Dispatch management method and system for emergency command

Abstract

A dispatch management method and system for an emergency command, which method and system adaptively adjust a vertical distance threshold value on the basis of an abnormal situation of each current positioning point of a vehicle, thereby improving the quality of path compression. The method comprises the following steps: acquiring a historical planned path and several historical positioning points of a vehicle during a historical driving process, and acquiring several current positioning points of the vehicle during the current driving process (S1); calculating a positioning deviation distance, wherein the positioning deviation distance is positively correlated with the shortest distance from each historical positioning point to the historical planned path (S2); calculating the degree of deflection (S3); and using the positioning deviation distance and the degree of deflection to set a vertical distance threshold value, so as to compress each current positioning point, wherein the vertical distance threshold value is positively correlated with both the positioning deviation distance and the degree of deflection (S4).

Description

Emergency command and dispatch management method and system

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 2024112580961, filed on September 9, 2024, and entitled "Emergency command and dispatch management method and system", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of dispatch data management, in particular to an emergency command and dispatch management method and system. BACKGROUND

[0004] In the event of a disaster, in order to better dispatch resources, the emergency command system needs to monitor the moving path of the material transport vehicle in real time to better grasp the resource allocation. However, in an emergency situation, the communication network may be congested or unstable, and the large amount of data obtained by monitoring the paths of multiple vehicles in real time will increase the communication burden. Therefore, the moving path of the vehicle needs to be compressed before transmission, thereby reducing the network burden and ensuring that the key position information can be transmitted to the command center in time.

[0005] The vertical distance limit method is a commonly used path compression method, which realizes path compression by comparing with the vertical distance threshold. Therefore, the key to the vertical distance limit method is the setting of the vertical distance threshold. If the vertical distance threshold is set too high, the compression amount will be too large, resulting in the loss of a large amount of path information. If the vertical distance threshold is set too low, the compression amount will be too small, and the communication burden cannot be reduced to a large extent. Therefore, how to set a suitable vertical distance threshold to realize high-quality compression of the path becomes the research focus of the present application.

[0006] The patent application document with publication number CN115083139A discloses a multi-vehicle dispatch method. The method in the document realizes efficient and collision-free vehicle departure from the warehouse by adjusting the priority in the process of path planning by the A* algorithm. The method in the document is not suitable for the scenario of the present application, and the method in the document does not involve the related content of path compression by the vertical distance limit method, so that the method in the document cannot better solve the problems in the present application. SUMMARY

[0007] In order to solve the problem of how to set a suitable vertical distance threshold, the present application provides an emergency command and dispatch management method and system.

[0008] In a first aspect, the present application provides an emergency command and dispatch management method, which adopts the following technical solution:

[0009] An emergency command dispatching management method, comprising the steps of:

[0010] acquiring a historical planning path and a plurality of historical positioning points of a vehicle in a historical driving process, and acquiring a plurality of current positioning points of the vehicle in a current driving process;

[0011] calculating a positioning offset distance, the positioning offset distance being positively correlated with a shortest distance from the historical positioning points to the historical planning path;

[0012] calculating a deflection degree: a circle with the current positioning point as the center and the positioning offset distance as the radius, a tangent line of the circle from a previous current positioning point to obtain two tangent points, θ1 represents a deflection angle of a line connecting a next current positioning point and the current positioning point relative to a line connecting the previous current positioning point and the current positioning point, β11 represents a deflection angle of a line connecting the next current positioning point and one tangent point relative to a line connecting the previous current positioning point and one tangent point, and β12 represents a deflection angle of a line connecting the next current positioning point and another tangent point relative to a line connecting the previous current positioning point and another tangent point; L1 - represents a length of a line connecting the current positioning point and the previous current positioning point, P0 represents the positioning offset distance, and norm() and H() both represent normalization processing;

[0013] setting a perpendicular distance threshold value by using the positioning offset distance and the deflection degree to realize compression of the current positioning point, wherein the perpendicular distance threshold value is positively correlated with the positioning offset distance and the deflection degree.

[0014] The present application compresses the current positioning points of the vehicles constituting the path to reduce the transmission burden, and analyzes the current positioning points of the vehicles constituting the path to prevent the path after compression from deviating greatly from the real path, so that the current positioning points with a large positioning abnormality degree are compressed and the current positioning points with a small positioning abnormality degree are retained, thereby ensuring the quality of the path after compression.

[0015] Further, to compress the current positioning points with a large positioning abnormality degree and retain the current positioning points with a small positioning abnormality degree, appropriate perpendicular distance threshold values are set for the current positioning points according to the abnormality of each current positioning point.

[0016] Further, in the abnormal analysis of the current positioning point, considering that the vehicle will not have a large turning angle in a short distance in normal driving, the turning angle of each current positioning point is reflected by the deflection angle of the line connecting the current positioning point and the previous current positioning point relative to the current positioning point and the next current positioning point, so as to determine the abnormality of the current positioning point. At the same time, considering that the deflection angle of the current positioning point is also small sometimes when there is an abnormality, the deflection angle of the current positioning point cannot accurately reflect the abnormality, so other characteristic indicators are used to correct it. According to the different influence degrees of the positioning offset distance, different degrees of correction are made, so that the correction is more accurate. For the case where the influence degree of the positioning offset distance is large, a larger correction ratio is given. For the case where the influence degree of the positioning offset distance is small, a smaller correction ratio is given. When a smaller correction ratio is set, the turning angle of the real positioning point derived based on the current positioning point is reflected by the deflection angle of the line connecting the next current positioning point and the tangent point relative to the line connecting the previous current positioning point and the tangent point, and the turning angle of the derived real positioning point is used to further reflect the abnormality of the current positioning point. The accuracy of abnormality determination is further improved by correction.

[0017] Preferably, the calculation of the positioning offset distance comprises:

[0018] Wherein, d0 i represents the shortest distance from the i-th historical positioning point to the historical planning path, Z0 represents the length of the polyline connected by all historical positioning points, G0 represents the length of the historical planning path, and N0 represents the number of historical positioning points.

[0019] The present application masters the overall positioning deviation of the positioning points in the driving process of the vehicle by statistically analyzing the deviation of the historical positioning points from the planning path, thereby providing a basis for subsequent abnormal analysis of the current positioning point of the vehicle in the current driving process.

[0020] Preferably, the deflection angle acquisition method comprises:

[0021] The line connecting a point and the previous point is referred to as the front line, the line connecting the point and the next point is referred to as the rear line, and the included angle between the extension line of the front line and the rear line is referred to as the deflection angle.

[0022] The present application accurately reflects the turning angle of the current positioning point by the deflection angle, thereby providing a basis for subsequent accurate abnormality determination of the current positioning point.

[0023] Preferably, the setting of the vertical distance threshold value by using the positioning offset distance and the deflection degree comprises:

[0024] Wherein, C1 j-1 , C1 j , C1 j+1 Respectively represent the deflection degree of the previous current positioning point of the jth current positioning point, the deflection degree of the jth current positioning point and the deflection degree of the next current positioning point of the jth current positioning point, Represent the length of the line connecting the jth current positioning point and the previous current positioning point, Represent the length of the line connecting the jth current positioning point and the next current positioning point, M1 represents the maximum value of the length of the line connecting all two adjacent current positioning points, Y j Represent the vertical distance threshold value of the jth current positioning point.

[0025] The present application combines the abnormal situation of the surrounding current positioning point to assist the abnormality judgment of the current positioning point, so that the abnormality judgment result is more accurate, and when combining the abnormal situation of the surrounding current positioning point, the distance relationship between the current positioning point and the surrounding current positioning point is also considered, and the distance relationship is used to adjust the reference degree of the current positioning point to the surrounding current positioning point; further, according to the more accurate abnormality judgment, the vertical distance threshold value of the current positioning point is set, so as to improve the accuracy of compression processing.

[0026] Preferably, the compression of the current positioning point is realized, comprising:

[0027] Based on the vertical distance threshold value of the current positioning point, the vertical distance limit value method is used to compress the current positioning point.

[0028] The present application controls the compression process of the current positioning point by adaptive vertical distance threshold value, so as to ensure that the compressed path is closer to the real path.

[0029] Preferably, the tangent point acquisition method comprises:

[0030] The intersection of the tangent line and the circle is taken as the tangent point.

[0031] Preferably, the historical planning path of the vehicle in the historical driving process and a plurality of historical positioning points are acquired, and a plurality of current positioning points of the vehicle in the current driving process are acquired, comprising:

[0032] The planning path of the vehicle in the historical driving process is acquired on the path planning software and recorded as the historical planning path, and the positioning data points of the vehicle at each time in the historical driving process are acquired and recorded as the historical positioning points; the positioning data points of the vehicle in the current driving process are collected by sensors at a preset frequency and recorded as the current positioning points.

[0033] In the second aspect, the present application provides an emergency command dispatching management system, which adopts the following technical scheme:

[0034] The emergency command dispatching management system comprises a processor and a memory, and the memory stores computer program instructions which, when executed by the processor, implement the emergency command dispatching management method.

[0035] By adopting the technical scheme, the emergency command dispatching management method is generated into a computer program and stored in the memory, so as to be loaded and executed by the processor, thereby manufacturing a terminal device according to the memory and the processor, and facilitating use.

[0036] The present application has the following technical effects:

[0037] In order to reduce the transmission burden, the current positioning points of the vehicles constituting the path are compressed; in order to prevent the compressed path from deviating greatly from the real path, the current positioning points of the vehicles constituting the path are analyzed for abnormalities, so that the current positioning points with large abnormal positioning degrees are compressed, and the current positioning points with small abnormal positioning degrees are retained, thereby ensuring the quality of the compressed path.

[0038] Further, in order to compress the current positioning points with large abnormal positioning degrees and retain the current positioning points with small abnormal positioning degrees, appropriate vertical distance threshold values are set for each current positioning point according to the abnormality of each current positioning point.

[0039] Further, when analyzing the abnormalities of the current positioning points, the turning angle of each current positioning point is reflected by the deflection angle of the line connecting the current positioning point and the previous current positioning point with respect to the current positioning point and the next current positioning point, so as to determine the abnormality of the current positioning point; meanwhile, considering that the deflection angle of the current positioning point is also small when there is an abnormality, the deflection angle of the current positioning point cannot accurately reflect the abnormality, and other characteristic indicators are used to correct it; different degrees of correction are performed according to the different degrees of influence of the positioning offset distance, so that the correction is more accurate; for the case where the influence of the positioning offset distance is large, a larger correction ratio is given; for the case where the influence of the positioning offset distance is small, a smaller correction ratio is given, wherein when the smaller correction ratio is set, the turning angle of the real positioning point derived based on the current positioning point is reflected by the deflection angle of the line connecting the next current positioning point and the tangent point with respect to the line connecting the previous current positioning point and the tangent point, and the turning angle of the derived real positioning point is used to further reflect the abnormality of the current positioning point. The accuracy of abnormality determination is further improved by correction. BRIEF DESCRIPTION OF DRAWINGS

[0040] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the application are illustrated by way of example. In the drawings, like reference numerals refer to like elements throughout.

[0041] Fig. 1 is a flow chart of a method in an emergency command dispatch management method according to an embodiment of the present application;

[0042] Fig. 2 is a schematic diagram of the distribution relationship between a positioning point and a planned path according to the present application;

[0043] Fig. 3 is an example diagram of a corresponding point of a historical positioning point on a historical planned path according to the present application;

[0044] Fig. 4 is a schematic diagram of a deflection angle of a current positioning point according to the present application;

[0045] Fig. 5 is a schematic diagram of a possible range of a deduced real positioning point according to the present application;

[0046] Fig. 6 is a schematic diagram of a deflection angle of a deduced real positioning point according to the present application. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0048] It should be understood that, when the claims, the specification and the drawings of the present application use the terms "first", "second", etc., they are only used to distinguish different objects, rather than to describe a specific sequence. The terms "include" and "contain" used in the specification and claims of the present application indicate the presence of the described features, whole, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, whole, steps, operations, elements, components and / or sets thereof.

[0049] An emergency command dispatch management method according to an embodiment of the present application is disclosed. Referring to Fig. 1, the method comprises steps S1-S4:

[0050] S1: obtaining a historical planned path and a plurality of historical positioning points of a vehicle in a historical driving process; and obtaining a plurality of current positioning points of the vehicle in a current driving process.

[0051] Specifically, the planning path of the vehicle in the historical driving process is recorded as a historical planning path, and the positioning data points of the vehicle at each time in the historical driving process are recorded as historical positioning points. The positioning data points of the vehicle in the current driving process are collected by the GPS positioning system at a preset frequency, which are recorded as current positioning points. In this embodiment, the preset frequency is taken as 30 times per minute as an example, and other embodiments can take other values, and this embodiment does not make specific limitations.

[0052] S2: Calculate the positioning offset distance, which is positively correlated with the shortest distance from the historical positioning point to the historical planning path.

[0053] It should be noted that due to the limited positioning accuracy of the GPS positioning system, the positioning points collected by the GPS positioning system will deviate from the true position. The deviation degree of the positioning points obtained by the GPS positioning system at each time is different. Sometimes, the deviation degree of the collected positioning points is large, and sometimes the deviation of the collected positioning points is small. In order to ensure that the vehicle position transmitted to the emergency command center is closer to the true position, the positioning points with small deviation need not be compressed, and the positioning points with large deviation need to be compressed. Therefore, the vertical distance threshold of each positioning point can be set based on this principle.

[0054] It should be further noted that since the GPS positioning system has a certain accuracy range, the deviation of the positioning data of the vehicle in the historical driving process needs to be statistically analyzed to reflect the overall accuracy of the GPS positioning system. Since the historical planning path data can reflect the true path of the vehicle to a certain extent, the positioning deviation can be analyzed based on the historical planning path. In order to facilitate understanding, the distribution relationship between the positioning points and the planning path is shown in FIG. 2.

[0055] Preferably, as an example, the positioning offset distance is calculated, including:

[0056] Wherein, d0 i represents the shortest distance from the i-th historical positioning point to the historical planning path, the larger the value, the greater the degree of deviation of the i-th historical positioning point from the historical planning path, Z0 represents the length of the polyline connected by all historical positioning points, G0 represents the length of the historical planning path, N0 represents the number of historical positioning points, and P0 represents the positioning offset distance.

[0057] It can be understood that under normal circumstances, the positioning deviation should be the distance between the historical positioning point and the true positioning point, and since the corresponding point of each historical positioning point on the historical planning path cannot be obtained, the true positioning point of each historical positioning point cannot be directly obtained. Therefore, only the nearest distance d0 ireflects the distance between the historical positioning point and the real positioning point to some extent; while if the historical positioning point is directly mapped to the nearest distance d0 of the historical planning path as shown in the example diagram of the corresponding point of the historical positioning point on the historical planning path in Figure 3 i As the distance between the historical positioning point and the real positioning point, the vertical intersection point Q0 of the historical positioning point to the historical planning path is taken as the real positioning. It is assumed that actually the real positioning point is not the vertical intersection point, but Q1 or Q2 distributed on both sides of the vertical intersection point Q0. At this time, d0 i will be smaller than the distance between the historical positioning point and the real positioning point, and thus needs to be corrected. reflects the deviation of the historical point position per unit length, and thus through multiplying i by d0 to perform compensation processing, so that the calculated positioning deviation P0 is closer to the real positioning deviation value.

[0058] S3: Calculate the deflection degree.

[0059] It should be noted that the vehicle position is real-time changing in the current driving process of the vehicle. In order to enable the emergency command center to master the real-time position of the vehicle, the current positioning point of the vehicle needs to be transmitted in real time. In order to reduce the transmission burden, the collected current positioning points need to be compressed, in which the current positioning points with larger abnormal degree are removed, and the current positioning points with smaller abnormal degree are retained. The deflection degree is used to reflect the abnormality of each current positioning point in this embodiment.

[0060] It should be further noted that since the corresponding point of each positioning point on the planning path cannot be obtained, the distance between the positioning point and the corresponding point cannot be obtained, and thus the abnormality of each positioning point cannot be analyzed by using the distance between the positioning point and the corresponding point. At the same time, there are a large number of transported substances in the vehicle, and when the vehicle appears a small deflection radius in a short distance, it is easy to appear a rollover. Since the collection frequency of the current positioning point is large, the distance between each two adjacent current positioning points is small. If the current positioning point is accurately positioned, the deflection radius of the current positioning point relative to the adjacent current positioning point should be small. Thus, the abnormality of the current positioning point can be analyzed based on this theory.

[0061] Preferably, as an example, the deflection degree is calculated, including:

[0062] Wherein, a circle with the current positioning point as the center and the positioning offset distance as the radius is drawn, two tangent points are obtained by drawing a tangent line of the circle from the previous current positioning point, θ1 represents the deflection angle of the line connecting the next current positioning point and the current positioning point relative to the line connecting the previous current positioning point and the current positioning point, β11 represents the deflection angle of the line connecting the next current positioning point and one tangent point relative to the line connecting the previous current positioning point and one tangent point, and β12 represents the deflection angle of the line connecting the next current positioning point and the other tangent point relative to the line connecting the previous current positioning point and the other tangent point; L1 - represents the length of the line connecting the current positioning point and the previous current positioning point, P0 represents the positioning offset distance, and C1 represents the deflection degree of each current positioning point. H() represents normalization processing for normalizing data to -1 to 1, and the maximum and minimum normalization method is used to realize the normalization processing. norm() represents linear normalization processing for normalizing data to the interval of 0 to 1.

[0063] It should be noted that, as shown in the deflection angle diagram of the current positioning point in FIG. 4, the angle θ1 in the figure is the deflection angle of the current positioning point, which reflects the turning radius of the current positioning point relative to the previous current positioning point. The greater the deflection angle, the smaller the turning radius of the current positioning point relative to the previous current positioning point. Since the vehicle in normal driving will not have a small turning radius, if the turning radius of the current positioning point is small, it means that the current positioning point has a greater possibility of positioning error. Since the deviation direction of positioning is not certain, some current positioning points have a small deflection angle although they have positioning deviation. Therefore, it is not accurate to use only the deflection angle of the current positioning point to judge the positioning abnormality.

[0064] It should be further noted that, in order to make the current positioning point abnormality judgment more accurate, other features need to be used for further correction. If the positioning offset distance is greater than or equal to the distance between two adjacent positioning points, it means that the abnormality degree of the unit distance is large, and thus a large abnormality adjustment ratio is needed for abnormality adjustment. Therefore, when L1 - ≤ P0, the following is used: ​A correction is made. If the positioning offset distance is less than the distance between two adjacent positioning points, it means that the abnormality degree of the unit distance is small, and a smaller index is used for correction. The construction logic of the smaller index is as follows: the positioning offset distance is obtained in step S2, which can reflect the average offset of the real positioning point from the current positioning point, so the possible range of the real positioning point can be derived from the current positioning point and the positioning offset distance. In order to facilitate understanding, the possible range of the derived real positioning point is shown in FIG. 5. The circle in the figure is the possible position of the derived real positioning point. Under normal circumstances, the turning radius of the real positioning point should be larger. If the deflection angle of the derived real positioning point is larger, it means that the turning radius of the derived real positioning point is smaller, which means that the derived real positioning point is abnormal, and the derived real positioning point is derived based on the current positioning point, so the current positioning point is also abnormal. Therefore, the deflection angle of the derived real positioning point can be used to supplement the determination of the positioning abnormality of the current positioning point. FIG. 6 shows a deflection angle diagram of the derived real positioning point. In the figure, β11 and β12 represent two limit deflection angles of the derived real positioning point, which reflect the two limit turning radii of the derived real positioning point, represents the average deflection angle of the derived real positioning point, which reflects the average turning radius of the derived real positioning point, and is used to supplement the determination of the positioning abnormality of the current positioning point.

[0065] The above embodiments relate to the deflection angle and the tangent point. The acquisition method of the deflection angle and the tangent point will be described below.

[0066] The acquisition method of the deflection angle includes:

[0067] The line connecting a point and the previous point is referred to as the front line, the line connecting the point and the next point is referred to as the rear line, and the angle between the extension of the front line and the rear line is referred to as the deflection angle.

[0068] In addition, the acquisition method of the tangent point includes:

[0069] The intersection of the tangent and the circle is taken as the tangent point.

[0070] S4: A vertical distance threshold is set using the positioning offset distance and the deflection degree to realize the compression of the current positioning point; wherein the vertical distance threshold is positively correlated with the positioning offset distance and the deflection degree.

[0071] S40: The vertical distance threshold set by the positioning offset distance and the deflection degree.

[0072] It should be noted that the compression principle of the vertical distance limit method is that when the vertical distance value of the positioning point is greater than the vertical distance threshold, the positioning point is retained, and when the vertical distance value of the positioning point is less than the vertical distance threshold, the positioning point is removed. Thus, in order to compress the abnormal positioning points and retain the useful positioning points, the vertical distance threshold of the abnormal positioning points needs to be set to be relatively large, and the vertical distance threshold of the useful positioning points needs to be set to be relatively small.

[0073] Preferably, as an example, the vertical distance threshold set by using the positioning offset distance and the deflection degree includes:

[0074] C1 j-1 , C1 j , C1 j+1 respectively represent the deflection degree of the previous current positioning point of the jth current positioning point, the deflection degree of the jth current positioning point, and the deflection degree of the next current positioning point of the jth current positioning point, represents the length of the line connecting the jth current positioning point and the previous current positioning point, represents the length of the line connecting the jth current positioning point and the next current positioning point, M1 represents the maximum value of the lengths of the lines connecting all adjacent current positioning points, Y j represents the vertical distance threshold of the jth current positioning point.

[0075] It can be understood that, in order to prevent inaccurate analysis of a single current positioning point, the surrounding current positioning points need to be combined to assist in reflecting the abnormal situation of the current positioning point. That is, the mean value is used to assist in reflecting the abnormal situation of the current positioning point. Since the farther the distance between one current point and other current positioning points, the smaller the influence of the other current positioning points on the current positioning point, the influence of the surrounding current positioning points on the abnormal determination of the current positioning point is adjusted by using .

[0076] S41: compression of the current positioning point is implemented.

[0077] Preferably, as an example, the compression of the current positioning point includes:

[0078] The current positioning point is compressed by using the vertical distance limit method based on the vertical distance threshold of the current positioning point.

[0079] The embodiment of the application further discloses an emergency command dispatching management system, including a processor and a memory, the memory stores computer program instructions, when the computer program instructions are executed by the processor, a kind of emergency command dispatching management method according to the application is realized.

[0080] The system also includes other components known to those skilled in the art such as a communication bus and a communication interface, the arrangement and function of which are known in the art and thus will not be described here.

[0081] In this application, the aforementioned memory can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. For example, the computer-readable storage medium can be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory, a dynamic random access memory, a static random access memory, an enhanced dynamic random access memory, a high bandwidth memory, a hybrid memory cube, or the like, or any other medium that can be used to store the desired information and that can be accessed by an application, module, or both. Any such computer storage media can be part of a device or accessible or connectable thereto.

[0082] Although the present specification has shown and described a number of embodiments of the application, it will be apparent to those skilled in the art that many modifications, variations, and alternatives to the embodiments described herein can be made in the light of the teachings herein. It is therefore to be understood that changes can be made in the form, details, and / or arrangement of the embodiments of the application without departing from the spirit and intent of the application. It is intended that the application be practiced otherwise than as specifically described herein.

[0083] The above are the preferred embodiments of the present application, which are not intended to limit the protection scope of the present application, and thus: any equivalent changes made in the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An emergency command dispatch management method, characterized by, The method comprises the steps of: acquiring historical planning paths and historical positioning points of the vehicle in a historical driving process, and acquiring a plurality of current positioning points of the vehicle in a current driving process; calculating a positioning offset distance, which is positively correlated with the shortest distance from the historical positioning points to the historical planning paths; Computing the degree of deflection: A circle with the current positioning point as the center and with a positioning offset distance as the radius is drawn, and two tangent points are obtained by drawing tangent lines of the circle from the previous current positioning point. θ1 represents a deflection angle of a line connecting the next current positioning point and the current positioning point with respect to a line connecting the previous current positioning point and the current positioning point. β11 represents a deflection angle of a line connecting the next current positioning point and one tangent point with respect to a line connecting the previous current positioning point and one tangent point. β12 represents a deflection angle of a line connecting the next current positioning point and another tangent point with respect to a line connecting the previous current positioning point and another tangent point. L1 - represents a length of a line connecting the current positioning point and the previous current positioning point. P0 represents the positioning offset distance. norm() and H() each represent a normalization process. setting a vertical distance threshold by using the positioning offset distance and the deflection degree, so as to compress the current positioning points; wherein the vertical distance threshold is positively correlated with both the positioning offset distance and the deflection degree.

2. The emergency command dispatch management method of claim 1, wherein, The computing the positioning offset distance comprises: wherein d0 i represents the shortest distance from the ith historical positioning point to the historical planning path, Z0represents the length of the polyline connected by all historical positioning points, G0represents the length of the historical planning path, and N0represents the number of historical positioning points.

3. The emergency command dispatch management method of claim 1, wherein, The deflection angle acquisition method comprises: a line connecting a point and a previous point is defined as a front line, a line connecting the point and a next point is defined as a rear line, and an included angle between the extension of the front line and the rear line is defined as a deflection angle.

4. The emergency command dispatch management method of claim 1, wherein, The setting the vertical distance threshold value using the positioning offset distance and the deflection degree includes: wherein C1 j-1 , C1 j , C1 j+1 respectively represent the degree of deflection of the previous current positioning point of the jth current positioning point, the degree of deflection of the jth current positioning point, and the degree of deflection of the next current positioning point of the jth current positioning point, denotes the length of the line connecting the jth current position point and the previous current position point, represents the length of the line connecting the jth current positioning point and the next current positioning point, M1 represents the maximum value of the lengths of the lines connecting all two adjacent current positioning points, Y j represents the perpendicular distance threshold value of the jth current positioning point.

5. The emergency command dispatch management method of claim 1, wherein, The compression of the current positioning points comprises: based on the vertical distance threshold of the current positioning points, using a vertical distance limiting method to compress the current positioning points.

6. The emergency command dispatch management method of claim 1, wherein, The tangent point acquisition method comprises: an intersection point of the tangent line and the circle is defined as a tangent point.

7. The emergency command dispatch management method of claim 1, wherein, The acquisition of the historical planning paths and the historical positioning points of the vehicle in the historical driving process, and the acquisition of the current positioning points of the vehicle in the current driving process, comprises: acquiring, on a path planning software, a planning path of the vehicle in a historical driving process as a historical planning path, and acquiring positioning data points of the vehicle at each time in the historical driving process as historical positioning points; and using a sensor to collect positioning data points of the vehicle in a current driving process at a preset frequency as current positioning points.

8. An emergency command dispatch management system, characterized by, The method comprises: a processor and a memory, the memory storing computer program instructions, when the computer program instructions are executed by the processor, a kind of emergency command dispatching management method according to any one of claims 1-7 is realized.

Images