Search

CN-116564121-B - Stop reporting method and device for vehicle and computer readable storage medium

CN116564121BCN 116564121 BCN116564121 BCN 116564121BCN-116564121-B

Abstract

The application is suitable for the technical field of vehicles, and provides a stop reporting method, a stop reporting device and a computer readable storage medium of a vehicle, which are used for determining a plurality of fence areas for covering a preset running route in the whole course based on the coordinates of a stop and the coordinates of track points, so that the vehicle can timely and accurately identify whether yaw occurs to the vehicle based on the position relation between the current position coordinates of the vehicle and each fence area, and in the process of recovering normal running of the vehicle from a yaw state, the method and the system can track the fence area where the vehicle is located through the position relation between the current position coordinates and each fence area in time, and further can report the stop according to the distance between the vehicle and the station at the first time when recognizing that the current position coordinates of the vehicle are located in the round fence area or the rectangular fence area corresponding to the station, so that the effect of timely and accurately reporting the stop is achieved, and the occurrence of missing report and false report conditions is effectively reduced.

Inventors

  • PENG XI

Assignees

  • 深圳市锐明技术股份有限公司

Dates

Publication Date
20260505
Application Date
20230526

Claims (9)

  1. 1. A station reporting method for a vehicle, the station reporting method comprising: the method comprises the steps of acquiring a station reporting file, wherein the station reporting file stores coordinates of stations contained in a preset driving route and coordinates of track points between two adjacent stations; The method comprises the steps of determining a plurality of fence areas for covering the whole journey of the preset driving route based on the coordinates of the stations and the coordinates of the track points, wherein the fence areas comprise round fence areas respectively corresponding to each station and the track points obtained based on preset radiuses by taking each station and each track point as circle centers, and a plurality of rectangular fence areas obtained by taking tangent points on two circumscribed straight lines of two adjacent round fence areas as rectangular vertexes; Collecting current position coordinates of a vehicle according to a preset time interval in the running process of the vehicle; Yaw identifying and tracking the vehicle based on the current position coordinates of the vehicle and the position relationship between each fence area; When the current position coordinates of the vehicle are located in a round fence area or a rectangular fence area corresponding to the station, station reporting is carried out according to the distance between the current position coordinates of the vehicle and the station; Wherein tracking the vehicle comprises: Acquiring three position coordinates of the vehicle which are continuously acquired currently, and detecting whether the three position coordinates are all located in the same rectangular fence area; if the three position coordinates are not all located in the same rectangular fence area, detecting whether the three position coordinates are located in two rectangular fence areas with continuous numbers, wherein the numbers are obtained by sequentially numbering all the rectangular fence areas according to the time sequence of all the rectangular fence areas which are passed by a vehicle when the vehicle normally runs in a preset running route; if the three position coordinates are located in two rectangular fence areas with continuous numbers, detecting whether absolute values of differences between azimuth angles of two adjacent position coordinates in the three position coordinates and azimuth angles of the rectangular fence areas where the position coordinates which are acquired most recently in the three position coordinates are located are smaller than a second difference threshold value; And if absolute values of differences between azimuth angles of two adjacent position coordinates in the three position coordinates and azimuth angles of rectangular fence areas where the position coordinates which are acquired most recently in the three position coordinates are located are smaller than the second difference threshold value, confirming that the vehicle is normally driven in the fence areas again, and taking the rectangular fence areas where the position coordinates which are acquired most recently in the three position coordinates are located as the fence areas where the vehicle is currently located.
  2. 2. The station reporting method as in claim 1, wherein the station reporting process based on the current position coordinates of the vehicle and the distance between the stations comprises: When the vehicle arrives at the track point associated with the station, starting to detect whether the distance between the current position coordinate of the vehicle and the station is within the range of the station; Broadcasting an inbound message when the distance between the current position coordinate of the vehicle and the station is within the inbound range of the station, and starting to detect whether the distance between the current position coordinate of the vehicle and the station is within the outbound range of the station; And broadcasting an outbound message when the distance between the current position coordinate of the vehicle and the station is within the outbound range of the station.
  3. 3. The method of claim 1, wherein said yaw identifying and tracking said vehicle based on a positional relationship between current position coordinates of said vehicle and each of said fence areas, comprises: detecting whether the fence area where the vehicle is currently located is a rectangular fence area or not; When the fence area where the vehicle is currently located is a rectangular fence area, detecting whether the difference value between the azimuth angle corresponding to the current position coordinate of the vehicle and the azimuth angle corresponding to the fence area where the vehicle is currently located is larger than a first difference value threshold, if so, determining that the vehicle is yawed, and tracking the vehicle until the vehicle is tracked to be in the fence area again for normal running.
  4. 4. The method of claim 1, wherein the yaw recognition and tracking of the vehicle based on the current position coordinates of the vehicle and the positional relationship between each of the fence areas, further comprises: Detecting whether the current position coordinate of the vehicle is positioned in a fence area where the previous position coordinate of the vehicle is positioned or in a next fence area of the fence area where the previous position coordinate is positioned; if not, determining that the vehicle is yaw, and tracking the vehicle until the vehicle is tracked to be in the fenced area again for normal running.
  5. 5. The station reporting method of claim 1, wherein after detecting whether the three position coordinates are all located in the same rectangular fence area, comprising: If the three position coordinates are all located in the same rectangular fence area, detecting whether the difference values of the azimuth angles of two adjacent position coordinates in the three position coordinates and the azimuth angle of the rectangular fence area where the two adjacent position coordinates are located are smaller than a second difference value threshold value; if the difference value between the azimuth angles of two adjacent position coordinates in the three position coordinates and the azimuth angle of the rectangular fence area where the two adjacent position coordinates are located is smaller than the second difference value threshold value, the vehicle is confirmed to normally run in the fence area again, and the rectangular fence area where the three position coordinates are located is used as the fence area where the vehicle is currently located.
  6. 6. The method of claim 1, wherein said tracking said vehicle comprises: after three position coordinates of the vehicle which are continuously collected at present are obtained, detecting whether the three position coordinates are positioned in overlapping areas of a plurality of rectangular fence areas; if the three position coordinates are located in the overlapping area of the rectangular fence areas, candidate rectangular fences with azimuth angles smaller than the second difference threshold value are screened from the rectangular fence areas; and when the number of the candidate rectangular fences is one, confirming that the vehicle is normally driven again in the fenced area, and taking the candidate rectangular fences as the current fenced area corresponding to the vehicle.
  7. 7. A station reporting apparatus for a vehicle, the station reporting apparatus comprising: The system comprises an acquisition unit, a stop reporting unit and a control unit, wherein the acquisition unit is used for acquiring a stop reporting file, wherein the stop reporting file stores coordinates of stations contained in a preset driving route and coordinates of track points between two adjacent stations; the system comprises a determining unit, a determining unit and a processing unit, wherein the determining unit is used for determining a plurality of fence areas for covering the whole preset driving route based on the coordinates of the stations and the coordinates of the track points, the fence areas comprise round fence areas which are obtained based on preset radiuses and respectively correspond to the stations and the track points by taking the stations and the track points as circle centers, and a plurality of rectangular fence areas which are obtained by taking tangent points on two circumscribed straight lines of two adjacent round fence areas as rectangular vertexes; The acquisition unit is used for acquiring the current position coordinates of the vehicle according to a preset time interval in the running process of the vehicle; a yaw recognition and tracking unit for yaw recognition and tracking of the vehicle based on a positional relationship between a current position coordinate of the vehicle and each of the fence areas; The stop reporting unit is used for performing stop reporting processing according to the distance between the current position coordinate of the vehicle and the station when the current position coordinate of the vehicle is positioned in the circular fence area or the rectangular fence area corresponding to the station; Wherein tracking the vehicle comprises: Acquiring three position coordinates of the vehicle which are continuously acquired currently, and detecting whether the three position coordinates are all located in the same rectangular fence area; if the three position coordinates are not all located in the same rectangular fence area, detecting whether the three position coordinates are located in two rectangular fence areas with continuous numbers, wherein the numbers are obtained by sequentially numbering all the rectangular fence areas according to the time sequence of all the rectangular fence areas which are passed by a vehicle when the vehicle normally runs in a preset running route; if the three position coordinates are located in two rectangular fence areas with continuous numbers, detecting whether absolute values of differences between azimuth angles of two adjacent position coordinates in the three position coordinates and azimuth angles of the rectangular fence areas where the position coordinates which are acquired most recently in the three position coordinates are located are smaller than a second difference threshold value; And if absolute values of differences between azimuth angles of two adjacent position coordinates in the three position coordinates and azimuth angles of rectangular fence areas where the position coordinates which are acquired most recently in the three position coordinates are located are smaller than the second difference threshold value, confirming that the vehicle is normally driven in the fence areas again, and taking the rectangular fence areas where the position coordinates which are acquired most recently in the three position coordinates are located as the fence areas where the vehicle is currently located.
  8. 8. Station-reporting device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the station-reporting method according to any one of claims 1-6 when executing the computer program.
  9. 9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the stop-reporting method according to any one of claims 1 to 6.

Description

Stop reporting method and device for vehicle and computer readable storage medium Technical Field The application belongs to the technical field of vehicles, and particularly relates to a stop reporting method and device of a vehicle and a computer readable storage medium. Background At present, buses can automatically report stops in the driving process. Specifically, when a bus enters or exits, the stop announcement program broadcasts the information of entering or exiting. In addition, the station entering and exiting information can comprise station serial numbers, station names, station entering and exiting states and the like, so that passengers can know the running states of vehicles conveniently. However, the current station reporting method generally has the problem that station reporting cannot be performed timely and accurately, and has poor experience for users. Disclosure of Invention The embodiment of the application provides a station reporting method and device for a vehicle and a computer readable storage medium, which can solve the problem that the current station reporting method cannot accurately report stations in time. In a first aspect, an embodiment of the present application provides a station reporting method for a vehicle, including: the method comprises the steps of acquiring a station reporting file, wherein the station reporting file stores coordinates of stations contained in a preset driving route and coordinates of track points between two adjacent stations; The method comprises the steps of determining a plurality of fence areas for covering the whole journey of the preset driving route based on the coordinates of the stations and the coordinates of the track points, wherein the fence areas comprise round fence areas respectively corresponding to each station and the track points obtained based on preset radiuses by taking each station and each track point as circle centers, and a plurality of rectangular fence areas obtained by taking tangent points on two circumscribed straight lines of two adjacent round fence areas as rectangular vertexes; Collecting current position coordinates of a vehicle according to a preset time interval in the running process of the vehicle; Yaw identifying and tracking the vehicle based on the current position coordinates of the vehicle and the position relationship between each fence area; And when the current position coordinates of the vehicle are positioned in the circular fence area or the rectangular fence area corresponding to the station, reporting the station according to the distance between the current position coordinates of the vehicle and the station. In a second aspect, an embodiment of the present application provides a station reporting apparatus for a vehicle, including: The system comprises an acquisition unit, a stop reporting unit and a control unit, wherein the acquisition unit is used for acquiring a stop reporting file, wherein the stop reporting file stores coordinates of stations contained in a preset driving route and coordinates of track points between two adjacent stations; The system comprises a determining unit, a determining unit and a processing unit, wherein the determining unit is used for determining a plurality of fence areas for covering the whole preset driving route based on the coordinates of the stations and the coordinates of the track points, the fence areas comprise round fence areas which are obtained based on preset radiuses and respectively correspond to the stations and the track points by taking the stations and the track points as circle centers, and a plurality of rectangular fence areas which are obtained by taking tangent points on two circumscribed straight lines of two adjacent round fence areas as rectangular vertexes; The acquisition unit is used for acquiring the current position coordinates of the vehicle according to a preset time interval in the running process of the vehicle; a yaw recognition and tracking unit for yaw recognition and tracking of the vehicle based on a positional relationship between a current position coordinate of the vehicle and each of the fence areas; and the stop reporting unit is used for performing stop reporting processing according to the distance between the current position coordinate of the vehicle and the station when the current position coordinate of the vehicle is positioned in the circular fence area or the rectangular fence area corresponding to the station. In a third aspect, an embodiment of the present application provides a station apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method according to the first aspect. In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect above.