Vehicle positioning method and system based on virtual station and real-time data, and storage medium

Abstract

The invention relates to the technical field of intelligent transportation, in particular to a vehicle positioning method and system based on virtual stations and real-time data and a storage medium. The method comprises the following steps: firstly, acquiring a vehicle navigation route, and setting stations on the vehicle navigation route; according to the vehicle positioning information and the vehicle mileage information, the corresponding relation between the vehicle position and the station is judged, and vehicle positioning is carried out in combination with the station; the stations comprise turning positions and turning-around positions of the vehicles. According to the vehicle positioning method based on the virtual station and the real-time data, the distance relation between the vehicle position and the station position is calculated through the vehicle real-time data and the station positioning, and the station where the vehicle arrives at the station is confirmed. According to the invention, the turning position and the U-turn position are set as the stations, so that the accuracy of vehicle path identification is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of intelligent transportation technology, in particular to a vehicle positioning method, system and storage medium based on virtual sites and real-time data. Background Art

[0002] Currently, bus stops and buses communicate with RFID to realize the bus arrival forecast function. However, there is no unified standard for RFID devices. If the bus RFID device and the bus stop sign do not match, false alarms and missed alarms are likely to occur, making the bus stop sign information inaccurate. In addition, RFID communication is affected by distance, and it is easy to misjudge the arrival of vehicles at turning points. Summary of the invention

[0003] In order to overcome the defect of the above-mentioned prior art that bus stop announcements are completely dependent on RFID, the present invention proposes a vehicle positioning method based on virtual stations and real-time data, which greatly improves the accuracy of vehicle positioning, thereby facilitating the improvement of the accuracy and timeliness of bus stop information.

[0004] The present invention proposes a vehicle positioning method based on virtual sites and real-time data. First, a vehicle navigation route is obtained and sites are set on the vehicle navigation route. The corresponding relationship between the vehicle position and the sites is determined according to the vehicle positioning information and the vehicle mileage information, so as to locate the vehicle in combination with the sites. The sites include the turning position and the U-turn position of the vehicle.

[0005] Preferably, the method for determining the correspondence between the vehicle position and the site is:

[0006] Define two adjacent stations in the direction of vehicle travel as station n and station n+1; when the distance a between the vehicle and station n is less than the distance b between the vehicle and station n+1, it is determined that the vehicle position corresponds to station n;

[0007] When the distance a between the vehicle and station n is greater than or equal to the distance b between the vehicle and station n+1, and the difference between the vehicle's real-time mileage and the vehicle's mileage when it first corresponds to station n is greater than the distance between station n and station n+1, the vehicle's position is judged to correspond to station n+1.

[0008] Preferably, when the vehicle navigation route is a fixed vehicle operation route, the steps are as follows:

[0009] S1. Obtain a vehicle operation route, mark actual stations on the vehicle operation route, and set virtual stations between the actual stations; both the virtual stations and the actual stations are associated with longitude and latitude;

[0010] S2, sorting all virtual sites and actual sites according to the vehicle operation direction and the position on the vehicle operation route, with the initial sequence number being 1;

[0011] S3, collect real-time data of the vehicle, calculate the distance a between the vehicle and the station n, and calculate the station f(n,x,y,k1,k2) corresponding to the vehicle based on the following formula; the initial value of n is 1;

[0012]

[0013] Where k1 is the vehicle mileage when the vehicle first arrives at station n, k2 is the real-time vehicle mileage; x represents the current longitude of the vehicle, y represents the current latitude of the vehicle; S n+1 Indicates site n+1; RFID(V,S n+1 ) represents the connection status between the vehicle and station n+1; V represents the vehicle;

[0014] S4. When f(n,x,y,k1,k2)=n+1, determine whether site n+1 is the last actual site;

[0015] If no, then update site n to site n+1, and then return to step S3;

[0016] If yes, it means the vehicle has arrived at the destination.

[0017] Preferably, in step S4, the method of updating site n to site n+1 is to reduce the sequence numbers of all virtual sites and actual sites by 1 and delete the site with sequence number 0; then return to step S3.

[0018] Preferably, in step S4, the method for determining whether site n+1 is the last actual site is: comparing the location of site n+1 with the location of the last actual site, and if the two are consistent, determining that site n+1 is the last actual site.

[0019] Preferably, the station also includes the destination of the vehicle.

[0020] The present invention proposes a vehicle positioning system based on virtual sites and real-time data, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is connected to the memory, and the processor is used to execute the computer program to implement the vehicle positioning method based on virtual sites and real-time data.

[0021] Preferably, it also includes a signal transceiver, which is connected to the processor; the signal transceiver is used to receive the positioning signal of the vehicle positioning device and to connect to the site RFID signal.

[0022] Preferably, the period for the signal transceiver to collect real-time vehicle data is in the interval [1,10] seconds.

[0023] The present invention provides a storage medium storing a computer program, wherein the computer program is used to implement the vehicle positioning method based on virtual sites and real-time data when executed.

[0024] The advantages of the present invention are:

[0025] (1) The present invention proposes a vehicle positioning method based on virtual stations and real-time data. Through the real-time data of the vehicle and the station positioning, the distance relationship between the vehicle position and the station position is calculated to confirm the station where the vehicle arrives. In the present invention, the turning position and the U-turn position are set as stations, which greatly improves the accuracy of vehicle path recognition.

[0026] (2) In the present invention, for public transportation vehicles, by analyzing the line station location data, vehicle location data, vehicle CAN data, and vehicle RFID data, the station where the vehicle arrives is automatically identified and updated, thereby improving the accuracy and real-time nature of bus station information, reducing the workload of manual maintenance, and providing passengers with more convenient and accurate travel information. Virtual stations are inserted at the coordinate points of the turning and U-turn between every two adjacent actual stations to improve the accuracy of identifying the vehicle arrival station.

[0027] (3) The present invention automatically identifies vehicle arrival information by processing and analyzing vehicle trajectory data and vehicle location, thereby achieving the efficiency of automatic updating of bus stop information and improving the intelligence level of the bus system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flow chart of a vehicle positioning method based on virtual sites and real-time data;

[0029] Figure 2 A method for locating public transportation;

[0030] Figure 3 A schematic diagram of the route. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Reference Figure 1, a vehicle positioning method based on virtual stations and real-time data proposed in this embodiment first obtains a vehicle navigation route and sets stations on the vehicle navigation route; determines the corresponding relationship between the vehicle position and the stations according to the vehicle positioning information and the vehicle mileage information, so as to perform vehicle positioning in combination with the stations. The stations include the turning positions and U-turn positions of the vehicle.

[0033] In specific implementation, the real-time data includes positioning data and Can data. The positioning data includes the longitude and latitude of the vehicle, and the Can data includes the vehicle mileage; for public transportation vehicles, the Can data also includes vehicle RFID identification station information, etc. The vehicle real-time data upload interval is 10 seconds / time to ensure real-time data update. In specific implementation, a shorter data upload time interval such as 1 second, 3 seconds, 5 seconds, etc. can also be considered.

[0034] Specifically, define two adjacent stations as station n and station n + 1; define a as the distance between the vehicle and station n, and b as the distance between station n and station n + 1; kn represents the vehicle mileage when it is determined that the vehicle reaches station n; k represents the real-time mileage of the vehicle.

[0035] When a < b, it is determined that the vehicle has reached station n;

[0036] When a ≥ b and k - kn > b, it is determined that the vehicle reaches station n + 1.

[0037] For public transportation vehicles, their operation routes are their vehicle navigation routes, and public transportation vehicles can automatically identify the RFID of the platforms; therefore, for public transportation vehicles, when a ≥ b and the RFID of station n + 1 is recognized, it is also determined that the vehicle reaches station n + 1.

[0038] A vehicle positioning method based on virtual station vehicle real-time data proposed in this embodiment, when applied to public transportation vehicles on a specified route, uses the vehicle operation route as the vehicle navigation route. Refer to Figure 2 , the vehicle positioning method specifically includes the following steps:

[0039] S1. Obtain the vehicle operation route, mark the actual stations on the vehicle operation route, and set virtual stations between the actual stations; and set the turning positions and U-turn positions that do not belong to the actual stations on the vehicle operation route as virtual stations; both the virtual stations and the actual stations are associated with positioning information, that is, longitude and latitude.

[0040] Refer to Figure 3, there were originally 3 actual stations on the vehicle operation route, namely Station 1, Station 3, and Station 5; the virtual stations include Station 2 and Station 4, and the virtual stations are set at the turning points between the actual stations. When the vehicle is at Station 2, the distance between the vehicle and Station 3 is much smaller than the distance between Station 1 and Station 3. Under the current calculation method, it will be considered that the vehicle has reached Station 3; however, in this application, virtual station 2 is set, and by calculating with virtual station 2, it can be found that the vehicle has not reached Station 3, thus greatly improving the vehicle positioning accuracy and reducing vehicle false alarms.

[0041] S2. Sort all virtual stations and actual stations according to the vehicle operation direction and their positions on the vehicle operation route, with the initial serial number being 1. That is, when the vehicle is running, it passes through each station in ascending order of the serial number.

[0042] S3. Collect vehicle real-time data. The vehicle real-time data includes positioning data, that is, longitude and latitude; calculate the distance a between the vehicle and station n, and the distance b between station n and station n + 1; the initial value of n is 1.

[0043] It should be noted that since the positioning of each station is known, the distance between adjacent stations is known, that is, b is a known value calculated based on the station positioning and can be directly called in this step without real-time calculation.

[0044] When a < b, it is determined that the vehicle has reached station n and the vehicle mileage data k1 is updated, and then wait for the next vehicle real-time data to execute step S3;

[0045] When a ≥ b, and k2 - k1 > b or the vehicle establishes an RFID connection with station n + 1, it is determined that the vehicle has reached station n + 1, and step S5 is executed; k2 is the real-time vehicle mileage.

[0046] The vehicle reaching station n is updated using the function f(n, x, y, k1, k2), and the formula is as follows:

[0047] n = f(n, x, y, k1, k2)

[0048]

[0049] Among them, S n represents station n, S n+1 represents station n + 1; x represents the current longitude of the vehicle, y represents the current latitude of the vehicle, x n represents the longitude of station n, y n represents the latitude of station n; RFID(V, S n+1 ) represents the connection status between the vehicle and station n + 1, V represents the vehicle; when the vehicle establishes an RFID connection with station n + 1, RFID(V, S n+1) = 1; conversely, RFID(V, S n+1 ) = 0.

[0050] S4. When f(n, x, y, k1, k2) = n + 1, that is, the vehicle arrives at station n + 1, then determine whether station n + 1 is the last actual station;

[0051] If yes, it means the vehicle arrives at the end point;

[0052] If no, update station n to station n + 1, and then return to step S3.

[0053] Specifically, in S4, n can be directly updated to n + 1, and then return to step S3, so as to perform vehicle positioning judgment based on the (n + 1)-th station. Thus, when f(n, x, y, k1, k2) = N, it can be determined that the vehicle arrives at the end point; N is the serial number of the terminal station in the current running direction.

[0054] It is also possible to subtract 1 from the serial numbers of all stations, that is, change Sn + 1 to Sn, change Sn + 2 to Sn + 1, and so on, and then return to step S3. Thus, when f(n, x, y, k1, k2) = n + 1, it is necessary to compare the positioning of station n + 1 with the positioning of the last actual station, that is, the terminal station. If the two are the same, it is determined that station n + 1 is the terminal station.

[0055] When this method is applied to vehicles with non-fixed routes, the following steps can be adopted:

[0056] SA1. Obtain the vehicle navigation route, and set stations on the vehicle navigation route; turning positions, U-turn positions, and destinations are all set as stations; each station is associated with positioning information, that is, longitude and latitude.

[0057] SA2. Sort all stations according to their positions on the vehicle navigation route, and the initial serial number is 1;

[0058] SA3. Collect real-time vehicle data, and the real-time vehicle data includes longitude and latitude; calculate the distance a between the vehicle and station n, and the distance b between station n and station n + 1; the initial value of n is 1;

[0059] When a < b, it is determined that the vehicle has arrived at station n, and record the vehicle mileage data kn, and then wait for the next piece of real-time vehicle data to execute step S4;

[0060] When a ≥ b and k - kn > b, it is determined that the vehicle arrives at station n + 1, and execute step SA4; k is the real-time vehicle mileage;

[0061] SA4. Determine whether station n + 1 is the destination;

[0062] If no, update n to n + 1, and then return to step SA3;

[0063] If yes, then end this calculation.

[0064] Of course, it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0065] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0066] The techniques, shapes, and structural parts not described in detail in the present invention are all well-known techniques.

Claims

1. A vehicle positioning method based on virtual sites and real-time data, characterized in that: First, the vehicle navigation route is obtained and stations are set on the vehicle navigation route; the correspondence between the vehicle position and the station is determined based on the vehicle positioning information and the vehicle mileage information, so as to locate the vehicle in combination with the station; the station includes the turning position and U-turn position of the vehicle.

2. The vehicle positioning method based on virtual sites and real-time data as claimed in claim 1, characterized in that: The method for determining the correspondence between the vehicle position and the station is: Define two adjacent stations in the direction of vehicle travel as station n and station n+1; when the distance a between the vehicle and station n is less than the distance b between the vehicle and station n+1, it is determined that the vehicle position corresponds to station n; When the distance a between the vehicle and station n is greater than or equal to the distance b between the vehicle and station n+1, and the difference between the vehicle's real-time mileage and the vehicle's mileage when it first corresponds to station n is greater than the distance between station n and station n+1, the vehicle's position is judged to correspond to station n+1.

3. The vehicle positioning method based on virtual sites and real-time data as claimed in claim 2, characterized in that: When the vehicle navigation route is a fixed vehicle operation route, the steps are as follows: S1. Obtain a vehicle operation route, mark actual stations on the vehicle operation route, and set virtual stations between the actual stations; both the virtual stations and the actual stations are associated with longitude and latitude; S2, sorting all virtual sites and actual sites according to the vehicle operation direction and the position on the vehicle operation route, with the initial sequence number being 1; S3, collect real-time data of the vehicle, calculate the distance a between the vehicle and the station n, and calculate the station f(n,x,y,k1,k2) corresponding to the vehicle based on the following formula; the initial value of n is 1; Where k1 is the vehicle mileage when the vehicle first arrives at station n, k2 is the real-time vehicle mileage; x represents the current longitude of the vehicle, y represents the current latitude of the vehicle; S n+1 Indicates site n+1; RFID(V,S n+1 ) represents the connection status between the vehicle and station n+1; V represents the vehicle; S4. When f(n,x,y,k1,k2)=n+1, determine whether site n+1 is the last actual site; If no, then update site n to site n+1, and then return to step S3; If yes, it means the vehicle has reached the destination.

4. The vehicle positioning method based on virtual sites and real-time data as claimed in claim 3, characterized in that: In step S4, the method of updating site n to site n+1 is to reduce the sequence numbers of all virtual sites and actual sites by 1, and delete the site with sequence number 0; Then return to step S3.

5. The vehicle positioning method based on virtual sites and real-time data as claimed in claim 4, characterized in that: The method for determining whether site n+1 is the last actual site in step S4 is: comparing the location of site n+1 with the location of the last actual site, and if the two are consistent, determining that site n+1 is the last actual site.

6. The vehicle positioning method based on virtual sites and real-time data as claimed in claim 1, characterized in that: The stop also includes the vehicle's destination.

7. A vehicle positioning system based on virtual sites and real-time data, characterized in that: It comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor is connected to the memory, and the processor is used to execute the computer program to implement the vehicle positioning method based on virtual sites and real-time data as described in any one of claims 1-6.

8. The vehicle positioning system based on virtual sites and real-time data as claimed in claim 7, characterized in that: It also includes a signal transceiver device, which is connected to the processor; the signal transceiver device is used to receive the positioning signal of the vehicle positioning device and is used to connect the site RFID signal.

9. The vehicle positioning system based on virtual sites and real-time data as claimed in claim 7, characterized in that: The period for the signal transceiver to collect real-time vehicle data is in the interval [1,10] seconds.

10. A storage medium, characterized in that: A computer program is stored, and when the computer program is executed, it is used to implement the vehicle positioning method based on virtual sites and real-time data as described in any one of claims 1-6.

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