A single-side bridge test evaluation method, system, electronic device and storage medium

Abstract

The present invention discloses a method for judging a single-sided bridge test, comprising the following steps: obtaining trusted positioning information of the vehicle's real-time positioning information as preparation trusted positioning information before the vehicle goes on the single-sided bridge; obtaining trusted positioning information of the vehicle's real-time positioning information as current trusted positioning information; determining the real-time offset distance of the positioning antenna according to the current trusted positioning information and the height of the positioning antenna from the ground; correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position; judging whether the wheel is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information and the current corrected position. The present invention can realize the accurate judgment of the vehicle single-sided bridge project, can accurately and timely judge the single-sided bridge project in the driving skill test, is simple to install, and saves costs. The present invention also discloses a system, an electronic device, and a computer-readable storage medium for realizing the above method.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent testing systems for motor vehicle drivers, and in particular to a single-side bridge test evaluation method, system, electronic equipment and storage medium. Background Art

[0002] In the on-site driving skills test for motor vehicle drivers (subject 2 on-site test), the GNSS centimeter-level high-precision differential carrier phase calculation method can accurately locate the vehicle's position, driving speed, heading and other information. Combined with the surveyed electronic map and collision algorithm, all test items can be automatically judged. The single-sided bridge subject is a subject in the on-site road driving test. The requirement is that when the test vehicle passes the single-sided bridge subject, the wheels on one side of the vehicle need to ride on two single-sided bridges respectively. Those who fail to ride on the single-sided bridge or fall off the bridge will be considered as failing this subject or deducting the corresponding points.

[0003] Regarding the evaluation of the single-sided bridge test, after the wheels are on the bridge, the vehicle body will tilt (such as Figure 1 As shown in the figure, since the positioning antenna is rigidly fixed on the roof, it will have a horizontal displacement to the tilted side along with the body of the vehicle, and is accompanied by a vertical displacement. This causes the position of the vehicle to be displaced on the electronic map, resulting in inaccurate and misjudgment of the evaluation, and affects the fairness and stability of the test. To solve the above problems, two methods are currently used. One is to add active sensor equipment around the single-sided bridge, and transmit the signal generated by the wheel rolling back to the test system for evaluation; the other is to install acceleration sensors and gyroscope sensors on the vehicle chassis or axle, and realize automatic evaluation of the single-sided bridge through comprehensive calculation of multiple sensor data. However, the above solutions have major disadvantages:

[0004] The first one: Since it is an active sensor installed on the site, power supply must be considered. At the same time, there are cases of cheating by shutting down and interfering, which affects the fairness and impartiality of the exam. In addition, since the wheel needs to press on the sensor to generate a signal, it causes delays in judging and poor timeliness. The second one: installing accelerometers and gyroscopes on the vehicle chassis or axles. The installation process is complicated, and the position needs to be constantly adjusted during the debugging process to achieve accurate judgment requirements. The technical level of the installation and debugging personnel is very high. Another point is that the hardness of the vehicle's shock absorber directly affects the accuracy of the judgment. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, the present invention provides a single-side bridge test evaluation method, system, electronic device and storage medium. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0006] A first aspect of an embodiment of the present invention provides a single-side bridge test evaluation method, comprising the following steps:

[0007] Before the vehicle goes on the single-sided bridge, the trusted positioning information of the real-time positioning information of the vehicle is obtained as the prepared trusted positioning information; the trusted pitch angle of the prepared trusted positioning information is used as the trusted plane inclination angle; wherein the real-time positioning information is obtained through a directional antenna and a positioning antenna, the directional antenna is fixedly arranged on the left side of the top of the vehicle, and the positioning antenna is fixedly arranged on the right side of the top of the vehicle;

[0008] Acquire the trusted positioning information of the real-time positioning information of the vehicle as the current trusted positioning information;

[0009] Determine a real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the positioning antenna from the ground;

[0010] Correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain a current corrected position;

[0011] It is determined whether the wheel is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current deviation correction position.

[0012] In one embodiment of the present invention, the step of obtaining the trusted positioning information of the real-time positioning information of the vehicle includes:

[0013] Obtain real-time positioning information through directional antennas and positioning antennas;

[0014] Preprocessing the real-time positioning information to obtain preprocessed positioning information;

[0015] The pre-processed positioning information is smoothed to obtain reliable positioning information.

[0016] In one embodiment of the present invention, determining the real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the directional antenna from the ground includes:

[0017] Determine the current indicated moving direction distance according to the current trusted angle in the current trusted positioning information and the height of the positioning antenna from the ground;

[0018] The real-time offset distance of the positioning antenna is determined according to the current indicated moving direction distance and the current trusted heading angle in the current trusted positioning information.

[0019] In one embodiment of the present invention, judging whether the wheel is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current correction position includes:

[0020] Determine whether the absolute value of the difference between the trusted plane inclination angle and the current trusted pitch angle of the current trusted positioning information is greater than a difference threshold, and determine whether the wheel at the current deviation correction position is located in the bridge deck area of ​​the single-sided bridge;

[0021] If so, the bridge-crossing result is output; the bridge-crossing result represents that the vehicle crosses the bridge.

[0022] In one embodiment of the present invention, the step of correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position includes:

[0023] The sum of the current trusted horizontal coordinate of the vehicle on the electronic map and the real-time offset distance in the horizontal X direction in the current trusted positioning information is used as the horizontal coordinate of the current correction position; the sum of the current trusted vertical coordinate of the vehicle on the electronic map and the real-time offset distance in the longitudinal Y direction in the current trusted positioning information is used as the vertical coordinate of the current correction position.

[0024] In one embodiment of the present invention, when outputting the bridge result, the method further includes:

[0025] Repeat the steps of obtaining trusted positioning information of the real-time positioning information of the vehicle as current trusted positioning information; determining the real-time offset distance of the positioning antenna according to the current trusted positioning information and the height of the positioning antenna from the ground; correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position; and judging whether the wheel has fallen off the bridge according to the current trusted pitch angle of the current trusted positioning information and the current trusted corrected position.

[0026] In one embodiment of the present invention, judging whether the wheel has fallen off the bridge according to the current credible pitch angle and the current credible deviation correction position of the current credible positioning information includes:

[0027] Determine whether the difference between the current credible pitch angle of the current credible positioning information and the previous credible pitch angle is greater than a real-time threshold, and determine whether the wheel at the current credible deviation correction position is located outside the bridge deck area of ​​the single-sided bridge;

[0028] If so, a bridge falling result is output; the bridge falling result indicates that the vehicle has fallen off the bridge.

[0029] A second aspect of an embodiment of the present invention provides a single-side bridge test evaluation system, comprising:

[0030] An acquisition module is used to acquire trusted positioning information of the real-time positioning information of the vehicle before the vehicle goes on the single-sided bridge as prepared trusted positioning information; the trusted pitch angle of the prepared trusted positioning information is used as the trusted plane inclination angle; wherein the real-time positioning information is acquired through a directional antenna and a positioning antenna, the directional antenna is fixedly arranged on the left side of the top of the vehicle, and the positioning antenna is fixedly arranged on the right side of the top of the vehicle;

[0031] The acquisition module is further used to acquire the trusted positioning information of the real-time positioning information of the vehicle as the current trusted positioning information;

[0032] A determination module, used to determine the real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the positioning antenna from the ground;

[0033] A deviation correction module, used for correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain a current deviation correction position;

[0034] A judgment module is used to judge whether the wheel is located on a single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current correction position.

[0035] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a single-side bridge test evaluation method provided by the first aspect of an embodiment of the present invention is implemented.

[0036] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, a single-side bridge test evaluation method provided by the first aspect of an embodiment of the present invention is implemented.

[0037] Beneficial effects of the present invention:

[0038] The present invention uses the existing GNSS positioning equipment, without adding other sensors, gyroscopes and accelerometers, and places two antennas horizontally, and combines GNSS positioning data and surveyed electronic maps for calculation, so as to achieve accurate evaluation of the vehicle's single-sided bridge project, and can accurately and timely carry out relevant evaluation of the single-sided bridge project in the on-site driving skill test of motor vehicle drivers, which can meet the supervision requirements of relevant competent departments and the requirements of users. In addition, it reduces the technical level requirements of installation and debugging personnel, and the installation is simple, convenient and cost-saving.

[0039] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0040] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 It is a schematic diagram of the vehicle body tilting after the wheels are on the bridge in the background technology;

[0043] Figure 2 A schematic diagram of a flow chart of a single-side bridge test evaluation method provided by an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of the installation positions of the positioning antenna and the directional antenna provided in an embodiment of the present invention.

[0045] Figure 4 A block diagram of a single-side bridge test evaluation system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0047] like Figure 2 As shown, a first aspect of an embodiment of the present invention provides a single-side bridge test evaluation method, comprising the following steps:

[0048] Step 11: Before the vehicle goes on the single-sided bridge, the trusted positioning information of the real-time positioning information of the vehicle is obtained as the prepared trusted positioning information; the trusted pitch angle of the prepared trusted positioning information is used as the trusted plane tilt angle. The trusted plane tilt angle is the initial angle of the vehicle relative to the ground before going on the bridge.

[0049] The real-time positioning information is obtained through a directional antenna and a positioning antenna. The directional antenna is fixedly arranged on the left side of the top of the vehicle, and the positioning antenna is fixedly arranged on the right side of the top of the vehicle.

[0050] The two positioning antennas of the GNSS high-precision positioning equipment are changed from the original front and back placement to the left and right placement, and are rigidly fixed on the roof of the vehicle. The left side is a directional antenna, that is, the original front antenna, and the right side is a positioning antenna, that is, the original rear antenna. The direction of the vehicle's electronic model on the map is the heading angle. When the antenna is placed horizontally, the vehicle's electronic model needs to be rotated 90 degrees relative to the vehicle with the antennas placed front and back, so that the actual movement of the vehicle is consistent with the electronic map display, thereby ensuring that the vehicle can travel forward and backward normally on the electronic map.

[0051] Step 12: When the wheels (front wheels or rear wheels) of the vehicle are at a preset distance from the single-sided bridge area for the first time, the trusted positioning information of the real-time positioning information of the vehicle is obtained as the current trusted positioning information.

[0052] Step 13: Determine the real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the positioning antenna from the ground.

[0053] Step 14: Correct the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position. Here, the current corrected position is used to calculate whether the wheel position is within the bridge deck area of ​​the single-sided bridge using a collision algorithm in the electronic map.

[0054] Step 15, judging whether the wheel (front wheel or rear wheel) is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current correction position.

[0055] In this embodiment, the original GNSS positioning equipment is used, and without adding other sensors, gyroscopes and accelerometers, the two antennas are placed horizontally, and the GNSS positioning data and the surveyed electronic map are combined for calculation to achieve accurate evaluation of the vehicle's single-sided bridge project. The relevant evaluation of the single-sided bridge project in the on-site driving skills test of motor vehicle drivers can be carried out accurately and timely, which can meet the supervision requirements of relevant competent authorities and the requirements of users. In addition, the technical level requirements of installation and debugging personnel are reduced, and the installation is simple, convenient and cost-saving.

[0056] A second aspect of an embodiment of the present invention provides a single-side bridge test evaluation method, comprising the following steps:

[0057] Step 21, before the vehicle goes on the single-sided bridge, obtain the trusted positioning information of the real-time positioning information of the vehicle as the prepared trusted positioning information; the trusted pitch angle of the prepared trusted positioning information is used as the trusted plane tilt angle. The trusted plane tilt angle is the initial angle of the vehicle relative to the ground before going on the bridge.

[0058] Among them, the real-time positioning information is obtained through a directional antenna and a positioning antenna. The directional antenna is fixedly set on the left side of the top of the vehicle, and the positioning antenna is fixedly set on the right side of the top of the vehicle. Figure 3 shown.

[0059] The two positioning antennas of the GNSS high-precision positioning equipment are changed from the original front and back placement to the left and right placement, and are rigidly fixed on the roof of the vehicle. The left side is a directional antenna, that is, the original front antenna, and the right side is a positioning antenna, that is, the original rear antenna. The direction of the vehicle's electronic model on the map is the heading angle. When the antenna is placed horizontally, the vehicle's electronic model needs to be rotated 90 degrees relative to the vehicle with the antennas placed front and back, so that the actual movement of the vehicle is consistent with the electronic map display, thereby ensuring that the vehicle can travel forward and backward normally on the electronic map.

[0060] Specifically, there is noise data in the real-time positioning information, and the real-time positioning information needs to be processed to obtain a credible value. The steps of obtaining a credible value after processing the real-time positioning information include: Step A1-Step A3:

[0061] Step A1, obtain real-time positioning information through directional antenna and positioning antenna. Real-time positioning information is obtained through differential operation of GNSS satellite positioning equipment (base station and mobile station), including synchronous clock, longitude and latitude coordinates, heading angle, pitch angle formed by two antennas (hereinafter referred to as pitch angle), northeast speed, etc. The algorithm uses data structure to save multiple sets of synchronous clock, longitude and latitude positioning coordinates, heading angle, pitch angle, east speed, north speed and other data in the recent period.

[0062] Step A2, preprocessing the real-time positioning information to obtain preprocessed positioning information. Specifically, the preprocessing method includes preliminary processing and correction, wherein the preliminary processing includes: verifying the availability of data, including eliminating obviously abnormal data, eliminating identical data, eliminating initialized zero data, eliminating data with too small distance value, and other data that affect accuracy. Correction processing is performed after preliminary processing, and the correction algorithm adopts the correction method in Chinese patent CN202310237671.9.

[0063] Step A3, smoothing the pre-processed positioning information to obtain reliable positioning information.

[0064] In this step, the smoothing process adopts the formula of the smoothing exponential method: S(t)=αX(t)+(1-α)[S(t-1)+βY(t-1)], where S(t) is the predicted value at time t, X(t) is the actual value at time t, S(t-1) is the predicted value at time t-1, Y(t-1) is the actual value at time t-1, α and β are parameters, and α is a parameter called the smoothing factor.

[0065] Step 22, continue to obtain the trusted positioning information of the real-time positioning information of the vehicle in real time as the current trusted positioning information. When the wheel reaches the vicinity of the single-sided bridge area for the first time, continue to obtain the real-time positioning information in real time, and execute the above steps A1 to A3 to obtain the trusted positioning information as the current trusted positioning information. In this step, the collision algorithm of the electronic map is used to determine whether the wheel reaches the vicinity of the single-sided bridge area for the first time (that is, when it is a certain distance away from the single-sided bridge area).

[0066] Step 23, according to the current reliable positioning information and the height of the positioning antenna from the ground, determine the real-time offset distance of the positioning antenna. Specifically, step 23 includes steps 231-232:

[0067] Step 231, determining the current indicated moving direction distance according to the current trusted angle in the current trusted positioning information and the height of the positioning antenna from the ground.

[0068] During the movement of the vehicle, the vehicle may or may not be on the bridge. If the vehicle has been on the bridge, the antenna will tilt to one side along with the vehicle body, and the antenna will have a horizontal displacement on the electronic map, accompanied by a vertical displacement. If the pitch angle of the vehicle changes during movement, the antenna will have a horizontal displacement and a vertical displacement, and the electronic model of the vehicle will have a displacement, but in the actual site, the vehicle does not have this displacement, so correction is required here. Here, the displacement of the vehicle after being on the bridge is more obvious, and the correction calculation is explained in detail based on the position of the vehicle after being on the bridge (the correction calculation process is the same for vehicles not on the bridge):

[0069] Specifically, in the coordinate system of the vehicle from behind the rear, the y-axis is in the same direction as the vehicle height, and the x-axis is parallel to the ground. Therefore, the calculation process of the current indicated moving direction distance pt_DesOri.x is:

[0070] If dHgj>0, then pt_DesOri.x=0-dMoveDisX, which means that the right tilt is positive and needs to be moved left.

[0071] If dHgj<0, then pt_DesOri.x=dMoveDisX, which means that the left tilt is negative and needs to be moved right.

[0072] Among them, dHgj represents the current trusted rolling angle in the current trusted positioning information; dMoveDisX=|dHight*tan(dHgRid)|; dHgRid represents the radian of the current trusted rolling angle, and dHight represents the height of the positioning antenna from the ground.

[0073] Step 232, determine the real-time offset distance of the positioning antenna according to the current indicated moving direction distance and the current credible heading angle in the current credible positioning information. The calculation of this step is based on the coordinate system of the overhead vehicle, in a two-dimensional plane, the Y axis is the due north direction, the X axis is the vertical Y axis is the direction.

[0074] In this step, the real-time offset distance includes the horizontal X-direction real-time offset distance dXSpan and the vertical Y-direction real-time offset distance dYSpan, and the calculation formulas for the two are as follows:

[0075] dXSpan=pt_DesOri.x*cos(dHxRid);

[0076] dYSpan=|pt_DesOri.x|*sin(dHxRid)*flag;

[0077] Among them, dHxRid represents the radian of the current trusted heading angle dHxj in the current trusted positioning information; flag represents the flag of the horizontal moving direction. The direction (positive or negative) of dXSpan is also the direction (positive or negative) of pt_DesOri.x, and the direction (positive or negative) of dYSpan is also the positive or negative of flag.

[0078] If dHxj≤90 degrees, then dHxj=90–dHxj, flag=-1*pt_DesOri.x / |pt_DesOri.x|;

[0079] If 90 degrees < dHxj ≤ 180 degrees, then dHxj = 180 – dHxj, flag = -1*pt_DesOri.x / |pt_DesOri.x|;

[0080] If 180 degrees < dHxj ≤ 270 degrees, then dHxj = 270 – dHxj, flag = pt_DesOri.x / |pt_DesOri.x|;

[0081] If 270 degrees<dHxj≤360 degrees, then dHxj=360–dHxj, flag=pt_DesOri.x / |pt_DesOri.x|.

[0082] Step 24, correct the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position. Here, the current corrected position is used to calculate whether the wheel position is within the bridge deck area of ​​the single-sided bridge using a collision algorithm in the electronic map.

[0083] In this step, the sum of the current trusted horizontal coordinate of the vehicle on the electronic map in the current trusted positioning information and the real-time offset distance dXSpan in the horizontal X direction is used as the horizontal coordinate of the current correction position, and the sum of the current trusted vertical coordinate of the vehicle on the electronic map in the current trusted positioning information and the real-time offset distance dYSpan in the longitudinal Y direction is used as the vertical coordinate of the current correction position.

[0084] Step 25, judging whether the wheel (front wheel or rear wheel) is located on the single-sided bridge according to the trusted plane inclination angle, the current trusted pitch angle of the current trusted positioning information and the current deviation correction position. The specific steps of this step include: judging whether the absolute value of the difference between the trusted plane inclination angle and the current trusted pitch angle is greater than the difference threshold, and judging whether the wheel at the current deviation correction position is located in the bridge deck area of ​​the single-sided bridge. If so, output the bridge-entering result; the bridge-entering result represents the vehicle entering the bridge.

[0085] In this step, when the absolute value of the difference between the credible plane inclination angle and the current credible pitch angle is greater than the difference threshold, it can be preliminarily determined that the wheel has been on the bridge, and the collision algorithm of the electronic map is used to calculate whether the wheel at the current deviation correction position is within the bridge deck area of ​​the single-sided bridge. If so, it is determined that the vehicle has been on the bridge. At the same time, the collision algorithm of the electronic map can also be used to calculate whether the front wheel or the rear wheel is on the bridge, and output a specific determination result.

[0086] When the absolute value of the difference between the trusted plane inclination angle and the current trusted pitch angle is less than the difference threshold, and the wheel at the current correction position calculated by the collision algorithm of the electronic map is not within the bridge deck area of ​​the single-sided bridge, it is determined that the vehicle has not been on the bridge, and the result of not being on the bridge can be output and steps 22 to 25 can be repeated until the result is that the vehicle is on the bridge, and then a subsequent bridge fall judgment is performed.

[0087] Step 26, after the vehicle is on the bridge, execute steps 22 to 24, and after obtaining the current deviation correction position, determine whether the wheel (front wheel or rear wheel) has fallen off the bridge based on the current credible pitch angle and the current credible deviation correction position of the current credible positioning information.

[0088] Step 27, repeat step 26 until the bridge failure result or the test end result is output.

[0089] In the process of repeatedly obtaining the current positioning information and determining whether the bridge has fallen off, the specific steps of determining whether the bridge has fallen off are: determining whether the difference between the current credible pitch angle and the previous credible pitch angle is greater than the real-time threshold, and determining whether the wheel at the current credible deviation correction position is outside the bridge deck area of ​​the single-sided bridge. If so, the bridge falling result is output; the bridge falling result indicates that the vehicle has fallen off the bridge.

[0090] In this step, the current credible pitch angle is obtained in real time after the vehicle is on the bridge, and the current credible deviation correction position is calculated each time. When the vehicle wheel falls off the bridge, the current credible pitch angle will change. When the absolute value of the difference between the current credible pitch angle obtained at a certain time and the previous pitch angle is greater than the real-time threshold, it can be preliminarily determined that the wheel has fallen off the bridge. At the same time, the collision algorithm of the electronic map is used to calculate whether the wheel at the current credible deviation correction position is outside the bridge deck area of ​​the single-sided bridge. If so, it is determined that the vehicle has fallen off the bridge. At the same time, the collision algorithm of the electronic map can also be used to calculate whether the front wheel is on the bridge or the rear wheel is off the bridge, and output the specific judgment result.

[0091] In this embodiment, whether to go on the bridge or fall off the bridge is judged by the corrected position and data and information in multiple dimensions, thereby achieving accurate evaluation of the vehicle's single-sided bridge project and improving the accuracy of the evaluation.

[0092] In this embodiment, the bridge-on and bridge-off of the front and rear wheels can be determined by the above method. The above steps are all executed in real time.

[0093] like Figure 4 As shown, the third aspect of the embodiment of the present invention provides a single-side bridge test evaluation system, including:

[0094] The acquisition module 31 is used to acquire the trusted positioning information of the real-time positioning information of the vehicle before the vehicle goes on the single-sided bridge as the prepared trusted positioning information; the trusted pitch angle of the prepared trusted positioning information is used as the trusted plane inclination angle; wherein the real-time positioning information is acquired through a directional antenna and a positioning antenna, the directional antenna is fixedly arranged on the left side of the top of the vehicle, and the positioning antenna is fixedly arranged on the right side of the top of the vehicle;

[0095] The acquisition module 31 is further used to acquire the trusted positioning information of the real-time positioning information of the vehicle as the current trusted positioning information;

[0096] A determination module 32, used to determine a real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the positioning antenna from the ground;

[0097] A deviation correction module 33 is used to correct the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain a current deviation correction position;

[0098] The judgment module 34 is used to judge whether the wheel is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current correction position.

[0099] In one embodiment of the present invention, obtaining trusted positioning information of real-time positioning information of a vehicle includes:

[0100] Obtain real-time positioning information through directional antennas and positioning antennas;

[0101] Preprocessing the real-time positioning information to obtain preprocessed positioning information;

[0102] The pre-processed positioning information is smoothed to obtain reliable positioning information.

[0103] In one embodiment of the present invention, determining the real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the directional antenna from the ground includes:

[0104] Determine the current indicated moving direction distance according to the current trusted angle in the current trusted positioning information and the height of the positioning antenna from the ground;

[0105] The real-time offset distance of the positioning antenna is determined according to the current indicated moving direction distance and the current credible heading angle in the current credible positioning information.

[0106] In one embodiment of the present invention, judging whether the wheel is located on a single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current correction position includes:

[0107] Determine whether the absolute value of the difference between the trusted plane inclination angle and the current trusted pitch angle of the current trusted positioning information is greater than the difference threshold, and determine whether the wheel at the current deviation correction position is located in the bridge deck area of ​​the single-sided bridge;

[0108] If so, the bridge-crossing result is output; the bridge-crossing result indicates that the vehicle has crossed the bridge.

[0109] In one embodiment of the present invention, the electronic model of the vehicle on the electronic map is corrected according to the real-time offset distance to obtain the current corrected position, including:

[0110] The sum of the current trusted horizontal coordinate of the vehicle on the electronic map in the current trusted positioning information and the real-time offset distance in the horizontal X direction is used as the horizontal coordinate of the current correction position; the sum of the current trusted vertical coordinate of the vehicle on the electronic map in the current trusted positioning information and the real-time offset distance in the longitudinal Y direction is used as the vertical coordinate of the current correction position.

[0111] In one embodiment of the present invention, when outputting the bridge result, the method further includes:

[0112] Repeat the steps of obtaining the trusted positioning information of the real-time positioning information of the vehicle as the current trusted positioning information; determining the real-time offset distance of the positioning antenna according to the current trusted positioning information and the height of the positioning antenna from the ground; correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position; and judging whether the wheel has fallen off the bridge according to the current trusted pitch angle of the current trusted positioning information and the current trusted corrected position.

[0113] In one embodiment of the present invention, judging whether a wheel has fallen off a bridge according to a current credible pitch angle and a current credible deviation correction position of current credible positioning information includes:

[0114] Determine whether the difference between the current credible pitch angle of the current credible positioning information and the previous credible pitch angle is greater than the real-time threshold, and determine whether the wheel at the current credible deviation correction position is outside the bridge deck area of ​​the single-sided bridge;

[0115] If so, the bridge falling result is output; the bridge falling result indicates that the vehicle has fallen off the bridge.

[0116] A fourth aspect of an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a single-side bridge test evaluation method provided in the above-mentioned embodiment of the present invention is implemented.

[0117] A fifth aspect of an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a single-side bridge test evaluation method provided in the above-mentioned embodiment of the present invention are implemented.

[0118] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0119] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware systems.

[0120] The method provided in the embodiment of the present invention can be applied to electronic devices. Specifically, the electronic device can be: a desktop computer, a portable computer, an intelligent mobile terminal, a server, etc. This is not limited here, and any electronic device that can implement the present invention belongs to the protection scope of the present invention.

[0121] As for the device / electronic device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0122] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0125] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for evaluating a single-side bridge test, characterized in that: The following steps are involved: Before the vehicle goes on the single-sided bridge, the trusted positioning information of the real-time positioning information of the vehicle is obtained as the preparatory trusted positioning information; The trusted pitch angle of the prepared trusted positioning information is used as the trusted plane inclination angle; wherein the real-time positioning information is obtained through a directional antenna and a positioning antenna, the directional antenna is fixedly arranged on the left side of the top of the vehicle, and the positioning antenna is fixedly arranged on the right side of the top of the vehicle; Acquire the trusted positioning information of the real-time positioning information of the vehicle as the current trusted positioning information; Determine a real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the positioning antenna from the ground; Correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain a current corrected position; Determine whether the wheel is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current deviation correction position; The determining, according to the current reliable positioning information and the height of the directional antenna from the ground, a real-time offset distance of the positioning antenna includes: Determine the current indicated moving direction distance according to the current trusted angle in the current trusted positioning information and the height of the positioning antenna from the ground; The calculation process of the current indicated moving direction distance pt_DesOri.x is as follows: If dHgj>0, then pt_DesOri.x=0–dMoveDisX, indicating that the right tilt is positive and needs to be moved left; If dHgj<0, then pt_DesOri.x = dMoveDisX, indicating that the left tilt is negative and needs to be moved right; Wherein, dHgj represents the current trusted roll angle in the current trusted positioning information; dMoveDisX = |dHight*tan(dHgRid)|; dHgRid represents the radian of the current trusted roll angle, and dHight represents the height of the positioning antenna from the ground; Determine the real-time offset distance of the positioning antenna according to the current indicated moving direction distance and the current trusted heading angle in the current trusted positioning information; wherein, in a coordinate system based on a bird's-eye view of the vehicle, on a two-dimensional plane, the Y axis is the due north direction, and the X axis is the direction perpendicular to the Y axis; The real-time offset distance includes the horizontal X-direction real-time offset distance dXSpan and the vertical Y-direction real-time offset distance dYSpan, and the calculation formula is as follows: dXSpan=pt_DesOri.x*cos(dHxRid); dYSpan=|pt_DesOri.x|*sin(dHxRid)*flag; Wherein, dHxRid represents the radian of the current trusted heading angle dHxj in the current trusted positioning information; flag represents the flag of the moving direction in the horizontal direction; If dHxj≤90 degrees, then dHxj=90–dHxj, flag=-1*pt_DesOri.x / |pt_DesOri.x|; If 90 degrees < dHxj ≤ 180 degrees, then dHxj = 180 – dHxj, flag = -1*pt_DesOri.x / |pt_DesOri.x|; If 180 degrees < dHxj ≤ 270 degrees, then dHxj = 270 – dHxj, flag = pt_DesOri.x / |pt_DesOri.x|; If 270 degrees<dHxj≤360 degrees, then dHxj=360–dHxj, flag=pt_DesOri.x / |pt_DesOri.x|.

2. The method according to claim 1, characterized in that The method of obtaining the trusted positioning information of the real-time positioning information of the vehicle includes: Obtain real-time positioning information through directional antennas and positioning antennas; Preprocessing the real-time positioning information to obtain preprocessed positioning information; The pre-processed positioning information is smoothed to obtain reliable positioning information.

3. The method according to claim 1, characterized in that The determining whether the wheel is located on the single-sided bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information, and the current deviation correction position includes: Determine whether the absolute value of the difference between the trusted plane inclination angle and the current trusted pitch angle of the current trusted positioning information is greater than a difference threshold, and determine whether the wheel at the current deviation correction position is located in the bridge deck area of ​​the single-sided bridge; If so, the bridge-crossing result is output; the bridge-crossing result represents that the vehicle crosses the bridge.

4. The method according to claim 3, characterized in that The step of correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain a current corrected position includes: The sum of the current trusted horizontal coordinate of the vehicle on the electronic map and the real-time offset distance in the horizontal X direction in the current trusted positioning information is used as the horizontal coordinate of the current correction position; the sum of the current trusted vertical coordinate of the vehicle on the electronic map and the real-time offset distance in the longitudinal Y direction in the current trusted positioning information is used as the vertical coordinate of the current correction position.

5. The method according to claim 4, characterized in that When outputting the bridge result, the method further includes: Repeat the steps of obtaining trusted positioning information of the real-time positioning information of the vehicle as current trusted positioning information; determining the real-time offset distance of the positioning antenna according to the current trusted positioning information and the height of the positioning antenna from the ground; correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain the current corrected position; and judging whether the wheel has fallen off the bridge according to the current trusted pitch angle of the current trusted positioning information and the current trusted corrected position.

6. The method according to claim 5, characterized in that The determining whether the wheel falls off the bridge according to the current credible pitch angle and the current credible deviation correction position of the current credible positioning information includes: Determine whether the difference between the current credible pitch angle of the current credible positioning information and the previous credible pitch angle is greater than a real-time threshold, and determine whether the wheel at the current credible deviation correction position is located outside the bridge deck area of ​​the single-sided bridge; If so, a bridge falling result is output; the bridge falling result indicates that the vehicle has fallen off the bridge.

7. A single-side bridge test and evaluation system, characterized in that: include: An acquisition module, used for acquiring trusted positioning information of the real-time positioning information of the vehicle before the vehicle goes on the single-side bridge as prepared trusted positioning information; The trusted pitch angle of the prepared trusted positioning information is used as the trusted plane inclination angle; wherein the real-time positioning information is obtained through a directional antenna and a positioning antenna, the directional antenna is fixedly arranged on the left side of the top of the vehicle, and the positioning antenna is fixedly arranged on the right side of the top of the vehicle; The acquisition module is further used to acquire the trusted positioning information of the real-time positioning information of the vehicle as the current trusted positioning information; A determination module, used to determine the real-time offset distance of the positioning antenna according to the current reliable positioning information and the height of the positioning antenna from the ground; A deviation correction module, used for correcting the electronic model of the vehicle on the electronic map according to the real-time offset distance to obtain a current deviation correction position; A judgment module, used for judging whether the wheel is located on a single-side bridge according to the inclination angle of the trusted plane, the current trusted pitch angle of the current trusted positioning information and the current deviation correction position; The determining, according to the current reliable positioning information and the height of the directional antenna from the ground, a real-time offset distance of the positioning antenna includes: Determine the current indicated moving direction distance according to the current trusted angle in the current trusted positioning information and the height of the positioning antenna from the ground; The calculation process of the current indicated moving direction distance pt_DesOri.x is as follows: If dHgj>0, then pt_DesOri.x=0–dMoveDisX, indicating that the right tilt is positive and needs to be moved left; If dHgj<0, then pt_DesOri.x = dMoveDisX, indicating that the left tilt is negative and needs to be moved right; Wherein, dHgj represents the current trusted roll angle in the current trusted positioning information; dMoveDisX = |dHight*tan(dHgRid)|; dHgRid represents the radian of the current trusted roll angle, and dHight represents the height of the positioning antenna from the ground; Determine the real-time offset distance of the positioning antenna according to the current indicated moving direction distance and the current trusted heading angle in the current trusted positioning information; wherein, in a coordinate system based on a bird's-eye view of the vehicle, on a two-dimensional plane, the Y axis is the due north direction, and the X axis is the direction perpendicular to the Y axis; The real-time offset distance includes the horizontal X-direction real-time offset distance dXSpan and the vertical Y-direction real-time offset distance dYSpan, and the calculation formula is as follows: dXSpan=pt_DesOri.x*cos(dHxRid); dYSpan=|pt_DesOri.x|*sin(dHxRid)*flag; Wherein, dHxRid represents the radian of the current trusted heading angle dHxj in the current trusted positioning information; flag represents the flag of the moving direction in the horizontal direction; If dHxj≤90 degrees, then dHxj=90–dHxj, flag=-1*pt_DesOri.x / |pt_DesOri.x|; If 90 degrees < dHxj ≤ 180 degrees, then dHxj = 180 – dHxj, flag = -1*pt_DesOri.x / |pt_DesOri.x|; If 180 degrees < dHxj ≤ 270 degrees, then dHxj = 270 – dHxj, flag = pt_DesOri.x / |pt_DesOri.x|; If 270 degrees<dHxj≤360 degrees, then dHxj=360–dHxj, flag=pt_DesOri.x / |pt_DesOri.x|.

8. An electronic 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 program, the single-side bridge test evaluation method as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the single-side bridge test evaluation method according to any one of claims 1 to 6 is implemented.

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