102: Determine multiple fenced areas for full coverage of the preset driving route based on the coordinates of the station and the coordinates of the trajectory points.

[0052] In this embodiment of the application, the above-mentioned fenced area includes: circular fenced areas corresponding to each station and each trajectory point with each station and each trajectory point as the center and based on a preset radius, and multiple rectangular fenced areas obtained with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of rectangles.

[0053] Specifically, such as Figure 2 As shown in the figure, points Q1 and Q3 are stations, and points Q2 and Q4 are trajectory points. The lines connecting each trajectory point and station represent the preset driving route. Circles are drawn with centers at Q1, Q2, Q3, and Q4, and based on preset radii, to obtain the circular fenced areas (circular areas in the figure) corresponding to Q1, Q2, Q3, and Q4 respectively. Using the points of tangency A, B, C, and D on the two external tangent lines of the circular fenced areas corresponding to adjacent points Q1 and Q2 as vertices of a rectangle, the rectangular fenced area ABCD corresponding to points Q1 and Q2 can be obtained. Similarly, using the points of tangency C, D, E, and F on the two external tangent lines of the circular fenced areas corresponding to adjacent points Q2 and Q3 as vertices of a rectangle, the rectangular fenced area CDEF corresponding to points Q2 and Q3 can be obtained. Figure 2 The method shown can be used to obtain the various fenced areas that cover the entire preset driving route.

[0054] In some embodiments of this application, the number of each fenced area may be the same as the number of its associated station or track point.

[0055] For example, when point Q1 is station number 1 and point Q2 is trajectory point number 2, the circular fence area Q1 and rectangular fence area ABCD corresponding to point Q1 can be numbered 1, and the circular fence area Q2 and rectangular fence area CDEF corresponding to point Q2 can be numbered 2, and so on, to obtain the fence area numbers for each trajectory point and station. Among them, rectangular fence areas ABCD and CDEF are two consecutively numbered rectangular fence areas.

[0056] The aforementioned preset radius can be determined based on practical experience.

[0057] In one embodiment, the preset radius can be 70m.

[0058] Step 103: During the vehicle's operation, collect the vehicle's current position coordinates at preset time intervals.

[0059] In this embodiment, the vehicle's current location coordinates can be GPS coordinates.

[0060] The aforementioned preset time intervals can be determined based on practical experience.

[0061] In one embodiment, the aforementioned preset time interval can be 1 second.

[0062] Step 104: Based on the vehicle's current location coordinates and the positional relationship between each fenced area, the vehicle's yaw is identified and tracked.

[0063] In this embodiment of the application, during the vehicle's operation, the vehicle's yaw is identified in real time based on the positional relationship between the vehicle's current position coordinates and each fenced area. When the vehicle yaw is detected, the vehicle is tracked in a timely manner based on the positional relationship between the vehicle's current position coordinates and each fenced area. This allows the vehicle to be detected as soon as it resumes normal driving, and step 105 is then executed to achieve the purpose of timely and accurate station reporting.

[0064] Step 105: When the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station, a station announcement is made based on the distance between the vehicle's current location coordinates and the station.

[0065] In this embodiment of the application, each site may have two rectangular fence areas and one circular fence area.

[0066] Specifically, such as Figure 2 As shown, the rectangular fence area corresponding to site Q3 can include rectangular fence area CDEF and rectangular fence area GIJK, and the corresponding circular fence area is circle Q3.

[0067] The above-mentioned station announcement process includes both entry and exit procedures.

[0068] In one embodiment of this application, when the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station, the above-mentioned station reporting process based on the distance between the vehicle's current location coordinates and the station can be implemented using the following steps A01 to A03.

[0069] Step A01: When the vehicle arrives at the trajectory point associated with the station, start detecting whether the distance between the vehicle's current position coordinates and the station is within the station's entry range.

[0070] The trajectory point associated with the station refers to the last trajectory point that the vehicle passes through before arriving at the station.

[0071] Specifically, such as Figure 2 As shown, when the vehicle travels from Q1 to Q4, point Q2 is the trajectory point associated with station Q3.

[0072] In one embodiment, to avoid delayed station announcements (i.e., only announcing a station when the vehicle is very close), this application ensures that the distance between each station and its preceding trajectory point (the trajectory point associated with the station) is greater than a preset distance (e.g., 100 meters) during trajectory point collection. Furthermore, when the vehicle reaches the trajectory point associated with the station, station announcement detection begins; that is, it checks whether the distance between the vehicle and the station is within the station's entry range, so that an entry message is broadcast promptly when the distance between the vehicle and the station is within the station's announcement range.

[0073] Step A02: When the distance between the vehicle's current location coordinates and the station is within the station's entry range, broadcast an entry message and start detecting whether the distance between the vehicle's current location coordinates and the station is within the station's exit range;

[0074] Step A03: When the distance between the vehicle's current location coordinates and the station is within the station's departure range, broadcast a departure message.

[0075] For example, such as Figure 3 As shown, when the vehicle arrives at trajectory point Q2 associated with the station, station announcement detection begins. That is, it starts to check whether the distance between the vehicle's current position coordinates and the station is within the station's entry range (0-R1). If the distance between the vehicle's current position coordinates and the station is within the station's entry range, an entry message is broadcast. Then, it starts to check whether the distance between the vehicle's current position coordinates and the station is within the station's exit range (R1-R2). If the distance between the vehicle's current position coordinates and the station is within the station's exit range, an exit message is broadcast.

[0076] It should be noted that, in this embodiment of the application, when the vehicle veers off course and returns to the circular or rectangular fenced area corresponding to the station, it directly starts detecting whether the distance between the vehicle's current position coordinates and the station is within the station's entry range or exit range. When the distance between the vehicle's current position coordinates and the station is within the station's entry range, steps A02 and A03 are then executed. When the distance between the vehicle's current position coordinates and the station is within the station's exit range, an exit message is broadcast directly.

[0077] In this embodiment, multiple fenced areas are determined based on the coordinates of stations and trajectory points to provide full coverage of the preset driving route. This allows the vehicle to promptly and accurately identify whether it has deviated from its course based on the positional relationship between its current location coordinates and the various fenced areas. After a vehicle deviates, it can be tracked in a timely manner using the positional relationship between its current location coordinates and the various fenced areas. This enables the station reporting device to quickly determine whether the vehicle has recovered from the deviation and returned to the preset driving route. When the vehicle returns to the preset driving route, it can accurately locate the fenced area where the vehicle is located. Furthermore, when the current location coordinates of the vehicle are identified as being within the circular or rectangular fenced area corresponding to the station, the station reporting process can be initiated immediately based on the distance between the vehicle and the station. This achieves timely and accurate station reporting, effectively reducing the occurrence of missed and incorrect reporting.

[0078] Specifically, in this embodiment of the application, in the process of implementing step 104 above, which involves identifying and tracking the vehicle's yaw based on the current coordinates of the vehicle and the positional relationship between each fenced area, the following can be used as a basis: Figure 4 , Figure 5 , Figure 6 The method of vehicle yaw detection and through Figure 7 and Figure 8 The method is to track the vehicle after it veers off course.

[0079] Optionally, in one embodiment, such as Figure 4 As shown, the vehicle yaw identification and tracking in step 104 above can be achieved using the following steps 401 to 403.

[0080] Step 401: Detect whether the fenced area where the vehicle is currently located is a rectangular fenced area.

[0081] Step 402: When the fenced area where the vehicle is currently located is a rectangular fenced area, detect whether the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is greater than the first difference threshold.

[0082] Step 403: If the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is greater than the first difference threshold, then the vehicle is determined to be veered off course, and the vehicle is tracked until it is tracked back to normal driving in the fenced area.

[0083] Specifically, such as Figure 2As shown, when the vehicle is located in the sector area a, it is only located in the circular fence area. Since the circular fence area does not have an azimuth angle, it is impossible to detect whether the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fence area where the vehicle is currently located is greater than the first difference threshold. That is, it is impossible to determine whether the vehicle is veerging based on the azimuth angle. Therefore, when performing veergence identification on the vehicle based on the azimuth angle, it is necessary to first detect whether the fence area where the vehicle is currently located is a rectangular fence area.

[0084] In this embodiment of the application, when the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is less than or equal to a first difference threshold, it indicates that the vehicle is driving normally on the preset route; when the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is greater than the first difference threshold, it indicates that the vehicle is in an abnormal driving situation with a large turn, and therefore, it can be determined that the vehicle is in a yaw state at this time.

[0085] Optionally, in some embodiments of this application, to avoid misjudging a vehicle's abnormal driving situation of making sharp turns when turning the steering wheel left or right during normal driving, the aforementioned first difference threshold can be determined in the following way: calculating the difference α between the azimuth angle of the rectangular fence area where the vehicle is currently located and the azimuth angle of the previous rectangular fence area. diff‘ If the angle is greater than or equal to 90°, then the first difference threshold mentioned above is determined as α. diff‘ +45°, if yes, then it is determined that there is a sharp turn in the preset driving route, and the first difference threshold mentioned above is set to 175° to avoid using α. diff‘ Using +45° as the first difference threshold leads to misjudgments.

[0086] It should be noted that when the rectangular fence area where the vehicle is currently located is the first rectangular fence area on the preset driving route, since there is no previous rectangular fence area, the first difference threshold can be directly set to a fixed value, for example, 60°.

[0087] Additionally, it should be noted that in practical applications, the azimuth angle corresponding to the vehicle's current position coordinates can refer to the vehicle's direction of motion angle. This angle can be obtained by calculating the angle between the line connecting the vehicle's current position coordinates and its previous position coordinates and the reference direction, or by using motion sensors on the vehicle. The azimuth angle of the rectangular fence area can be obtained by calculating the angle between the line connecting two tangent points (e.g., tangent point AB) located on the same circular fence and the reference direction.

[0088] The aforementioned reference direction can be due north or other directions, and this application does not impose any restrictions on this.

[0089] Optionally, in one embodiment, such as Figure 5 As shown, the vehicle yaw identification and tracking in step 104 above can also be achieved based on the following steps 501 to 502.

[0090] Step 501: Detect whether the vehicle's current position coordinates are located within the fenced area where the vehicle's previous position coordinates are located or within the next fenced area of ​​the fenced area where the previous position coordinates are located.

[0091] Step 502: If not, determine that the vehicle has veered off course and track the vehicle until it is found to be driving normally again within the fenced area.

[0092] In this embodiment, when the vehicle's current location coordinates are located within the fenced area of ​​the vehicle's previous location coordinates or within the next fenced area of ​​the previous location coordinates, it indicates that the vehicle is driving normally along the predetermined preset driving route. When the vehicle's current location coordinates are neither located within the fenced area of ​​the vehicle's previous location coordinates nor within the next fenced area of ​​the previous location coordinates, it indicates that the vehicle has deviated from its course (for example, the vehicle is taking a detour, or the vehicle has lost its GPS signal for a period of time and then regained the GPS signal, resulting in the vehicle's current location coordinates not being located within the fenced area of ​​the vehicle's previous location coordinates or within the next fenced area of ​​the previous location coordinates), and the vehicle needs to be tracked.

[0093] It should be noted that, in this embodiment of the application, the station announcement device may only perform the above-described functions. Figure 4 and Figure 5 Any of the yaw detection methods in the literature can be used to detect vehicle yaw, or it can be executed simultaneously. Figure 4 and Figure 5 These two yaw detection methods provide a more comprehensive way to detect whether a vehicle is yawing.

[0094] When the station announcement equipment has the above features Figure 4 and Figure 5 When the yaw recognition function is shown, such as Figure 6 As shown, the vehicle yaw identification and tracking in step 104 above can be achieved by using the following steps 601 to 605.

[0095] Step 601: Detect whether the vehicle's current position coordinates are located within the fenced area where the vehicle's previous position coordinates are located or within the next fenced area of ​​the fenced area where the previous position coordinates are located.

[0096] Step 602: If the vehicle's current position coordinates are not located in the fenced area where the vehicle's previous position coordinates are located, nor in the next fenced area of ​​the fenced area where the previous position coordinates are located, then the vehicle is determined to be veered off course, and the vehicle is tracked until it is tracked back to normal driving in the fenced area.

[0097] Step 603: If the vehicle's current position coordinates are located in the fenced area where the vehicle's previous position coordinates are located, or in the next fenced area of ​​the fenced area where the previous position coordinates are located, then detect whether the fenced area where the vehicle is currently located is a rectangular fenced area.

[0098] Step 604: When the fenced area where the vehicle is currently located is a rectangular fenced area, detect whether the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is greater than the first difference threshold.

[0099] Step 605: If the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is greater than the first difference threshold, then the vehicle is determined to be veered off course, and the vehicle is tracked until it is tracked back to normal driving in the fenced area.

[0100] Optionally, in some embodiments of this application, in order to reduce the occurrence of misjudgment, before performing vehicle tracking in steps 403, 502, 602 and 605, the vehicle can be counted to obtain a yaw count value, and the vehicle can be tracked only when the yaw count value reaches a preset counting threshold N.

[0101] For example, in implementing step 403 above, when the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is greater than the first difference threshold, the vehicle yaw is determined, and the yaw count is performed to obtain the yaw count value. If the vehicle yaw is determined to be greater than the first difference threshold for N consecutive times, that is, if the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located is detected to be greater than the first difference threshold for N consecutive times, the possible detection error is eliminated, and the vehicle tracking begins.

[0102] Specifically, in one embodiment, when a vehicle veers off course, during the tracking process, if the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently located has been detected N times consecutively, which is less than or equal to a first difference threshold, it indicates that the vehicle is driving normally again within the fenced area, and the tracking of the vehicle can be terminated.

[0103] The preset counting threshold N can be set based on practical experience, and this application does not impose any restrictions on it.

[0104] In a practical application, N can be set to 3. When the preset counting threshold N is 3, if the vehicle is determined to veer off course 3 times consecutively, the vehicle tracking will begin.

[0105] Optionally, in one embodiment, such as Figure 7 As shown, in the process of tracking the vehicle in steps 403, 502, 602 and 605 above, the following steps 701 to 703 can also be used.

[0106] Step 701: Obtain the three location coordinates of the currently continuously collected vehicle, and check whether the three location coordinates are all located within the same rectangular fence area;

[0107] In this embodiment of the application, the three location coordinates of the vehicle currently being continuously collected refer to the GPS coordinates of the vehicle collected at the three sampling times closest to the current time, and all of them are coordinate information obtained after tracking the vehicle.

[0108] Step 702: If the above three location coordinates are all located in the same rectangular fence area, then check whether the difference between the azimuth angle of two adjacent location coordinates and the azimuth angle of the rectangular fence area they are in is less than the second difference threshold.

[0109] It should be noted that the azimuth angle between two adjacent position coordinates in the above three position coordinates refers to the angle between the line connecting the two adjacent position coordinates and the reference direction.

[0110] For example, if the three position coordinates of the vehicle currently being continuously collected are A1, A2 and A3, then the azimuth angle between two adjacent position coordinates refers to the angle α1 between the line connecting A1 and A2 and the reference direction, and the angle α2 between the line connecting A2 and A3 and the reference direction.

[0111] The second difference threshold mentioned above can be a threshold obtained based on practical experience.

[0112] In a practical application, the second difference threshold mentioned above can be 45°.

[0113] Step 703: If the difference between the azimuth angle of the above three position coordinates and the azimuth angle of the rectangular fence area where the vehicle is located is less than the second difference threshold, then it is confirmed that the vehicle is driving normally in the fence area again, and the rectangular fence area where the three position coordinates are located is taken as the fence area where the vehicle is currently located.

[0114] In this embodiment, the difference between the azimuth angles of α1 and the rectangular fenced areas where A1, A2, and A3 are located is calculated to determine if it is less than a second difference threshold, and the difference between the azimuth angles of α2 and the rectangular fenced areas where A1, A2, and A3 are located is also calculated to determine if it is less than the second difference threshold. If the differences between the azimuth angles of α1 and α2 and the rectangular fenced areas where A1, A2, and A3 are located are not all less than the second difference threshold, it is determined that the vehicle is still in a yaw state and tracking of the vehicle needs to continue. If the differences between the azimuth angles of α1 and α2 and the rectangular fenced areas where A1, A2, and A3 are located are all less than the second difference threshold, it is determined that the vehicle is not in a yaw state, that is, the vehicle resumes normal driving within the fenced area. This achieves vehicle tracking after yaw by comparing the azimuth angle of the vehicle's current position coordinates with the azimuth angle of the rectangular fenced area it is located in.

[0115] Optionally, in some embodiments of this application, such as Figure 7 As shown, after step 701 above, vehicle tracking can also be achieved based on steps 704 to 706 below.

[0116] Step 704: If the above three location coordinates are not all located in the same rectangular fence area, then check whether the three location coordinates are located in two consecutively numbered rectangular fence areas.

[0117] In this embodiment of the application, the above numbering is obtained by sequentially numbering each rectangular fence area according to the time sequence of each rectangular fence area passed by the vehicle when it is driving normally on the preset driving route; the numbering can be incremented or decremented sequentially, and the increment step can be greater than 1 or equal to 1. This application does not restrict the numbering rules.

[0118] Step 705: If the above three location coordinates are located in two consecutive rectangular fence areas, then check whether the absolute value of the difference between the azimuth angle of the two adjacent location coordinates and the azimuth angle of the rectangular fence area where the most recently collected location coordinate is located is less than the second difference threshold.

[0119] Step 706: If the absolute value of the difference between the azimuth angle of two adjacent position coordinates among the above three position coordinates and the azimuth angle of the rectangular fence area where the latest position coordinate of the three position coordinates is located is less than the second difference threshold, then it is confirmed that the vehicle is driving normally in the fence area again, and the rectangular fence area where the latest position coordinate of the three position coordinates is located is taken as the fence area where the vehicle is currently located.

[0120] When the rectangular fence areas are numbered in an incremental manner, the rectangular fence area where the most recently collected location coordinates are located is the rectangular fence area with the larger number among the two consecutively numbered rectangular fence areas.

[0121] In the implementation of this application, if the absolute value of the difference between the azimuth angle of two adjacent position coordinates among the above three position coordinates and the azimuth angle of the rectangular fence area where the latest collected position coordinate is located is not all less than the second difference threshold, it indicates that the vehicle is still in a yaw state and needs to continue tracking.

[0122] In practical applications, when the three continuously collected vehicle location coordinates are located in two consecutively numbered rectangular fence areas, the vehicle is very likely located in the rectangular fence area where the most recently collected location coordinates are located. Based on this, this application compares the azimuth of the location coordinates with the azimuth of the rectangular fence area, which can make the vehicle location more accurate.

[0123] Optionally, in some embodiments of this application, such as Figure 8 As shown, the vehicle yaw identification and tracking in step 104 above can also be achieved using steps 801 to 803 below.

[0124] Step 801: Obtain the three location coordinates of the currently continuously collected vehicle, and detect whether the three location coordinates are located in the overlapping area of ​​multiple rectangular fence areas.

[0125] Step 802: If the above three location coordinates are located in the overlapping area of ​​multiple rectangular fence areas, then candidate rectangular fences are selected from the multiple rectangular fence areas whose absolute value of the difference between the azimuth angle and the azimuth angle of two adjacent location coordinates among the three location coordinates is less than the second difference threshold.

[0126] Step 803: When there is only one candidate rectangular fence, confirm that the vehicle is driving normally in the fenced area again, and set the candidate rectangular fence as the current fenced area corresponding to the vehicle.

[0127] Specifically, such as Figure 9 As shown in the Q-shaped route, when the vehicle veers off course and travels to the overlapping area of ​​station M and station N, since the azimuth angles of the rectangular fence areas corresponding to station M and station N are different, by comparing the azimuth angles corresponding to the three continuously collected position coordinates of the vehicle with the azimuth angles of the rectangular fence areas corresponding to station M and station N, it is possible to accurately identify whether the vehicle is located in the rectangular fence area corresponding to station M or the fence area corresponding to station N.

[0128] Similarly, for such Figure 10In the cross-shaped route shown (e.g., the projection of the road above and below an overpass overlaps), when a vehicle veers and travels to the overlapping area of ​​station W and station P, the azimuth angles of the rectangular fenced areas corresponding to station W and station P are different. Therefore, by comparing the azimuth angles corresponding to the three continuously collected position coordinates of the vehicle with the azimuth angles of the rectangular fenced areas corresponding to station W and station P, it is possible to accurately identify whether the vehicle is located in the rectangular fenced area corresponding to station W or the fenced area corresponding to station P.

[0129] It is understood that in this embodiment of the application, when the number of candidate rectangular fences is greater than one, it means that it is impossible to determine which fence area the vehicle belongs to, and the vehicle needs to be tracked.

[0130] In practical applications, since there is a high probability that a vehicle will continue to travel in the direction of travel after yawing, in some embodiments of this application, in order to reduce the amount of data calculation, in the above steps 701, 704 and 801, the detection can first be performed in the rectangular fence area in front of the vehicle's direction of travel. When it is detected that the three position coordinates are not located in the rectangular fence area in front of the vehicle's direction of travel, the detection can then be performed in the rectangular fence area in the opposite direction of the vehicle's direction of travel.

[0131] In this embodiment, by comparing the azimuth angles corresponding to the three continuously collected location coordinates of the vehicle with the azimuth angle of the rectangular fenced area where the vehicle is located, the vehicle yaw identification and tracking can be performed. This enables timely and accurate identification of the fenced area where the vehicle is located, thus helping to achieve timely and accurate station reporting. It can reduce the occurrence of missed and false reports and solve the problem that it is currently impossible to accurately identify the vehicle position in complex scenarios such as the vehicle turning around on the spot, yawing and re-entering the route, and GPS loss and recovery (e.g., GPS loss occurring between urban high-rise buildings, tunnels, etc.), which leads to the inability to report stations in a timely and accurate manner.

[0132] Specifically, since the vehicle tracking method described in this application embodiment only requires three location coordinates to make an accurate determination of the vehicle's position, and when the time interval for collecting the location coordinates is 1 second, it only takes 3 seconds to determine the specific location of the vehicle on the route. Therefore, compared with the second related technology mentioned above that requires passing through multiple trajectory points to determine the specific location of the vehicle, it has higher real-time performance.

[0133] For example, when a vehicle makes a sharp turn, such as a U-turn, the relevant technology requires the vehicle to pass through two trajectory points in succession to make a judgment. The distance between these two trajectory points may be relatively far, so the vehicle needs to travel for a long time to make a judgment. However, this application only requires the time interval of three position coordinates to determine that the vehicle has made a sharp turn.

[0134] Furthermore, since the multiple fenced areas determined by the coordinates of stations and trajectory points in this application can fully cover the preset driving route without any blank areas, it can promptly and accurately determine whether the vehicle has recovered from the veergence state to normal driving after veering off course. When the vehicle resumes normal driving, this application can directly continue executing step 105 above, achieving timely and accurate station reporting. It avoids the problem of not being able to accurately identify the vehicle's position in complex scenarios such as the inability to do so, veering off course and re-entering the route, or GPS loss and recovery (e.g., GPS loss occurring between tall buildings in urban areas, tunnels, etc.), which could lead to delays in timely and accurate station reporting.

[0135] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0136] For example, steps 104 and 105 can be executed in parallel, and it is not necessary for step 104 to be executed first and then step 105.

[0137] This application also provides a vehicle stop announcement device, such as... Figure 11 As shown, the station reporting device 1100 may include an acquisition unit 1101, a determination unit 1002, a collection unit 1103, a yaw identification and tracking unit 1004, and a station reporting unit 1005.

[0138] The acquisition unit 1101 is used to acquire the station report file; the station report file stores the coordinates of the stations included in the preset driving route, as well as the coordinates of the trajectory points located between two adjacent stations;

[0139] The determining unit 1102 is used to determine multiple fenced areas for full coverage of the preset driving route based on the coordinates of the stations and the coordinates of the trajectory points; the fenced areas include: circular fenced areas corresponding to each station and trajectory point with each station and trajectory point as the center and based on a preset radius, and multiple rectangular fenced areas with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of rectangles.

[0140] The acquisition unit 1103 is used to acquire the current position coordinates of the vehicle at preset time intervals during vehicle operation;

[0141] Yaw recognition and tracking unit 1104 is used to perform yaw recognition and tracking of the vehicle based on the current position coordinates of the vehicle and the positional relationship between each fenced area;

[0142] The station reporting unit 1105 is used to report a station based on the distance between the vehicle's current location coordinates and the station when the vehicle's current location coordinates are located within the circular or rectangular fence area corresponding to the station.

[0143] In one embodiment, the above-mentioned station announcement unit 1105 is further specifically used for:

[0144] When the vehicle arrives at the trajectory point associated with the station, it begins to detect whether the distance between the vehicle's current position coordinates and the station is within the station's entry range; wherein, the trajectory point associated with the station refers to the last trajectory point passed by the vehicle before arriving at the station;

[0145] When the distance between the vehicle's current location coordinates and the station is within the station's entry range, an entry message is broadcast, and the system begins to detect whether the distance between the vehicle's current location coordinates and the station is within the station's exit range.

[0146] When the distance between the vehicle's current location coordinates and the station is within the station's departure range, a departure message is broadcast.

[0147] In one embodiment, the yaw identification and tracking unit 1104 described above is further specifically used for:

[0148] Detect whether the fenced area currently occupied by the vehicle is a rectangular fenced area;

[0149] When the vehicle is currently in a rectangular fenced area, the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently in is detected to be greater than a first difference threshold. If so, the vehicle is determined to be veered off course, and the vehicle is tracked until it is tracked back to normal driving within the fenced area.

[0150] In one embodiment, the yaw identification and tracking unit 1104 described above is further specifically used for:

[0151] Detect whether the current position coordinates of the vehicle are located within the fenced area where the previous position coordinates of the vehicle are located or within the next fenced area of ​​the fenced area where the previous position coordinates are located;

[0152] If not, the vehicle is determined to have veered off course, and the vehicle is tracked until it is found to be driving normally again within the fenced area.

[0153] In one embodiment, the yaw identification and tracking unit 1104 described above is further specifically used for:

[0154] Obtain the three location coordinates of the vehicle currently being continuously collected, and detect whether the three location coordinates are all located within the same rectangular fence area;

[0155] If the three location coordinates are all located in the same rectangular fence area, then it is detected whether the difference between the azimuth of two adjacent location coordinates and the azimuth of the rectangular fence area they are in is less than the second difference threshold.

[0156] If the difference between the azimuth angle of any two adjacent position coordinates and the azimuth angle of the rectangular fence area they are in is less than the second difference threshold, then the vehicle is confirmed to be driving normally in the fence area again, and the rectangular fence area where the three position coordinates are located is taken as the current fence area where the vehicle is located.

[0157] In one embodiment, the yaw identification and tracking unit 1104 described above is further specifically used for:

[0158] If the three location coordinates are not all located in the same rectangular fence area, then it is detected whether the three location coordinates are located in two consecutively numbered rectangular fence areas; the numbering is obtained by sequentially numbering each rectangular fence area according to the time sequence of each rectangular fence area passed by the vehicle when it is driving normally in the preset driving route.

[0159] If the three location coordinates are located in two consecutive rectangular fence areas, then it is detected whether the absolute value of the difference between the azimuth angle of the two adjacent location coordinates and the azimuth angle of the rectangular fence area where the most recently collected location coordinate is located is less than the second difference threshold.

[0160] If the absolute value of the difference between the azimuth angle of two adjacent position coordinates among the three position coordinates and the azimuth angle of the rectangular fence area where the latest position coordinate of the three position coordinates is located is less than the second difference threshold, then it is confirmed that the vehicle is driving normally in the fence area again, and the rectangular fence area where the latest position coordinate of the three position coordinates is located is taken as the fence area where the vehicle is currently located.

[0161] In one embodiment, the yaw identification and tracking unit 1104 described above is further specifically used for:

[0162] Obtain the three location coordinates of the vehicle currently being continuously collected, and detect whether the three location coordinates are located in the overlapping area of ​​multiple rectangular fence areas;

[0163] If the three location coordinates are located in the overlapping area of ​​multiple rectangular fence areas, then candidate rectangular fences are selected from the multiple rectangular fence areas whose absolute value of the difference between the azimuth angle and the azimuth angle of two adjacent location coordinates among the three location coordinates is less than the second difference threshold.

[0164] When there is only one candidate rectangular fence, the vehicle is confirmed to be driving normally again in the fenced area, and the candidate rectangular fence is taken as the current fenced area corresponding to the vehicle.

[0165] It should be noted that, for the sake of convenience and brevity, the specific working process of the station announcement device 1100 described above can be referred to the above... Figures 1 to 10 The corresponding process of the method described in the document will not be elaborated here.

[0166] Figure 12 This is a schematic diagram of the station announcement device provided in an embodiment of this application. Figure 12 As shown, the station announcement device 12 in this embodiment may include: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120, such as a station announcement program. When the processor 120 executes the computer program 122, it implements the steps in the various station announcement method embodiments described above, for example... Figure 1 Steps 101 to 105 are shown. Alternatively, when processor 120 executes computer program 122, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 10 The functions of each module are shown.

[0167] For example, computer program 122 can be divided into one or more modules / units, one or more of which are stored in memory 121 and executed by processor 120 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 122 in station reporting device 12. For example, computer program 122 can be divided into an acquisition unit, a determination unit, a data collection unit, a yaw identification and tracking unit, and a station reporting unit, with the specific functions of each unit as follows:

[0168] The acquisition unit is used to acquire the station report file; the station report file stores the coordinates of the stations included in the preset driving route, as well as the coordinates of the trajectory points located between two adjacent stations;

[0169] The determining unit is used to determine multiple fenced areas for full coverage of the preset driving route based on the coordinates of the station and the coordinates of the trajectory point; the fenced areas include: circular fenced areas corresponding to each station and trajectory point with each station and trajectory point as the center and based on a preset radius, and multiple rectangular fenced areas with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of rectangles.

[0170] The data acquisition unit is used to acquire the current position coordinates of the vehicle at preset time intervals during vehicle operation.

[0171] A yaw recognition and tracking unit is used to recognize and track the vehicle's yaw based on the vehicle's current position coordinates and the positional relationship between each fenced area;

[0172] The station reporting unit is used to report a station based on the distance between the vehicle's current location coordinates and the station when the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station.

[0173] The station announcement device may include, but is not limited to, a processor 120 and a memory 121. Those skilled in the art will understand that... Figure 12 This is merely an example of the station announcement device 12 and does not constitute a limitation on the station announcement device 12. It may include more or fewer components than shown, or combine certain components, or different components. For example, the station announcement device may also include input / output devices, network access devices, buses, etc.

[0174] The processor 120 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0175] The memory 121 can be an internal storage unit of the station announcement device 12, such as a hard disk or RAM of the station announcement device 12. The memory 121 can also be an external storage device of the station announcement device 12, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the station announcement device 12. Furthermore, the station announcement device 12 can include both internal storage units and external storage devices. The memory 121 is used to store computer programs and other programs and data required by the station announcement device. The memory 121 can also be used to temporarily store data that has been output or will be output.

[0176] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0177] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, it implements the steps in any of the above method embodiments.

[0178] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0179] This application provides a computer program product that, when run on a mobile station announcement device, enables the mobile station announcement device to implement the steps described in the above-described method embodiments.

[0180] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program controlling the related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / announcing device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, a computer-readable medium cannot be an electrical carrier signal or a telecommunication signal.

[0181] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0182] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0183] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0184] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0185] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 this application, and should all be included within the protection scope of this application.

Claims

1. A method for announcing bus stops, characterized in that, The station announcement method includes: Obtain the station announcement file; the station announcement file stores the coordinates of stations included in the preset driving route, as well as the coordinates of trajectory points located between two adjacent stations; Based on the coordinates of the stations and the coordinates of the trajectory points, multiple fenced areas are determined to fully cover the preset driving route. The fenced areas include: circular fenced areas corresponding to each station and trajectory point with a preset radius, and multiple rectangular fenced areas with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of the rectangles. During vehicle operation, the vehicle's current position coordinates are collected at preset time intervals; The vehicle's yaw is identified and tracked based on its current location coordinates and the positional relationship between each fenced area. When the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station, a station announcement is made based on the distance between the vehicle's current location coordinates and the station. The tracking of the vehicle includes: Obtain the three location coordinates of the vehicle currently being continuously collected, and detect whether the three location coordinates are all located within the same rectangular fence area; If the three location coordinates are not all located in the same rectangular fence area, then it is detected whether the three location coordinates are located in two consecutively numbered rectangular fence areas; the numbering is obtained by sequentially numbering each rectangular fence area according to the time sequence of each rectangular fence area passed by the vehicle when it is driving normally in the preset driving route. If the three location coordinates are located in two consecutive rectangular fence areas, then it is detected whether the absolute value of the difference between the azimuth angle of the two adjacent location coordinates and the azimuth angle of the rectangular fence area where the most recently collected location coordinate is located is less than the second difference threshold. If the absolute value of the difference between the azimuth angle of two adjacent position coordinates among the three position coordinates and the azimuth angle of the rectangular fence area where the latest position coordinate of the three position coordinates is located is less than the second difference threshold, then it is confirmed that the vehicle is driving normally in the fence area again, and the rectangular fence area where the latest position coordinate of the three position coordinates is located is taken as the fence area where the vehicle is currently located.

2. The station announcement method as described in claim 1, characterized in that, The station announcement process based on the distance between the vehicle's current location coordinates and the station includes: When the vehicle arrives at the trajectory point associated with the station, it begins to detect whether the distance between the vehicle's current position coordinates and the station is within the station's entry range; wherein, the trajectory point associated with the station refers to the last trajectory point passed by the vehicle before arriving at the station; When the distance between the vehicle's current location coordinates and the station is within the station's entry range, an entry message is broadcast, and the system begins to detect whether the distance between the vehicle's current location coordinates and the station is within the station's exit range. When the distance between the vehicle's current location coordinates and the station is within the station's departure range, a departure message is broadcast.

3. The station announcement method as described in claim 1, characterized in that, The method of identifying and tracking the vehicle's yaw based on its current location coordinates and the positional relationship between each fenced area includes: Detect whether the fenced area currently occupied by the vehicle is a rectangular fenced area; When the vehicle is currently in a rectangular fenced area, the difference between the azimuth angle corresponding to the vehicle's current position coordinates and the azimuth angle corresponding to the fenced area where the vehicle is currently in is detected to be greater than a first difference threshold. If so, the vehicle is determined to be veered off course, and the vehicle is tracked until it is tracked back to normal driving within the fenced area.

4. The station announcement method as described in claim 1, characterized in that, The method of identifying and tracking the vehicle's yaw based on the positional relationship between the vehicle's current location coordinates and each of the fenced areas also includes: Detect whether the current position coordinates of the vehicle are located within the fenced area where the previous position coordinates of the vehicle are located or within the next fenced area of ​​the fenced area where the previous position coordinates are located; If not, the vehicle is determined to have veered off course, and the vehicle is tracked until it is found to be driving normally again within the fenced area.

5. The station announcement method as described in claim 1, characterized in that, After detecting whether the three location coordinates are all located within the same rectangular fence area, the process includes: If the three location coordinates are all located in the same rectangular fence area, then it is detected whether the difference between the azimuth of two adjacent location coordinates and the azimuth of the rectangular fence area they are in is less than the second difference threshold. If the difference between the azimuth angle of any two adjacent position coordinates and the azimuth angle of the rectangular fence area they are in is less than the second difference threshold, then the vehicle is confirmed to be driving normally in the fence area again, and the rectangular fence area where the three position coordinates are located is taken as the current fence area where the vehicle is located.

6. The station announcement method as described in claim 1, characterized in that, The tracking of the vehicle includes: After acquiring the three location coordinates of the vehicle currently being continuously collected, it is detected whether the three location coordinates are located in the overlapping area of ​​multiple rectangular fence areas; If the three location coordinates are located in the overlapping area of ​​multiple rectangular fence areas, then candidate rectangular fences are selected from the multiple rectangular fence areas whose absolute value of the difference between the azimuth angle and the azimuth angle of two adjacent location coordinates among the three location coordinates is less than the second difference threshold. When there is only one candidate rectangular fence, the vehicle is confirmed to be driving normally again in the fenced area, and the candidate rectangular fence is taken as the current fenced area corresponding to the vehicle.

7. A vehicle station announcement device, characterized in that, The station announcement device includes: The acquisition unit is used to acquire the station report file; the station report file stores the coordinates of the stations included in the preset driving route, as well as the coordinates of the trajectory points located between two adjacent stations; The determining unit is used to determine multiple fenced areas for full coverage of the preset driving route based on the coordinates of the station and the coordinates of the trajectory point; the fenced areas include: circular fenced areas corresponding to each station and trajectory point with each station and trajectory point as the center and based on a preset radius, and multiple rectangular fenced areas with the tangent points on the two external tangent lines of two adjacent circular fenced areas as the vertices of rectangles. The data acquisition unit is used to acquire the current position coordinates of the vehicle at preset time intervals during vehicle operation. A yaw recognition and tracking unit is used to recognize and track the vehicle's yaw based on the vehicle's current position coordinates and the positional relationship between each fenced area; The station reporting unit is used to report the station based on the distance between the vehicle's current location coordinates and the station when the vehicle's current location coordinates are located within the circular or rectangular fenced area corresponding to the station. The tracking of the vehicle includes: Obtain the three location coordinates of the vehicle currently being continuously collected, and detect whether the three location coordinates are all located within the same rectangular fence area; If the three location coordinates are not all located in the same rectangular fence area, then it is detected whether the three location coordinates are located in two consecutively numbered rectangular fence areas; the numbering is obtained by sequentially numbering each rectangular fence area according to the time sequence of each rectangular fence area passed by the vehicle when it is driving normally in the preset driving route. If the three location coordinates are located in two consecutive rectangular fence areas, then it is detected whether the absolute value of the difference between the azimuth angle of the two adjacent location coordinates and the azimuth angle of the rectangular fence area where the most recently collected location coordinate is located is less than the second difference threshold. If the absolute value of the difference between the azimuth angle of two adjacent position coordinates among the three position coordinates and the azimuth angle of the rectangular fence area where the latest position coordinate of the three position coordinates is located is less than the second difference threshold, then it is confirmed that the vehicle is driving normally in the fence area again, and the rectangular fence area where the latest position coordinate of the three position coordinates is located is taken as the fence area where the vehicle is currently located.

8. A station announcement device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the station reporting method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the station announcement method as described in any one of claims 1 to 6.

Images