Traveling state detection method and apparatus, and device

Abstract

A traveling state detection method and apparatus, and a device. The method comprises: acquiring real-time position information of a mobile device in a vehicle; performing map matching on the basis of the real-time position information of the mobile device, and when it is determined that the vehicle is located in a target geographic area, acquiring geomagnetic intensity values on the basis of measurement data, which is output by a magnetometer mounted on the mobile device; determining a geomagnetic intensity change value on the basis of the geomagnetic intensity values; and if the geomagnetic intensity change value is less than a preset value, determining that the traveling state of the vehicle in the target geographic area is a parked state. By means of the method, whether the traveling state of a vehicle in a target geographic area is a parked state can be accurately detected.

Description

A driving state detection method, device and equipment

[0001] The present disclosure claims priority to a Chinese patent application No. 202410674736.0, filed on May 28, 2024, and entitled "A driving state detection method, device and equipment", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the positioning technical field, and in particular to a driving state detection method, device and equipment. BACKGROUND

[0003] When a vehicle is driving in a tunnel or an underground parking lot, satellite positioning signals are blocked, resulting in that the vehicle cannot be positioned by satellite positioning signals. To solve this problem, the existing technology generally uses an inertial navigation algorithm that fuses inertial sensors (acceleration, gyroscope, etc.) to calculate the position of the vehicle in the tunnel or underground parking lot. The inertial navigation algorithm needs to detect the driving state of the vehicle, especially whether the vehicle is in a parking state, and therefore, a technical solution is needed that can accurately detect the driving state of the vehicle in a tunnel or underground parking lot and the like. SUMMARY

[0004] Therefore, the present disclosure provides a driving state detection method, device and equipment to improve the accuracy of detecting the driving state of a vehicle in a target geographic area.

[0005] In a first aspect, the present disclosure provides a driving state detection method, which comprises:

[0006] obtaining real-time position information of a mobile device, the mobile device being carried by a vehicle and being provided with a magnetometer;

[0007] performing map matching based on the real-time position information of the mobile device, and when it is determined that the vehicle enters a target geographic area, obtaining a geomagnetic intensity value based on measurement data output by the magnetometer carried by the mobile device;

[0008] determining a geomagnetic intensity change value based on the obtained geomagnetic intensity value;

[0009] if the geomagnetic intensity change value is less than a preset threshold value, determining that the driving state of the vehicle in the target geographic area is parking.

[0010] In a possible implementation, the method further comprises:

[0011] determining whether the number of obtained geomagnetic intensity values reaches a preset number threshold value, or determining whether the time length for which the geomagnetic intensity values are accumulated reaches a preset time length threshold value.

[0012] If the number of the acquired geomagnetic intensity values reaches the preset number threshold, or the time length of the acquired geomagnetic intensity values reaches the preset time length threshold, the step of determining the geomagnetic intensity change value based on the acquired geomagnetic intensity values is performed.

[0013] In a possible implementation, the method further includes: if the geomagnetic intensity change value is greater than a preset threshold, the step of determining the geomagnetic intensity change value based on the acquired geomagnetic intensity values is continuously performed until it is determined that the vehicle is parked in the target geographic area, or the vehicle drives out of the target geographic area based on real-time position information of the mobile device.

[0014] In a possible implementation, the magnetometer is a three-axis magnetometer, and the measurement data includes geomagnetic intensity values of three axes output by the three-axis magnetometer, and the acquiring of the geomagnetic intensity values based on the measurement data output by the magnetometer carried by the mobile device includes:

[0015] Acquiring a modulus value of the geomagnetic intensity values of the three axes output by the three-axis magnetometer carried by the mobile device as the geomagnetic intensity value.

[0016] In a possible implementation, if the geomagnetic intensity change value is a geomagnetic intensity change variance, the determining of the geomagnetic intensity change value based on the acquired geomagnetic intensity values includes:

[0017] Dividing a sum value of the acquired geomagnetic intensity values by the number of the geomagnetic intensity values to obtain a mean value of the geomagnetic intensity values;

[0018] Calculating a square value of a difference value between each of the geomagnetic intensity values and the mean value;

[0019] Dividing a sum value of the square values by the number of the geomagnetic intensity values to obtain the geomagnetic intensity change variance.

[0020] In a possible implementation, if the geomagnetic intensity change value is a geomagnetic intensity change standard deviation, the determining of the geomagnetic intensity change value based on the acquired geomagnetic intensity values includes:

[0021] Dividing a sum value of the acquired geomagnetic intensity values by the number of the geomagnetic intensity values to obtain a mean value of the geomagnetic intensity values;

[0022] Calculating a square value of a difference value between each of the geomagnetic intensity values and the mean value;

[0023] Dividing a sum value of the square values of the difference values by the number of the geomagnetic intensity values to obtain a mean value of the square values of the difference values.

[0024] The square root of the mean of the square values is the standard deviation of the geomagnetic intensity variation.

[0025] In a possible implementation, the method is applied in a process of navigation guidance based on a navigation route planned in advance for the vehicle, and the map matching based on the real-time position information of the mobile device comprises:

[0026] Map matching the real-time position information of the mobile device with roads included in the navigation route.

[0027] In a possible implementation, the method is applied in a cruising scenario of the vehicle, and the map matching based on the real-time position information of the mobile device comprises:

[0028] Map matching the real-time position information of the mobile device with pre-prepared electronic map data.

[0029] In a second aspect, the present disclosure provides a driving state detection device, which comprises:

[0030] A first acquisition unit is configured to acquire real-time position information of a mobile device, wherein the mobile device is mounted with a magnetometer and located in a vehicle.

[0031] A second acquisition unit is configured to perform map matching based on the real-time position information of the mobile device, and when it is determined that the vehicle enters a target geographic area, acquire a geomagnetic intensity value based on measurement data output by the magnetometer mounted on the mobile device.

[0032] A first determination unit is configured to determine a geomagnetic intensity variation value based on the acquired geomagnetic intensity value.

[0033] A second determination unit is configured to determine that a driving state of the vehicle in the target geographic area is parking if the geomagnetic intensity variation value is less than a preset threshold.

[0034] In a third aspect, the present disclosure provides a mobile device, which comprises a memory and a processor.

[0035] The memory is configured to store relevant program codes.

[0036] The processor is configured to invoke the program codes to execute the driving state detection method according to any one of the implementation manners of the first aspect.

[0037] In a fourth aspect, the present disclosure provides a computer readable storage medium configured to store a computer program, wherein the computer program is configured to execute the driving state detection method according to any one of the implementation manners of the first aspect.

[0038] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program which, when executed by at least one processor, implements the driving state detection method according to any one of the implementations of the first aspect.

[0039] Therefore, the present disclosure has the following beneficial effects:

[0040] In the above implementations of the present disclosure, during the driving of the vehicle, the real-time position information of the mobile device placed in the vehicle is acquired. Since the mobile device is located in the vehicle, the real-time position of the mobile device is the same as the real-time position of the vehicle. Therefore, the real-time position information of the mobile device can be used for map matching to determine the geographical area where the vehicle is located. When it is determined that the geographical area where the vehicle is located is a target geographical area, the present disclosure acquires the geomagnetic intensity value based on the measurement data output by the magnetometer carried by the mobile device. The target geographical area is usually a geographical area where the real-time position of the mobile device needs to be calculated by relying on an inertial navigation algorithm, for example, a tunnel or an underground parking lot. However, in the target geographical area, the geomagnetic intensity value can be accurately detected by the magnetometer carried by the mobile device. Generally, the geomagnetic intensity value in the target geographical area changes with the change of the real-time position of the mobile device, and when the position of the mobile device is fixed, the geomagnetic intensity at the same position is stable. Therefore, if the geomagnetic intensity change value determined based on the geomagnetic intensity value is less than a preset threshold value, it indicates that the mobile device is stationary in the target geographical area, that is, the driving state of the vehicle carrying the mobile device is parking. Through the technical solution provided by the present disclosure, whether the vehicle is parked or not can be detected by the geomagnetic data measured by the magnetometer of the mobile device in the vehicle, thereby ensuring the accuracy of detecting the driving state of the vehicle in the target geographical area. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments provided in the present disclosure, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0042] FIG. 1 is a flowchart of a driving state detection method according to an embodiment of the present disclosure;

[0043] FIG. 2 is a schematic diagram of the position of a mobile device and a target geographical area according to an embodiment of the present disclosure;

[0044] FIG. 3 is a schematic diagram of a driving state detection device according to an embodiment of the present disclosure;

[0045] FIG. 4 is a schematic diagram of a mobile device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present disclosure will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present disclosure. The described embodiments are only exemplary implementations of the present disclosure, and not all implementations. Those skilled in the art can obtain other embodiments without creative efforts in combination with the embodiments of the present disclosure, and these embodiments are within the protection scope of the present disclosure.

[0047] When the vehicle travels in a tunnel or an underground parking lot, the satellite positioning signal will be blocked, resulting in the vehicle being unable to be positioned by the satellite positioning signal. To solve this problem, the existing technology generally uses an inertial navigation algorithm that fuses inertial sensors (acceleration, gyroscope, etc.) to calculate the position of the vehicle in the tunnel or underground parking lot. The inertial navigation algorithm needs to detect the driving state of the vehicle, especially whether the vehicle is in a parking state. When parking is detected, the inertial navigation algorithm can perform zero-speed correction, which means that when the carrier (vehicle) is in a stationary state, the speed of the carrier at this time is zero. The calculated speed of the inertial system in the carrier is used as an observation of the system speed error to correct other error quantities, improve the positioning effect in the stationary state, and make the positioning result output by the inertial navigation algorithm more accurate. Therefore, a technical solution is needed that can accurately detect the driving state of the vehicle in a tunnel or underground parking lot and the like.

[0048] One existing technology calculates the position and speed of a vehicle carrying a mobile device using data measured by the inertial sensors (acceleration, gyroscope) of the mobile device, and judges whether the vehicle is parked according to the speed. However, in fact, the inertial sensors measure the position and speed of the mobile device. Since the inertial sensors are sensitive, if the mobile device is not fixed on the vehicle but can move, the movement of the mobile device will cause significant changes in the measurement data of the inertial sensors. At the same time, the inertial sensors also have cumulative errors. Therefore, there is a problem that the result of judging whether the vehicle is parked is not accurate through the data measured by the inertial sensors.

[0049] Based on this, the embodiment of the present disclosure provides a driving state detection method to improve the accuracy of detecting whether a vehicle is parked in a target geographic area. In specific implementation, real-time position information of a mobile device placed in the vehicle is obtained. Since the mobile device is located in the vehicle, the real-time position of the mobile device is the same as the real-time position of the vehicle. Therefore, the geographic area where the vehicle is located can be determined based on the real-time position information of the mobile device through map matching. When it is determined that the geographic area where the vehicle is located is the target geographic area, the embodiment of the present disclosure obtains a geomagnetic intensity value based on the measurement data output by the magnetometer carried by the mobile device. The target geographic area is usually a geographic area that needs to rely on an inertial navigation algorithm to calculate the real-time position of the mobile device, for example, a tunnel or an underground parking lot. However, in the target geographic area, the geomagnetic intensity value can be accurately detected by the magnetometer carried by the mobile device. Generally, the geomagnetic intensity value in the target geographic area changes with the change of the real-time position of the mobile device, and when the position of the mobile device is fixed, the geomagnetic intensity at the same position is stable. Therefore, if the geomagnetic intensity change value determined based on the geomagnetic intensity value is less than a preset threshold, it indicates that the mobile device is stationary in the target geographic area, that is, the driving state of the vehicle carrying the mobile device is parked. Through the technical solution provided by the present disclosure, whether the vehicle is parked can be detected by the geomagnetic data measured by the magnetometer of the mobile device in the vehicle, and the accuracy of detecting the driving state of the vehicle in the target geographic area is ensured.

[0050] In order to facilitate understanding of the technical method provided by the embodiment of the present disclosure, specific introduction will be made below in combination with the drawings.

[0051] Referring to FIG. 1, FIG. 1 is a flowchart of a driving state detection method provided by the embodiment of the present disclosure.

[0052] The method can be executed by a data processing device. The data processing device can be a data processor in a mobile device or a data processor independent of the mobile device. The data processor can obtain data of the mobile device, such as position information of the mobile device and data output by a sensor carried by the mobile device, and process the obtained data.

[0053] The method can include the following steps:

[0054] S101: Obtain real-time position information of a mobile device.

[0055] The mobile device can be a portable mobile device, such as a smart phone, a tablet computer, etc. During the driving of the vehicle, the data processing device can obtain real-time position information of the mobile device. The real-time position information can include position coordinates, driving direction, etc. Since the mobile device is located in the vehicle, the real-time position information of the mobile device is equivalent to the real-time position information of the vehicle.

[0056] Optionally, the real-time location information of the mobile device can be obtained based on a Global Navigation Satellite System (GNSS) positioning signal, or obtained through fusion positioning (including GNSS positioning and network positioning, etc.). The present disclosure does not limit this.

[0057] S102: Map matching is performed based on the real-time location information of the mobile device, and when it is determined that the vehicle is driving into the target geographic area, a geomagnetic intensity value is obtained based on the measurement data output by the magnetometer carried by the mobile device.

[0058] The target geographic area refers to a geographic area in which GNSS signals are blocked and the position of the vehicle needs to be calculated through an inertial navigation algorithm that fuses inertial sensors (acceleration, gyroscope, etc.). For example, the target geographic area can be a tunnel or an underground parking lot. As the vehicle moves in the target geographic area, the geomagnetic intensity detected by the magnetometer will change significantly, while the position of the vehicle is fixed (i.e., the position does not change), the geomagnetic intensity at the same position is stable, i.e., the geomagnetic intensity does not change or changes very little, therefore, the driving state of the vehicle can be determined by detecting the geomagnetic intensity value of the target geographic area.

[0059] In one possible implementation, when the vehicle is in a navigation state, i.e., a navigation route is planned in advance by using an application software with navigation function installed on the mobile device, and the vehicle driver is guided to travel along the road covered by the navigation route, map matching based on the real-time location information of the mobile device can be understood as:

[0060] The real-time location information of the mobile device is matched with the road included in the navigation route to obtain a road matched by the real-time location information, and the type of the matched road can be used to determine whether the vehicle is in the target geographic area. For example, if the type of the road matched by the real-time location information is a tunnel, it can be determined that the vehicle is in or driving into the target geographic area.

[0061] When the vehicle is in a navigation state, since the navigation route is known, whether the navigation route passes through the target geographic area and the position of the target geographic area are also known. At this time, another embodiment provided by the present disclosure, map matching based on the real-time location information of the mobile device can also be understood as:

[0062] The route distance from the real-time location information of the mobile device to the target geographic area covered by the navigation route is determined, and if the route distance is less than a preset distance threshold, it can be determined that the vehicle is about to drive into the target geographic area.

[0063] If the target geographic area is a tunnel, the route distance from the real-time location information of the mobile device to the start point of the tunnel covered by the navigation route can be determined, and when the navigation route covers multiple tunnels, the route distance to the nearest tunnel of the mobile device can be continuously determined based on the real-time location information of the mobile device. If the target geographic area is an underground garage, the route distance between the mobile device and the entrance of the underground garage can be determined along the driving direction of the mobile device when calculating the route distance between the mobile device and the underground garage. As shown in FIG. 2, a position diagram of a mobile device and a target geographic area is provided in an embodiment of the present disclosure. When the mobile device drives along the driving direction, if the straight line distance between point A (the real-time location of the mobile device) and point B (the start point of the target geographic area) is straight, the route distance between the mobile device and the target geographic area can be represented as the straight line distance between A and B.

[0064] It should be noted that the specific value of the preset distance threshold is not limited in the embodiment of the present disclosure, and can be limited according to actual demand scenarios. When the driving distance of the vehicle in the target geographic area is long, the preset distance threshold can be set to a smaller value. When the driving distance of the vehicle in the target geographic area is short, the preset distance threshold can be set to a larger value. For example, the preset distance threshold can be set to 0.3 meters. That is, when the route distance between the mobile device and the target geographic area is less than 0.3 meters, it can be indicated that the vehicle drives into the target geographic area.

[0065] In another possible implementation, when the vehicle is in a cruising state, that is, the application software with navigation function installed on the mobile device is in an open state, the electronic map displayed through the application software can see the vehicle on the electronic map, but no navigation route is planned. At this time, the map matching based on the real-time location information of the mobile device can be understood as:

[0066] The real-time location information of the mobile device is matched with the pre-prepared electronic map data to obtain a real-time location matched road, and the type of the matched road can be used to determine whether the vehicle is in the target geographic area.

[0067] In one embodiment of the present disclosure, the magnetometer carried by the mobile device can be a three-axis magnetometer, which can measure three-axis geomagnetic data of the geomagnetism. That is, the three-axis magnetometer can measure the geomagnetic intensity of the geomagnetism in the x-axis, y-axis and z-axis directions. In this embodiment, the geomagnetic intensity value obtained based on the measurement data output by the magnetometer carried by the mobile device refers to the modulus value of the geomagnetic intensity values output in the x-axis, y-axis and z-axis directions.

[0068] For example, according to the measured data of the geomagnetic distribution in the x-axis, y-axis and z-axis directions measured by the three-axis magnetometer, the sum of squares of the measured data of the geomagnetic in the x-axis, y-axis and z-axis directions is calculated, and then the square root of the sum of squares is calculated to obtain the geomagnetic intensity value. Specifically, the geomagnetic intensity value m can be expressed as: x the modulus of the geomagnetic intensity value of the geomagnetic in the x-axis direction, in m y the modulus of the geomagnetic intensity value of the geomagnetic in the y-axis direction, in m z the modulus of the geomagnetic intensity value of the geomagnetic in the z-axis direction, in m

[0069] Since the three-axis magnetometer outputs the measured data of the geomagnetic at a set frequency, the geomagnetic intensity value m obtained in S102 can be stored according to the generation time.

[0070] S103: determining a geomagnetic intensity change value based on the geomagnetic intensity value.

[0071] In order to make the determined geomagnetic intensity change value accurate, when determining the geomagnetic intensity change value for the first time, the above method can further include:

[0072] determining whether the number of obtained geomagnetic intensity values reaches a preset number threshold, or determining whether the time length of accumulating the obtained geomagnetic intensity values reaches a preset time length threshold. If the number of geomagnetic intensity values reaches the preset number threshold, or the time length of accumulating the obtained geomagnetic intensity values reaches the preset time length, that is, one of the two conditions is met, it indicates that the data amount of the accumulated geomagnetic intensity values is sufficient, so that the determined geomagnetic intensity change value is relatively accurate, and then the geomagnetic intensity change value can be determined based on the obtained geomagnetic intensity values.

[0073] It should be noted that the above number or time length determination step only needs to be executed once, that is, the above step is executed when the geomagnetic intensity change value is determined for the first time. Alternatively, the process of determining the geomagnetic intensity change value can be executed according to the user's demand at a preset frequency. For example, it is executed once every second or once every 10 seconds, and the present disclosure does not make any limitation. When determining the geomagnetic intensity change value each time, the latest preset number of geomagnetic intensity values can be selected, and the geomagnetic intensity change value is recalculated according to the latest preset number of geomagnetic intensity values. The above process is repeatedly executed until the vehicle drives out of the target geographic area according to the real-time position information of the mobile device. For example, if it is set to execute the step of determining the geomagnetic intensity change value once every second, 10 geomagnetic intensity values are needed for calculation each time, and if the current time is 19:29:01, the latest 10 geomagnetic intensity values generated before 19:29:01 can be selected according to the generation time of the geomagnetic intensity values to determine the geomagnetic intensity change value.

[0074] In a possible implementation, the geomagnetic intensity change can be represented by a variance or a standard deviation of the geomagnetic intensity values. The larger the variance or the standard deviation, the larger the change index, i.e., the larger the degree of change of the geomagnetic intensity.

[0075] In a specific implementation, when the geomagnetic intensity change value is a variance of the geomagnetic intensity change, after the plurality of time-sequenced geomagnetic intensity values are determined based on the three-axis magnetometer, the average value of the plurality of geomagnetic intensity values can be calculated first, i.e., the average value is obtained by dividing the sum of the plurality of geomagnetic intensity values by the number of the plurality of geomagnetic intensity values, then the square value of the difference between each geomagnetic intensity value and the average value is calculated, and finally the average value of the plurality of square values is obtained by dividing the sum of the plurality of square values by the number of the plurality of geomagnetic intensity values, which is the variance of the geomagnetic intensity change and serves as the geomagnetic intensity change value.

[0076] For example, the plurality of geomagnetic intensity values can be represented as m1, m2, …, m n , and n is an integer greater than or equal to 2, the average value of the plurality of geomagnetic intensity values is calculated as Let M2 represent the variance of the geomagnetic intensity change, then

[0077] When the geomagnetic intensity change value is a standard deviation of the geomagnetic intensity change, after the plurality of time-sequenced geomagnetic intensity values are determined based on the three-axis magnetometer, the average value of the plurality of geomagnetic intensity values can be calculated first, i.e., the average value is obtained by dividing the sum of the plurality of geomagnetic intensity values by the number of the plurality of geomagnetic intensity values, then the square value of the difference between each geomagnetic intensity value and the average value is calculated, and finally the average value of the plurality of square values is obtained by dividing the sum of the plurality of square values by the number of the plurality of geomagnetic intensity values, which is the variance of the geomagnetic intensity change and serves as the geomagnetic intensity change value.

[0078] For example, the plurality of geomagnetic intensity values can be represented as m1, m2, …, m n , and n is an integer greater than or equal to 2, the average value of the plurality of geomagnetic intensity values is calculated as Let M3 represent the standard deviation of the geomagnetic intensity change, then

[0079] S104: If the geomagnetic intensity change value is less than a preset threshold, it is determined that the driving state of the vehicle in the target geographic area is parking.

[0080] When the geomagnetic intensity change value is less than a preset threshold, it indicates that the change of the geomagnetic intensity in the target geographic area is small, as described above, the geomagnetic intensity at the same position is stable, i.e., the geomagnetic intensity value does not change significantly, and therefore it can be determined that the driving state of the vehicle in the target geographic area is parking, i.e., the vehicle is in a parking state.

[0081] If the geomagnetic intensity change value is greater than the preset threshold, the step of determining the geomagnetic intensity change value based on the obtained geomagnetic intensity value is continuously executed, that is, the above step can be executed once every preset time period according to the preset frequency in the above process (for example, once every second). When the geomagnetic intensity change value is determined each time, the latest preset number of geomagnetic intensity values can be selected, and the geomagnetic intensity change value is recalculated based on the latest preset number of geomagnetic intensity values. Until it is determined that the driving state of the vehicle in the target geographic area is parking (that is, the geomagnetic intensity change value is less than the preset threshold), or the vehicle drives out of the target geographic area based on the real-time position information of the mobile device, the calculation of the geomagnetic intensity change value is stopped.

[0082] Optionally, after it is determined that the driving state of the vehicle in the target geographic area is parking, the step of determining the geomagnetic intensity change value can also be executed once every preset time period until it is determined that the vehicle drives out of the target geographic area based on the real-time position information of the mobile device.

[0083] Through the method provided by the embodiments of the present disclosure, when the vehicle is in a target geographic area where GNSS signals are blocked, the change of geomagnetic intensity can be determined based on the geomagnetic data measured by the magnetometer of the mobile device in the vehicle to detect whether the vehicle is in a parking state, thereby ensuring the accuracy of detecting the driving state of the vehicle in the target geographic area.

[0084] Based on the above method embodiments, the embodiments of the present disclosure also provide a driving state detection device. Referring to FIG. 3, it is a schematic diagram of a driving state detection device provided by the embodiments of the present disclosure.

[0085] The device 300 comprises:

[0086] A first acquisition unit 301 is configured to acquire real-time position information of a mobile device, wherein the mobile device is mounted with a magnetometer and located in a vehicle;

[0087] A second acquisition unit 302 is configured to perform map matching based on the real-time position information of the mobile device, and when it is determined that the vehicle drives into a target geographic area, acquire a geomagnetic intensity value based on measurement data output by the magnetometer mounted on the mobile device.

[0088] A first determination unit 303 is configured to determine a geomagnetic intensity change value based on the obtained geomagnetic intensity value.

[0089] A second determination unit 304 is configured to determine that the driving state of the vehicle in the target geographic area is parking if the geomagnetic intensity change value is less than a preset threshold.

[0090] In a possible implementation, the apparatus further includes a judging unit configured to judge whether the number of the obtained geomagnetic intensity values reaches a preset number threshold, or whether a time length of obtaining the geomagnetic intensity values accumulatively reaches a preset time length threshold; and if the number of the obtained geomagnetic intensity values reaches the preset number threshold, or the time length of obtaining the geomagnetic intensity values accumulatively reaches the preset time length threshold, the step of determining the geomagnetic intensity change value based on the obtained geomagnetic intensity values is performed.

[0091] In a possible implementation, the apparatus further includes a third determining unit configured to, if the geomagnetic intensity change value is greater than a preset threshold, continue to perform the step of determining the geomagnetic intensity change value based on the obtained geomagnetic intensity values until it is determined that the driving state of the vehicle in the target geographic region is parking, or it is determined that the vehicle drives out of the target geographic region based on the real-time position information of the mobile device.

[0092] In a possible implementation, the magnetometer is a three-axis magnetometer, the measurement data includes geomagnetic intensity values of three axes output by the three-axis magnetometer, and the second obtaining unit 302 is specifically configured to obtain a modulus value of the geomagnetic intensity values of the three axes output by the three-axis magnetometer carried by the mobile device as the geomagnetic intensity value.

[0093] In a possible implementation, if the geomagnetic intensity change value is a geomagnetic intensity change variance, the first determining unit 303 is specifically configured to divide a sum of the obtained geomagnetic intensity values by a number of the geomagnetic intensity values to obtain an average value of the geomagnetic intensity values; calculate a square value of a difference between each of the geomagnetic intensity values and the average value; and divide a sum of the square values by the number of the geomagnetic intensity values to obtain the geomagnetic intensity change variance.

[0094] In a possible implementation, if the geomagnetic intensity change value is a geomagnetic intensity change standard deviation, the first determining unit 303 is specifically configured to divide a sum of the obtained geomagnetic intensity values by a number of the geomagnetic intensity values to obtain an average value of the geomagnetic intensity values; calculate a square value of a difference between each of the geomagnetic intensity values and the average value; divide a sum of the square values of the differences by the number of the geomagnetic intensity values to obtain a mean value of the square values of the differences; and calculate a square root of the mean value of the square values as the geomagnetic intensity change standard deviation.

[0095] In a possible implementation, the method is applied to a process of navigation guidance based on a navigation route planned in advance for the vehicle, and the second obtaining unit 302 is specifically configured to perform map matching between the real-time position information of the mobile device and a road included in the navigation route.

[0096] In a possible implementation, the method is applied to a cruising scenario of the vehicle, and the second obtaining unit 302 is specifically configured to perform map matching on the real-time position information of the mobile device and pre-prepared electronic map data.

[0097] Based on the method embodiments and the device embodiments described above, the present disclosure further provides a mobile device. The following will be described with reference to the accompanying drawings.

[0098] Referring to FIG. 4, FIG. 4 is a schematic diagram of a mobile device according to an embodiment of the present disclosure.

[0099] The device 400 includes a memory 401 and a processor 402.

[0100] The memory 401 is configured to store related program codes.

[0101] The processor 402 is configured to invoke the program codes and perform the driving state detection method described in the above method embodiments.

[0102] In addition, the present disclosure further provides a computer readable storage medium configured to store a computer program, and the computer program is configured to perform the driving state detection method described in the above method embodiments.

[0103] In addition, the present disclosure further provides a computer program product including a computer program, and the computer program is configured to be executed by at least one processor to implement the driving state detection method described in the above method embodiments.

[0104] It should be noted that the technical features in the superordinate means provided in the embodiments of the present disclosure are clear to those skilled in the art, and the problems to be solved by the superordinate means are also clear. How to obtain the corresponding features can be selected by those skilled in the art according to specific implementation requirements. The means provided by the present disclosure should not be regarded as a limitation or the only implementation means of the scheme.

[0105] It should be noted that the various embodiments described in this specification are intended to be illustrative only and that in light thereof changes can be made in the detailed configuration and arrangement of parts without departing from the scope of the present disclosure. And, each embodiment described in this specification is focused on the difference from other embodiments, and the same or similar parts among the embodiments can be understood by referring to each other. Especially, for system or device embodiments, since they are basically similar to the method embodiments, they are described more simply, and the relevant part can be understood by referring to the part of the description of the method embodiments. The device embodiments described above are merely illustrative, and the units or modules illustrated as separate components can or can not be physically separated, and the components illustrated as units or modules can or can not be physical modules, that is, they can be located in one place or distributed on multiple network units, and some or all of the units or modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0106] The flowcharts and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of various embodiments of the present disclosure. In this regard, each block in the flowcharts and block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that shown in the figures. For example, two blocks noted in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by dedicated hardware-based systems that perform specified logical functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0107] It should be understood that in the present disclosure, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that there are three cases of only A, only B, and A and B at the same time, where A and B can be singular or plural. The character " / " generally represents that the associated objects before and after are in an "or" relationship. "At least one of the following" or the like means any combination of these items, including single item or any combination of multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0108] It should also be noted that, in the present disclosure, the terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a..." does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0109] The steps of a method or algorithm described in connection with the embodiments disclosed in the present disclosure can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in Random Access Memory (RAM), flash memory, Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Electrically Programmable Read-Only Memory (EPROM), registers, hard disk, a removable disk, a CD-ROM (Compact Disc Read-Only Memory), or any other form of storage medium known in the art.

[0110] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined in the present disclosure can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown in the present disclosure, but will conform to the widest scope consistent with the principles and novel features disclosed in the present disclosure.

Claims

1. A running state detection method, wherein, The method comprises: acquiring real-time position information of a mobile device, the mobile device being mounted with a magnetometer and located in a vehicle; performing map matching based on the real-time position information of the mobile device, and acquiring a geomagnetic intensity value based on measurement data output by the magnetometer mounted on the mobile device when it is determined that the vehicle enters a target geographic area; determining a geomagnetic intensity change value based on the acquired geomagnetic intensity value; if the geomagnetic intensity change value is less than a preset threshold value, determining that a driving state of the vehicle in the target geographic area is parking.

2. The method of claim 1, wherein, The method further comprises: determining whether a number of the acquired geomagnetic intensity values reaches a preset number threshold value, or determining whether a time length for which the geomagnetic intensity values are acquired accumulatively reaches a preset time length threshold value; if the number of the acquired geomagnetic intensity values reaches the preset number threshold value, or the time length for which the geomagnetic intensity values are acquired accumulatively reaches the preset time length threshold value, performing the step of determining the geomagnetic intensity change value based on the acquired geomagnetic intensity value.

3. The method of claim 1 or 2, wherein, The method further comprises: if the geomagnetic intensity change value is greater than the preset threshold value, continuing to perform the step of determining the geomagnetic intensity change value based on the acquired geomagnetic intensity value until it is determined that the driving state of the vehicle in the target geographic area is parking, or it is determined that the vehicle exits the target geographic area based on the real-time position information of the mobile device.

4. The method according to any one of claims 1 to 3, wherein, The magnetometer is a three-axis magnetometer, and the measurement data comprises geomagnetic intensity values of three axes output by the three-axis magnetometer, and the acquiring of the geomagnetic intensity value based on the measurement data output by the magnetometer mounted on the mobile device comprises: acquiring a modulus value of the geomagnetic intensity values of the three axes output by the three-axis magnetometer mounted on the mobile device as the geomagnetic intensity value.

5. The method according to any one of claims 1 to 4, wherein, If the geomagnetic intensity change value is a geomagnetic intensity change variance, the determining of the geomagnetic intensity change value based on the acquired geomagnetic intensity value comprises: dividing a sum value of the acquired geomagnetic intensity values by a number of the geomagnetic intensity values to obtain an average value of the geomagnetic intensity values; calculating a square value of a difference between each of the geomagnetic intensity values and the average value; dividing a sum value of the square values by the number of the geomagnetic intensity values to obtain the geomagnetic intensity change variance.

6. The method according to any one of claims 1 to 4, wherein, If the geomagnetic intensity change value is a geomagnetic intensity change standard deviation, the determining of the geomagnetic intensity change value based on the acquired geomagnetic intensity value comprises: dividing a sum value of the acquired geomagnetic intensity values by a number of the geomagnetic intensity values to obtain an average value of the geomagnetic intensity values; calculating a square value of a difference between each of the geomagnetic intensity values and the average value; dividing a sum value of the square values of the differences by the number of the geomagnetic intensity values to obtain a mean value of the square values of the differences; calculating a square root of the mean value of the square values as the geomagnetic intensity change standard deviation.

7. The method according to any one of claims 1 to 6, wherein, If the method is applied in a process of navigation guidance based on a navigation route planned in advance for the vehicle, the map matching based on the real-time position information of the mobile device comprises: The real-time position information of the mobile device is map-matched with roads included in the navigation route.

8. The method according to any one of claims 1 to 6, wherein, When the method is applied to a cruising scenario of the vehicle, the map-matching based on the real-time position information of the mobile device comprises: The real-time position information of the mobile device is map-matched with pre-made electronic map data.

9. A running state detecting apparatus wherein The device comprises: A first obtaining unit is configured to obtain real-time position information of a mobile device, the mobile device being mounted with a magnetometer and located in a vehicle; A second obtaining unit is configured to map-match based on the real-time position information of the mobile device, and when it is determined that the vehicle enters a target geographic area, obtain a geomagnetic intensity value based on measurement data output by the magnetometer mounted on the mobile device; A first determining unit is configured to determine a geomagnetic intensity change value based on the obtained geomagnetic intensity value; A second determining unit is configured to determine that a driving state of the vehicle in the target geographic area is parking if the geomagnetic intensity change value is less than a preset threshold.

10. A mobile device, wherein, The device comprises a memory and a processor; The memory is configured to store relevant program codes; The processor is configured to invoke the program codes to execute the driving state detection method according to any one of claims 1 to 8.

11. A computer readable storage medium, wherein, The computer readable storage medium stores a computer program; The computer program is configured to execute the driving state detection method according to any one of claims 1 to 8.

12. A computer program product, wherein, The computer program is configured to execute the driving state detection method according to any one of claims 1 to 8.

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