Transport vehicle detour judgment method and device and electronic equipment

Abstract

The invention provides a transport vehicle detour judgment method and device and electronic equipment, and belongs to the technical field of coal transportation. The method comprises the steps of receiving vehicle offset information sent by a transport vehicle under the condition that a driving route of the transport vehicle deviates from a preset route and reaches a preset distance threshold value; calculating vehicle route offset based on the vehicle offset information by using a vehicle offset early warning algorithm, and determining a vehicle route offset result; under the condition that the vehicle route offset result represents that the transport vehicle yaws, yawing early warning information is sent to at least one of a terminal, a client and a carrier terminal of a driver of the transport vehicle; detour application information sent by a driver of the transport vehicle is received, and driving routes of other transport vehicles in the same route and the same section are obtained; and determining a transport vehicle detour judgment result based on the detour application information or the driving routes of other transport vehicles in the same route and the same section. The method and the device are used for solving the defect that driver detour is difficult to accurately judge in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of coal transportation, and specifically relates to a method for judging detouring of a transportation vehicle, a device for judging detouring of a transportation vehicle, an electronic device, a machine-readable storage medium, and a computer program product. Background Art

[0002] Existing technical means usually judge whether a driver takes a detour by determining whether the driving route of the driver is consistent with a preset route through a GPS / Beidou positioning system. However, this method is not very accurate in some sections. Due to the over-sensitivity of GPS / Beidou positioning, it is very easy to have an offset of dozens of meters or even hundreds of meters due to its own error and the change of signal strength. Therefore, whether the driving vehicle is positioned on the planned path, GPS / Beidou positioning can only be used as a reference, and it is also impossible to determine whether the trajectory is deviated. Thus, in the prior art, it is difficult to accurately judge whether a driver takes a detour. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a method, a device, and an electronic device for judging detouring of a transportation vehicle, so as to solve the defect in the prior art that it is difficult to accurately judge whether a driver takes a detour.

[0004] To achieve the above purpose, the embodiments of the present invention provide a method for judging detouring of a transportation vehicle, which is applied to a monitoring platform, and the method includes:

[0005] When the driving route of the transportation vehicle deviates from the preset route by a preset distance threshold, receiving vehicle offset information sent by the transportation vehicle;

[0006] Using a vehicle deviation early warning algorithm to calculate the vehicle route offset based on the vehicle offset information, and determining a vehicle route offset result;

[0007] When the vehicle route offset result indicates that the transportation vehicle has a yaw, sending a yaw early warning information to at least one of the terminal of the driver of the transportation vehicle, the client, and the carrier end;

[0008] Receiving a detour application information sent by the driver of the transportation vehicle, and obtaining the driving routes of other transportation vehicles in the same route and at the same time period;

[0009] Determining a transportation vehicle detouring judgment result based on the detour application information or the driving routes of other transportation vehicles in the same route and at the same time period.

[0010] Optionally, the vehicle offset information includes the radius of curvature of the actual driving trajectory of the transportation vehicle and the vehicle speed of the transportation vehicle; the using a vehicle deviation early warning algorithm to calculate the vehicle route offset based on the vehicle offset information, and determining a vehicle route offset result includes:

[0011] Calculate the TTD time based on the curvature radius and the vehicle speed using a preview trajectory deviation algorithm; the TTD time represents the time elapsed from the initial state until the deviation between the transport vehicle's trajectory and the expected trajectory reaches an expected value.

[0012] If the TTD time is less than or equal to a set time threshold, determine that the transport vehicle has a yaw.

[0013] Optionally, determining the detour judgment result of the transport vehicle based on the driving routes of other transport vehicles in the same route and at the same time period includes:

[0014] If the preset route is the same as the driving routes of other transport vehicles in the same route and at the same time period, determine that the transport vehicle has taken a detour.

[0015] Optionally, determining the detour judgment result of the transport vehicle based on the detour application information includes:

[0016] If the detour application information indicates that the driver of the transport vehicle has not provided proof information required for a detour, determine that the transport vehicle has taken a detour.

[0017] Optionally, the method further includes:

[0018] Obtain the weather information of all locations on the preset route;

[0019] If there is an abnormal location on the road blocked by a disaster weather in the weather information, based on the current position of the transport vehicle as the starting point and the previous target location of the abnormal location as the end point, re-plan the driving route to obtain a first updated driving route;

[0020] Send the first updated driving route to the transport vehicle so that the transport vehicle drives based on the first updated driving route.

[0021] Optionally, the method further includes:

[0022] Obtain the congestion information of all locations on the preset route;

[0023] If there is a congested location in the congestion information where the congestion time exceeds the set time threshold, based on the current position of the transport vehicle as the starting point and the previous target location of the congested location as the end point, re-plan the driving route to obtain a second updated driving route;

[0024] Send the second updated driving route to the transport vehicle so that the transport vehicle drives based on the second updated driving route.

[0025] Optionally, the method further includes:

[0026] When the detour application information indicates that the driver of the transport vehicle provides information on the breakdown of the transport vehicle at the breakdown location, determining a target maintenance location adjacent to the breakdown location;

[0027] Sending a maintenance request to the target maintenance location so that the personnel at the target maintenance location can perform maintenance on the transport vehicle at the breakdown location; or sending navigation information of the maintenance location to the transport vehicle so that the transport vehicle can be transferred to the target maintenance location.

[0028] Optionally, the target maintenance location is determined through the following steps:

[0029] Determining a target area with the breakdown location as the center and a set radius;

[0030] Randomly determining a maintenance location within the target area as the target maintenance location.

[0031] On the other hand, an embodiment of the present invention further provides a method for judging detour of a transport vehicle, which is applied to a transport vehicle. The method includes:

[0032] Obtaining the driving route of the transport vehicle based on the Beidou positioning system;

[0033] When the driving route of the transport vehicle deviates from the preset route by a preset distance threshold, sending vehicle deviation information of the transport vehicle to the monitoring platform;

[0034] Receiving a yaw warning message sent by the monitoring platform; the yaw warning message represents the vehicle route deviation result of the transport vehicle with yaw; the vehicle route deviation result of the transport vehicle with yaw is determined by the monitoring platform using a vehicle deviation warning algorithm based on the vehicle deviation information for vehicle route deviation calculation.

[0035] On the other hand, an embodiment of the present invention further provides a device for judging detour of a transport vehicle, including:

[0036] A receiving module, configured to receive vehicle deviation information sent by the transport vehicle when the driving route of the transport vehicle deviates from the preset route by a preset distance threshold;

[0037] A calculation module, configured to perform vehicle route deviation calculation using a vehicle deviation warning algorithm based on the vehicle deviation information to determine a vehicle route deviation result;

[0038] A first sending module, configured to send a yaw warning message to at least one of the terminal of the driver of the transport vehicle, the client, and the carrier end when the vehicle route deviation result indicates that the transport vehicle has yaw;

[0039] A first acquisition module, configured to receive the detour application information sent by the driver of the transport vehicle and acquire the driving routes of other transport vehicles on the same route and at the same time period.

[0040] A judgment module, configured to determine a detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles on the same route and at the same time period.

[0041] On the other hand, an embodiment of the present invention further provides a transport vehicle detour judgment device, including:

[0042] An acquisition module, configured to acquire the driving route of the transport vehicle based on the Beidou positioning system;

[0043] A sending module, configured to send vehicle deviation information of the transport vehicle to a monitoring platform when the driving route of the transport vehicle deviates from a preset route by a preset distance threshold;

[0044] A receiving module, configured to receive a yaw warning information sent by the monitoring platform; the yaw warning information represents a vehicle route deviation result of the transport vehicle having a yaw; the vehicle route deviation result of the transport vehicle having a yaw is determined by the monitoring platform using a vehicle deviation warning algorithm based on the vehicle deviation information for vehicle route deviation measurement.

[0045] On the other hand, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the above-mentioned transport vehicle detour judgment method when executing the program.

[0046] On the other hand, the present invention further provides a machine-readable storage medium, on which a computer program is stored, and the computer program implements the above-mentioned transport vehicle detour judgment method when being executed by a processor.

[0047] On the other hand, the present invention further provides a computer program product, including a computer program, and the computer program implements the above-mentioned transport vehicle detour judgment method when being executed by a processor.

[0048] Through the above technical solutions, the embodiment of the present invention combines the comparison of the driving route of the transport vehicle with the preset route, the reminder of the yaw warning information, and the determination of the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles on the same route and at the same time period, so as to realize comprehensive judgment from multiple aspects on whether the transport vehicle detours, and the present invention realizes accurate judgment of the driver's detour.

[0049] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and form a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the accompanying drawings:

[0051] Figure 1 is one of the flow schematic diagrams of the method for judging detouring of a transport vehicle provided by the present invention;

[0052] Figure 2 is the second flow schematic diagram of the method for judging detouring of a transport vehicle provided by the present invention;

[0053] Figure 3 is the third flow schematic diagram of the method for judging detouring of a transport vehicle provided by the present invention;

[0054] Figure 4 is the fourth flow schematic diagram of the method for judging detouring of a transport vehicle provided by the present invention;

[0055] Figure 5 is the first structural schematic diagram of the device for judging detouring of a transport vehicle provided by the present invention;

[0056] Figure 6 is the second structural schematic diagram of the device for judging detouring of a transport vehicle provided by the present invention;

[0057] Figure 7 is the structural schematic diagram of the electronic device provided by the present invention. Specific Embodiments

[0058] The following details the specific embodiments of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present invention, and do not limit the embodiments of the present invention.

[0059] Method Embodiment

[0060] Please refer to Figure 1 , the embodiments of the present invention provide a method for judging detouring of a transport vehicle, and the method includes:

[0061] Step 110: When the driving route of the transport vehicle deviates from the preset route by a preset distance threshold, receive the vehicle offset information sent by the transport vehicle.

[0062] The transport vehicle in the embodiment of the present invention can be applied to various fields. For example, it can be an operating vehicle for transporting people, or a transport vehicle for transporting goods. The transport vehicle in the embodiment of the present invention is a transport vehicle used for coal transportation. In the existing coal transportation process, in order to increase freight, drivers often deliberately take detours, which increases the transportation distance and delivery time, and invisibly causes extremely adverse effects and economic losses to customers and mineral owners. The embodiment of the present invention aims to solve the above problem by accurately judging whether the driver takes a detour.

[0063] Please refer to Figure 2 , each transport vehicle is equipped with a positioning device, a vehicle controller and a wireless communication module. The positioning device refers to the global positioning system (GPS) or Beidou positioning system that comes with the transport vehicle. The transport vehicle obtains the driving route in real time through the global positioning system or Beidou positioning system. If it is found that the driving route of the transport vehicle deviates from the scheduled route by a preset distance threshold (for example, 100 meters), the vehicle controller sends the vehicle deviation information to the monitoring platform through the wireless communication module. The vehicle deviation information can be the radius of curvature of the actual driving trajectory of the transport vehicle, the speed, etc. The monitoring platform (or coal shipment management receipt) receives the vehicle deviation information sent by the transport vehicle, laying the foundation for calculating whether the transport vehicle is deviating using the vehicle deviation warning algorithm. It should be noted that before the transport vehicle leaves the factory, the vehicle identification equipment collects the license plate, driver, waybill and other information of the transport vehicle and uploads it to the monitoring platform.

[0064] Step 120: Utilize a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle deviation information, and determine the vehicle route deviation result.

[0065] The monitoring platform uses a vehicle deviation warning algorithm to perform vehicle route deviation measurement (or vehicle trajectory deviation measurement) based on the vehicle deviation information to determine the vehicle route deviation result. Among them, for example, the vehicle deviation warning algorithm can select various algorithms for detecting vehicle deviation warnings. For example, the vehicle deviation warning algorithm can select a preview trajectory deviation algorithm (Time to Trajectory Divergence, TTD), a lane crossing time algorithm (Time Lane Crossing, TLC), an evaluation algorithm based on the current position of the car (Car's Current Position, CCP), an early warning method based on the edge distribution function (Edge Distribution Function, EDF), etc. In one embodiment, the embodiment of the present invention can select a preview trajectory deviation algorithm to calculate the vehicle route deviation result.

[0066] Specifically, the vehicle deviation information includes the radius of curvature of the actual driving trajectory of the transport vehicle and the vehicle speed of the transport vehicle; Step 120: Using a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle deviation information to determine the vehicle route deviation result, including:

[0067] Step 121: Using a preview trajectory deviation algorithm to calculate the TTD time based on the radius of curvature and the vehicle speed;

[0068] Step 122: When the TTD time is less than or equal to the set time threshold, it is determined that the transport vehicle has a yaw.

[0069] The TTD (Time to Trajectory Divergence) time represents the time elapsed from the initial state to when the deviation between the transport vehicle's trajectory and the expected trajectory reaches the expected value. The TTD time is calculated by the following formula, that is:

[0070]

[0071] where r c is the radius of curvature of the expected driving trajectory, D is the maximum allowable deviation between the vehicle's movement trajectory and the expected trajectory, r v is the radius of curvature of the actual driving trajectory of the transport vehicle, and v is the vehicle speed. If the TTD time is less than or equal to the set time threshold, it is determined that the transport vehicle has a yaw.

[0072] Due to the advantage that the vehicle can follow the optimal path through the preview trajectory deviation algorithm, and the optimal path always keeps the vehicle at the center line of the road. Since the optimal path is similar to the natural lane, even when the vehicle approaches the inner curve, the value of the TTD time is relatively large. Therefore, it has better predictability for vehicle path deviation.

[0073] Step 130: When the vehicle route deviation result indicates that the transport vehicle has a yaw, send a yaw warning message to at least one of the terminal of the driver of the transport vehicle, the client, and the carrier end.

[0074] Please refer to Figure 3 , when it is determined that the transport vehicle has a yaw, send a yaw warning message to at least one of the terminal of the driver of the transport vehicle, the client, the sales end, and the carrier end. In one embodiment, the monitoring platform will send a serious yaw warning prompt to the mobile phone end, the client, the sales end, and the carrier end of the driver of the transport vehicle. To remind the driver, the customer, and the carrier to discover that the driver has a behavior of deliberately taking a detour through the warning. The serious yaw warning prompt can be in the form of voice, text, or video animation. For example, prompt "Attention, the driver has a behavior of deliberately taking a detour!" in the form of voice, text, or video animation.

[0075] Step 140: Receive the detour application information sent by the driver of the transport vehicle and obtain the driving routes of other transport vehicles on the same route during the same period.

[0076] In the embodiment of the present invention, if an unexpected traffic incident occurs on a preset section during transportation or road construction causes traffic congestion on the section and a detour is indeed required, the driver can take photos and upload them to the monitoring platform through the APP on the mobile phone or vehicle terminal, along with the detour application information with a text description, to verify whether the driver detours intentionally. The monitoring platform can also obtain the driving routes of other transport vehicles on the same route during the same period, and compare the driving routes of the drivers of other transport vehicles on the same route during the same period to comprehensively determine whether the driver detours intentionally. For example, the transport vehicle passes through the preset section at 9 o'clock. Then the driving routes of other transport vehicles on the same route during the same period can be the driving routes of other transport vehicles for transporting coal that pass through the preset section between 8:50 and 9:10.

[0077] Step 150: Determine the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles on the same route during the same period.

[0078] Based on receiving the detour application information sent by the driver of the transport vehicle and obtaining the driving routes of other transport vehicles on the same route during the same period, the monitoring platform can determine the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles on the same route during the same period.

[0079] For example, in one embodiment, determining the detour judgment result of the transport vehicle based on the driving routes of other transport vehicles on the same route during the same period includes: determining that the transport vehicle has taken a detour when the preset route is the same as the driving routes of other transport vehicles on the same route during the same period.

[0080] If the driving routes of other transport vehicles on the same route during the same period are the same as the preset route of the transport vehicle, that is, the vehicle trajectories of other transport vehicles on the same route during the same period all travel normally along the original preset route, it means that only the transport vehicle is in a yaw state, and other transport vehicles on the same route during the same period all travel normally along the original preset route, then it means that the transport vehicle has taken a detour. The monitoring platform makes corresponding fine processing on the transport vehicle according to regulations. For example, the monitoring platform can impose a penalty by sending the fine information to the transport vehicle.

[0081] In another embodiment, determining the detour judgment result of the transport vehicle based on the detour application information includes: determining that the transport vehicle has taken a detour when the detour application information indicates that the driver of the transport vehicle does not provide proof information for the need to take a detour.

[0082] If there are no other transport vehicles on the same route during the same period for comparison, the monitoring platform can check whether the driver has provided proof information (such as photos, text, etc.) indicating the need to take a detour. If not, it is determined that the vehicle has the behavior of deliberately taking a detour, and the monitoring platform will impose corresponding fines on the transport vehicle according to regulations. For example, the monitoring platform can impose penalties by sending fine information to the transport vehicle.

[0083] In addition, it should be noted that if the driving routes of other transport vehicles within the same route and at the same time period are different from the preset route of the transport vehicle, that is, the vehicle trajectories of other transport vehicles within the same route and at the same time period do not all travel normally along the original preset route, it indicates that both the transport vehicle and other transport vehicles within the same route and at the same time period are in a yaw state, which may mean that the transport vehicle has taken a detour due to road blockage or traffic congestion. In this case, the detour situation generated will not result in punishment for the driver, so as to avoid damaging the driver's interests. Similarly, if the monitoring platform receives proof information provided by the driver indicating the need to take a detour, it means that this is indeed a detour situation, and the detour situation generated at this time will not result in punishment for the driver, so as to avoid damaging the driver's interests.

[0084] Therefore, the embodiment of the present invention combines the comparison of the driving route of the transport vehicle with the preset route, the reminder of the yaw warning information, and the determination of the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles within the same route and at the same time period, realizing a comprehensive judgment from multiple aspects on whether the transport vehicle takes a detour. The present invention can accurately judge whether the driver takes a detour, and further solve the problem that in the existing coal transportation process, in order to increase freight, drivers often deliberately take detours, resulting in an extended transportation distance and delivery time, which invisibly has an extremely bad impact and economic losses on customers and mine owners.

[0085] Under normal circumstances, the driving route of the transport vehicle, vehicle offset information, detour application information, and the driving routes of other transport vehicles within the same route and at the same time period can be comprehensively considered to judge whether the vehicle takes a detour. However, due to objective factors (such as disaster weather, traffic congestion, vehicle failures, etc.), situations where the driver and the vehicle have to take a detour also need to be taken into account to avoid unnecessary losses to the driver. The judgment of objective factors can be carried out through the following methods.

[0086] In other aspects of the embodiment of the present invention, the method further includes:

[0087] Step 161, obtain the weather information of all locations on the preset route;

[0088] Step 162, in the case where there is a disaster weather in the weather information that causes a road blockage at an abnormal location, based on the current position of the transport vehicle as the starting point and the previous target location of the abnormal location as the end point, re-plan the driving route to obtain the first updated driving route;

[0089] Step 163: Send the first updated driving route to the transport vehicle so that the transport vehicle travels based on the first updated driving route.

[0090] It should be noted that steps 161 to 163 can be set after step 150. First, when natural disasters cause road blockages, drivers and vehicles are forced to take detours, which is more likely to occur in areas with frequent geological disasters. Before the transport vehicle departs, a standard driving route (i.e., a preset route) is determined based on the departure and destination of the vehicle, and the standard driving route is analyzed. Multiple high-risk areas are determined based on the historical natural disaster situations of the regions passed through. Then, during the progress of the transport vehicle, real-time weather forecast data of all high-risk areas is obtained, and based on the weather forecast data, it is predicted whether natural disasters are likely to occur in the high-risk areas. When the prediction result is that natural disasters are likely to occur, when the transport vehicle reaches the high-risk area (i.e., the abnormal location), it may encounter a situation where the road is cut off due to natural disasters, and thus has to take a detour. At this time, starting from the current position of the transport vehicle and using the next area in the standard driving route that is in front of the high-risk area as the end point, a new driving route that can bypass the high-risk area is re-planned through a navigation tool, which can be called a dynamic driving route (i.e., the first updated driving route), and the dynamic driving route is sent to the transport vehicle so that the transport vehicle continues to move forward according to the dynamic driving route. By adopting this method, in the embodiments of the present invention, there may be a situation where a high-risk area where natural disasters are predicted to occur actually does not have natural disasters, but the dynamic driving route still guides the vehicle to move forward with a longer distance, which results in some additional costs. However, compared with the situation where the vehicle encounters a road blockage due to natural disasters and is forced to take a detour, it can still significantly reduce the waiting cost and fully ensure the safety of the driver, vehicle, and coal.

[0091] Therefore, the embodiments of the present invention consider the situation where drivers and vehicles have to take detours due to the objective factor of disaster weather. When there is disaster weather, the first updated driving route is sent to the transport vehicle so that the transport vehicle travels based on the first updated driving route to avoid disaster weather. At this time, the detour situation caused by the transport vehicle deviating from the standard driving route will not punish the driver, avoiding damage to the driver's interests and avoiding unnecessary losses to the driver.

[0092] In other aspects of the embodiments of the present invention, the method further includes:

[0093] Step 171: Obtain the congestion information of all locations on the preset route;

[0094] Step 172: When there is a congested location in the congestion information where the congestion time exceeds the set time threshold, based on the current position of the transport vehicle as the starting point, and the previous target location of the congested location as the ending point, re-plan the driving route to obtain a second updated driving route.

[0095] Step 173: Send the second updated driving route to the transport vehicle so that the transport vehicle drives based on the second updated driving route.

[0096] It should be noted that steps 171 to 173 can be set after step 150. Secondly, when the transport vehicle encounters traffic congestion during travel, the driver may also be forced to take a detour, so this factor needs to be taken into account. Specifically, during the travel of the transport vehicle, the traffic congestion situation ahead is monitored based on the traffic data (i.e., congestion information) of the third-party platform or the traffic data (i.e., congestion information) provided by the traffic management department. Among them, the third-party platform can use various common platforms such as various map software (Baidu Map or Gaode Map). When it is determined that there is congestion at a certain position in front of the transport vehicle and the duration required for dredging (i.e., congestion time) exceeds the set time threshold, taking the current position of the transport vehicle as the starting point and the next location in front of the congestion position in the standard driving route (preset route) as the ending point, re-plan the dynamic driving route (i.e., the second updated driving route). And send the dynamic driving route to the transport vehicle so that the transport vehicle continues to move forward according to the dynamic driving route.

[0097] Therefore, the embodiment of the present invention takes into account the situation where the driver and the vehicle have to take a detour due to the objective factor of traffic congestion. When there is traffic congestion, the second updated driving route is sent to the transport vehicle so that the transport vehicle drives based on the second updated driving route to avoid traffic congestion. At this time, the detour situation caused by the transport vehicle deviating from the standard driving route will not cause punishment to the driver, avoiding damage to the driver's interests and avoiding unnecessary losses to the driver.

[0098] In other aspects of the embodiment of the present invention, the method further includes:

[0099] Step 181: When the detour application information indicates that the driver of the transport vehicle provides information about a breakdown of the transport vehicle at the breakdown location, determine the target repair location adjacent to the breakdown location.

[0100] Step 182: Send a repair request to the target repair location so that the personnel at the target repair location go to the breakdown location to repair the transport vehicle; or send repair location navigation information to the transport vehicle so that the transport vehicle transfers to the target repair location.

[0101] It should be noted that. Steps 181 to 183 can be arranged after step 150. Finally, factors that may cause the driver and the transport vehicle to be forced to take a detour also include failures of the vehicle itself. For this situation, it is first necessary to identify multiple companies with vehicle maintenance qualifications located in different areas as trusted inspection units. When a transport vehicle breaks down at a certain fault location, the driver can report a detour application information to inform the fault situation, and then determine the target maintenance location adjacent to the fault location based on the current location of the vehicle, and designate at least one inspection unit from the target maintenance location to send personnel to the vehicle location for inspection and repair. If it is not possible to repair on the spot, the maintenance location navigation information is sent to the transport vehicle, which can guide the transport vehicle to transfer to the target maintenance location for repair. At this time, the detour caused by the vehicle deviating from the standard driving route will not cause punishment to the driver, thereby avoiding damage to the driver's interests.

[0102] Therefore, the embodiment of the present invention takes into account the situation that the driver and the vehicle have to take a detour due to the objective factors of vehicle failure, and sends a maintenance request to the target maintenance location or sends maintenance location navigation information to the transport vehicle when there is a vehicle failure, so that the transport vehicle can be repaired. At this time, the detour caused by the transport vehicle deviating from the standard driving route will not cause punishment to the driver, avoiding damage to the driver's interests and unnecessary losses to the driver.

[0103] In one embodiment, the target maintenance location is determined by the following steps: determining a target area with the fault location as the center and a set radius; and randomly determining a maintenance location within the target area as the target maintenance location.

[0104] In order to further avoid the situation where drivers and inspection units may cause vehicle failures and require detours, when selecting the inspection unit, a circular area with a preset radius (for example, 2 kilometers) can be made with the current position of the transport vehicle as the center. All inspection units within the circular area can be gathered together, and one is randomly selected and assigned to the transport vehicle location for inspection.

[0105] In summary, the embodiments of the present invention combine the comparison of the driving route of the transport vehicle with the preset route, the reminder of the deviation warning information, and the determination of the transport vehicle detour judgment result based on the detour application information or the driving routes of other transport vehicles on the same route and in the same period, to achieve a comprehensive judgment of whether the transport vehicle has taken a detour from multiple aspects. The present invention can accurately judge whether the driver has taken a detour. The present invention comprehensively considers various situations that may cause the driver to have to take a detour, and fully avoids causing losses to the driver.

[0106] Please refer to Figure 4On the other hand, an embodiment of the present invention further provides a method for determining a detour of a transport vehicle, which is applied to a transport vehicle, and the method comprises:

[0107] Step 210: obtaining the driving route of the transport vehicle based on the Beidou positioning system;

[0108] Step 220: When the driving route of the transport vehicle deviates from the preset route by reaching a preset distance threshold, the vehicle deviation information of the transport vehicle is sent to the monitoring platform;

[0109] Step 230, receiving the deviation warning information sent by the monitoring platform; the deviation warning information represents the vehicle route deviation result of the transport vehicle; the vehicle route deviation result of the transport vehicle is determined by the monitoring platform using the vehicle deviation warning algorithm to measure the vehicle route deviation based on the vehicle deviation information.

[0110] Each transport vehicle is equipped with a positioning device, a vehicle controller and a wireless communication module. The positioning device refers to the global positioning system (GPS) or Beidou positioning system that the transport vehicle carries. The transport vehicle obtains the driving route in real time through the global positioning system or the Beidou positioning system. If it is found that the driving route of the transport vehicle deviates from the scheduled route by a preset distance threshold (for example, 100 meters), the vehicle controller sends the vehicle offset information to the monitoring platform through the wireless communication module. The vehicle offset information can be the radius of curvature and the speed of the actual driving trajectory of the transport vehicle. The monitoring platform (or coal shipment management receipt) receives the vehicle offset information sent by the transport vehicle. The monitoring platform of the embodiment of the present invention can choose to calculate the vehicle route offset result based on the preview trajectory deviation algorithm. The specific calculation process can be referred to the relevant description of step 120 above, which will not be repeated here.

[0111] In addition, the driver can take a photo and upload the detour application information with text description through the mobile phone or vehicle APP or upload it to the monitoring platform to verify whether the driver deliberately took a detour. If there are no other transport vehicles on the same route at the same time period for comparison, the monitoring platform can check whether the driver has provided proof information (photos, text, etc.) to prove the need for a detour. If not, it is determined that the vehicle has deliberately taken a detour, and the monitoring platform will impose a corresponding fine on the transport vehicle in accordance with regulations. For example, the monitoring platform can impose penalties by sending fine information to the transport vehicle.

[0112] When objective factors such as disaster weather occur, causing the driver and the vehicle to have to take a detour, the transport vehicle receives the first updated driving route sent by the monitoring platform, so that the transport vehicle drives based on the first updated driving route to avoid the disaster weather. At this time, the detour situation caused by the transport vehicle deviating from the standard driving route will not punish the driver, avoiding damage to the driver's interests and unnecessary losses to the driver. The generation process of the first updated driving route can refer to the relevant descriptions in steps 161 to 163, which will not be elaborated here.

[0113] When objective factors such as traffic congestion occur, causing the driver and the vehicle to have to take a detour, the transport vehicle receives the second updated driving route sent by the monitoring platform, so that the transport vehicle drives based on the second updated driving route to avoid traffic congestion. At this time, the detour situation caused by the transport vehicle deviating from the standard driving route will not punish the driver, avoiding damage to the driver's interests and unnecessary losses to the driver. The generation process of the second updated driving route can refer to the relevant descriptions in steps 171 to 173, which will not be elaborated here.

[0114] When objective factors such as vehicle failure occur, causing the driver and the vehicle to have to take a detour, the transport vehicle receives the navigation information of the repair location sent by the monitoring platform so that the transport vehicle can be repaired. At this time, the detour situation caused by the transport vehicle deviating from the standard driving route will not punish the driver, avoiding damage to the driver's interests and unnecessary losses to the driver. The generation process of the navigation information of the repair location can refer to the relevant descriptions in steps 181 to 182, which will not be elaborated here.

[0115] The embodiment of the present invention combines the comparison of the driving route of the transport vehicle with the preset route, the reminder of the yaw warning information, and determines the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles in the same route and the same time period, realizing a comprehensive judgment from multiple aspects on whether the transport vehicle takes a detour. The present invention realizes an accurate judgment of the driver's detour. The present invention comprehensively considers various situations that may cause the driver to have to take a detour, fully avoiding losses to the driver.

[0116] Device Embodiment

[0117] Please refer to Figure 5 On the other hand, the embodiment of the present invention further provides a transport vehicle detour judgment device, including:

[0118] A receiving module 501, configured to receive the vehicle offset information sent by the transport vehicle when the driving route of the transport vehicle deviates from the preset route by a preset distance threshold;

[0119] A calculation module 502, configured to calculate the deviation of the vehicle route based on the vehicle deviation information by using a vehicle deviation warning algorithm, and determine the vehicle route deviation result;

[0120] A first sending module 503, configured to send a yaw warning message to at least one of the terminal of the driver of the transport vehicle, the client, and the carrier terminal when the vehicle route deviation result indicates that the transport vehicle has a yaw;

[0121] A first obtaining module 504, configured to receive the detour application information sent by the driver of the transport vehicle, and obtain the driving routes of other transport vehicles on the same route during the same period;

[0122] A judgment module 505, configured to determine the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles on the same route during the same period.

[0123] Optionally, the vehicle deviation information includes the radius of curvature of the actual driving trajectory of the transport vehicle and the vehicle speed of the transport vehicle; the calculating the deviation of the vehicle route based on the vehicle deviation information by using a vehicle deviation warning algorithm and determining the vehicle route deviation result includes:

[0124] Calculating the TTD time by using a preview trajectory deviation algorithm based on the radius of curvature and the vehicle speed; the TTD time represents the time elapsed from the initial state to when the deviation between the trajectory of the transport vehicle and the expected trajectory reaches the expected value;

[0125] When the TTD time is less than or equal to a set time threshold, it is determined that the transport vehicle has a yaw.

[0126] Optionally, the determining the detour judgment result of the transport vehicle based on the driving routes of other transport vehicles on the same route during the same period includes:

[0127] When the preset route is the same as the driving routes of other transport vehicles on the same route during the same period, it is determined that the transport vehicle has taken a detour.

[0128] Optionally, the determining the detour judgment result of the transport vehicle based on the detour application information includes:

[0129] When the detour application information indicates that the driver of the transport vehicle does not provide proof information that requires a detour, it is determined that the transport vehicle has taken a detour.

[0130] Optionally, the device further includes:

[0131] A second obtaining module, configured to obtain the weather information of all locations on the preset route;

[0132] The first planning module is configured to, when there is an abnormal location on the road where a disaster weather causes the road to be blocked in the weather information, re-plan a driving route starting from the current location of the transport vehicle and ending at the previous target location of the abnormal location, so as to obtain a first updated driving route;

[0133] The second sending module is configured to send the first updated driving route to the transport vehicle, so that the transport vehicle drives based on the first updated driving route.

[0134] Optionally, the device further includes:

[0135] The third obtaining module is configured to obtain the congestion information of all locations on the preset route;

[0136] The second planning module is configured to, when there is a congested location where the congestion time exceeds a set time threshold in the congestion information, re-plan a driving route starting from the current location of the transport vehicle and ending at the previous target location of the congested location, so as to obtain a second updated driving route;

[0137] The third sending module is configured to send the second updated driving route to the transport vehicle, so that the transport vehicle drives based on the second updated driving route.

[0138] Optionally, the device further includes:

[0139] The determination module is configured to determine a target maintenance location adjacent to the failure location when the detour application information represents that the driver of the transport vehicle provides information about the transport vehicle having a failure at the failure location;

[0140] The fourth sending module is configured to send a maintenance request to the target maintenance location, so that the personnel at the target maintenance location go to the failure location to perform maintenance on the transport vehicle; or send maintenance location navigation information to the transport vehicle, so that the transport vehicle transfers to the target maintenance location.

[0141] Optionally, the target maintenance location is determined through the following steps:

[0142] Determine a target area with the failure location as the center and a set radius;

[0143] Randomly determine a maintenance location within the target area as the target maintenance location.

[0144] The detour determination device for the transport vehicle includes a processor and a memory. The above-mentioned receiving module 501, calculation module 502, first sending module 503, first obtaining module 504, and determination module 505 are all stored in the memory as program units, and the corresponding functions are implemented by the processor executing the above program units stored in the memory.

[0145] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set.

[0146] The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0147] Please refer to Figure 6 , on the other hand, the embodiment of the present invention further provides a detour determination device for a transport vehicle, including:

[0148] An obtaining module 601, configured to obtain the driving route of the transport vehicle based on the Beidou positioning system;

[0149] A sending module 602, configured to send the vehicle offset information of the transport vehicle to the monitoring platform when the driving route of the transport vehicle deviates from the preset route by a preset distance threshold;

[0150] A receiving module 603, configured to receive the yaw warning information sent by the monitoring platform; the yaw warning information represents the vehicle route offset result of the transport vehicle with yaw; the vehicle route offset result of the transport vehicle with yaw is determined by the monitoring platform using a vehicle deviation warning algorithm based on the vehicle offset information.

[0151] The detour determination device for the transport vehicle includes a processor and a memory. The above-mentioned obtaining module, sending module, and receiving module are all stored in the memory as program units, and the corresponding functions are implemented by the processor executing the above program units stored in the memory.

[0152] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set.

[0153] The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0154] Figure 7 Illustrates a schematic diagram of the physical structure of an electronic device, such asFigure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communication bus 740. Among them, the processor 710, the communications interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logical instructions in the memory 730 to execute the method for judging detouring of a transport vehicle. The method includes: when the driving route of the transport vehicle deviates from the preset route by a preset distance threshold, receiving the vehicle offset information sent by the transport vehicle; using a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle offset information to determine the vehicle route deviation result; when the vehicle route deviation result indicates that the transport vehicle has a yaw, sending a yaw warning information to at least one of the terminal of the driver of the transport vehicle, the client, and the carrier terminal; receiving the detouring application information sent by the driver of the transport vehicle, and obtaining the driving routes of other transport vehicles in the same route and at the same time period; determining the detouring judgment result of the transport vehicle based on the detouring application information or the driving routes of other transport vehicles in the same route and at the same time period; or,

[0155] obtaining the driving route of the transport vehicle based on the Beidou positioning system; when the driving route of the transport vehicle deviates from the preset route by a preset distance threshold, sending the vehicle offset information of the transport vehicle to the monitoring platform; receiving the yaw warning information sent by the monitoring platform; the yaw warning information indicates the vehicle route deviation result of the transport vehicle having a yaw; the vehicle route deviation result of the transport vehicle having a yaw is determined by the monitoring platform using a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle offset information.

[0156] In addition, when the logical instructions in the above-mentioned memory 730 are implemented in the form of software functional units and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0157] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a machine-readable storage medium. When the computer program is executed by a processor, the computer can execute a method for judging detours of a transport vehicle. The method includes: when the driving route of the transport vehicle deviates from a preset route by a preset distance threshold, receiving vehicle offset information sent by the transport vehicle; using a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle offset information to determine a vehicle route deviation result; when the vehicle route deviation result indicates that the transport vehicle has a yaw, sending a yaw warning message to at least one of the terminal of the driver of the transport vehicle, the client, and the carrier terminal; receiving a detour application message sent by the driver of the transport vehicle, and obtaining the driving routes of other transport vehicles on the same route during the same period; determining a transport vehicle detour judgment result based on the detour application message or the driving routes of other transport vehicles on the same route during the same period; or,

[0158] Obtaining the driving route of the transport vehicle based on the Beidou positioning system; when the driving route of the transport vehicle deviates from a preset route by a preset distance threshold, sending the vehicle offset information of the transport vehicle to a monitoring platform; receiving a yaw warning message sent by the monitoring platform; the yaw warning message indicates a vehicle route deviation result in which the transport vehicle has a yaw; the vehicle route deviation result in which the transport vehicle has a yaw is determined by the monitoring platform using a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle offset information.

[0159] On another aspect, the present invention also provides a machine-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to execute a method for judging detours of a transport vehicle. The method includes: when the driving route of the transport vehicle deviates from a preset route by a preset distance threshold, receiving vehicle offset information sent by the transport vehicle; using a vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle offset information to determine a vehicle route deviation result; when the vehicle route deviation result indicates that the transport vehicle has a yaw, sending a yaw warning message to at least one of the terminal of the driver of the transport vehicle, the client, and the carrier terminal; receiving a detour application message sent by the driver of the transport vehicle, and obtaining the driving routes of other transport vehicles on the same route during the same period; determining a transport vehicle detour judgment result based on the detour application message or the driving routes of other transport vehicles on the same route during the same period; or,

[0160] Obtain the driving route of the transport vehicle based on the Beidou positioning system; when the driving route of the transport vehicle deviates from the preset route by a preset distance threshold, send the vehicle deviation information of the transport vehicle to the monitoring platform; receive the yaw warning information sent by the monitoring platform; the yaw warning information represents the vehicle route deviation result of the transport vehicle with yaw; the vehicle route deviation result of the transport vehicle with yaw is determined by the monitoring platform using the vehicle deviation warning algorithm to calculate the vehicle route deviation based on the vehicle deviation information.

[0161] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0162] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining whether a transport vehicle has taken a detour, characterized in that: Applied to a monitoring platform, the method comprises: When the driving route of the transport vehicle deviates from the preset route by reaching a preset distance threshold, receiving vehicle deviation information sent by the transport vehicle; Utilizing a vehicle deviation warning algorithm to calculate a vehicle route deviation based on the vehicle deviation information, and determining a vehicle route deviation result; When the vehicle route deviation result indicates that the transport vehicle is off course, a deviation warning message is sent to at least one of a terminal of a driver of the transport vehicle, a client, and a carrier terminal; Receiving detour request information sent by the driver of the transport vehicle, and obtaining the driving routes of other transport vehicles on the same route and in the same time period; The detour judgment result of the transport vehicle is determined based on the detour application information or the travel routes of other transport vehicles on the same route and in the same period.

2. The method for determining a detour of a transport vehicle according to claim 1, characterized in that: The vehicle deviation information includes the curvature radius of the actual driving track of the transport vehicle and the speed of the transport vehicle; The method of using a vehicle deviation warning algorithm to calculate a vehicle route deviation based on the vehicle deviation information and determining a vehicle route deviation result includes: Calculating the TTD time based on the curvature radius and the vehicle speed using a preview-based trajectory deviation algorithm; The TTD time represents the time from the initial state to the time when the deviation between the transport vehicle trajectory and the expected trajectory reaches the expected value; When the TTD time is less than or equal to a set time threshold, it is determined that the transport vehicle is off course.

3. The method for determining a detour of a transport vehicle according to claim 1, characterized in that: The determining of the detour judgment result of the transport vehicle based on the driving routes of other transport vehicles on the same route and in the same period includes: When the preset route is the same as the driving route of other transport vehicles on the same route and in the same period, it is determined that the transport vehicle has taken a detour.

4. The method for determining a detour of a transport vehicle according to claim 1, characterized in that: The determining of the detour judgment result of the transport vehicle based on the detour application information includes: In the case where the detour application information indicates that the driver of the transport vehicle has not provided certification information proving the need for a detour, it is determined that the transport vehicle has taken a detour.

5. The method for determining a detour of a transport vehicle according to claim 1, characterized in that: The method further comprises: Obtaining weather information for all locations on the preset route; In the case where there is an abnormal location where a road is blocked due to disaster weather in the weather information, replanning the driving route based on the current position of the transport vehicle as a starting point and taking the previous target location of the abnormal location as an end point to obtain a first updated driving route; The first updated driving route is sent to the transport vehicle so that the transport vehicle travels based on the first updated driving route.

6. The method for determining a detour of a transport vehicle according to claim 1, characterized in that: The method further comprises: Obtaining congestion information of all locations on the preset route; In the case where there is a congestion location whose congestion time exceeds a set time threshold in the congestion information, replanning the driving route based on the current position of the transport vehicle as the starting point and the previous target location of the congestion location as the end point to obtain a second updated driving route; The second updated driving route is sent to the transport vehicle so that the transport vehicle travels based on the second updated driving route.

7. The method for determining a detour of a transport vehicle according to claim 1, characterized in that: The method further comprises: In the case where the detour application information indicates that the driver of the transport vehicle provides information that the transport vehicle has broken down at a fault location, determining a target maintenance location adjacent to the fault location; Sending a maintenance request to the target maintenance location so that personnel at the target maintenance location can go to the fault location to perform maintenance on the transport vehicle; or sending maintenance location navigation information to the transport vehicle so that the transport vehicle can be transferred to the target maintenance location.

8. The method for determining a detour of a transport vehicle according to claim 7, characterized in that: The target maintenance location is determined by the following steps: Determine a target area with the fault location as the center and a set radius; A maintenance location is randomly determined in the target area as the target maintenance location.

9. A method for determining whether a transport vehicle has taken a detour, characterized in that: Applied to a transport vehicle, the method comprises: Obtaining the driving route of the transport vehicle based on the Beidou positioning system; When the driving route of the transport vehicle deviates from the preset route and reaches a preset distance threshold, the vehicle deviation information of the transport vehicle is sent to the monitoring platform; Receive the deviation warning information sent by the monitoring platform; the deviation warning information represents the vehicle route deviation result of the transport vehicle; the vehicle route deviation result of the transport vehicle is determined by the monitoring platform using the vehicle deviation warning algorithm to measure the vehicle route deviation based on the vehicle deviation information.

10. A detour judgment device for a transport vehicle, characterized in that: include: A receiving module, configured to receive vehicle deviation information sent by the transport vehicle when the travel route of the transport vehicle deviates from the preset route by reaching a preset distance threshold; A calculation module, used to calculate the vehicle route deviation based on the vehicle deviation information using a vehicle deviation warning algorithm, and determine the vehicle route deviation result; A first sending module is used to send deviation warning information to at least one of a terminal of a driver of the transport vehicle, a client, and a carrier terminal when the vehicle route deviation result indicates that the transport vehicle has deviated; A first acquisition module is used to receive detour application information sent by the driver of the transport vehicle, and to obtain the driving routes of other transport vehicles on the same route and in the same period; The judgment module is used to determine the detour judgment result of the transport vehicle based on the detour application information or the driving routes of other transport vehicles on the same route and in the same period.

11. A transport vehicle detour judgment device, characterized in that: include: An acquisition module, used for acquiring the driving route of the transport vehicle based on the Beidou positioning system; A sending module, used for sending the vehicle deviation information of the transport vehicle to the monitoring platform when the driving route of the transport vehicle deviates from the preset route to reach a preset distance threshold; A receiving module, used for receiving the deviation warning information sent by the monitoring platform; The deviation warning information indicates that the transport vehicle has deviated from the vehicle route; The vehicle route deviation result of the transport vehicle being off course is determined by the monitoring platform using a vehicle deviation warning algorithm to measure the vehicle route deviation based on the vehicle deviation information.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for determining a detour for a transport vehicle according to any one of claims 1 to 9 is implemented.

13. A machine-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining a detour for a transport vehicle according to any one of claims 1 to 9 is implemented.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for determining a detour for a transport vehicle according to any one of claims 1 to 9 is implemented.

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