Real-time vehicle position monitoring and moving trajectory analysis system and method

Abstract

The invention discloses a real-time vehicle position monitoring and moving trajectory analysis system and method, and belongs to the technical field of vehicle monitoring. The navigation module is used for obtaining all paths of a vehicle from a current position to a logistics destination and related parameter information of all the paths based on the logistics destination and the real-time position of the vehicle; the track screening module is used for screening a predetermined driving path of the vehicle from all the paths; the motion trail monitoring module is used for acquiring the current motion trail of the vehicle based on a vehicle-mounted sensor and a positioner; the deviation identification module is used for analyzing and judging the current motion trail of the vehicle to identify the deviation of the vehicle trail; the re-planning module is used for re-planning a predetermined driving path of the vehicle; and the communication module is used for realizing communication connection among the modules. According to the invention, the reliability of logistics operation is improved, and the protection on the safety of a driver and goods is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle monitoring technology, and more specifically, to a real-time vehicle position monitoring and operation trajectory analysis system and method. Background Art

[0002] The BeiDou satellite navigation system is a global satellite positioning system with high precision and high reliability. The BeiDou satellite navigation system is particularly widely used in the field of logistics. It can provide real-time vehicle location monitoring, optimize transportation routes, and ensure cargo safety and transportation efficiency. In the current domestic logistics industry, in order to meet regulatory and self-management needs, logistics companies install the BeiDou system on every logistics vehicle responsible for cargo transportation to achieve real-time positioning and trajectory monitoring of logistics vehicles. By analyzing the vehicle's running trajectory, data-driven decision support is provided to improve the level of intelligent logistics management. This BeiDou satellite navigation technology has significant advantages in improving the operational efficiency of logistics companies, reducing transportation costs, and enhancing customer satisfaction. For some special products, such as tobacco, especially in complex geographical environments and emergency situations, it ensures the safety and timely management of logistics vehicles and goods.

[0003] This research team has been browsing and studying a large amount of relevant records and materials on the relevant technologies of logistics vehicle operation monitoring for a long time. At the same time, relying on relevant resources and conducting a large number of experiments, it was found through searching that the prior art disclosed CN110412628B, CN110412628B, CN106004716B and CN117689298B. For example, the prior art CN117689298B discloses a logistics transportation information management method and system based on Beidou navigation, which belongs to the field of data processing systems specifically suitable for supervision. The invention is based on historical traffic jam data information, substitutes it into the traffic jam time prediction network construction strategy to construct a road traffic jam time prediction network, and based on the constructed road traffic jam The time prediction network and the transportation speed of the logistics transport vehicle estimate the time for the logistics transport vehicle to arrive at the transportation destination, compare the time for the logistics transport vehicle to arrive at the transportation destination with the standard arrival time, and quickly estimate the real-time traffic jam time of the logistics transport vehicle during the driving process based on historical traffic jam data, and then quickly and accurately predict the vehicle arrival time, realize the information management of logistics transportation based on Beidou navigation, and improve the efficiency and service quality of logistics transportation. However, this patent is more based on historical data to predict the current traffic jam time, and does not take into account possible traffic risks and how to efficiently analyze the driving trajectory based on the current state. Therefore, its accuracy and monitoring efficiency of the motion trajectory are insufficient. Summary of the invention

[0004] An object of the present invention is to provide a real-time vehicle position monitoring and operation trajectory analysis system and method to solve the common problems in the field such as low accuracy in logistics vehicle operation trajectory prediction and low efficiency in operation monitoring of logistics vehicles.

[0005] According to a first aspect of the present invention, a real-time vehicle position monitoring and operation trajectory analysis system is provided, comprising a navigation module, a trajectory screening module, a motion trajectory monitoring module, a deviation identification module, a re-planning module and a communication module; wherein the navigation module obtains all paths of the vehicle from the current position to the logistics destination and relevant parameter information of all paths based on the logistics purpose and the real-time position of the vehicle; the trajectory screening module is used to filter out the vehicle's scheduled driving path from all paths; the motion trajectory monitoring module is used to obtain the vehicle's current running trajectory; the deviation identification module is used to analyze and judge the vehicle's current running trajectory to identify the vehicle's trajectory deviation; the re-planning module re-plans the vehicle's scheduled driving path; and the communication module is used to establish a communication connection between the navigation module, the trajectory screening module, the motion trajectory monitoring module, the deviation identification module and the re-planning module.

[0006] Optionally, the motion trajectory monitoring module includes a locator and a vehicle-mounted sensor, and the locator and the vehicle-mounted sensor are both installed on the vehicle to obtain the current running trajectory of the vehicle.

[0007] Optionally, the vehicle-mounted sensor obtains the current speed V of the vehicle in real time. 实际 , acceleration a 实际 and steering wheel angle wt 实际 .

[0008] Optionally, the locator includes a Beidou satellite navigation system and a GNSS receiver.

[0009] The GNSS receiver receives and processes Beidou satellite signals from the Beidou satellite navigation system in real time to output the real-time position (x, y) of the vehicle, wherein x represents the longitude of the vehicle and y represents the latitude of the vehicle.

[0010] Optionally, the navigation module is implemented by GIS software integrated with real-time traffic data, and the relevant parameter information obtained by the navigation module includes the total length L of all paths, the estimated driving time Est, the total toll Htf, and a series of coordinate points along the predetermined driving path and the location information of the coordinate points.

[0011] Optionally, the trajectory screening module receives relevant parameter information of all paths from the current position of the car to the destination obtained by the navigation module, and calculates the priority value Priv of each path respectively, and further selects the path with the largest priority value Priv from all paths as the predetermined driving path for the car to carry out logistics transportation.

[0012] Optionally, a series of coordinate points and position information of the coordinate points along the predetermined driving path are obtained through GIS software in the navigation module, and a set of position information of a series of coordinate points along the predetermined driving path is taken as B.

[0013] Optionally, the trajectory screening module calculates the priority value Priv of one of all the paths as follows:

[0014] S101: Calculate the vehicle traffic condition value Trac of the path:

[0015] ,

[0016] Among them, V 当前 represents the average speed of vehicles in the path at the current time Tn, V 预设 V represents the average speed of vehicles in the same time period calculated based on historical data. The time range of the corresponding time period is (Tn-15min, Tn+15min). The historical data includes the speed data of vehicles that have traveled along the predetermined driving path. 当前 and V 预设 Provided by the existing urban traffic management system respectively;

[0017] S102: Calculate the traffic cost value Co of the path traveled by the vehicle:

[0018] Co = Htf + (oc × L × Gp),

[0019] Among them, Htf is the total toll of the vehicle on the route, oc is the average fuel consumption of the car, and Gp is ​​the oil price of the day;

[0020] S103: Calculate the safety hazard index Sain of the path the vehicle passes through:

[0021] ,

[0022] Among them, i=1, 2, 3, 4, w1=0.05, w2=0.15, w3=0.25, w4=0.55,

[0023] n1 is the number of first-level traffic accidents that occur on the path within a year, w1 is the weight of the first-level traffic accident,

[0024] n2 is the number of secondary traffic accidents that occur on the path within a year, w2 is the weight of the secondary traffic accident,

[0025] n3 is the number of level 3 traffic accidents that occur on the path within a year, w3 is the weight of level 3 traffic accidents,

[0026] n4 is the number of level 4 traffic accidents that occurred on the path within a year, w4 is the weight of the level 4 traffic accident,

[0027] A first-degree traffic accident refers to a traffic accident involving two or fewer vehicles and no one is killed.

[0028] A Level 2 traffic accident involves three or more vehicles and no one is killed.

[0029] A Level 3 traffic accident involves no more than three vehicles and causes death.

[0030] Level 4 traffic accidents refer to those involving four or more vehicles and causing death;

[0031] S104: Calculate and obtain the priority value Priv:

[0032] ,

[0033] Among them, γ1 is the weight coefficient of the traffic condition value, and the value range of γ1 is 0.10-0.30.

[0034] γ2 is the weight coefficient of traffic cost, and the value range of γ2 is 0.35-0.50.

[0035] γ3 is the weight coefficient of the safety hazard index, and the value range of γ3 is 0.35-0.60.

[0036] γ4 is the weight coefficient of the estimated travel time, and the value range of γ4 is 0.10-0.30.

[0037] And γ1+γ2+γ3+γ4=1.

[0038] According to a second aspect of the present invention, a real-time vehicle position monitoring and running trajectory analysis method is provided, comprising:

[0039] Based on the logistics purpose and the real-time location of the vehicle, obtain all the paths from the current location of the vehicle to the logistics destination and the relevant parameter information of all the paths;

[0040] Filtering a predetermined driving path of the vehicle from all paths;

[0041] Get the current running track of the vehicle;

[0042] Based on the vehicle's scheduled driving path, the vehicle's current running trajectory is analyzed and judged to identify the vehicle's trajectory deviation;

[0043] The vehicle's planned driving path is replanned based on the vehicle trajectory deviation.

[0044] Optionally, the step of replanning a predetermined driving path of the vehicle based on the vehicle trajectory deviation includes:

[0045] Get the current location of the vehicle;

[0046] Obtain a new preset operation trajectory based on the vehicle’s current location and logistics purpose;

[0047] Make the vehicle carry out logistics transportation according to the new preset running track.

[0048] The real-time vehicle position monitoring and operation trajectory analysis system and method disclosed in the present invention have the following technical effects:

[0049] (1) The present invention integrates a high-precision GNSS receiver and Beidou satellite navigation system to provide accurate real-time positioning, enabling managers to monitor vehicle locations in real time. The system analyzes multiple driving routes and selects the most optimized driving route, reducing driving time and costs. The dynamic route replanning function ensures that vehicles can still reach their destination safely and efficiently in the event of emergencies, meeting the needs of modern transportation and logistics industries.

[0050] (2) The present invention optimizes route selection by dynamically evaluating traffic conditions, cost-effectiveness, and safety hazards, and adopts comprehensive priority value calculation, thereby significantly improving transportation efficiency and safety, while reducing costs and improving customer satisfaction, and has high flexibility and scalability;

[0051] (3) The present invention improves the accuracy and efficiency of logistics transportation by integrating real-time positioning technology, motion prediction algorithm, deviation detection and dynamic trajectory planning. The close collaboration between various modules ensures that the vehicle can arrive at the destination safely and on time according to the predetermined trajectory even in complex or unpredictable environments. This not only improves the reliability of logistics operations, but also enhances the protection of the safety of drivers and cargo.

[0052] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0054] Figure 1It is a modular schematic diagram of the real-time vehicle position monitoring and running trajectory analysis system of the present invention;

[0055] Figure 2 It is a schematic diagram of part of the operation flow of the trajectory screening module of the present invention;

[0056] Figure 3 Schematic diagram of the operation flow of the deviation identification module of the present invention. DETAILED DESCRIPTION

[0057] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0058] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0059] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0060] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0061] The present invention proposes an embodiment of a real-time vehicle position monitoring and operation trajectory analysis system. Specifically, Figure 1 , Figure 2 and Figure 3 As shown, it includes a locator installed on the vehicle to obtain the real-time position of the vehicle, a navigation module based on the logistics purpose and the real-time position of the vehicle to obtain all the paths of the vehicle from the current position to the logistics destination and the relevant parameter information of all the paths, a trajectory screening module for screening out the predetermined driving path of the vehicle from all the paths, a vehicle-mounted sensor set on the vehicle, a motion trajectory monitoring module based on the vehicle-mounted sensor and the locator to obtain the current running trajectory of the vehicle, a deviation identification module for analyzing and judging the current running trajectory of the vehicle to identify the deviation of the vehicle trajectory, a re-planning module for re-planning the predetermined driving path of the vehicle, and a communication module for realizing communication connection between various modules in the system.

[0062] Among them, the vehicle-mounted sensor is used to obtain the current speed V of the vehicle in real time. 实际 , acceleration a 实际 and steering wheel angle wt 实际 .

[0063] The locator includes the Beidou satellite navigation system and a high-precision GNSS receiver. The GNSS receiver receives and processes Beidou satellite signals from the Beidou satellite navigation system in real time to output the real-time position (x, y) of the vehicle, where x represents the longitude of the vehicle and y represents the latitude of the vehicle.

[0064] The relevant parameter information obtained by the navigation module includes the total length L of all paths, the estimated travel time Est, the total toll Htf, and a series of coordinate points along the scheduled travel path and the location information of the coordinate points. The navigation module is implemented by the existing GIS software integrated with real-time traffic data. GIS (Geographic Information System) is a computer system specially used for processing geographic spatial data. It can store, manage, analyze and display geographic data. By integrating real-time traffic data, GIS software can provide users with more accurate and dynamic navigation services. By integrating real-time traffic data, the navigation module can provide users with more accurate estimated travel time and route selection, reducing errors caused by changes in road conditions.

[0065] The trajectory screening module receives the relevant parameter information of all paths from the current position of the car to the destination obtained by the navigation module, and calculates the priority value Priv of each path respectively, and further selects the path with the largest priority value Priv from all the paths as the predetermined driving path for the car to carry out logistics transportation. At the same time, the GIS software in the navigation module obtains a series of coordinate points along the predetermined driving path and the location information of the coordinate points, and the set of location information of a series of coordinate points along the predetermined driving path is taken as B.

[0066] The real-time vehicle position monitoring and operation trajectory analysis system of the present invention integrates a high-precision GNSS receiver and Beidou satellite navigation, which can provide accurate real-time positioning, allowing managers to monitor the vehicle position in real time. The system analyzes multiple driving paths and selects the most optimized driving path to reduce driving time and cost. The dynamic path replanning function ensures that the vehicle can still reach the destination safely and efficiently in the event of an emergency, meeting the needs of modern transportation and logistics industries.

[0067] Embodiment 2: Combining with Figure 1 , Attachment Figure 2 and attached Figure 3 In addition to the contents of the above embodiments, the trajectory screening module calculates the priority value Priv of one of all the paths as follows:

[0068] S101: Calculate the vehicle traffic condition value Trac of the path:

[0069] ,

[0070] Among them, V 当前represents the average speed of vehicles in the path at the current time Tn, V 预设 It indicates the average speed of vehicles in the path during the same time period calculated based on historical data. The time range of the corresponding time period is (Tn-15min, Tn+15min). The historical data includes the speed data of vehicles that have traveled along the predetermined path. V 当前 and V 预设 They are respectively provided by the existing urban traffic management system and will not be described in detail here.

[0071] S102: Calculate the traffic cost value Co of the path traveled by the vehicle:

[0072] Co = Htf + (oc × L × Gp),

[0073] Among them, Htf is the total toll of the vehicle's route, oc is the average fuel consumption of the car, Gp is ​​the oil price of the day, and oc is obtained through the vehicle's built-in driving computer.

[0074] S103: Calculate the safety hazard index Sain of the path the vehicle passes through:

[0075] ,

[0076] Among them, i=1, 2, 3, 4, w1=0.05, w2=0.15, w3=0.25, w4=0.55,

[0077] n1 is the number of first-level traffic accidents that occur on the path within a year, w1 is the weight of the first-level traffic accident,

[0078] n2 is the number of secondary traffic accidents that occur on the path within a year, w2 is the weight of the secondary traffic accident,

[0079] n3 is the number of level 3 traffic accidents that occur on the path within a year, w3 is the weight of level 3 traffic accidents,

[0080] n4 is the number of level 4 traffic accidents that occurred on the path within a year, w4 is the weight of the level 4 traffic accident,

[0081] A first-degree traffic accident refers to a traffic accident involving two or fewer vehicles and no one is killed.

[0082] A Level 2 traffic accident involves three or more vehicles and no one is killed.

[0083] A Level 3 traffic accident involves no more than three vehicles and causes death.

[0084] A Level 4 traffic accident refers to an accident involving four or more vehicles and resulting in casualties.

[0085] S104: Calculate and obtain Priv:

[0086] ,

[0087] Among them, γ1 is the weight coefficient of the traffic condition value, and the value range of γ1 is 0.10-0.30.

[0088] γ2 is the weight coefficient of traffic cost, and the value range of γ2 is 0.35-0.50.

[0089] γ3 is the weight coefficient of the safety hazard index, and the value range of γ3 is 0.35-0.60.

[0090] γ4 is the weight coefficient of the estimated travel time, and the value range of γ4 is 0.10-0.30.

[0091] And γ1+γ2+γ3+γ4=1;

[0092] The trajectory screening module further calculates the priority values ​​Priv of all paths from the current position of the car to the destination, and selects the path with the largest priority value Priv as the predetermined driving path for the car to carry out logistics transportation.

[0093] The real-time vehicle position monitoring and operation trajectory analysis system of the present invention optimizes path selection by dynamically evaluating traffic conditions, cost-effectiveness and safety hazards, using a comprehensive priority value Priv calculation, significantly improving transportation efficiency and safety, while reducing costs, improving customer satisfaction, and having high flexibility and scalability.

[0094] Embodiment 3: Combining with Figure 1 , Attachment Figure 2 and attached Figure 3 In addition to the contents of the above embodiments, the motion trajectory monitoring module receives the vehicle position information (x, y) and V obtained by the vehicle-mounted sensor and the GNSS receiver. 实际 、a 实际 and wt 实际 , and the time interval for continuous data reception of the motion trajectory monitoring module is t. The motion trajectory monitoring module is used to track and predict the motion trajectory of the vehicle in real time. The following operation steps are completed through the motion trajectory monitoring module:

[0095] S201: Receive the vehicle position information (x, y) monitored by the GNSS receiver and the vehicle speed V acquired by the vehicle-mounted sensor in real time 实际 , acceleration a 实际 and steering wheel angle wt 实际 .

[0096] S202: Predict the vehicle location information (x 预测,y 预测 ):

[0097] x 预测 =x+V 实际 ×t×cos(wt 实际 ),

[0098] y 预测 =y+V 实际 ×t×sin(wt 实际 ),

[0099] S203: Predicting the vehicle's driving speed V 预测 :

[0100] V 预测 =V 实际 +a 实际 ×t.

[0101] The deviation identification module implements the following operating steps:

[0102] S301: Extracting a set of coordinate points A from set B whose distance (x, y) is within a preset distance R:

[0103] S3011: Get R value:

[0104]

[0105] k is the speed correction coefficient, R0 is the preset reference distance, V 参照 The preset comparison speed.

[0106] S3012: The total number of coordinate points in set B is N, n∈{1,2,3,…,N}, and the coordinate points in set B are represented as (xn,yn). The distance dif between each coordinate point in set B and (x,y) is calculated in sequence:

[0107] .

[0108] S3013: Take all coordinate points in set B that satisfy dif≤R as set A.

[0109] S302: The coordinate points in set A are expressed as (x 预设 ,y 预设 ), calculate the vehicle trajectory deviation PaDe:

[0110] .

[0111] S303: When PaDe is greater than a set warning threshold Cauv, a warning is issued to the vehicle to remind the vehicle driver that the vehicle may deviate from the preset trajectory.

[0112] When PaDe is greater than the set deviation value Dewv, the re-planning module is triggered to generate the vehicle running trajectory.

[0113] R0 is the minimum distance that ensures the test accuracy of the motion trajectory monitoring module, obtained by technical personnel in this field through a large number of repeated tests and training under actual conditions of a preset driving path.

[0114] V 参照 V is the average speed of the traffic flow in the current period according to the scheduled driving path followed by the vehicle, 参照 Provided by the existing urban traffic management system.

[0115] k is obtained through a large number of repeated test trainings on vehicle driving and is used to correct the impact on the reference distance R caused by changes in actual vehicle speed.

[0116] Among them, the value of Dewv is set to be three times greater than Cauv.

[0117] Cauv is used to trigger a preliminary warning to the driver, indicating that the vehicle may be about to deviate from the preset trajectory, and Dewv is used to indicate that the vehicle has or is about to deviate significantly from the preset trajectory, and the re-planning module needs to intervene to re-plan the vehicle's scheduled driving path.

[0118] The specific values ​​of Cauv and Dewv are further obtained by technical personnel in this field through analyzing data of historical deviation events, observing the typical deviation size before the deviation occurs, simulating different driving scenarios and deviation situations, and testing vehicle response and system accuracy through multiple experiments, and will not be repeated here.

[0119] In this embodiment, those skilled in the art can refer to the above value examples and make adjustments according to actual conditions. In short, the above R0, V 参照 The specific value ranges and trends of k, PaDe, and Dewv will be determined by the designers or operators of the processing system according to the actual operating needs and responses of the logistics vehicles, and will not be repeated here.

[0120] The current location of the vehicle is acquired through the re-planning module, and based on the current location of the vehicle and the logistics purpose, a new preset running track is obtained through the navigation module and the track screening module. The vehicle performs logistics transportation according to the new preset running track.

[0121] The present invention improves the accuracy and efficiency of logistics transportation by integrating real-time positioning technology, motion prediction algorithm, deviation detection and dynamic trajectory planning. The close collaboration of each module ensures that the vehicle can arrive at the destination safely and on time according to the predetermined trajectory even in complex or unpredictable environments. The present invention not only improves the reliability of logistics operations, but also enhances the protection of the safety of drivers and cargo.

[0122] The present invention also provides an embodiment of a real-time vehicle position monitoring and running trajectory analysis method, comprising:

[0123] Based on the logistics purpose and the real-time location of the vehicle, obtain all the paths from the current location of the vehicle to the logistics destination and the relevant parameter information of all the paths;

[0124] Filtering a predetermined driving path of the vehicle from all paths;

[0125] Get the current running track of the vehicle;

[0126] Based on the vehicle's scheduled driving path, the vehicle's current running trajectory is analyzed and judged to identify the vehicle's trajectory deviation;

[0127] The vehicle's planned driving path is replanned based on the vehicle trajectory deviation.

[0128] In an embodiment of the present invention, the step of replanning a predetermined driving path of a vehicle based on a vehicle trajectory deviation includes:

[0129] Get the current location of the vehicle;

[0130] Obtain a new preset operation trajectory based on the vehicle’s current location and logistics purpose;

[0131] Make the vehicle carry out logistics transportation according to the new preset running track.

[0132] It should be noted that the structure, execution process and other contents between the above methods are based on the same concept as the system embodiment of the present application, and are methods corresponding to the above-mentioned real-time vehicle position monitoring and operation trajectory analysis system. All structures in the above-mentioned system embodiment are applicable to the embodiment of the method. Its specific functions and technical effects can be found in the system embodiment part, which will not be repeated here.

[0133] Although the present invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the present invention. That is, the methods, systems and devices discussed above are examples. Various configurations may appropriately omit, replace or add various processes or components. For example, in alternative configurations, the method may be performed in an order different from that described, and / or various components may be added, omitted and / or combined. Moreover, the features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configuration may be combined in a similar manner. In addition, as technology develops, the elements therein may be updated, i.e., many elements are examples and do not limit the scope of the present disclosure or claims. And it should be understood that after reading the contents of the record of the present invention, the technician may make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.

Claims

1. A real-time vehicle position monitoring and operation trajectory analysis system, characterized in that: It includes a navigation module, a trajectory screening module, a motion trajectory monitoring module, a deviation identification module, a re-planning module and a communication module; wherein the navigation module obtains all paths of the vehicle from the current location to the logistics destination and the relevant parameter information of all paths based on the logistics purpose and the real-time location of the vehicle; the trajectory screening module is used to filter out the vehicle's scheduled driving path from all paths; the motion trajectory monitoring module is used to obtain the vehicle's current running trajectory; the deviation identification module is used to analyze and judge the vehicle's current running trajectory to identify the vehicle's trajectory deviation; the re-planning module re-plans the vehicle's scheduled driving path; and the communication module is used to establish communication connections among the navigation module, the trajectory screening module, the motion trajectory monitoring module, the deviation identification module and the re-planning module.

2. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 1 is characterized in that: The motion trajectory monitoring module includes a locator and a vehicle-mounted sensor, both of which are installed on the vehicle and are used to obtain the current running trajectory of the vehicle.

3. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 2 is characterized in that: The vehicle-mounted sensor is used to obtain the current speed V of the vehicle in real time. 实际 , acceleration a 实际 and steering wheel angle wt 实际 .

4. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 1 is characterized in that: The locator includes a Beidou satellite navigation system and a GNSS receiver. The GNSS receiver receives and processes Beidou satellite signals from the Beidou satellite navigation system in real time to output the real-time position (x, y) of the vehicle, wherein x represents the longitude of the vehicle and y represents the latitude of the vehicle.

5. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 1 is characterized in that: The navigation module is implemented by GIS software integrated with real-time traffic data. The relevant parameter information obtained by the navigation module includes the total length L of all paths, the estimated driving time Est, the total toll Htf, and a series of coordinate points along the predetermined driving path and the location information of the coordinate points.

6. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 5 is characterized in that: The trajectory screening module receives the relevant parameter information of all paths from the current position of the car to the destination obtained by the navigation module, and calculates the priority value Priv of each path respectively, and further selects the path with the largest priority value Priv from all the paths as the predetermined driving path for the car to carry out logistics transportation.

7. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 1 is characterized in that: A series of coordinate points and position information of the coordinate points along the predetermined driving path are obtained through the GIS software in the navigation module, and a set of position information of a series of coordinate points along the predetermined driving path is taken as B.

8. The real-time vehicle position monitoring and operation trajectory analysis system according to claim 1 is characterized in that: The steps of calculating the priority value Priv of one of all paths by the trajectory screening module are as follows: S101: Calculate the vehicle traffic condition value Trac of the path: ， Among them, V 当前 represents the average speed of vehicles in the path at the current time Tn, V 预设 V represents the average speed of vehicles in the same time period calculated based on historical data. The time range of the corresponding time period is (Tn-15min, Tn+15min). The historical data includes the speed data of vehicles that have traveled along the predetermined driving path. 当前 and V 预设 Provided by the existing urban traffic management system respectively; S102: Calculate the traffic cost value Co of the path traveled by the vehicle: Co = Htf + (oc × L × Gp), Among them, Htf is the total toll of the vehicle's route, oc is the average fuel consumption of the car, and Gp is ​​the oil price of the day; S103: Calculate the safety hazard index Sain of the path the vehicle passes through: ， Among them, i=1, 2, 3, 4, w1=0.05, w2=0.15, w3=0.25, w4=0.55, n1 is the number of first-level traffic accidents that occur on the path within a year, w1 is the weight of the first-level traffic accident, n2 is the number of secondary traffic accidents that occur on the path within a year, w2 is the weight of the secondary traffic accident, n3 is the number of level 3 traffic accidents that occur on the path within a year, w3 is the weight of level 3 traffic accidents, n4 is the number of level 4 traffic accidents that occurred on the path within a year, w4 is the weight of the level 4 traffic accident, A first-degree traffic accident refers to a traffic accident involving two or fewer vehicles and no one is killed. A Level 2 traffic accident involves three or more vehicles and no one is killed. A Level 3 traffic accident involves no more than three vehicles and causes death. Level 4 traffic accidents refer to those involving four or more vehicles and causing death; S104: Calculate and obtain the priority value Priv: ， Among them, γ1 is the weight coefficient of the traffic condition value, and the value range of γ1 is 0.10-0.

30. γ2 is the weight coefficient of traffic cost, and the value range of γ2 is 0.35-0.

50. γ3 is the weight coefficient of the safety hazard index, and the value range of γ3 is 0.35-0.

60. γ4 is the weight coefficient of the estimated travel time, and the value range of γ4 is 0.10-0.

30. And γ1+γ2+γ3+γ4=1.

9. A real-time vehicle position monitoring and running trajectory analysis method, characterized in that: include: Based on the logistics purpose and the real-time location of the vehicle, obtain all the paths from the current location of the vehicle to the logistics destination and the relevant parameter information of all the paths; Filtering a predetermined driving path of the vehicle from all paths; Get the current running track of the vehicle; Based on the vehicle's scheduled driving path, the vehicle's current running trajectory is analyzed and judged to identify the vehicle's trajectory deviation; The vehicle's planned driving path is replanned based on the vehicle trajectory deviation.

10. The real-time vehicle position monitoring and running trajectory analysis method according to claim 9 is characterized in that: The step of replanning a predetermined driving path of the vehicle based on the vehicle trajectory deviation includes: Get the current location of the vehicle; Obtain a new preset operation trajectory based on the vehicle’s current location and logistics purpose; Make the vehicle carry out logistics transportation according to the new preset running track.

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