Vehicle navigation method, device and storage medium based on Beidou positioning

Abstract

The present invention discloses a vehicle navigation method, device and storage medium based on Beidou positioning, and relates to the field of vehicle navigation technology. The method includes: obtaining the speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning; determining the current driving direction of each vehicle based on at least two vehicle positioning coordinates uploaded by each vehicle; determining whether there is a target vehicle whose distance from the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than a preset speed based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded by each vehicle and the speed data uploaded by each vehicle; if there is, sending a prompt message to the on-board intelligent navigation terminal of the target vehicle. The method, device and storage medium disclosed in the present invention can effectively avoid the situation where the vehicle condition in the near distance ahead cannot be seen clearly due to low visibility, thereby causing a traffic accident, and ensure driving safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle navigation, and in particular relates to a vehicle navigation method, device and storage medium based on Beidou positioning. Background Art

[0002] With the continuous development of society and economy, and the continuous improvement of people's living standards, the number of motor vehicles such as private cars and commercial vehicles has maintained an increasing trend year by year. With the increase in vehicles, traffic accidents are also becoming more frequent. Especially in weather conditions with low visibility such as heavy rain and fog, due to the blurred vision of the driver, it is difficult to see the situation of the vehicles in front of him at a close distance, which is easy to cause traffic accidents.

[0003] In order to avoid the influence of heavy rain, fog and other weather conditions, the commonly used method is to temporarily close the entrance of the expressway to avoid traffic accidents caused by drivers not being able to see the close-up vehicles ahead. Although this method can prevent traffic accidents to a certain extent, it is only applicable to expressway sections and cannot effectively prevent traffic accidents for vehicles that have already entered the expressway.

[0004] Therefore, how to provide an effective solution to avoid traffic accidents caused by unclear visibility of vehicles in close proximity ahead has become a difficult problem to be solved in the prior art. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle navigation method, device and storage medium based on Beidou positioning to solve the above-mentioned problems existing in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a vehicle navigation method based on Beidou positioning, comprising:

[0008] Obtain the speed data uploaded by each vehicle on the supervised road section in real time and the vehicle positioning coordinates based on Beidou navigation satellite positioning;

[0009] Determine the current driving direction of each vehicle based on at least two vehicle positioning coordinates uploaded most recently by each vehicle;

[0010] Based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded by each vehicle the most recently, and the vehicle speed data uploaded by each vehicle the most recently, determining whether there is a target vehicle whose distance to the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed;

[0011] If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle so that the on-board intelligent navigation terminal issues a warning prompt to remind the owner that there is a close-up vehicle ahead.

[0012] Based on the above disclosed content, the present invention obtains the speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning; determines the current driving direction of each vehicle based on at least two vehicle positioning coordinates uploaded most recently by each vehicle; and determines whether there is a target vehicle whose distance to the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than the preset speed based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded most recently by each vehicle, and the speed data uploaded most recently by each vehicle; if there is a target vehicle whose distance to the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than the preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner that there is a close vehicle ahead. In this way, the driving direction of the vehicle and the distance between the vehicles can be determined according to the vehicle positioning coordinates uploaded by the vehicle in real time, so as to identify vehicles traveling in the same direction and at a close distance, and when the distance between the vehicles traveling in the same direction is too small, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle behind so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner of the existence of a close vehicle ahead so that the owner can take corresponding measures, especially in situations such as heavy rain and heavy fog where visibility is low and the close vehicle conditions ahead cannot be seen clearly. This can effectively avoid traffic accidents caused by low visibility and unclear close vehicle conditions ahead, thereby ensuring driving safety.

[0013] Through the above-mentioned design, the present invention can effectively avoid the situation where traffic accidents are caused by unclear vehicle conditions in the near distance ahead due to low visibility, thereby ensuring driving safety and facilitating practical application and promotion.

[0014] In one possible design, the method further includes:

[0015] Acquire the reference station positioning coordinates sent by two Beidou reference stations located at both ends of the supervised road section and the actual positioning coordinates of the two Beidou reference stations;

[0016] Based on the reference station positioning coordinates and the actual positioning coordinates of the two Beidou reference stations, determining the positioning coordinate deviations of the two Beidou reference stations, the positioning coordinate deviations comprising a first positioning coordinate deviation component in a first direction and a second positioning coordinate deviation component in a second direction, wherein the first direction and the second direction are both located on the water surface and are perpendicular to each other;

[0017] Based on the current vehicle positioning coordinates of each vehicle and the actual positioning coordinates of the two Beidou reference stations, determining the positioning coordinate difference between each vehicle and the two Beidou reference stations;

[0018] Based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations, determine the first coordinate compensation component in the first direction and the second coordinate compensation component in the second direction of each vehicle;

[0019] Based on the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction, the current vehicle positioning coordinates of each vehicle are corrected.

[0020] In one possible design, the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations, determine the first coordinate compensation component in the first direction and the second coordinate compensation component in the second direction of each vehicle, including:

[0021] Based on the positioning coordinate difference between each vehicle and the two Beidou reference stations, determining the distance between each vehicle and the two Beidou reference stations;

[0022] Based on the distance between each vehicle and the two Beidou reference stations and based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, a first coordinate compensation component in the first direction and a second coordinate compensation component in the second direction of each vehicle are determined.

[0023] In one possible design, the first coordinate compensation component of each vehicle in the first direction is A i =A1 i *L2 / (L1+L2)+A2 i *L1 / (L1+L2), the second coordinate compensation component of each vehicle in the second direction is B i =B1 i *L2 / (L1+L2)+B2 i *L1 / (L1+L2), where A i represents the first coordinate compensation component of the i-th vehicle in the first direction, A1 i A2 represents the first positioning coordinate deviation component corresponding to the first Beidou reference station of the two Beidou reference stations. irepresents the first positioning coordinate deviation component corresponding to the second Beidou reference station of the two Beidou reference stations, L1 represents the distance between the i-th vehicle and the first Beidou reference station of the two Beidou reference stations, L2 represents the distance between the i-th vehicle and the second Beidou reference station of the two Beidou reference stations, B i represents the second coordinate compensation component of the i-th vehicle in the second direction, B1 i represents the second positioning coordinate deviation component corresponding to the first Beidou reference station of the two Beidou reference stations, B2 i Represents a second positioning coordinate deviation component corresponding to the second Beidou reference station of the two Beidou reference stations.

[0024] In a possible design, if there is a target vehicle whose distance from the vehicle traveling in the same direction as the front vehicle is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle, including:

[0025] If there is a target vehicle whose distance to the vehicle traveling in the same direction is less than a preset distance and whose current speed is greater than a preset speed, determining whether the current speed of the target vehicle is greater than the speed of the vehicle traveling in the same direction;

[0026] If the current speed of the target vehicle is greater than the speed of the vehicle ahead traveling in the same direction, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle.

[0027] In one possible design, the method further includes:

[0028] Obtaining meteorological data of the supervised road section;

[0029] If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front vehicle is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle, including:

[0030] If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front is less than a preset distance and whose current speed is greater than a preset speed, and the meteorological data of the supervised road section indicates that the visibility of the supervised road section is lower than a preset threshold, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle.

[0031] In a second aspect, the present invention provides a vehicle navigation device based on Beidou positioning, comprising:

[0032] An acquisition unit is used to acquire the speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning;

[0033] A first determining unit, configured to determine a current driving direction of each vehicle based on at least two vehicle positioning coordinates most recently uploaded by each vehicle;

[0034] The second determination unit is used to determine whether there is a target vehicle whose distance to the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded most recently by each vehicle, and the vehicle speed data uploaded most recently by each vehicle;

[0035] The sending unit is used to send a prompt message to the on-board intelligent navigation terminal of the target vehicle if there is a target vehicle whose distance to the vehicle traveling in the same direction as the front is less than a preset distance and whose current speed is greater than a preset speed, so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner that there is a close-range vehicle ahead.

[0036] In a possible design, the vehicle navigation device based on Beidou positioning also includes:

[0037] An acquisition unit, used for acquiring reference station positioning coordinates sent by two Beidou reference stations located at both ends of the supervised road section and actual positioning coordinates of the two Beidou reference stations;

[0038] A third determining unit is used to determine the positioning coordinate deviations of the two Beidou reference stations based on the reference station positioning coordinates and the actual positioning coordinates of the two Beidou reference stations, wherein the positioning coordinate deviations include a first positioning coordinate deviation component in a first direction and a second positioning coordinate deviation separation in a second direction, wherein the first direction and the second direction are both located on the water surface and are perpendicular to each other;

[0039] A fourth determining unit, configured to determine a positioning coordinate difference between each vehicle and the two Beidou reference stations based on the current vehicle positioning coordinates of each vehicle and the actual positioning coordinates of the two Beidou reference stations;

[0040] A fifth determining unit is used to determine a first coordinate compensation component in the first direction and a second coordinate compensation component in the second direction of each vehicle based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations;

[0041] The correction unit is used to correct the current vehicle positioning coordinates of each vehicle based on the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction.

[0042] In a third aspect, the present invention provides another vehicle navigation device based on Beidou positioning, comprising a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the vehicle navigation method based on Beidou positioning as described in the first aspect or any possible design of the first aspect.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium having instructions stored thereon. When the instructions are run on a computer, the vehicle navigation method based on Beidou positioning as described in the first aspect or any possible design of the first aspect is executed.

[0044] In a fifth aspect, the present invention provides a computer program product comprising instructions, which, when executed on a computer, causes the computer to execute the vehicle navigation method based on Beidou positioning as described in the first aspect or any possible design of the first aspect.

[0045] Beneficial effects:

[0046] The vehicle navigation method, device and storage medium based on Beidou positioning provided by the present invention can effectively avoid traffic accidents caused by unclear vehicle conditions in the near distance ahead due to low visibility, ensure driving safety, and facilitate practical application and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of an application environment for a vehicle navigation method, device, and storage medium based on Beidou positioning provided in an embodiment of the present application;

[0048] Figure 2 A flowchart of a vehicle navigation method based on Beidou positioning provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the structure of a vehicle navigation device based on Beidou positioning provided in an embodiment of the present application;

[0050] Figure 4 A schematic structural diagram of another Beidou positioning-based vehicle navigation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0052] It should be understood that although the terms first, second, etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another unit. For example, a first unit can be referred to as a second unit, and similarly, a second unit can be referred to as a first unit without departing from the scope of the exemplary embodiments of the present invention.

[0053] It should be understood that the term "and / or" that may appear in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0054] In order to avoid traffic accidents caused by the inability to see the vehicle conditions in the near distance ahead due to low visibility, the embodiments of the present application provide a vehicle navigation method, device and storage medium based on Beidou positioning. The vehicle navigation method, device and storage medium based on Beidou positioning can effectively avoid traffic accidents caused by the inability to see the vehicle conditions in the near distance ahead due to low visibility, thereby ensuring driving safety.

[0055] First, in order to more intuitively understand the solution provided by the embodiment of the present application, Figure 1 , the system architecture of the vehicle navigation solution based on Beidou positioning provided in the embodiment of the present application is described.

[0056] like Figure 1 As shown in FIG. 1 , it is a schematic diagram of the application environment of the vehicle navigation method, device and storage medium based on Beidou positioning provided by one or more embodiments of the present application. Figure 1As shown, the vehicle supervision platform is connected to the vehicles on the supervision section and the two Beidou base stations located at both ends of the supervision section through the network for data communication or interaction. The vehicles on the supervision section are connected to the Beidou navigation satellite so as to obtain the vehicle positioning coordinates of the vehicle in real time through the Beidou navigation satellite.

[0057] The vehicle navigation method based on Beidou positioning provided in the embodiment of the present application can be applied to a vehicle supervision platform. It can be understood that the execution entity does not constitute a limitation on the embodiment of the present application.

[0058] The vehicle navigation method based on Beidou positioning provided in an embodiment of the present application will be described in detail below.

[0059] Specifically, the vehicle navigation method based on Beidou positioning is as follows: Figure 2 As shown, the following steps S201-S204 may be included.

[0060] Step S201. Obtain the vehicle speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning.

[0061] The vehicle speed data can be obtained through the vehicle's own speed detector. When each vehicle on the supervised road section enters the coverage area of ​​the vehicle supervision platform, the detected speed data and the vehicle positioning coordinates located by Beidou navigation satellite can be uploaded to the vehicle supervision platform in real time.

[0062] Step S202: Determine the current driving direction of each vehicle based on at least two vehicle positioning coordinates uploaded most recently by each vehicle.

[0063] Specifically, the vehicle supervision platform can determine the position on the electronic map corresponding to the at least two vehicle positioning coordinates uploaded most recently by each vehicle based on the at least two vehicle positioning coordinates uploaded most recently by each vehicle, thereby determining the current driving direction of each vehicle based on the position on the electronic map corresponding to the at least two vehicle positioning coordinates uploaded most recently by each vehicle.

[0064] Step S203. Based on the current driving direction of each vehicle, the vehicle positioning coordinates and the speed data uploaded by each vehicle, determine whether there is a target vehicle whose distance to the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than a preset speed.

[0065] In the embodiment of the present application, vehicles traveling in the same direction can be first determined based on the current driving direction of each vehicle. For vehicles traveling in the same direction, distance conversion can be performed based on the coordinate difference of the vehicle positioning coordinates uploaded by each vehicle, so as to obtain the distance between each vehicle traveling in the same direction. Then, based on the distance between each vehicle traveling in the same direction and the speed data uploaded by each vehicle, it is determined whether there is a target vehicle whose distance to the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed.

[0066] Step S204. If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front is less than the preset distance and whose current speed is greater than the preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle so that the on-board intelligent navigation terminal issues a warning prompt to remind the owner that there is a close vehicle ahead.

[0067] In the embodiment of the present application, the vehicle supervision platform pre-sets a preset distance for evaluating whether the distance between vehicles is too small. If the distance between the vehicles is less than the preset distance, it means that the distance between the two vehicles is too small. In the case of low visibility, if the speed is too high, it is easy to cause a traffic accident due to unclear visibility of the close-up vehicle conditions in front. Therefore, if there is a target vehicle whose distance from the vehicle traveling in the same direction as the front is less than the preset distance and whose current speed is greater than the preset speed, the vehicle supervision platform can send a prompt message to the on-board intelligent navigation terminal of the target vehicle so that the on-board intelligent navigation terminal issues a warning prompt to remind the owner that there is a close-up vehicle in front. When issuing a warning prompt, the on-board intelligent navigation terminal can generate a prompt message and / or issue a prompt voice on the navigation interface of the on-board intelligent navigation terminal, which is not specifically limited in the embodiment of the present application.

[0068] In one or more embodiments, the vehicle supervision platform may also consider the speed of the target vehicle and the vehicle traveling in the same direction ahead when determining whether to send a prompt message to the target vehicle. Specifically, if there is a target vehicle whose distance from the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed, it may first be determined whether the current speed of the target vehicle is greater than the speed of the vehicle traveling in the same direction ahead. If the current speed of the target vehicle is greater than the speed of the vehicle traveling in the same direction ahead, a prompt message is then sent to the on-board intelligent navigation terminal of the target vehicle, so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner that there is a close-up vehicle ahead.

[0069] In one or more embodiments, the vehicle supervision platform may also consider the meteorological data of the supervision section when determining whether to send a prompt message to the target vehicle. Specifically, the vehicle supervision platform may obtain the meteorological data of the supervision section from the meteorological platform. If there is a target vehicle whose distance from the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than a preset speed, and the meteorological data of the supervision section indicates that the visibility of the supervision section is lower than a preset threshold (such as visibility lower than 50 meters or 100 meters, etc.), a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle. Otherwise, even if there is a target vehicle whose distance from the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than a preset speed, the meteorological data of the supervision section indicates that the visibility of the supervision section is higher than a preset threshold, which indicates that the current visibility is good and will not affect the driver's observation of the vehicle condition ahead, so there is no need to send a prompt message to the on-board intelligent navigation terminal of the target vehicle.

[0070] In summary, the vehicle navigation method based on Beidou positioning provided in the embodiment of the present application obtains the speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning; based on at least two vehicle positioning coordinates uploaded most recently by each vehicle, the current driving direction of each vehicle is determined; and based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded most recently by each vehicle and the speed data uploaded most recently by each vehicle, it is determined whether there is a target vehicle whose distance from the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than a preset speed; if there is a target vehicle whose distance from the vehicle traveling in the same direction in front is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner that there is a close vehicle ahead. In this way, the driving direction of the vehicle and the distance between the vehicles can be determined according to the vehicle positioning coordinates uploaded by the vehicle in real time, so as to identify vehicles traveling in the same direction and at a close distance, and when the distance between the vehicles traveling in the same direction is too small, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle behind so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner of the existence of a close vehicle ahead so that the owner can take corresponding measures, especially in situations such as heavy rain and heavy fog where visibility is low and the close vehicle conditions ahead cannot be seen clearly. This can effectively avoid traffic accidents caused by low visibility and unclear close vehicle conditions ahead, ensure driving safety, and facilitate practical application and promotion.

[0071] Based on the technical solution of the first aspect mentioned above, the embodiment of the present application further specifically proposes a possible design 1 for correcting the vehicle positioning coordinates, which may include but is not limited to the following steps S301-S305.

[0072] Step S301: Obtain the reference station positioning coordinates sent by two Beidou reference stations located at both ends of the supervised road section and the actual positioning coordinates of the two Beidou reference stations.

[0073] Step S302. Based on the reference station positioning coordinates and the actual positioning coordinates of the two Beidou reference stations, determine the positioning coordinate deviations of the two Beidou reference stations, where the positioning coordinate deviations include a first positioning coordinate deviation component in the first direction and a second positioning coordinate deviation component in the second direction.

[0074] The first direction and the second direction are both located on the water surface and are perpendicular to each other.

[0075] Step S303: Based on the current vehicle positioning coordinates of each vehicle and the actual positioning coordinates of the two Beidou reference stations, determine the positioning coordinate difference between each vehicle and the two Beidou reference stations.

[0076] Step S304. Based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations, determine the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction.

[0077] Specifically, when determining the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction, the distance between each vehicle and the two Beidou reference stations can be determined by distance conversion based on the positioning coordinate difference between each vehicle and the two Beidou reference stations. Then, based on the distance between each vehicle and the two Beidou reference stations and the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction are determined.

[0078] The first coordinate compensation component of each vehicle in the first direction can be expressed as A i =A1 i *L2 / (L1+L2)+A2 i *L1 / (L1+L2), the second coordinate compensation component of each vehicle in the second direction can be expressed as B i =B1 i *L2 / (L1+L2)+B2 i *L1 / (L1+L2), where A i represents the first coordinate compensation component of the i-th vehicle in the first direction, A1 i A2 represents the first positioning coordinate deviation component corresponding to the first Beidou reference station of the two Beidou reference stations. irepresents the first positioning coordinate deviation component corresponding to the second Beidou reference station of the two Beidou reference stations, L1 represents the distance between the i-th vehicle and the first Beidou reference station of the two Beidou reference stations, L2 represents the distance between the i-th vehicle and the second Beidou reference station of the two Beidou reference stations, B i represents the second coordinate compensation component of the i-th vehicle in the second direction, B1 i represents the second positioning coordinate deviation component corresponding to the first Beidou reference station of the two Beidou reference stations, B2 i Represents a second positioning coordinate deviation component corresponding to the second Beidou reference station of the two Beidou reference stations.

[0079] Step S305: Correct the current vehicle positioning coordinates of each vehicle based on the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component of each vehicle in the second direction.

[0080] Therefore, through the aforementioned possible design one, the positioning coordinates of the vehicle can be corrected to ensure the accuracy of positioning.

[0081] See also Figure 3 According to a second aspect of an embodiment of the present application, a vehicle navigation device based on Beidou positioning is provided. The vehicle navigation device based on Beidou positioning includes:

[0082] An acquisition unit is used to acquire the speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning;

[0083] A first determining unit, configured to determine a current driving direction of each vehicle based on at least two vehicle positioning coordinates most recently uploaded by each vehicle;

[0084] The second determination unit is used to determine whether there is a target vehicle whose distance to the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded most recently by each vehicle, and the vehicle speed data uploaded most recently by each vehicle;

[0085] The sending unit is used to send a prompt message to the on-board intelligent navigation terminal of the target vehicle if there is a target vehicle whose distance to the vehicle traveling in the same direction as the front is less than a preset distance and whose current speed is greater than a preset speed, so that the on-board intelligent navigation terminal issues an early warning prompt to remind the owner that there is a close-range vehicle ahead.

[0086] In a possible design, the vehicle navigation device based on Beidou positioning also includes:

[0087] An acquisition unit, used for acquiring reference station positioning coordinates sent by two Beidou reference stations located at both ends of the supervised road section and actual positioning coordinates of the two Beidou reference stations;

[0088] A third determining unit is used to determine the positioning coordinate deviations of the two Beidou reference stations based on the reference station positioning coordinates and the actual positioning coordinates of the two Beidou reference stations, wherein the positioning coordinate deviations include a first positioning coordinate deviation component in a first direction and a second positioning coordinate deviation separation in a second direction, wherein the first direction and the second direction are both located on the water surface and are perpendicular to each other;

[0089] A fourth determining unit, configured to determine a positioning coordinate difference between each vehicle and the two Beidou reference stations based on the current vehicle positioning coordinates of each vehicle and the actual positioning coordinates of the two Beidou reference stations;

[0090] A fifth determining unit is used to determine a first coordinate compensation component in the first direction and a second coordinate compensation component in the second direction of each vehicle based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations;

[0091] The correction unit is used to correct the current vehicle positioning coordinates of each vehicle based on the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction.

[0092] The working process, working details and technical effects of the device provided in the second aspect of this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0093] like Figure 4 As shown, the third aspect of an embodiment of the present application provides another vehicle navigation device based on Beidou positioning, comprising a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the vehicle navigation method based on Beidou positioning as described in the first aspect of the embodiment or possible design one of the first aspect.

[0094] For specific examples, the memory may include but is not limited to random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out memory (FIFO) and / or first-in-last-out memory (FILO), etc.; the processor may be but is not limited to a microprocessor of the STM32F105 series, an ARM (Advanced RISC-Machines), an X86 or other architecture processor, or a processor with an integrated NPU (neural-network processing units); the transceiver may be but is not limited to a WiFi (Wireless Fidelity) wireless transceiver, a Bluetooth wireless transceiver, a General Packet Radio Service (GPRS) wireless transceiver, a ZigBee protocol (a low-power local area network protocol based on the IEEE802.15.4 standard, ZigBee) wireless transceiver, a 3G transceiver, a 4G transceiver and / or a 5G transceiver, etc.

[0095] The working process, working details and technical effects of the device provided in the third aspect of this embodiment can be found in the first aspect of the embodiment and will not be described in detail here.

[0096] The fourth aspect of this embodiment provides a computer-readable storage medium storing instructions for the vehicle navigation method based on Beidou positioning as described in the first aspect of the embodiment, that is, the computer-readable storage medium stores instructions, and when the instructions are run on a computer, the vehicle navigation method based on Beidou positioning as described in the first aspect or the first aspect of possible design one is executed. Wherein, the computer-readable storage medium refers to a carrier for storing data, which may include but is not limited to a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive and / or a memory stick, etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0097] The fifth aspect of this embodiment provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the vehicle navigation method based on Beidou positioning as described in the first aspect of the embodiment or possible design one of the first aspect, wherein the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0098] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle navigation method based on Beidou positioning, characterized in that: include: Obtain the speed data uploaded by each vehicle on the supervised road section in real time and the vehicle positioning coordinates based on Beidou navigation satellite positioning; Determine the current driving direction of each vehicle based on at least two vehicle positioning coordinates uploaded most recently by each vehicle; Based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded by each vehicle the most recently, and the vehicle speed data uploaded by each vehicle the most recently, determining whether there is a target vehicle whose distance to the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed; If there is a target vehicle whose distance from the vehicle traveling in the same direction is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle so that the on-board intelligent navigation terminal issues a warning prompt to remind the owner that there is a close-up vehicle ahead; The method further comprises: Acquire the reference station positioning coordinates sent by two Beidou reference stations located at both ends of the supervised road section and the actual positioning coordinates of the two Beidou reference stations; Based on the reference station positioning coordinates and the actual positioning coordinates of the two Beidou reference stations, determining the positioning coordinate deviations of the two Beidou reference stations, the positioning coordinate deviations comprising a first positioning coordinate deviation component in a first direction and a second positioning coordinate deviation component in a second direction, wherein the first direction and the second direction are both located on the water surface and are perpendicular to each other; Based on the current vehicle positioning coordinates of each vehicle and the actual positioning coordinates of the two Beidou reference stations, determining the positioning coordinate difference between each vehicle and the two Beidou reference stations; Based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations, determine the first coordinate compensation component in the first direction and the second coordinate compensation component in the second direction of each vehicle; Based on the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction, the current vehicle positioning coordinates of each vehicle are corrected.

2. The vehicle navigation method based on Beidou positioning according to claim 1, characterized in that: The method of determining a first coordinate compensation component in a first direction and a second coordinate compensation component in a second direction of each vehicle based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations, comprises: Based on the positioning coordinate difference between each vehicle and the two Beidou reference stations, determining the distance between each vehicle and the two Beidou reference stations; Based on the distance between each vehicle and the two Beidou reference stations and based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, a first coordinate compensation component in the first direction and a second coordinate compensation component in the second direction of each vehicle are determined.

3. The vehicle navigation method based on Beidou positioning according to claim 2, characterized in that: The first coordinate compensation component of each vehicle in the first direction is A i =A1 i *L2 / (L1+L2)+A2 i *L1 / (L1+L2), the second coordinate compensation component of each vehicle in the second direction is B i =B1 i *L2 / (L1+L2)+B2 i *L1 / (L1+L2), where A i represents the first coordinate compensation component of the i-th vehicle in the first direction, A1 i A2 represents the first positioning coordinate deviation component corresponding to the first Beidou reference station of the two Beidou reference stations. i represents the first positioning coordinate deviation component corresponding to the second Beidou reference station of the two Beidou reference stations, L1 represents the distance between the i-th vehicle and the first Beidou reference station of the two Beidou reference stations, L2 represents the distance between the i-th vehicle and the second Beidou reference station of the two Beidou reference stations, B i represents the second coordinate compensation component of the i-th vehicle in the second direction, B1 i represents the second positioning coordinate deviation component corresponding to the first Beidou reference station of the two Beidou reference stations, B2 i Represents a second positioning coordinate deviation component corresponding to the second Beidou reference station of the two Beidou reference stations.

4. The vehicle navigation method based on Beidou positioning according to claim 1, characterized in that: If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front vehicle is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle, including: If there is a target vehicle whose distance to the vehicle traveling in the same direction is less than a preset distance and whose current speed is greater than a preset speed, determining whether the current speed of the target vehicle is greater than the speed of the vehicle traveling in the same direction; If the current speed of the target vehicle is greater than the speed of the vehicle ahead traveling in the same direction, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle.

5. The vehicle navigation method based on Beidou positioning according to claim 1, characterized in that: The method further comprises: Obtaining meteorological data of the supervised road section; If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front vehicle is less than a preset distance and whose current speed is greater than a preset speed, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle, including: If there is a target vehicle whose distance from the vehicle traveling in the same direction as the front is less than a preset distance and whose current speed is greater than a preset speed, and the meteorological data of the supervised road section indicates that the visibility of the supervised road section is lower than a preset threshold, a prompt message is sent to the on-board intelligent navigation terminal of the target vehicle.

6. A vehicle navigation device based on Beidou positioning, characterized in that: include: An acquisition unit is used to acquire the speed data uploaded in real time by each vehicle on the supervised road section and the vehicle positioning coordinates based on Beidou navigation satellite positioning; A first determining unit, configured to determine a current driving direction of each vehicle based on at least two vehicle positioning coordinates most recently uploaded by each vehicle; The second determination unit is used to determine whether there is a target vehicle whose distance to the vehicle traveling in the same direction ahead is less than a preset distance and whose current speed is greater than a preset speed based on the current driving direction of each vehicle, the vehicle positioning coordinates uploaded most recently by each vehicle, and the vehicle speed data uploaded most recently by each vehicle; A sending unit is used to send a prompt message to the on-board intelligent navigation terminal of the target vehicle if there is a target vehicle whose distance to the vehicle traveling in the same direction is less than a preset distance and whose current speed is greater than a preset speed, so that the on-board intelligent navigation terminal issues a warning prompt to remind the owner of the close-range vehicle in front; The vehicle navigation device based on Beidou positioning also includes: An acquisition unit, used for acquiring reference station positioning coordinates sent by two Beidou reference stations located at both ends of the supervised road section and actual positioning coordinates of the two Beidou reference stations; A third determining unit is used to determine the positioning coordinate deviations of the two Beidou reference stations based on the reference station positioning coordinates and the actual positioning coordinates of the two Beidou reference stations, wherein the positioning coordinate deviations include a first positioning coordinate deviation component in a first direction and a second positioning coordinate deviation separation in a second direction, wherein the first direction and the second direction are both located on the water surface and are perpendicular to each other; A fourth determining unit, configured to determine a positioning coordinate difference between each vehicle and the two Beidou reference stations based on the current vehicle positioning coordinates of each vehicle and the actual positioning coordinates of the two Beidou reference stations; A fifth determining unit is used to determine a first coordinate compensation component in the first direction and a second coordinate compensation component in the second direction of each vehicle based on the first positioning coordinate deviation component and the second positioning coordinate deviation component corresponding to the two Beidou reference stations, and the positioning coordinate difference between each vehicle and the two Beidou reference stations; The correction unit is used to correct the current vehicle positioning coordinates of each vehicle based on the first coordinate compensation component of each vehicle in the first direction and the second coordinate compensation component in the second direction.

7. A vehicle navigation device based on Beidou positioning, characterized in that: It comprises a memory, a processor and a transceiver which are communicatively connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the vehicle navigation method based on Beidou positioning as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer, the vehicle navigation method based on Beidou positioning as described in any one of claims 1 to 5 is executed.

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