Vehicle pre-returning control method combined with navigation

Abstract

The invention relates to the technical field of vehicle control, in particular to a navigation-combined vehicle pre-returning control method. On the basis that all existing shared bicycles are provided with Beidou modules, on the basis of obtaining real-time information of the bicycles, real-time position information is combined with a time axis for calculation and analysis to obtain driving states of the bicycles, further analysis is carried out by combining whether the current real-time position is at a crossroad or not, and if it is judged that the bicycles need to be returned, the bicycles are returned. If yes, generating a vehicle returning navigation route according to the road network and map navigation, pre-sending the vehicle returning navigation route to the corresponding mobile terminal, receiving a vehicle returning confirmation instruction or a navigation confirmation instruction of the mobile terminal for navigation, and pre-generating a plurality of navigation routes to prevent the problem that the vehicle returning navigation route cannot be used in an extreme network, thereby ensuring the user experience.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle control, and in particular to a pre-vehicle return control method combined with navigation. Background Art

[0002] Although the application of shared bicycles has brought many conveniences to people's travel, the increased social management costs caused by random parking of bicycles have also attracted widespread attention. As a domestic navigation and positioning system, it is natural for shared bicycle companies to use the Beidou system for the sake of data security and technical autonomy and control. From the perspective of actual use, Beidou's overall positioning accuracy in China is higher than that of GPS, especially in remote small cities, where Beidou's advantages are more obvious.

[0003] The core principle of using Beidou in shared bicycles is to install Beidou positioning chips on the smart locks of shared bicycles. Every once in a while, each shared bicycle will ask the Beidou system for information about its real-time longitude and latitude, forming a small data packet, which will then be sent back to the bicycle's backend. When the vehicle chip receives the Beidou signal, technicians can locate the vehicle in real time and determine whether the vehicle is in the correct position to change vehicles.

[0004] The patent with application number CN202110571604.1 discloses a vehicle return system and a vehicle return method. In the vehicle return system based on identifiable tags, a server and a plurality of identifiable tags set at different parking spots are included. The parking spot information corresponding to each identifiable tag can be obtained by identifying the identifiable tag, and the pre-stored parking spot information is stored in the server; when the server receives the parking spot information obtained by the shared vehicle through identifying the identifiable tag, the parking spot information is compared with the pre-stored parking spot information, and when the parking spot information matches the pre-stored parking spot information, a vehicle return command is issued to the shared vehicle. The present invention enables the server to accurately obtain the user's vehicle return location for vehicle return processing when the user returns the vehicle, avoiding the positioning error existing in satellite positioning and improving the user's vehicle experience. However, the technical solution of this technical patent is still based on the user initiating the vehicle change command, but the positioning system of the shared bicycle usually relies on satellite signals, such as GPS or Beidou system. In urban environments, especially in commercial areas with tall buildings, the positioning signal may be blocked or reflected by buildings, resulting in inaccurate positioning. In addition, some parking areas may have weak signals or interference, making it impossible for the system to accurately determine the vehicle's location, which may result in the inability to obtain navigation instructions for returning the vehicle smoothly due to inaccurate positioning. It will take extra time to find a suitable parking spot and may even result in additional dispatch fees. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a pre-vehicle return control method combined with navigation.

[0006] To achieve the above object, the present invention provides the following technical solutions: A method for controlling an advance return of a vehicle combined with navigation comprises the following steps: Step 1, receiving real-time information of the vehicle, obtaining the driving state of the vehicle, and triggering position matching when the driving state is determined to be parking or decelerating; Step 2, map matching is performed based on the real-time location information and the location information of the digital road map. When it is determined that the vehicle is within the range of the intersection, the traffic light information of the current intersection is obtained. When the traffic light information is in a pass state, the location information of the nearest car return point is obtained, and step 3 or step 4 is executed; In step 3, when the real-time location information matches the location information of the vehicle exchange point, a pre-vehicle return confirmation is initiated to the mobile terminal, and the vehicle is returned immediately after receiving the vehicle return confirmation instruction; In step 4, when the real-time location information does not match the location information of the vehicle exchange point, a vehicle return navigation route is generated and sent to the mobile terminal, and after receiving a navigation confirmation instruction, the vehicle return navigation route is displayed on the mobile terminal and the vehicle location information is continuously obtained in real time until the vehicle location information matches the location information of the vehicle exchange point, and step 5 is executed; Step 5: When it is determined that the driving state is a stopped state or is about to enter a stopped state, a pre-return vehicle confirmation is sent to the mobile terminal, and the vehicle is returned immediately after receiving the return vehicle confirmation instruction.

[0007] As a preferred embodiment of the technical solution of the present invention, the real-time position information and real-time acceleration information are received, and the driving state is determined according to the real-time acceleration information, and the driving state includes normal driving, accelerating driving, decelerating driving, and parking.

[0008] As a preferred embodiment of the technical solution of the present invention, when it is determined that the driving state is parking or decelerating, the real-time position information is captured.

[0009] As a preferred embodiment of the technical solution of the present invention, step 2 comprises the following steps: Step 2.1, performing data preprocessing on the real-time location information to remove noise in the real-time location information; Step 2.2, matching the real-time location information with the road network data and extracting key features; Step 2.3, obtaining the intersection information involved in the road according to the key features, comparing the real-time location information with the intersection location information, and obtaining the traffic light information when the real-time location information is within the intersection range; Step 2.4, capturing the time information contained in the real-time location information, obtaining the corresponding traffic light information according to the time information, and when the traffic light information analysis shows that it is in a passable state, obtaining the location information of the car exchange point nearest to the return point.

[0010] As a preferred embodiment of the technical solution of the present invention, the key features include the road name, the starting point and end point of the road, the road type, the intersection information, and traffic rules. The intersection information includes the intersection location information, the traffic light information, the intersection lane information, and the intersection pedestrian flow information.

[0011] As a preferred embodiment of the technical solution of the present invention, step 2.4 includes the following steps: Parking point data related to the parking points are extracted from the road network data, the distance between the real-time position in the real-time position information and each parking point is calculated, the appropriate nearest parking point is determined, and the vehicle change point position information is generated.

[0012] As a preferred embodiment of the technical solution of the present invention, the parking point data includes location data of the parking point, capacity data of the parking point, usage frequency of the parking point, network status data of the parking point, and real-time parking data of the parking point.

[0013] As a preferred embodiment of the technical solution of the present invention, when it is calculated that the real-time location information is within the location range of the parking point closest to the physical location, a pre-return vehicle confirmation instruction is generated and sent point-to-point to the corresponding mobile terminal. When the return vehicle confirmation instruction is received from the mobile terminal, the return vehicle procedure is immediately executed to return the vehicle.

[0014] As a preferred embodiment of the technical solution of the present invention, when it is calculated that the real-time location information is outside the location range of the parking point closest to the physical location, multiple navigation routes are generated and sent to the corresponding mobile terminal, and after receiving the return confirmation instruction fed back by the mobile terminal, the selected return point is obtained, and the corresponding return navigation route is obtained according to the selected return point, and the vehicle location information is continuously obtained in real time until the vehicle location information matches the location information of the transfer point, and step 5 is executed; The vehicle return confirmation instruction includes information on whether the vehicle is returned and information on the selected vehicle return point.

[0015] Compared with the prior art, the present invention has the following beneficial effects: Based on the fact that all existing shared bicycles are equipped with Beidou modules, on the basis of obtaining real-time information of the vehicle, the real-time location information is combined with the time axis for calculation and analysis to obtain the driving status of the vehicle, and further analysis is performed based on whether the current real-time location is at an intersection. If it is determined that the vehicle needs to be returned, the return navigation route is generated based on the road network and map navigation and pre-sent to the corresponding mobile terminal. After receiving the return confirmation instruction or navigation confirmation instruction from the mobile terminal, navigation is performed. By pre-generating multiple navigation routes, the problem of being unusable under extreme network conditions is prevented, thereby ensuring the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0020] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0021] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0022] The positioning system of shared bicycles usually relies on satellite signals, such as GPS or Beidou system. In urban environments, especially in commercial areas with tall buildings, the positioning signal may be blocked or reflected by buildings, resulting in inaccurate positioning. In addition, some parking areas may have weak or interfered signals, or in crowded areas, a large number of devices requesting positioning services at the same time may cause channel congestion, affecting the transmission of positioning signals.

[0023] Therefore, in response to sudden situations where the network signal is poor, if we can predict the car change in advance, we can avoid initiating the car return route navigation or car return in an environment with poor network signal. Before the car needs to be returned, we can obtain the car return demand in a place with better network through effective technical solutions, initiate the demand after automatic judgment in advance, and carry out corresponding follow-up work at the same time, thereby improving the success rate of car return and user experience.

[0024] A method for controlling an advance return of a vehicle combined with navigation comprises the following steps: Step 1, receiving real-time information of the vehicle, obtaining the driving status of the vehicle, and triggering position matching when the driving status is determined to be parking or decelerating.

[0025] Step 2, map matching is performed based on the real-time location information and the location information of the digital road map. When it is determined that the vehicle is within the range of an intersection, the traffic light information of the current intersection is obtained. When the traffic light information is in a passable state, the location information of the exchange point nearest the return point is obtained, and step 3 or step 4 is executed.

[0026] Step 3: When the real-time location information matches the location information of the car exchange point, a pre-return confirmation is sent to the mobile terminal, and the car is returned immediately after receiving the return confirmation instruction.

[0027] Step 4: When the real-time location information does not match the location information of the car exchange point, a return navigation route is generated and sent to the mobile terminal. After receiving the navigation confirmation instruction, the return navigation route is displayed on the mobile terminal and the vehicle location information continues to be obtained in real time until the vehicle location information matches the location information of the car exchange point, and step 5 is executed.

[0028] Step 5: When it is determined that the driving state is stopped or about to enter a stopped state, a pre-return confirmation is sent to the mobile terminal, and the vehicle is returned immediately after receiving the return confirmation instruction.

[0029] Receive real-time location information and real-time acceleration information, and judge the driving state according to the real-time acceleration information, which includes normal driving, accelerating driving, decelerating driving, and parking. At present, a Beidou location navigation module is generally set in the lock of a shared bicycle, and the real-time acceleration data is obtained by calculating according to multiple real-time location data, or on some shared bicycles equipped with acceleration sensors, the real-time data uploaded by the acceleration sensor can be directly used to obtain the real-time acceleration information of the vehicle. When the difference between the real-time acceleration in the two detection cycles before and after is within the preset normal driving acceleration difference range, it is determined that the vehicle is in normal driving; when the difference between the real-time acceleration in the two detection cycles before and after is greater than the maximum value of the preset normal driving acceleration value range, it is determined that the vehicle is accelerating; when the difference between the real-time acceleration in the two detection cycles before and after is less than the maximum value of the preset normal driving acceleration value range, it is determined that the vehicle is decelerating; because it is generally difficult for riders to maintain an absolute uniform speed in real life, when the difference between the real-time acceleration in the two detection cycles before and after is equal to 0, it is determined that the vehicle is parked at this time.

[0030] When the driving state is judged to be parking or decelerating, the real-time position information is captured.

[0031] Step 2 includes the following steps: Step 2.1, preprocess the real-time location information to remove the noise in the real-time location information. Due to possible network delays, the real-time location data may be abnormal. When preprocessing the real-time location information, the data with too large deviation is filtered out for noise processing.

[0032] Step 2.2, match the real-time location information with the road network data and extract key features.

[0033] Step 2.3, obtain the intersection information involved in the road according to the key features, compare the real-time location information with the intersection location information, and when the real-time location information is within the intersection range, obtain the traffic light information.

[0034] Step 2.4, capture the time information contained in the real-time location information, obtain the corresponding traffic light information according to the time information, and when the traffic light information analysis shows that it is in a passable state, obtain the location information of the car exchange point closest to the return point.

[0035] Key features include road name, road starting point and end point, road type, intersection information, and traffic rules. Intersection information includes intersection location information, traffic light information, intersection lane information, and intersection pedestrian flow information.

[0036] Step 2.4 includes the following steps: Parking point data related to the parking points are extracted from the road network data, the distance between the real-time position in the real-time position information and each parking point is calculated, the appropriate nearest parking point is determined, and the vehicle change point location information is generated.

[0037] The parking spot data includes the location data of the parking spot, the capacity data of the parking spot, the usage frequency of the parking spot, the network status data of the parking spot, and the real-time parking data of the parking spot.

[0038] When the calculated difference between the intersection location information and the location data of the nearest parking spot is less than the preset difference, there is a car exchange point on the sidewalk of the intersection. Or when the calculated real-time location information is within the location range of the nearest parking spot, a pre-return confirmation instruction is generated and sent point-to-point to the corresponding mobile terminal. When the return confirmation instruction fed back by the mobile terminal is received, the return procedure is immediately executed to return the car.

[0039] When the difference between the intersection location information and the location data of the parking point closest to the physical location is greater than the preset difference, that is, there is no car transfer point on the sidewalk of the intersection. Or when the calculated real-time location information is outside the location range of the parking point closest to the physical location, multiple navigation routes are generated and sent to the corresponding mobile terminal. Here, the order is to first generate multiple navigation routes and send them, and then send multiple return point information. After the mobile terminal feedbacks the selection of the return point, the navigation route is generated according to the return point selected by the mobile terminal. The reason is that the pre-generation of multiple navigation routes can prevent the encounter of extreme network conditions. In extreme network conditions, the return point may be selected, but network communication cannot be carried out, and the back end cannot receive instructions and cannot generate navigation routes. By pre-generating multiple navigation routes, the problem of being unusable under extreme networks is prevented, and the user experience is guaranteed. After receiving the return confirmation instruction fed back by the mobile terminal, the selected return point is obtained, and the corresponding return navigation route is obtained according to the selected return point, and the vehicle location information is continued to be obtained in real time until the vehicle location information matches the exchange point location information, and step 5 is executed.

[0040] The vehicle return confirmation instruction includes information on whether the vehicle is returned and information on the selected vehicle return point.

[0041] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0042] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0043] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0044] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for controlling a vehicle return in advance combined with navigation, characterized in that: The following steps are involved: Step 1, receiving real-time information of the vehicle, obtaining the driving state of the vehicle, and triggering position matching when the driving state is determined to be parking or decelerating; Step 2, map matching is performed based on the real-time location information and the location information of the digital road map. When it is determined that the vehicle is within the range of the intersection, the traffic light information of the current intersection is obtained. When the traffic light information is in a pass state, the location information of the nearest car return point is obtained, and step 3 or step 4 is executed; In step 3, when the real-time location information matches the location information of the vehicle exchange point, a pre-vehicle return confirmation is initiated to the mobile terminal, and the vehicle is returned immediately after receiving the vehicle return confirmation instruction; In step 4, when the real-time location information does not match the location information of the vehicle exchange point, a vehicle return navigation route is generated and sent to the mobile terminal, and after receiving a navigation confirmation instruction, the vehicle return navigation route is displayed on the mobile terminal and the vehicle location information is continuously obtained in real time until the vehicle location information matches the location information of the vehicle exchange point, and step 5 is executed; Step 5: When it is determined that the driving state is a stopped state or is about to enter a stopped state, a pre-return vehicle confirmation is sent to the mobile terminal, and the vehicle is returned immediately after receiving the return vehicle confirmation instruction.

2. The method for controlling the pre-return of a vehicle combined with navigation according to claim 1, characterized in that: The real-time position information and the real-time acceleration information are received, and the driving state is determined according to the real-time acceleration information, where the driving state includes normal driving, accelerated driving, decelerated driving, and parking.

3. The method for controlling the pre-return of a vehicle combined with navigation according to claim 2, characterized in that: When it is determined that the driving state is parking or decelerating, the real-time position information is captured.

4. A method for controlling a vehicle return in advance combined with navigation according to claim 1 or 3, characterized in that: The step 2 comprises the following steps: Step 2.1, performing data preprocessing on the real-time location information to remove noise in the real-time location information; Step 2.2, matching the real-time location information with the road network data and extracting key features; Step 2.3, obtaining the intersection information involved in the road according to the key features, comparing the real-time location information with the intersection location information, and obtaining the traffic light information when the real-time location information is within the intersection range; Step 2.4, capturing the time information contained in the real-time location information, obtaining the corresponding traffic light information according to the time information, and when the traffic light information analysis shows that it is in a passable state, obtaining the location information of the car exchange point nearest to the return point.

5. The method for controlling the pre-return of a vehicle combined with navigation according to claim 4, characterized in that: The key features include the road name, the starting point and end point of the road, the road type, the intersection information, and traffic rules. The intersection information includes the intersection location information, the traffic light information, the intersection lane information, and the intersection pedestrian flow information.

6. The method for controlling the pre-return of a vehicle combined with navigation according to claim 4, characterized in that: The step 2.4 comprises the following steps: Parking point data related to the parking points are extracted from the road network data, the distance between the real-time position in the real-time position information and each parking point is calculated, the appropriate nearest parking point is determined, and the vehicle change point position information is generated.

7. The method for controlling the pre-return of a vehicle combined with navigation according to claim 6, characterized in that: The parking point data includes location data of the parking point, capacity data of the parking point, usage frequency of the parking point, network status data of the parking point, and real-time parking data of the parking point.

8. The method for controlling the pre-return of a vehicle combined with navigation according to claim 7, characterized in that: When it is calculated that the real-time location information is within the location range of the parking spot closest to the physical location, a pre-return vehicle confirmation instruction is generated and sent point-to-point to the corresponding mobile terminal. When the return vehicle confirmation instruction fed back by the mobile terminal is received, the return vehicle procedure is immediately executed to return the vehicle.

9. The method for controlling the pre-return of a vehicle combined with navigation according to claim 7, characterized in that: When it is calculated that the real-time location information is outside the location range of the nearest parking point, multiple navigation routes are generated and sent to the corresponding mobile terminal. After receiving the return confirmation instruction fed back by the mobile terminal, the selected return point is obtained, and the corresponding return navigation route is obtained according to the selected return point, and the vehicle location information is continuously obtained in real time until the vehicle location information matches the location information of the transfer point, and step 5 is executed; The vehicle return confirmation instruction includes information on whether the vehicle is returned and information on the selected vehicle return point.

Images