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

Abstract

The present invention relates to the field of intelligent transportation technology, and in particular to a vehicle positioning method, system and storage medium based on virtual stations and real-time data. The present invention first obtains a vehicle navigation route and sets stations on the vehicle navigation route; the correspondence between the vehicle position and the stations is determined based on 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 position and the U-turn position of the vehicle. The present invention proposes a vehicle positioning method based on virtual stations and real-time data, which calculates the distance relationship between the vehicle position and the station position through the vehicle real-time data and station positioning, and confirms 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.

Description

Technical Field

[0001] The present 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 stop signs and buses communicate via RFID to predict bus arrivals. However, there's no unified standard for RFID devices. If bus RFID devices and bus stop signs don't match, false positives and false negatives are common, resulting in inaccurate bus stop information. Furthermore, RFID communication is affected by distance, making it easy to misjudge vehicle arrivals at turns. Summary of the Invention

[0003] In order to overcome the defect of the above-mentioned existing technology that bus stop announcements rely entirely 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 stations and real-time data. First, the vehicle navigation route is obtained and stations are set on the vehicle navigation route. The correspondence between the vehicle position and the stations is determined based on the vehicle positioning information and vehicle mileage information, so as to perform vehicle positioning in combination with the stations. The stations include the vehicle's turning position and U-turn position.

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

[0006] Define two adjacent stations in the vehicle's travel direction 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, the vehicle's position is determined to correspond 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 determined 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. Sort all virtual stations and actual stations 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 vehicle data, calculate the distance a between the vehicle and station n, and use the following formula to calculate the station f(n,x,y,k1,k2) corresponding to the vehicle; 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 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; 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 the memory stores a computer program, 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 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 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, which 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. Using real-time vehicle data and station positioning, the distance between the vehicle and the station is calculated, and the station at which the vehicle arrives is determined. In this method, turning locations and U-turn locations are set as stations, significantly improving the accuracy of vehicle path recognition.

[0026] (2) The present invention automatically identifies and updates the arrival stations of public transportation vehicles by analyzing route station location data, vehicle location data, vehicle CAN data, and vehicle RFID data. This improves the accuracy and real-time nature of bus station information, reduces the workload of manual maintenance, and provides passengers with more convenient and accurate travel information. Virtual stations are inserted at the coordinate points of turning points and U-turns between two adjacent actual stations to improve the accuracy of identifying vehicle arrival stations.

[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 Positioning methods for public transportation;

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

[0031] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall 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 the 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] During 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. During specific implementation, shorter data upload time intervals 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 real-time vehicle data. The real-time vehicle 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 real-time vehicle 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 it is judged 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 judged 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 consistent, it is judged 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, where 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 judged that the vehicle has arrived at station n and record the vehicle mileage data kn, and then wait for the next real-time vehicle data to execute step S4;

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

[0061] SA4. Judge 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 will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also encompasses the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and it is intended that all variations that fall within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0065] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method 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 can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0066] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

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 stations is determined based on the vehicle positioning information and vehicle mileage information, and the vehicle is positioned in combination with the stations. The stations include the vehicle's turning position and U-turn position. The method for determining the correspondence between vehicle positions and stations is: Define two adjacent stations in the vehicle's travel direction 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, the vehicle position is determined to correspond 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 mileage when the vehicle first corresponds to station n is greater than the distance between station n and station n+1, the vehicle's position is determined to correspond to station n+1. 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. Sort all virtual stations and actual stations 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 vehicle data, calculate the distance a between the vehicle and station n, and use the following formula to calculate the station f(n,x,y,k1,k2) corresponding to the vehicle; 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 return to step S3; If yes, it means the vehicle has arrived at the destination.

2. The vehicle positioning method based on virtual sites and real-time data according to claim 1, 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.

3. The vehicle positioning method based on virtual sites and real-time data according to claim 2, characterized in that: 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; if the two are consistent, determining that site n+1 is the last actual site.

4. The vehicle positioning method based on virtual sites and real-time data according to claim 1, characterized in that: The station also includes the destination of the vehicle.

5. A vehicle positioning system based on virtual sites and real-time data, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, 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 according to any one of claims 1 to 4; 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 to the site RFID signal.

6. The vehicle positioning system based on virtual sites and real-time data according to claim 5, characterized in that: The period for the signal transceiver to collect real-time vehicle data is in the interval [1,10] seconds.

7. 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 to 4.

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