Method and system for determining vehicle driving direction by means of gps azimuth and velocity angle

Abstract

The application discloses a method and system for determining the driving direction of a vehicle by a GPS azimuth angle and a speed angle, wherein the method comprises the following steps: acquiring the relative position relationship data of two vehicle antennas and a vehicle body of the vehicle itself, and acquiring the GPS data of the vehicle itself; and determining the driving direction of the vehicle based on the relationship data and the GPS data. The method simplifies the process of calculating the driving direction of the vehicle, and only needs to know the relative position relationship of the two vehicle antennas and the vehicle, and then the driving direction of the vehicle can be accurately calculated according to the acquired GPS data, so that the calibration and reading of the vehicle body coordinate points of the vehicle for calculating the reference vector are not needed. The method can improve the calculation efficiency and meet the real-time requirement.

Description

Technical Field

[0001] This invention relates to the field of vehicle driving technology, and more specifically to a method and system for determining the driving direction of a vehicle using GPS azimuth and velocity angles. Background Technology

[0002] The widespread application of vehicle-mounted GPS position sensors in the field of autonomous driving aims to help autonomous driving systems accurately understand the vehicle's position and orientation for better navigation and decision-making. Current solutions calculate the vehicle's vector by pre-calibrating the vehicle's point coordinates, and then combine this vector with the vehicle's velocity vector to determine the angle and thus the vehicle's direction of travel.

[0003] Among them, the GPS positioning sensor is a sensor that uses the Global Positioning System (GPS) satellite network to determine the vehicle's current location. The GPS system calculates the vehicle's longitude and latitude coordinates by receiving signals from satellites, usually provided in the form of latitude and longitude. These coordinates are used to determine the vehicle's global position.

[0004] Vehicle body point coordinates: These are the coordinates of specific points on the vehicle that have been pre-calibrated. These points are typically located at the front, rear, and sides of the vehicle, and their coordinates have been measured and recorded during vehicle manufacturing or assembly. The location information of these coordinate points helps the system understand the vehicle's shape and orientation.

[0005] Vehicle body vector: By connecting the coordinates of specific points on the vehicle, a vehicle body vector can be formed. This vector represents the vehicle's orientation, that is, the direction in which the front of the vehicle is pointing.

[0006] Vehicle velocity vector: In addition to location information, GPS can also provide vehicle speed information. A velocity vector is a vector that describes the vehicle's speed and direction.

[0007] Angle calculation: By calculating the angle between the vehicle body vector and the velocity vector, the system can determine the vehicle's direction of travel. This angle tells the system whether the vehicle is moving in the desired navigation direction or whether adjustments are needed.

[0008] Based on the calculated angle, the autonomous driving system can take necessary measures to control the vehicle to travel in the desired direction. By combining GPS positioning, vehicle coordinate calibration, and speed information, the autonomous driving system can accurately identify the vehicle's position, orientation, and direction of travel, thereby achieving autonomous navigation and driving control. However, the entire process is computationally complex, especially in scenarios like autonomous driving where efficient decision-making is crucial and real-time performance is paramount, making time extremely valuable. The calculations in the aforementioned method may take some time, potentially affecting the system's response speed.

[0009] Therefore, improving computational efficiency to meet real-time requirements in determining vehicle direction during autonomous driving, in order to address the challenges of the field of driverless vehicles, has become a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0010] In view of this, the present invention provides a method and system for determining the driving direction of a vehicle using GPS azimuth and velocity angles, which can solve the above-mentioned problem of complex calculations, help improve computational efficiency, and meet real-time requirements.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] In a first aspect, the present invention provides a method for determining the driving direction of a vehicle using GPS azimuth and velocity angles, comprising the following steps:

[0013] S100: Obtain the relative positional relationship data between the vehicle's two on-board antennas and the vehicle body, and obtain the vehicle's own GPS data;

[0014] S200. Based on the relationship data and GPS data, the driving direction of the vehicle is calculated and determined.

[0015] Further, step S100 includes:

[0016] S101. Obtain the angle angle_a between the line connecting the two antennas installed on the vehicle itself and the body line; the body line is a line segment that passes through the center of mass of the vehicle and is perpendicular to the front or rear of the vehicle.

[0017] S102. The included angle_a is passed to the calculation system, and the vehicle's own GPS data is parsed to obtain the parsed azimuth angle gps_angle_h;

[0018] S103. Calculate the difference between the analytical azimuth angle gps_angle_h and the included angle angle_a, and use it as the actual azimuth angle angle_h of the vehicle body.

[0019] Further, step S200 includes:

[0020] S201. Calculate the 360° modulus by subtracting the GPS velocity angle_v obtained from the analysis and the actual azimuth angle of the vehicle body, and obtain a difference value angle_diff in the range of 0 to 180°.

[0021] S202. Based on the parsed GPS horizontal speed v, when v is greater than the preset minimum speed threshold, determine the range of angle_diff. If it is in the first quadrant, the vehicle's driving direction is the same as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is opposite to the front of the vehicle.

[0022] Furthermore, step S200 also includes:

[0023] When v is less than or equal to the preset minimum speed threshold, the vehicle's displacement s is calculated by parsing the vehicle's position coordinates from the previous cycle and the current vehicle position coordinates.

[0024] If the displacement s is greater than the preset minimum displacement value, then the range of angle_diff is determined. If it is in the first quadrant, the vehicle's driving direction is in the same direction as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is in the opposite direction to the front of the vehicle.

[0025] Secondly, the present invention also provides a system for determining the driving direction of a vehicle using GPS azimuth and velocity angles, comprising:

[0026] The acquisition module is used to acquire the relative positional relationship data between the vehicle's two on-board antennas and the vehicle body, as well as to acquire the vehicle's own GPS data;

[0027] The judgment module is used to calculate and determine the driving direction of the vehicle based on the relationship data and GPS data.

[0028] Furthermore, the acquisition module includes:

[0029] The acquisition submodule is used to acquire the angle_a between the line connecting the two antennas installed on the vehicle itself and the body line; the body line is a line segment that passes through the center of mass of the vehicle and is perpendicular to the front or rear of the vehicle.

[0030] The parsing submodule is used to pass the included angle_a to the calculation system and parse the vehicle's own GPS data to obtain the parsed azimuth angle gps_angle_h;

[0031] The calculation submodule is used to calculate the difference between the analytical azimuth angle gps_angle_h and the included angle angle_a, which is used as the actual azimuth angle angle_h of the vehicle body.

[0032] Furthermore, the determination module includes:

[0033] The difference module is used to calculate the 360° modulus by subtracting the GPS velocity angle_v obtained from the analysis and the actual azimuth angle of the vehicle body, and obtain a difference value angle_diff in the range of 0 to 180°.

[0034] The first judgment submodule is used to determine the range of angle_diff based on the parsed GPS horizontal speed v. When v is greater than the preset minimum speed threshold, the range is determined. If the angle_diff is in the first quadrant, the vehicle's direction of travel is the same as the direction the vehicle is facing; if it is in the second quadrant, the vehicle's direction of travel is opposite to the direction the vehicle is facing.

[0035] Furthermore, the judgment module also includes:

[0036] The second judgment submodule is used to calculate the vehicle's displacement s by parsing the vehicle's position coordinates from the previous cycle and the current vehicle position coordinates when v is less than or equal to the preset minimum speed threshold. If the displacement s is greater than the preset minimum displacement value, the range of angle_diff is then judged. If it is in the first quadrant, the vehicle's driving direction is in the same direction as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is in the opposite direction to the front of the vehicle.

[0037] As can be seen from the above technical solution, compared with the prior art, this invention discloses a method for determining the driving direction of a vehicle using GPS azimuth and velocity angles, including the following steps: acquiring the relative positional relationship data between the vehicle's two onboard antennas and the vehicle body, and acquiring the vehicle's own GPS data; based on the relationship data and GPS data, calculating and determining the driving direction of the vehicle. This method simplifies the process of calculating the vehicle's direction of motion. It only requires knowing the relative positional relationship between the two onboard antennas and the vehicle, and then accurately calculating the vehicle's direction of motion based on the acquired GPS data, eliminating the need to calibrate and read the vehicle's body coordinate points to calculate the reference vector. This method can improve computational efficiency and meet real-time requirements. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 The flowchart of the method for determining the driving direction of a vehicle using GPS azimuth and velocity angles provided by the present invention is shown.

[0040] Figure 2 A frame diagram of an antenna and GPS sensor mounted on a vehicle, provided by the present invention.

[0041] Figure 3 This invention provides an analysis diagram for determining the vehicle's driving direction using GPS azimuth and velocity angles.

[0042] Figure 4This invention provides a GPS azimuth and velocity angle determination diagram for determining vehicle driving direction. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] This invention discloses a method for determining the driving direction of a vehicle using GPS azimuth and velocity angles, referring to... Figure 1 As shown, it includes the following steps:

[0045] S100: Obtain the relative positional relationship data between the vehicle's two on-board antennas and the vehicle body, and obtain the vehicle's own GPS data;

[0046] S200. Based on the relationship data and GPS data, the driving direction of the vehicle is calculated and determined.

[0047] This invention simplifies direction calculation: compared to traditional methods, this method eliminates the need to calibrate the vehicle's coordinates; it only requires knowing the relative positions of the two onboard antennas and the vehicle, and then accurately calculating the vehicle's direction of motion based on acquired GPS data, without relying on sensor calibration. This method is not only applicable to automobiles but also to any moving object equipped with a GPS position sensor, without relying on a base station, and can be used outdoors in any location with GPS signal. It can calculate the vehicle's direction of travel in real time, making it suitable for applications requiring rapid response, such as autonomous driving.

[0048] like Figure 2 The diagram shows a framework of an antenna and GPS sensor mounted on a vehicle. It calculates the angle between the vehicle's position vector and velocity vector by using the positional relationship between the front and rear GPS antennas and the vehicle, thus determining the vehicle's direction of motion. (Refer to...) Figure 3 and Figure 4 As shown, the specific steps are as follows:

[0049] 1. Determine the angle 'a' between the line connecting the two GPS antennas and the vehicle body line; this vehicle body line is a line segment passing through the vehicle's center of gravity and perpendicular to either the front or rear of the vehicle; according to... Figure 3 As shown in the left figure, this angle is 90 degrees, that is: angle_a = 90;

[0050] 2. The included angle_a is input into the calculation system. The system parses the vehicle GPS data. In the coordinate system where the GPS data is located, north is the X direction and east is the Y direction on the drawing. The parsed azimuth angle gps_angle_h (the angle between the line connecting the two GPS antennas and north) is substituted into the calculation formula angle_h = (gps_angle_h - angle_a) to obtain the angle_h between the vehicle's driving direction (i.e., the direction of the vehicle body lines) and north.

[0051] 3. Calculate the 360° modulus by subtracting the GPS velocity angle_v obtained from the analysis and the calculated actual vehicle azimuth angle_h; the final result is a difference value angle_diff in the range of 0-180°.

[0052] 4. Based on the parsed GPS horizontal speed v, when v > v_min (v_min is a minimum speed threshold, which is determined according to different GPS manufacturers and is the critical speed value when the vehicle is stationary; for example, the threshold speed for Beidou GPS is 0.2 km / h), determine the range of angle_diff. If it is in the first quadrant, i.e., cos(angle_diff) > 0, then the vehicle's direction of travel is the same as the front of the vehicle; conversely, if the angle range is in the second quadrant, i.e., cos(angle_diff) < 0, then the vehicle's direction of travel is opposite to the front of the vehicle.

[0053] 5. When v <= v_min, calculate the displacement using the previous cycle's eastward coordinates coord_e1 and northward coordinates coord_n1, and the current cycle's eastward coordinates coord_e2 and northward coordinates coord_n2.

[0054]

[0055] If the displacement s > s_min (the minimum displacement value set by the system; the accuracy of Beidou GPS is 0.01 meters, and the minimum value is set to 0.02 meters), then determine the range of angle_diff. If it is in the first quadrant, then the vehicle's driving direction is in the same direction as the front of the vehicle; otherwise, the vehicle's driving direction is in the opposite direction to the front of the vehicle.

[0056] The method for determining the driving direction of a vehicle by using GPS azimuth and velocity angles provided in this invention is not limited to automobiles. As long as a moving object is equipped with a GPS position sensor, as long as the positional relationship between the line connecting the two antennas and the moving object is determined, the direction of movement of the moving object can be calculated by using the calculated GPS data. This greatly reduces the complexity of system development and quantification indicators, and is highly reliable and easy to use.

[0057] In addition, it does not rely on base stations. As long as there is a GPS signal outdoors, the direction of movement of a moving object can be calculated simply by using GPS orientation.

[0058] For example, considering a self-driving car, the method of this invention can accurately determine the vehicle's current direction of travel using two onboard antennas and GPS data, without the need for complex calibration and calculations, thereby improving the efficiency and reliability of the autonomous driving system. This method is also applicable to other applications requiring direction determination, such as ships and aircraft.

[0059] Based on the same inventive concept, the present invention also provides a system for determining the driving direction of a vehicle by using GPS azimuth and velocity angles. The specific implementation of the system can be referred to the above method and will not be repeated here.

[0060] The system that determines the vehicle's direction of travel using GPS azimuth and velocity angles includes:

[0061] The acquisition module is used to acquire the relative positional relationship data between the vehicle's two on-board antennas and the vehicle body, as well as to acquire the vehicle's own GPS data;

[0062] The judgment module is used to calculate and determine the driving direction of the vehicle based on the relationship data and GPS data.

[0063] Furthermore, the acquisition module includes:

[0064] The acquisition submodule is used to acquire the angle_a between the line connecting the two antennas installed on the vehicle itself and the body line; the body line is a line segment that passes through the center of mass of the vehicle and is perpendicular to the front or rear of the vehicle.

[0065] The parsing submodule is used to pass the included angle_a to the calculation system and parse the vehicle's own GPS data to obtain the parsed azimuth angle gps_angle_h;

[0066] The calculation submodule is used to calculate the difference between the analytical azimuth angle gps_angle_h and the included angle angle_a, which is used as the actual azimuth angle angle_h of the vehicle body.

[0067] Furthermore, the determination module includes:

[0068] The difference module is used to calculate the 360° modulus by subtracting the GPS velocity angle_v obtained from the analysis and the actual azimuth angle of the vehicle body, and obtain a difference value angle_diff in the range of 0 to 180°.

[0069] The first judgment submodule is used to determine the range of angle_diff based on the parsed GPS horizontal speed v. When v is greater than the preset minimum speed threshold, the range is determined. If the angle_diff is in the first quadrant, the vehicle's direction of travel is the same as the direction the vehicle is facing; if it is in the second quadrant, the vehicle's direction of travel is opposite to the direction the vehicle is facing.

[0070] Furthermore, the judgment module also includes:

[0071] The second judgment submodule is used to calculate the vehicle's displacement s by parsing the vehicle's position coordinates from the previous cycle and the current vehicle position coordinates when v is less than or equal to the preset minimum speed threshold. If the displacement s is greater than the preset minimum displacement value, the range of angle_diff is then judged. If it is in the first quadrant, the vehicle's driving direction is in the same direction as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is in the opposite direction to the front of the vehicle.

[0072] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0073] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the direction of vehicle travel using GPS azimuth and velocity angles, characterized in that, Includes the following steps: S100: Obtain the relative positional relationship data between the vehicle's two on-board antennas and the vehicle body, and obtain the vehicle's own GPS data; S200. Based on the relationship data and GPS data, calculate and determine the driving direction of the vehicle; Step S100 includes: S101. Obtain the angle angle_a between the line connecting the two antennas installed on the vehicle itself and the body line; the body line is a line segment that passes through the center of mass of the vehicle and is perpendicular to the front or rear of the vehicle. S102. The included angle_a is passed to the calculation system, and the vehicle's own GPS data is parsed to obtain the parsed azimuth angle gps_angle_h; S103. Calculate the difference between the analytical azimuth angle gps_angle_h and the included angle angle_a, and use it as the actual azimuth angle angle_h of the vehicle body; Step S200 includes: S201. Calculate the 360° modulus by subtracting the obtained GPS velocity angle_v from the actual azimuth angle of the vehicle body, and obtain a difference value angle_diff in the range of 0~180°. S202. Based on the parsed GPS horizontal speed v, when v is greater than the preset minimum speed threshold, determine the range of angle_diff. If it is in the first quadrant, the vehicle's driving direction is the same as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is opposite to the front of the vehicle.

2. The method for determining vehicle direction using GPS azimuth and velocity angles according to claim 1, characterized in that, Step S200 further includes: When v is less than or equal to the preset minimum speed threshold, the vehicle's displacement s is calculated by parsing the vehicle's position coordinates from the previous cycle and the current vehicle position coordinates. If the displacement s is greater than the preset minimum displacement value, then the range of angle_diff is determined. If it is in the first quadrant, the vehicle's driving direction is in the same direction as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is in the opposite direction to the front of the vehicle.

3. A system for determining the direction of vehicle travel using GPS azimuth and velocity angles, characterized in that, include: The acquisition module is used to acquire the relative positional relationship data between the vehicle's two on-board antennas and the vehicle body, as well as to acquire the vehicle's own GPS data; The judgment module is used to calculate and determine the driving direction of the vehicle based on the relationship data and GPS data; The acquisition module includes: The acquisition submodule is used to acquire the angle_a between the line connecting the two antennas installed on the vehicle itself and the body line; the body line is a line segment that passes through the center of mass of the vehicle and is perpendicular to the front or rear of the vehicle. The parsing submodule is used to pass the included angle_a to the calculation system and parse the vehicle's own GPS data to obtain the parsed azimuth angle gps_angle_h; The calculation submodule is used to calculate the difference between the analytical azimuth angle gps_angle_h and the included angle angle_a, which is used as the actual azimuth angle angle_h of the vehicle body; The judgment module includes: The difference module is used to calculate the 360° modulus by subtracting the GPS velocity angle_v obtained from the analysis and the actual azimuth angle of the vehicle body, and obtain a difference value angle_diff in the range of 0~180°. The first judgment submodule is used to determine the range of angle_diff based on the parsed GPS horizontal speed v. When v is greater than the preset minimum speed threshold, the range is determined. If the angle_diff is in the first quadrant, the vehicle's direction of travel is the same as the direction the vehicle is facing; if it is in the second quadrant, the vehicle's direction of travel is opposite to the direction the vehicle is facing.

4. A system for determining vehicle direction of travel using GPS azimuth and velocity angles according to claim 3, characterized in that, The judgment module further includes: The second judgment submodule is used to calculate the vehicle's displacement s by parsing the vehicle's position coordinates from the previous cycle and the current vehicle position coordinates when v is less than or equal to the preset minimum speed threshold. If the displacement s is greater than the preset minimum displacement value, the range of angle_diff is then judged. If it is in the first quadrant, the vehicle's driving direction is in the same direction as the front of the vehicle; if it is in the second quadrant, the vehicle's driving direction is in the opposite direction to the front of the vehicle.

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