Vehicle monitoring method, device, equipment, storage medium and program product

Abstract

The invention provides a vehicle monitoring method and device, equipment, a storage medium and a program product, and the method comprises the steps: determining a first distance from a vehicle to a circular contour under the condition that the vehicle is located in an electronic fence, the radius of the circular contour is the shortest distance from the central point to the edge of the electronic fence; based on the first distance, determining a predicted duration required for the vehicle to run to the circular contour; and when the vehicle starts to run from the current first position for a predicted duration, acquiring a second position of the vehicle, and monitoring whether the vehicle runs out of the electronic fence according to the second position. The calculation efficiency of judging whether the vehicle drives out of the electronic fence or not can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle monitoring method, device, equipment, storage medium and program product. Background Art

[0002] In many practical application scenarios, such as vehicle test drives, smart traffic management, vehicle monitoring, logistics tracking, and autonomous driving test area management, it is particularly important to accurately determine whether the vehicle has driven out of the preset electronic fence boundary. Electronic fences use virtual boundaries to define a specific area on a digital map to monitor or limit the range of activities of specific objects. For vehicle monitoring, this technology can not only effectively ensure that the vehicle is driving in a legal or safe area, but also issue an alarm in time when the vehicle deviates from the predetermined path to prevent potential risks.

[0003] At present, to determine whether a vehicle has driven out of an electronic fence, it is necessary to obtain the vehicle's position in real time and determine whether the vehicle has driven out of the electronic fence in real time based on the vehicle's position and the range of the electronic fence. This requires a large amount of calculation and has low calculation efficiency. Summary of the invention

[0004] The present application provides a vehicle monitoring method, device, equipment, storage medium and program product to solve the problem of low calculation efficiency when determining whether a vehicle has driven out of an electronic fence.

[0005] According to a first aspect of an embodiment of the present application, a vehicle monitoring method is provided, comprising:

[0006] When the vehicle is located inside the electronic fence, determining a first distance from the vehicle to a circular contour, the center of the circular contour being the center point of the electronic fence, and the radius of the circular contour being the shortest distance from the center point to the edge of the electronic fence;

[0007] Determining a predicted time required for the vehicle to travel to the circular contour based on the first distance;

[0008] When the vehicle starts to travel from the current first position for the predicted time period, the second position of the vehicle is acquired, and whether the vehicle has traveled out of the electronic fence is monitored based on the second position.

[0009] According to a second aspect of an embodiment of the present application, a vehicle monitoring device is provided, comprising:

[0010] A first processing unit is used to determine, when the vehicle is located inside the electronic fence, a first distance from the vehicle to a circular contour, the center of the circular contour being the center point of the electronic fence, and the radius of the circular contour being the shortest distance from the center point to the edge of the electronic fence;

[0011] a second processing unit, configured to determine a predicted time required for the vehicle to travel to the circular contour based on the first distance;

[0012] A monitoring unit is used to obtain a second position of the vehicle when the vehicle starts to travel from a current first position for the predicted time, and to monitor whether the vehicle has traveled out of the electronic fence based on the second position.

[0013] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including a memory and a processor;

[0014] The memory is connected to the processor and is used to store programs;

[0015] The processor is used to implement the vehicle monitoring method described in the first aspect by running the program in the memory.

[0016] According to a fourth aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle monitoring method described in the first aspect is implemented.

[0017] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, comprising computer program instructions, which, when executed by a processor, enable the processor to execute the vehicle monitoring method described in the first aspect.

[0018] In the present application, when the vehicle is located inside the electronic fence, the first distance from the vehicle to the circular contour is determined, the center of the circular contour is the center point of the electronic fence, and the radius of the circular contour is the shortest distance from the center point to the edge of the electronic fence. No matter what shape the electronic fence is, as long as the vehicle is located inside the circular contour, the vehicle must be located inside the electronic fence. Based on the first distance, the predicted time required for the vehicle to travel to the circular contour is determined. When the vehicle starts to travel for the predicted time from the current first position, the second position of the vehicle is obtained, and the vehicle is monitored according to the second position to see whether it has left the electronic fence. When the time the vehicle starts to travel from the first position is less than the predicted time, since the vehicle is located inside the circular contour at this time, it is not necessary to obtain the position of the vehicle in real time and monitor whether the vehicle has left the electronic fence according to the position of the vehicle, which reduces the amount of calculation when judging whether the vehicle has left the electronic fence, improves the calculation efficiency when judging whether the vehicle has left the electronic fence, and reduces the performance consumption of the execution device for judging whether the vehicle has left the electronic fence. When the vehicle starts to travel for the predicted time from the current first position, it is predicted that the vehicle has left the circular contour. At this time, the vehicle may leave the electronic fence, and then the second position of the vehicle is obtained, and the vehicle is monitored according to the second position to see whether it has left the electronic fence. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of a vehicle monitoring method provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of a circular profile provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of a process for monitoring whether a vehicle has driven out of an electronic fence according to a second position provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of a vehicle monitoring method provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of a process for determining a target triangle where a vehicle is located according to a first position provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of a rectangular electronic fence provided in an embodiment of the present application;

[0026] Figure 7 A schematic diagram of a process for monitoring whether a vehicle has driven out of an electronic fence based on a target triangle and a fifth position provided in an embodiment of the present application;

[0027] Figure 8 A schematic diagram of the structure of a vehicle monitoring device provided in an embodiment of the present application;

[0028] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] Exemplary Implementation Environment

[0031] The vehicle monitoring method according to the embodiment of the present disclosure can be performed by an electronic device such as a terminal device or a server, and the terminal device can be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be an independent physical server, a server cluster composed of multiple physical servers, or a cloud server capable of cloud computing. The method can be implemented by a processor calling a computer-readable program instruction stored in a memory.

[0032] Exemplary Methods

[0033] See also Figure 1 In an exemplary embodiment, a vehicle monitoring method is provided. Figure 1 As shown, the process of the vehicle monitoring method mainly includes:

[0034] Step 101: when a vehicle is located inside an electronic fence, determine a first distance from the vehicle to a circular contour.

[0035] The center of the circular outline is the center point of the electronic fence, and the radius of the circular outline is the shortest distance from the center point to the edge of the electronic fence.

[0036] In some embodiments, before step 101, the vehicle monitoring method further includes:

[0037] Obtain electronic fences and test drive routes uploaded by automobile sales and service companies;

[0038] After the electronic fence and test drive route are reviewed and approved, the test drive route will be sent to the vehicle.

[0039] In the exemplary embodiment, the automobile sales and service enterprise refers to a 4S store, which refers to an automobile sales and service enterprise that integrates automobile sales (Sale), spare parts (Sparepart), after-sales service (Service), information feedback (Survey) and other services.

[0040] In an exemplary embodiment, the vehicle monitoring method provided by the present application is applied to a vehicle monitoring system. A 4S store registers a vehicle monitoring system through an audit mechanism. After the 4S store uploads various data of the 4S store to the vehicle monitoring system, the background auditor of the vehicle monitoring system audits the various data of the 4S store. After the audit is passed, the relevant account of the 4S store will be assigned permissions, and the subsequent corresponding auditors will be assigned to the 4S store. After the 4S store has the authority to mark the electronic fence and route, it can build the corresponding electronic fence and test drive route in the vehicle monitoring system.

[0041] In an exemplary embodiment, the 4S store can also upload vehicle information, and different vehicle information can correspond to the same electronic fence and test drive route, or different vehicle information can correspond to different electronic fences and test drive routes, which the 4S store can freely set. The vehicle information may include vehicle identification number (VIN), vehicle model, vehicle brand, and other information.

[0042] In an exemplary embodiment, after the 4S store completes the construction of the corresponding electronic fence and test drive route in the vehicle monitoring system, the vehicle monitoring system saves the electronic fence and test drive route, and notifies the reviewers by email or text message according to the previously assigned reviewers to review the electronic fence and test drive route in a timely manner. After the review, the relevant test drive route can be sent to the vehicle.

[0043] In the exemplary embodiment, after the automobile sales service company uploads the electronic fence and test drive route to the vehicle monitoring system, it can modify the test drive route according to the actual situation. The actual route has better autonomy and can plan the route in advance according to the actual situation, such as avoiding the situation where the original road section is under road repair. After the test drive route is modified, if it needs to be reviewed as soon as possible, you can choose to send an email or text message to notify the reviewer.

[0044] In some embodiments, the shape of the electronic fence may include a circle, a polygon, or other irregular shapes. The polygon may include a triangle, a rectangle, or other polygons. The present application does not limit the shape of the electronic fence.

[0045] In an exemplary embodiment, if the shape of the electronic fence is a circle, when constructing the electronic fence and the test drive route, the position of the center of the electronic fence and the length of the radius will be selected to construct the electronic fence, and the test drive route will be marked inside the circular electronic fence; if the shape of the electronic fence is a polygon, when constructing the electronic fence and the test drive route, the positions of each vertex of the polygon will be selected to construct the electronic fence, and the test drive route will be marked inside the polygonal electronic fence.

[0046] In an exemplary embodiment, Figure 2 Shown is a schematic diagram of a circular outline. Figure 2 In the figure, the center O of the circular outline is the center point of the electronic fence, and the radius of the circular outline is the shortest distance from the center point to the edge of the electronic fence. If the shape of the electronic fence is a circle, the circular outline and the electronic fence coincide; if the shape of the electronic fence is not a circle, but a rectangle or other shape, the circular outline is inside the electronic fence. If the vehicle is at point a, and the distance from point a to the center O is less than the length of the radius of the circular outline, then the vehicle is inside the circular outline and must be inside the electronic fence; if the vehicle is at point b, and the distance from point b to the center O is greater than the length of the radius of the circular outline, then the vehicle is outside the circular outline and may be inside the electronic fence, at the edge of the electronic fence, or outside the electronic fence. It is necessary to monitor whether the vehicle has driven out of the electronic fence.

[0047] In some embodiments, determining a first distance from the vehicle to the circular contour includes:

[0048] Based on the current first position of the vehicle and the position of the center point of the electronic fence, the distance from the vehicle to the center point is determined; based on the distance from the vehicle to the center point and the radius of the circular outline, the first distance from the vehicle to the circular outline is determined.

[0049] In an exemplary embodiment, a first distance from the vehicle to the circular contour is determined based on the distance from the vehicle to the center point and the radius of the circular contour, including: subtracting the distance from the vehicle to the center point from the radius of the circular contour from the difference obtained, and determining it as the first distance from the vehicle to the circular contour.

[0050] In an exemplary embodiment, determining that the vehicle is located inside the electronic fence may be that the vehicle is determined to be located inside the electronic fence when the distance from the vehicle to the center point is less than the shortest distance from the center point to the edge of the electronic fence.

[0051] In some embodiments, before determining the first distance from the vehicle to the circular contour, the method further includes: acquiring a direction angle of the vehicle; and determining, based on the direction angle of the vehicle, whether the vehicle is traveling in a direction deviating from the center point of the electronic fence.

[0052] The direction angle of the vehicle can determine whether the vehicle is traveling in a direction away from the center point of the electronic fence or in a direction toward the center point of the electronic fence. If the vehicle is traveling in a direction away from the center point of the electronic fence, it is necessary to monitor whether the vehicle has driven out of the electronic fence; if the vehicle is traveling in a direction toward the center point of the electronic fence, it is not necessary to monitor whether the vehicle has driven out of the electronic fence.

[0053] Step 102: Determine the predicted time required for the vehicle to travel to the circular contour based on the first distance.

[0054] In some embodiments, step 102 may be implemented in a variety of ways, including but not limited to the following ways:

[0055] Method 1

[0056] A first preset time required to travel a first distance at a preset speed is obtained, and the first preset time is determined as the predicted time.

[0057] Method 2

[0058] A first actual speed of the vehicle is obtained, and a first actual duration required for the vehicle to travel to the circular contour is determined according to the first actual speed, and the first actual duration is determined as the predicted duration.

[0059] Method 3

[0060] Obtain a first preset time required to travel a first distance at a preset speed; obtain a first actual speed of the vehicle, and determine a first actual time required for the vehicle to travel to the circular contour based on the first actual speed; and determine the minimum value of the first preset time and the first actual time as the predicted time.

[0061] Determining the minimum value of the first preset time length and the first actual time length as the predicted time length can reduce the occurrence of the situation where the vehicle has already driven out of the electronic fence when the vehicle starts to travel for the predicted time length from the current first position, thereby improving the accuracy of monitoring whether the vehicle has driven out of the electronic fence, compared to directly determining the first preset time length as the predicted time length, or directly determining the first actual time length as the predicted time length.

[0062] In an exemplary embodiment, the preset speed may be data from a standard, for example, GB / T32960 Technical Specification for Electric Vehicle Remote Service and Management System; HJ 1239 Technical Specification for Remote Monitoring of Heavy Vehicle Emissions; GB 17691 Heavy-Duty Diesel Vehicle Pollutant Emission Limits and Measurement Methods (China Phase VI) and other standards as the preset speed. The preset speed may also be an empirical value or a value obtained through multiple tests, which is not limited in this application.

[0063] In an exemplary embodiment, the first actual speed of the vehicle is obtained by, if the vehicle has just been started, obtaining the first actual speed of the vehicle after it has been running for a preset time after starting, at which time the vehicle's running speed has become relatively stable, for example, the preset time may be 1 minute, 2 minutes, etc.; or, if the vehicle has been running for longer than the preset time after starting, the vehicle's running speed at this time may be directly obtained as the first actual speed of the vehicle.

[0064] In the exemplary embodiment, obtaining the first actual speed of the vehicle is actually obtaining speed data of a TSP (Telematics Service Provider) service. TSP service is a business model that provides connection, management and application services for vehicle-related data, which usually includes installing sensors, communication equipment and software systems in the vehicle to monitor, collect and transmit vehicle data in real time, and then use the data for various purposes, such as vehicle tracking, remote diagnosis, vehicle safety, driving analysis, navigation and entertainment.

[0065] In some embodiments, in method three of step 102, before obtaining the first actual speed of the vehicle, it is determined that the first preset time length is greater than the time length threshold. In the case where the first preset time length is very long, the minimum value of the first preset time length and the first actual time length is determined as the predicted time length, and when the vehicle starts to travel for the predicted time length from the current first position, the second position of the vehicle is obtained, and the vehicle is monitored based on the second position to see whether it has left the electronic fence, which can greatly reduce the amount of calculation when determining whether the vehicle has left the electronic fence. In the case where the first preset time length is less than or equal to the time length threshold, that is, in the case where the first preset time length is very short, the position of the vehicle can be obtained in real time, and based on the position of the vehicle, the position of the center point and the shortest distance, the vehicle can be monitored to see whether it has left the electronic fence, which can improve the accuracy of monitoring whether the vehicle has left the electronic fence.

[0066] In some embodiments, in method three of step 102, a first preset time required to travel a first distance at a preset speed may be obtained; a first actual speed of the vehicle may be obtained; the first actual speed and the preset speed may be compared; when the first actual speed is less than the preset speed, the first preset time may be determined as the predicted time; when the first actual speed is greater than or equal to the preset speed, the first actual time required for the vehicle to travel to the circular contour may be determined based on the first actual speed, and the first actual time may be determined as the predicted time.

[0067] Step 103, when the vehicle starts to travel for the predicted time from the current first position, the second position of the vehicle is obtained, and whether the vehicle has traveled out of the electronic fence is monitored according to the second position.

[0068] In an exemplary embodiment, after monitoring that a vehicle has driven out of an electronic fence, an alarm message may be sent to the vehicle, where the alarm message is used to prompt that the vehicle has driven out of the electronic fence.

[0069] In some embodiments, Figure 3 As shown, monitoring whether the vehicle has driven out of the electronic fence according to the second position includes:

[0070] Step 301, determining a second distance from the vehicle to the circular contour based on the second position, the position of the center point and the shortest distance.

[0071] In an exemplary embodiment, a second distance from the vehicle to the circular contour is determined based on the second position, the position of the center point and the shortest distance, including: based on the second position and the position of the center point, the distance from the second position to the center point is determined, and the difference obtained by subtracting the distance from the second position to the center point from the shortest distance is determined as the second distance from the vehicle to the circular contour.

[0072] Step 302: Obtain a second actual speed of the vehicle, and determine a second actual time required to travel a second distance at the second actual speed.

[0073] Step 303: monitor whether the vehicle has driven out of the electronic fence according to the second actual duration.

[0074] Based on the second position, the position of the center point and the shortest distance, the second distance from the vehicle to the circular contour is determined, and the second actual time required to travel the second distance at the second actual speed is determined. Based on the second actual time, whether the vehicle has exited the electronic fence is monitored. Based on the second actual time, the accuracy of monitoring whether the vehicle has exited the electronic fence can be improved, while minimizing the amount of calculations used in determining whether the vehicle has exited the electronic fence.

[0075] In some embodiments, step 303 includes:

[0076] When the second actual duration is greater than the duration threshold, obtaining a second preset duration required to travel a second distance at a preset speed;

[0077] When the vehicle starts to travel from the second position for a second minimum time, the third position of the vehicle is obtained, and whether the vehicle has traveled out of the electronic fence is monitored based on the third position, wherein the second minimum time includes the minimum value of the second preset time and the second actual time.

[0078] When the vehicle starts to travel for the second minimum time from the second position, since the vehicle is located inside the circular contour at this time, it is not necessary to obtain the vehicle's position in real time and monitor whether the vehicle has left the electronic fence based on the vehicle's position, thereby reducing the amount of calculations required to determine whether the vehicle has left the electronic fence, improving the calculation efficiency required to determine whether the vehicle has left the electronic fence, and reducing the performance consumption of the execution device that determines whether the vehicle has left the electronic fence. When the vehicle starts to travel for the second minimum time from the second position, it is predicted that the vehicle has left the circular contour, and the vehicle may have left the electronic fence at this time, and then the third position of the vehicle is obtained, and the vehicle is monitored based on the third position to determine whether it has left the electronic fence.

[0079] When the second actual duration is very long, when the vehicle starts to travel from the second position for the second minimum time, the third position of the vehicle is obtained, and whether the vehicle has exited the electronic fence is monitored based on the third position, wherein the second minimum time includes the minimum value of the second preset time and the second actual time, which can greatly reduce the amount of calculation when determining whether the vehicle has exited the electronic fence.

[0080] Moreover, the second minimum time period includes the minimum value of the second preset time period and the second actual time period. When the vehicle starts to travel from the second position for the second minimum time period, the third position of the vehicle is obtained. Compared with directly obtaining the third position of the vehicle when the vehicle starts to travel from the second position for the second preset time period, or directly obtaining the third position of the vehicle when the vehicle starts to travel from the second position for the second actual time period, this can reduce the occurrence of the situation where the vehicle has already driven out of the electronic fence when the vehicle travels to the third position, thereby improving the accuracy of monitoring whether the vehicle has driven out of the electronic fence.

[0081] In addition, when the vehicle starts to travel for a predicted time from the current first position, the second position of the vehicle is obtained. When the vehicle starts to travel for a second minimum time from the second position, the third position of the vehicle is obtained, and whether the vehicle has exited the electronic fence is monitored based on the third position. When the vehicle starts to travel for a predicted time from the current first position, there is no need to obtain the position of the vehicle in real time and monitor whether the vehicle has exited the electronic fence based on the position of the vehicle. When the vehicle starts to travel for a second minimum time from the second position, there is no need to obtain the position of the vehicle in real time and monitor whether the vehicle has exited the electronic fence based on the position of the vehicle. This greatly reduces the amount of calculation when determining whether the vehicle has exited the electronic fence, greatly improves the calculation efficiency when determining whether the vehicle has exited the electronic fence, and greatly reduces the performance consumption of the execution device that determines whether the vehicle has exited the electronic fence.

[0082] In some embodiments, the third position is used to monitor whether the vehicle has driven out of the electronic fence, and the Figure 3 The step of monitoring whether the vehicle has driven out of the electronic fence according to the second position continues to loop and will not be repeated here.

[0083] In some embodiments, step 303 includes:

[0084] When the second actual duration is less than or equal to the duration threshold, the fourth position of the vehicle is acquired in real time, and whether the vehicle has exited the electronic fence is monitored based on the fourth position, the position of the center point and the shortest distance.

[0085] When the second actual time is very short, the fourth position of the vehicle can be obtained in real time, and based on the fourth position, the position of the center point and the shortest distance, it is monitored whether the vehicle has left the electronic fence, which can improve the accuracy of monitoring whether the vehicle has left the electronic fence.

[0086] In some embodiments, Figure 4 As shown, the vehicle monitoring method also includes:

[0087] Step 401, when the distance from the first position to the center point is greater than or equal to the shortest distance, determine the target triangle where the vehicle is located according to the first position from the multiple triangles divided into the area surrounded by the electronic fence.

[0088] Step 402, acquiring the fifth position of the vehicle in real time, and monitoring whether the vehicle has driven out of the electronic fence based on the target triangle and the fifth position.

[0089] Since the target triangle where the vehicle is located is determined according to the first position from multiple triangles divided from the area enclosed by the electronic fence, it is applicable to electronic fences in various polygonal shapes, such as rectangle, pentagon, hexagon, octagon, etc., as long as the area enclosed by the electronic fence can be divided into multiple triangles.

[0090] From the multiple triangles divided into the area enclosed by the electronic fence, the target triangle where the vehicle is located is determined according to the first position, the fifth position of the vehicle is obtained in real time, and based on the target triangle and the fifth position, whether the vehicle has driven out of the electronic fence is monitored. The divided triangle has a clear boundary and only three sides. Compared with directly monitoring whether the vehicle has driven out of the electronic fence based on the position range of the edge of the electronic fence and the position of the vehicle, it is possible to more accurately determine whether the vehicle is inside the triangle, and then more accurately monitor whether the vehicle has driven out of the electronic fence, reducing the possibility of misjudgment. Moreover, the target triangle where the vehicle is located is first determined according to the first position, and then based on the target triangle and the fifth position, whether the vehicle has driven out of the electronic fence is monitored, which greatly reduces the amount of calculation when judging whether the vehicle has driven out of the electronic fence, greatly improves the calculation efficiency when judging whether the vehicle has driven out of the electronic fence, and greatly reduces the performance consumption of the execution equipment for judging whether the vehicle has driven out of the electronic fence.

[0091] In addition, taking the shape of the electronic fence as a rectangle as an example, the advantages of determining the target triangle where the vehicle is located according to the first position from the multiple triangles divided into the area surrounded by the electronic fence, and monitoring whether the vehicle has driven out of the electronic fence based on the target triangle and the fifth position. Usually, a coordinate axis is set first, and then the coordinates of each vertex of the rectangular fence in the coordinate axis are obtained, and the coordinates of the vehicle in the coordinate axis are obtained. According to whether the coordinates of the vehicle in the coordinate axis are within the coordinate range, the vehicle is monitored to see whether it has driven out of the electronic fence. The coordinate range refers to the coordinate range formed by the coordinates of each vertex of the rectangular fence in the coordinate axis. When the boundary of the rectangular fence is not perpendicular to the coordinate axis, simply comparing the coordinate range may result in misjudgment. For example, when the boundary of the rectangular fence is at a certain angle to the coordinate axis, simply determining that the coordinates of the vehicle in the coordinate axis are within the coordinate range cannot guarantee that the vehicle is within the rectangular fence. There may be a situation where the coordinates of the vehicle in the coordinate axis are within the coordinate range, but the vehicle has actually driven out of the electronic fence. Dividing the area surrounded by the rectangular fence into multiple triangles can better capture this situation, because the boundary of the triangle usually does not coincide with the coordinate axis, and it can more accurately monitor whether the vehicle has driven out of the electronic fence.

[0092] Moreover, from the multiple triangles divided by the area enclosed by the electronic fence, the target triangle where the vehicle is located is determined according to the first position, the fifth position of the vehicle is obtained in real time, and based on the target triangle and the fifth position, it is monitored whether the vehicle has left the electronic fence. Compared with directly constructing multiple triangular electronic fences, this can reduce the number of alarms and reduce the performance consumption of the execution equipment that determines whether the vehicle has left the electronic fence.

[0093] In an exemplary embodiment, in step 401, before determining the target triangle where the vehicle is located based on the first position, from among the multiple triangles into which the area surrounded by the electronic fence is divided, it is determined that the distance from the first position to the center point is less than or equal to the longest distance from the center point to the edge of the electronic fence. The distance from the first position to the center point is less than or equal to the longest distance from the center point to the edge of the electronic fence, indicating that the first position may be inside the electronic fence. If the distance from the first position to the center point is greater than the longest distance from the center point to the edge of the electronic fence, it is determined that the vehicle has exited the electronic fence.

[0094] The following embodiments are explained by taking the shape of the electronic fence as a rectangle as an example, but are not limited to this.

[0095] In some embodiments, Figure 5 As shown, in step 401, the target triangle where the vehicle is located is determined according to the first position from the multiple triangles divided by the area surrounded by the electronic fence, including:

[0096] Step 501 : determining a first vector, a second vector, and a third vector for at least one triangle among a plurality of triangles into which an area enclosed by an electronic fence is divided.

[0097] The starting points of the first vector, the second vector and the third vector are the first position, and the end points of the first vector, the second vector and the third vector are the positions of the three vertices of the triangle respectively.

[0098] In an exemplary embodiment, Figure 6 The figure shows a schematic diagram of a rectangular electronic fence. The center point of the rectangular electronic fence is point O, the four vertices are point A, point B, point C, and point D, and the midpoints of the four sides are point E, point F, point G, and point H. Figure 6 As shown, according to the nine points O, A, B, C, D, E, F, G and H, the area enclosed by the rectangular electronic fence is divided into eight triangles, namely triangle OHA, triangle OAE, triangle OEB, triangle OBF, triangle OFC, triangle OCG, triangle OGD and triangle ODH. Of course, there are other ways to divide triangles, but here we use the following method: Figure 6 The example of dividing the area enclosed by the rectangular electronic fence into 8 triangles is used for explanation, but is not limited to this.

[0099] In step 501, for at least one triangle, a first vector, a second vector and a third vector are determined, which may be for Figure 6 For each of the eight triangles (triangle OHA, triangle OAE, triangle OEB, triangle OBF, triangle OFC, triangle OCG, triangle OGD, triangle ODH), determine the first vector, the second vector and the third vector; it is also possible to first determine in which of the four small rectangles (small rectangle AEOH, small rectangle EBFO, small rectangle OFCG, small rectangle HOGD) the first position of the vehicle is according to the positions of the nine points O, point A, point B, point C, point D, point E, point F, point G and point H and the first position of the vehicle, for example, determine that the first position of the vehicle is inside the small rectangle AEOH, and then determine the first vector, the second vector and the third vector for the two triangles (triangle AOE and triangle AOH) into which the small rectangle AEOH is divided.

[0100] Figure 6 In the figure, point P is the first position of the vehicle. For the triangle AOE, the first vector is The second vector is The third vector is For triangle AOH, the first vector is The second vector is The third vector is

[0101] Step 502, determining a first direction of the first vector cross-producted with the second vector, a second direction of the second vector cross-producted with the third vector, and a third direction of the third vector cross-producted with the first vector.

[0102] In an exemplary embodiment, the vector cross multiplication is also called the cross product or outer product, which is a binary operation of vectors in a vector space, and the result of the operation is a pseudo vector rather than a scalar, and the cross product of two vectors is perpendicular to both vectors. If the coordinate system satisfies the right-hand rule, when the four fingers of the right hand turn from the first vector to the second vector at an angle not exceeding 180 degrees, the thumb pointing up points to the first direction. Since the cross product of the vectors is determined by the coordinate system, the result of the cross product of the vectors is called a pseudo vector.

[0103] Figure 6 In the figure, point P is the first position of the vehicle. Point P is inside the triangular AOE. For the triangular AOE, according to the right-hand rule, the first vector Cross product the second vector The first direction is perpendicular to the plane AEOH and downward, and the second vector Cross product the third vector The second direction is perpendicular to the plane AEOH and downward, and the third vector Cross product of first vector The third direction is perpendicular to the plane AEOH and downward; for triangle AOH, according to the right-hand rule, the first vector Cross product the second vector The first direction is perpendicular to the plane AEOH and upward, and the second vector Cross product the third vector The second direction is perpendicular to the plane AEOH and upward, and the third vector Cross product of first vector The third direction is perpendicular to the plane AEOH and downward.

[0104] Step 503: determine the triangle with the same first direction, second direction and third direction as the target triangle where the vehicle is located.

[0105] Figure 6 In the triangle AOE, the first direction, the second direction and the third direction are the same, all perpendicular to the plane AEOH and pointing downward, so the triangle AOE is determined as the target triangle where the vehicle is located. In the triangle AOH, the first direction and the second direction are perpendicular to the plane AEOH and pointing upward, and the third direction is perpendicular to the plane AEOH and pointing downward. The first direction and the third direction are different, so it is determined that the vehicle is not inside the triangle AOH.

[0106] By adopting the vector cross multiplication method, the target triangle where the vehicle is located is determined according to the first position from the multiple triangles divided by the area enclosed by the electronic fence. This can accurately determine which triangle the vehicle is in, and thus more accurately monitor whether the vehicle has driven out of the electronic fence.

[0107] In some embodiments, in step 402, monitoring whether the vehicle has exited the electronic fence based on the target triangle and the fifth position includes:

[0108] Determine a first target vector, a second target vector and a third target vector; wherein the starting points of the first target vector, the second target vector and the third target vector are the fifth position, and the end points of the first target vector, the second target vector and the third target vector are the positions of the three vertices of the target triangle respectively;

[0109] Determining a first target direction of the first target vector cross-multiplied by the second target vector, a second target direction of the second target vector cross-multiplied by the third target vector, and a third target direction of the third target vector cross-multiplied by the first target vector;

[0110] Whether the vehicle has driven out of the electronic fence is monitored according to the first target direction, the second target direction and the third target direction.

[0111] By adopting the vector cross multiplication method, it is possible to accurately monitor whether the vehicle has driven out of the target triangle, and furthermore, it is possible to more accurately monitor whether the vehicle has driven out of the electronic fence. Moreover, since it is necessary to obtain the positions of multiple points on the edge of the electronic fence and compare whether the position of the vehicle is within the coordinate range formed by the positions of multiple points on the edge of the electronic fence in order to compare the position of the vehicle and the coordinate range of the edge of the electronic fence, the calculation is complicated. However, by adopting the vector cross multiplication method, it is only necessary to determine the first target vector, the second target vector and the third target vector, and determine the first target direction, the second target direction and the third target direction, which reduces the amount of calculation when judging whether the vehicle has driven out of the electronic fence, improves the calculation efficiency when judging whether the vehicle has driven out of the electronic fence, and reduces the performance consumption of the execution device for judging whether the vehicle has driven out of the electronic fence.

[0112] In some embodiments, Figure 7 As shown, in step 402, based on the target triangle and the fifth position, monitoring whether the vehicle has driven out of the electronic fence includes:

[0113] Step 701, determining the cosine value of the first angle according to the position of the first vertex, the position of the second vertex and the position of the third vertex of the target triangle.

[0114] The vertex of the first angle is the first vertex, and the first angle is determined based on the third vertex, the first vertex and the second vertex.

[0115] In an exemplary embodiment, the first vertex may be a vertex of a rectangular electronic fence, the second vertex may be a center point of the rectangular electronic fence, and the third vertex may be a midpoint of a side of the rectangular electronic fence.

[0116] In an exemplary embodiment, Figure 6 In the figure, the target triangle is triangle AOE, the first vertex is point A, the second vertex is point O, the third vertex is point E, and the first angle is ∠EAO. According to the position of the first vertex A, the position of the second vertex O, and the position of the third vertex E, the lengths of line segments EA, AO, and EO are obtained; according to the lengths of line segments EA, AO, and EO, the cosine value of ∠EAO is obtained using the cosine theorem. Once the target triangle is determined, the cosine value of ∠EAO is determined and only needs to be calculated once.

[0117] Step 702, determining the cosine value of the second angle according to the fifth position, the position of the first vertex and the position of the second vertex.

[0118] The vertex of the second angle is the first vertex, and the second angle is determined according to the fifth position, the first vertex and the second vertex.

[0119] In an exemplary embodiment, Figure 6 In the figure, the target triangle is triangle AOE, the first vertex is point A, the second vertex is point O, the fifth position is the position of point Q, and the second angle is ∠QAO. According to the fifth position of point Q, the position of the first vertex A, and the position of the second vertex O, the lengths of line segments QA, AO, and QO are obtained; according to the lengths of line segments QA, AO, and QO, the cosine value of ∠QAO is obtained using the cosine theorem. The length of line segment AO is fixed. Each time, we only need to calculate the lengths of line segments QA and QO based on the fifth position of point Q, and further calculate the cosine value of ∠QAO.

[0120] Step 703: monitor whether the vehicle has driven out of the electronic fence according to the cosine value of the first angle and the cosine value of the second angle.

[0121] In an exemplary embodiment, whether the vehicle has gone out of the electronic fence is monitored based on the cosine value of the first angle and the cosine value of the second angle. If the cosine value of the first angle is smaller than the cosine value of the second angle, it is determined that the vehicle is inside the electronic fence, and the fifth position of the vehicle continues to be acquired in real time, and the cosine value of the first angle and the cosine value of the second angle are calculated to monitor whether the vehicle has gone out of the electronic fence; if the cosine value of the first angle is equal to the cosine value of the second angle, it is determined that the vehicle is on the edge of the electronic fence; if the cosine value of the first angle is greater than the cosine value of the second angle, it is determined that the vehicle has gone out of the electronic fence.

[0122] According to the cosine value of the first angle and the cosine value of the second angle, whether the vehicle has driven out of the electronic fence is monitored. After the target triangle is determined, the cosine value of the first angle is determined and only needs to be calculated once. The length of the line segment formed by the first vertex and the second vertex is fixed. As the fifth position of the vehicle changes, it is only necessary to recalculate the length of the line segment formed by the first vertex and the point at the fifth position, and the length of the line segment formed by the second vertex and the point at the fifth position, and then recalculate the cosine value of the second angle. Compared with comparing the position of the vehicle with the coordinate range of the edge of the electronic fence to monitor whether the vehicle has driven out of the electronic fence, the amount of calculation when judging whether the vehicle has driven out of the electronic fence is reduced, the calculation efficiency when judging whether the vehicle has driven out of the electronic fence is improved, and the performance consumption of the execution device for judging whether the vehicle has driven out of the electronic fence is reduced.

[0123] In an exemplary embodiment, in step 402, based on the target triangle and the fifth position, it is monitored whether the vehicle has driven out of the electronic fence. It can be auxiliary judgment to roughly judge whether the vehicle has driven out of the fence or driven towards another triangle based on the direction angle of the vehicle.

[0124] In some embodiments, the vehicle monitoring method further includes: generating a travel trajectory, travel data, and driving behavior analysis of the vehicle; and sending the travel trajectory, travel data, and driving behavior analysis of the vehicle to the vehicle. The travel trajectory refers to a trajectory formed by the position change of the vehicle during driving. The travel data includes at least one of power consumption and fuel consumption. The driving behavior analysis includes an analysis of sudden braking behavior. It is convenient for customers to better understand the test drive vehicle.

[0125] In summary, in the present application, when the vehicle is located inside the electronic fence, the first distance from the vehicle to the circular contour is determined, the center of the circular contour is the center point of the electronic fence, and the radius of the circular contour is the shortest distance from the center point to the edge of the electronic fence. No matter what shape the electronic fence is, as long as the vehicle is located inside the circular contour, the vehicle must be located inside the electronic fence. Based on the first distance, the predicted time required for the vehicle to travel to the circular contour is determined. When the vehicle starts to travel for the predicted time from the current first position, the second position of the vehicle is obtained, and the vehicle is monitored according to the second position to see whether it has left the electronic fence. When the time the vehicle starts to travel from the first position is less than the predicted time, since the vehicle is located inside the circular contour at this time, it is not necessary to obtain the position of the vehicle in real time and monitor whether the vehicle has left the electronic fence according to the position of the vehicle, which reduces the amount of calculation when judging whether the vehicle has left the electronic fence, improves the calculation efficiency when judging whether the vehicle has left the electronic fence, and reduces the performance consumption of the execution device for judging whether the vehicle has left the electronic fence. When the vehicle starts to travel for the predicted time from the current first position, it is predicted that the vehicle has left the circular contour. At this time, the vehicle may leave the electronic fence, and then the second position of the vehicle is obtained, and the vehicle is monitored according to the second position to see whether it has left the electronic fence.

[0126] Exemplary Devices

[0127] Accordingly, the embodiment of the present application also provides a vehicle monitoring device, such as Figure 8 As shown, the vehicle monitoring device includes:

[0128] The first processing unit 801 is used to determine, when the vehicle is located inside the electronic fence, a first distance from the vehicle to a circular contour, the center of the circular contour being the center point of the electronic fence, and the radius of the circular contour being the shortest distance from the center point to the edge of the electronic fence;

[0129] A second processing unit 802 is used to determine a predicted time required for the vehicle to travel to the circular contour based on the first distance;

[0130] The monitoring unit 803 is used to obtain the second position of the vehicle when the vehicle starts to travel from the current first position for the predicted time period, and monitor whether the vehicle has traveled out of the electronic fence based on the second position.

[0131] The vehicle monitoring device provided in this embodiment belongs to the same application concept as the vehicle monitoring method provided in the above embodiments of this application, can execute the vehicle monitoring method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the vehicle monitoring method. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle monitoring method provided in the above embodiments of this application, and will not be repeated here.

[0132] The functions implemented by the above-mentioned first processing unit 801, the second processing unit 802 and the monitoring unit 803 may be implemented by the same or different processors respectively, which is not limited in the embodiment of the present application.

[0133] It should be understood that the units in the above devices can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device, wherein the processor can be a general-purpose processor, such as a CPU or a microprocessor, etc., and the memory can be a memory in the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD, taking FPGA as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by the configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be implemented in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the remaining part is implemented in the form of hardware circuits.

[0134] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0135] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0136] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a SOC. The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0137] Exemplary Electronic Devices

[0138] Another embodiment of the present application also provides an electronic device, see Fig. 9 As shown, the device includes:

[0139] Memory 200 and processor 210;

[0140] The memory 200 is connected to the processor 210 and is used to store programs;

[0141] The processor 210 is used to implement the vehicle monitoring method disclosed in any of the above embodiments by running the program stored in the memory 200.

[0142] Specifically, the electronic device may further include: a bus, a communication interface 220 , an input device 230 and an output device 240 .

[0143] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are connected to each other via a bus.

[0144] A bus may include a pathway that transfers information between components of a computer system.

[0145] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may 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 components.

[0146] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0147] The memory 200 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 200 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0148] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0149] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0150] The communication interface 220 may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0151] The processor 210 executes the program stored in the memory 200 and calls other devices, which can be used to implement each step of any vehicle monitoring method provided in the above embodiments of the present application.

[0152] Exemplary computer program products and storage media

[0153] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle monitoring method according to various embodiments of the present application described in any of the above-mentioned embodiments of this specification.

[0154] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0155] In addition, the embodiment of the present application may also be a storage medium on which a computer program is stored. The computer program is executed by a processor to execute the steps of the vehicle monitoring method according to various embodiments of the present application described in any of the above embodiments of this specification, and specifically the following steps may be implemented:

[0156] Step 101: when a vehicle is located inside an electronic fence, determine a first distance from the vehicle to a circular contour.

[0157] The center of the circular outline is the center point of the electronic fence, and the radius of the circular outline is the shortest distance from the center point to the edge of the electronic fence.

[0158] Step 102: Determine the predicted time required for the vehicle to travel to the circular contour based on the first distance.

[0159] Step 103, when the vehicle starts to travel for the predicted time from the current first position, the second position of the vehicle is obtained, and whether the vehicle has traveled out of the electronic fence is monitored according to the second position.

[0160] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0161] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the 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.

[0162] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0163] The modules and sub-modules in the devices and terminals in the various embodiments of the present application can be combined, divided and deleted according to actual needs.

[0164] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0165] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0167] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0168] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0169] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0170] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle monitoring method, characterized in that: include: When the vehicle is located inside the electronic fence, determining a first distance from the vehicle to a circular contour, the center of the circular contour being the center point of the electronic fence, and the radius of the circular contour being the shortest distance from the center point to the edge of the electronic fence; Determining a predicted time required for the vehicle to travel to the circular contour based on the first distance; When the vehicle starts to travel from the current first position for the predicted time period, the second position of the vehicle is acquired, and whether the vehicle has traveled out of the electronic fence is monitored based on the second position.

2. The vehicle monitoring method according to claim 1, characterized in that: The step of determining, based on the first distance, a predicted time required for the vehicle to travel to the circular contour includes: Obtaining a first preset time required to travel the first distance at a preset speed; Acquire a first actual speed of the vehicle, and determine a first actual time required for the vehicle to travel to the circular contour according to the first actual speed; The minimum value of the first preset duration and the first actual duration is determined as the predicted duration.

3. The vehicle monitoring method according to claim 1, characterized in that: The step of monitoring whether the vehicle has driven out of the electronic fence according to the second position includes: determining a second distance from the vehicle to the circular contour based on the second position, the position of the center point, and the shortest distance; Acquire a second actual speed of the vehicle, and determine a second actual time required to travel the second distance at the second actual speed; Whether the vehicle has driven out of the electronic fence is monitored according to the second actual duration.

4. The vehicle monitoring method according to claim 3, characterized in that: The monitoring, according to the second actual duration, whether the vehicle has driven out of the electronic fence includes: When the second actual duration is greater than the duration threshold, obtaining a second preset duration required to travel the second distance at a preset speed; When the vehicle starts to travel from the second position for a second minimum time, the third position of the vehicle is obtained, and whether the vehicle has driven out of the electronic fence is monitored based on the third position, wherein the second minimum time includes the minimum value of the second preset time and the second actual time.

5. The vehicle monitoring method according to claim 3, characterized in that: The monitoring, according to the second actual duration, whether the vehicle has driven out of the electronic fence includes: When the second actual duration is less than or equal to the duration threshold, the fourth position of the vehicle is acquired in real time, and whether the vehicle has exited the electronic fence is monitored based on the fourth position, the position of the center point and the shortest distance.

6. The vehicle monitoring method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the distance from the first position to the center point is greater than or equal to the shortest distance, determining a target triangle where the vehicle is located according to the first position from a plurality of triangles divided into the area surrounded by the electronic fence; The fifth position of the vehicle is acquired in real time, and based on the target triangle and the fifth position, it is monitored whether the vehicle has driven out of the electronic fence.

7. The vehicle monitoring method according to claim 6, characterized in that: The step of determining a target triangle where the vehicle is located according to the first position from among the plurality of triangles divided from the area surrounded by the electronic fence comprises: Determine a first vector, a second vector, and a third vector for at least one triangle from among the multiple triangles into which the area enclosed by the electronic fence is divided; wherein the starting points of the first vector, the second vector, and the third vector are the first position, and the end points of the first vector, the second vector, and the third vector are the positions of the three vertices of the triangle respectively; Determine a first direction of the first vector cross-multiplied by the second vector, a second direction of the second vector cross-multiplied by the third vector, and a third direction of the third vector cross-multiplied by the first vector; A triangle having the same first direction, the same second direction and the same third direction is determined as a target triangle where the vehicle is located.

8. The vehicle monitoring method according to claim 6, characterized in that: The step of monitoring whether the vehicle has driven out of the electronic fence based on the target triangle and the fifth position includes: Determine a first target vector, a second target vector and a third target vector; wherein the starting points of the first target vector, the second target vector and the third target vector are the fifth position, and the end points of the first target vector, the second target vector and the third target vector are the positions of the three vertices of the target triangle respectively; Determine a first target direction of the first target vector cross-multiplied by the second target vector, a second target direction of the second target vector cross-multiplied by the third target vector, and a third target direction of the third target vector cross-multiplied by the first target vector; Whether the vehicle has driven out of the electronic fence is monitored according to the first target direction, the second target direction and the third target direction.

9. The vehicle monitoring method according to claim 6, characterized in that: The step of monitoring whether the vehicle has driven out of the electronic fence based on the target triangle and the fifth position includes: Determine a cosine value of a first angle according to a position of a first vertex, a position of a second vertex, and a position of a third vertex of the target triangle; wherein the vertex of the first angle is the first vertex, and the first angle is determined according to the third vertex, the first vertex, and the second vertex; Determine a cosine value of a second angle according to the fifth position, the position of the first vertex, and the position of the second vertex; wherein the vertex of the second angle is the first vertex, and the second angle is determined according to the fifth position, the first vertex, and the second vertex; Whether the vehicle has driven out of the electronic fence is monitored according to the cosine value of the first angle and the cosine value of the second angle.

10. A vehicle monitoring device, characterized in that: include: A first processing unit is used to determine, when the vehicle is located inside the electronic fence, a first distance from the vehicle to a circular contour, the center of the circular contour being the center point of the electronic fence, and the radius of the circular contour being the shortest distance from the center point to the edge of the electronic fence; a second processing unit, configured to determine a predicted time required for the vehicle to travel to the circular contour based on the first distance; A monitoring unit is used to obtain a second position of the vehicle when the vehicle starts to travel from a current first position for the predicted time, and to monitor whether the vehicle has traveled out of the electronic fence based on the second position.

11. An electronic device, characterized in that: including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the vehicle monitoring method as described in any one of claims 1 to 9 by running the program in the memory.

12. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle monitoring method according to any one of claims 1 to 9 is implemented.

13. A computer program product, characterized in that The method comprises computer program instructions, which, when executed by a processor, enable the processor to perform the vehicle monitoring method according to any one of claims 1 to 9.

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