Method for predicting slope of road in front of vehicle based on GPS

Abstract

The invention discloses a method for predicting the slope of a road in front of a vehicle based on a GPS, and relates to the technical field of intelligent traffic systems. The method comprises the following steps: S1, acquiring current position information of a vehicle through a GPS module; s2, carrying out coordinate conversion by a coordinate conversion module, and carrying out conversion calculation on a longitude and latitude coordinate point (longnitude, laser) of a WGS-84 coordinate system where the vehicle is located to obtain a plane rectangular coordinate point (x, y) of a universal transverse Mercator grid system UTM (Universal Transverse Mercator Grid System); s3, storing the position information data into a storage module, and storing the historical position information passed by the vehicle according to the driving route of the vehicle; according to the method, high-reliability and high-universality prediction of the slope of the road in front of the vehicle is realized at low cost; the GPS module (such as a built-in Tbox) which is generally equipped on a vehicle is fully utilized to directly obtain latitude, longitude and altitude data, so that the hardware cost for installing an expensive gradient sensor or a high-precision map box is completely saved, and the huge investment for manually collecting and maintaining a road gradient map on a large scale is also avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation systems, and in particular to a method for predicting the slope of a road ahead of a vehicle based on GPS. Background Art

[0002] Predicting the slope of the road ahead is a key technology for safe and efficient driving. It directly improves driving safety by predicting the slope and adjusting the power output or braking system in a timely manner, effectively avoiding the risk of power interruption and brake failure. It also optimizes energy efficiency, helping fuel-powered vehicles achieve precise gear shifting to maintain efficient engine operation and new energy vehicles to rationally distribute power and recover energy. However, currently, obtaining the current and forward road slope information during vehicle operation can only be done through vehicle-mounted slope sensors or based on existing map information. For example, high-precision map boxes or front-facing cameras can predict the slope of the road ahead. However, high-precision map boxes require a large amount of data, consuming significant manpower, material, and financial resources, resulting in high equipment costs. Furthermore, these devices can only be used on highways and certain national highways where slope information is mapped, making this technical solution lacking versatility. Methods using front-facing cameras to predict the road ahead suffer from significant errors in the camera's forward slope calculation accuracy, particularly in extreme weather conditions such as nighttime, rain, and snow, causing the data to deviate from the actual slope value. Summary of the Invention

[0003] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a method for predicting the slope of the road ahead of a vehicle based on GPS.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A method for predicting the slope of a road ahead of a vehicle based on GPS comprises the following steps:

[0006] S1: Get the vehicle's current location information through the GPS module;

[0007] S2: The coordinate conversion module performs coordinate conversion, converting the longitude and latitude coordinates of the vehicle in the WGS-84 coordinate system into the rectangular coordinates (x, y) of the Universal Transverse Mercator Grid system (UTM);

[0008] S3: storing the location information data in a storage module, storing the historical location information of the vehicle according to the vehicle's travel route, and storing the historical location information in the form of an array;

[0009] S4: The driving direction determination module determines the driving direction of the vehicle based on the vehicle's current location information and stored historical location information, so as to predict the road ahead of the vehicle.

[0010] S5: Calculate the road slope information using the slope calculation module; calculate the slope of the road ahead of the vehicle based on the stored road location information (including longitude, latitude and altitude) i .

[0011] Preferably: the slope in step S5 i The calculation formula is:

[0012]

[0013] Furthermore: the location information recorded in step S1 includes the longitude, latitude and altitude of the vehicle.

[0014] Further: The method for converting and calculating the Universal Transverse Mercator Grid system UTM plane rectangular coordinate point (x, y) in step S2 is:

[0015] 1) Input the WGS-84 latitude and longitude coordinates (B, L) of the point and extract the WGS-84 ellipsoid semi-major axis a = 6378137m and flattening f = 1 / 298.257223563;

[0016] (2) Calculate the UTM zone number Z according to the 6° zone rule based on the longitude value L: Z = ((L+180) / 6)+1;

[0017] (3) Using the longitude zone number Z, calculate the central meridian longitude L0 = (Z × 6) - 183;

[0018] (4) Execute the Gauss projection forward formula to convert (B, L) into plane coordinates (E', N');

[0019] (5) Add an offset of 500,000 m to the horizontal coordinate to generate the standard UTM coordinate: E = E' + 500,000.

[0020] As a preferred solution of the present invention: N in the plane coordinate (E', N') is N' (Northern Hemisphere) or N = 10,000,000 - N' (Southern Hemisphere).

[0021] As a further solution of the present invention: when recording the historical location information of the vehicle in step S3, the distance between two adjacent points is not less than 15 meters (TBD).

[0022] As a further solution of the present invention: when determining the vehicle's driving direction in step S4, when the vehicle's driving direction is determined to be consistent with the driving direction when the position information is stored, the larger the array subscript is, the corresponding slope information represents the slope of the road ahead of the vehicle; otherwise, the smaller the array subscript is, the corresponding slope information represents the slope of the road ahead of the vehicle.

[0023] On the basis of the above scheme: i Identifies the altitude value of position i, h i+1 Indicates the altitude value of position i+1; x i Indicates the x-axis coordinate point of position i, x i+1 Indicates the x-axis coordinate point of position i+1; y i Indicates the y-axis coordinate point of position i, y i+1 Indicates the y-axis coordinate point of position i+1.

[0024] The beneficial effects of the present invention are:

[0025] 1. A GPS-based method for predicting the slope of the road ahead of a vehicle achieves high reliability and versatility at a low cost. This method leverages GPS modules commonly found in vehicles (such as those built into the Tbox) to directly obtain latitude, longitude, and altitude data, eliminating the hardware costs of expensive slope sensors or high-precision map boxes, and avoiding the significant investment in large-scale manual collection and maintenance of road slope maps.

[0026] 2. A GPS-based method for predicting the slope of the road ahead of a vehicle. This method uses GPS data, unaffected by harsh environments such as nighttime, rain, and snow, to calculate the slope using the vehicle's actual GPS trajectory data (including altitude). This method provides a more accurate and reliable prediction of actual road conditions.

[0027] 3. A GPS-based method for predicting the slope of the road ahead of a vehicle. This method does not rely on whether a specific area has been covered by high-precision map collection. As long as the vehicle can obtain a GPS signal, the slope ahead can be predicted on any road (including rural roads and uncollected roads). This method has excellent universality and can be widely applied to various types of vehicles equipped with basic GPS.

[0028] 4. A method for predicting the slope of the road ahead of a vehicle based on GPS has the advantage that the GPS module equipment used is installed on most vehicles on the market, which will not increase the cost of the vehicle and will not cause cost pressure on the main engine manufacturer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 1 is a flow chart of a method for predicting the slope of a road ahead of a vehicle based on GPS, proposed by the present invention;

[0030] Figure 2 The present invention is a schematic diagram of a storage module structure of a method for predicting the slope of the road ahead of a vehicle based on GPS. DETAILED DESCRIPTION

[0031] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0032] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0033] Example 1:

[0034] A method for predicting the slope of the road ahead of a vehicle based on GPS, such as Figure 1-Figure 2 As shown, the following steps are included:

[0035] S1: Obtain the vehicle's current location information through the GPS module, the location information including the vehicle's longitude, latitude and altitude;

[0036] S2: The coordinate conversion module performs coordinate conversion, converting the longitude and latitude coordinates of the vehicle in the WGS-84 coordinate system into the rectangular coordinates (x, y) of the Universal Transverse Mercator Grid system (UTM);

[0037] The conversion calculation method is:

[0038] (1) Input the WGS-84 latitude and longitude coordinates (B, L) of the point and extract the WGS-84 ellipsoid semi-major axis a = 6378137 m and flattening f = 1 / 298.257223563;

[0039] (2) Calculate the UTM zone number Z according to the 6° zone rule based on the longitude value L: Z = ((L+180) / 6)+1;

[0040] (3) Using the longitude zone number Z, calculate the central meridian longitude L0 = (Z × 6) - 183;

[0041] (4) Execute the Gauss projection forward calculation formula to convert (B, L) into plane coordinates (E', N');

[0042] (5) Add a 500,000m offset to the horizontal coordinate to generate the standard UTM coordinate: E = E' + 500,000, N = N' (Northern Hemisphere) or N = 10,000,000 - N' (Southern Hemisphere);

[0043] S3: The location information data is stored in the storage module. The historical location information of the vehicle is stored according to the vehicle's driving route. The distance between two adjacent points is not less than 15 meters (TBD). The historical location information is stored in the form of an array.

[0044] When it is monitored that the current vehicle position has been stored in the historical position information, the storage of the position information is stopped;

[0045] S4: The driving direction determination module determines the driving direction of the vehicle based on the vehicle's current location information and stored historical location information, so as to predict the road ahead of the vehicle.

[0046] When it is determined that the vehicle's driving direction is consistent with the driving direction when the position information is stored, the larger the array subscript, the corresponding slope information represents the slope of the road ahead of the vehicle; otherwise, the smaller the array subscript, the corresponding slope information represents the slope of the road ahead of the vehicle;

[0047] S5: Calculate the road slope information using the slope calculation module; calculate the slope of the road ahead of the vehicle based on the stored road location information (including longitude, latitude and altitude) i , the calculation formula is as follows:

[0048]

[0049] Among them, h i Identifies the altitude value of position i, h i+1 Indicates the altitude value of position i+1; x i Indicates the x-axis coordinate point of position i, x i+1 Indicates the x-axis coordinate point of position i+1; y i Indicates the y-axis coordinate point of position i, y i+1 Indicates the y-axis coordinate point of position i+1.

[0050] The core advantage of this method is that it can achieve highly reliable and versatile predictions of the road slope ahead of the vehicle at a relatively low cost. It fully utilizes the GPS modules commonly equipped on vehicles (such as those built into the Tbox) to directly obtain latitude, longitude, and altitude data, completely eliminating the hardware cost of installing expensive slope sensors or high-precision map boxes, and also avoiding the huge investment in large-scale manual collection and maintenance of road slope maps.

[0051] Secondly, it performs well in terms of accuracy and reliability. Compared with solutions that rely on cameras and are more susceptible to adverse environments such as nighttime, rain, and snow, this method, based on GPS data, is not restricted by these conditions, making the prediction more stable and reliable. At the same time, it uses the real GPS trajectory data (including altitude) generated by the vehicle's own driving for calculations, and the results are closer to actual road conditions.

[0052] At the same time, the application flexibility and versatility are extremely strong. This method does not rely on whether a specific area has been covered by high-precision map collection. As long as the vehicle can obtain a GPS signal, the slope ahead can be predicted on any road (including rural roads and uncollected roads). This makes this method extremely universal and can be widely used in various types of vehicles equipped with basic GPS.

[0053] It not only solves the problem that the amount of data collected for slope prediction using high-precision map boxes in vehicle on-board systems is large, which consumes a lot of manpower, material and financial resources, resulting in high application equipment costs, and lacks universality only on expressways or some national highways where slope information is covered by the map; at the same time, it solves the problem that the accuracy error of the front slope calculation based on the camera is large, especially in special weather conditions such as night, rainy days and snowy days, which causes the data to deviate from the actual slope value; and the GPS module equipment used is installed on most vehicles on the market, which will not increase the vehicle cost and will not cause cost pressure on the OEM; using existing GPS resources, it economically and efficiently solves the key pain points of traditional methods such as high cost, limited coverage and susceptibility to environmental interference, and provides an all-weather, widely available slope prediction solution.

[0054] The above is a preferred specific embodiment of the present invention, and the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the field within the technical scope disclosed by the present invention in combination with existing technologies or public common sense, within the spirit and principles of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for predicting the slope of the road ahead of a vehicle based on GPS, characterized in that: The steps include: S1: Get the vehicle's current location information through the GPS module; S2: The coordinate conversion module performs coordinate conversion, converting the longitude and latitude coordinates of the vehicle in the WGS-84 coordinate system into the rectangular coordinates (x, y) of the Universal Transverse Mercator Grid system (UTM); S3: storing the location information data in a storage module, storing the historical location information of the vehicle according to the vehicle's travel route, and storing the historical location information in the form of an array; S4: The driving direction determination module determines the driving direction of the vehicle based on the vehicle's current location information and stored historical location information, so as to predict the road ahead of the vehicle. S5: Calculate the road slope information using the slope calculation module; calculate the slope of the road ahead of the vehicle based on the stored road location information (including longitude, latitude and altitude) i .

2. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 1, characterized in that: The slope in step S5 i The calculation formula is:

3. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 1, characterized in that: The location information recorded in step S1 includes the longitude, latitude and altitude of the vehicle.

4. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 1, characterized in that: The method for converting and calculating the Universal Transverse Mercator Grid system UTM plane rectangular coordinate point (x, y) in step S2 is: 1) Input the WGS-84 latitude and longitude coordinates (B, L) of the point and extract the WGS-84 ellipsoid semi-major axis a = 6378137m and flattening f = 1 / 298.257223563; (2) Calculate the UTM zone number Z according to the 6° zone rule based on the longitude value L: Z = ((L+180) / 6)+1; (3) Using the longitude zone number Z, calculate the central meridian longitude L0 = (Z × 6) - 183; (4) Execute the Gauss projection forward formula to convert (B, L) into plane coordinates (E', N'); (5) Add an offset of 500,000 m to the horizontal coordinate to generate the standard UTM coordinate: E = E' + 500,000.

5. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 4, characterized in that: In the plane coordinates (E', N'), N=N' (in the northern hemisphere) or N=10,000,000-N' (in the southern hemisphere).

6. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 1, characterized in that: When recording the historical location information of the vehicle in step S3, the distance between two adjacent points is not less than 15 meters (TBD).

7. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 6, characterized in that: When determining the vehicle's driving direction in step S4, if the vehicle's driving direction is consistent with the driving direction when the position information is stored, the larger the array subscript is, the corresponding slope information represents the slope of the road ahead of the vehicle; otherwise, the smaller the array subscript is, the corresponding slope information represents the slope of the road ahead of the vehicle.

8. The method for predicting the slope of the road ahead of a vehicle based on GPS according to claim 2, characterized in that: The h i Identifies the altitude value of position i, h i+1 Indicates the altitude value of position i+1; x i Indicates the x-axis coordinate point of position i, x i+1 Indicates the x-axis coordinate point of position i+1; y i Indicates the y-axis coordinate point of position i, y i+1 Indicates the y-axis coordinate point of position i+1.

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