阅读说明：本技术 移动对象的移动方向的确定方法和装置、移动终端以及电子设备 (Method and device for determining moving direction of moving object, mobile terminal and electronic equipment ) 是由 李飞 胡小坡 于 2019-01-11 设计创作，主要内容包括：本发明实施例提供了一种移动对象的移动方向的确定方法和装置、移动终端以及电子设备。该方法包括：实时获取移动终端的设备方向；当所述移动终端的设备方向发生变化时,根据所述移动终端的当前设备方向和所述移动终端与移动对象的方向夹角,确定所述移动对象的当前移动方向,其中,所述方向夹角为在所述移动终端的设备方向发生变化的前一时刻,所述移动终端的设备方向与所述移动对象的移动方向之间的夹角。本发明实施例通过置于移动对象上的移动终端的设备方向数据,来辅助确定移动对象的移动方向,能够比较准确地确定转弯移动对象的移动方向,使得导航系统能够对移动对象转弯及时做出响应,从而提高了用户体验。(The embodiment of the invention provides a method and a device for determining the moving direction of a moving object, a mobile terminal and electronic equipment. The method comprises the following steps: acquiring the equipment direction of the mobile terminal in real time; when the equipment direction of the mobile terminal changes, the current moving direction of the mobile object is determined according to the current equipment direction of the mobile terminal and the direction included angle between the mobile terminal and the mobile object, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the mobile object. According to the embodiment of the invention, the moving direction of the moving object is assisted to be determined through the equipment direction data of the mobile terminal arranged on the moving object, and the moving direction of the turning moving object can be more accurately determined, so that the navigation system can respond to the turning of the moving object in time, and the user experience is improved.)

1. A method of determining a direction of movement of a moving object, comprising:

acquiring the equipment direction of the mobile terminal in real time;

when the equipment direction of the mobile terminal changes, the current moving direction of the mobile object is determined according to the current equipment direction of the mobile terminal and the direction included angle between the mobile terminal and the mobile object, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the mobile object.

2. The method of determining a moving direction of a moving object according to claim 1, further comprising:

acquiring the acceleration of the mobile terminal when the direction of the equipment is changed;

and if the acceleration meets a preset condition, judging that the current equipment direction of the mobile terminal is interference data and is not used for determining the current moving direction of the moving object.

3. The method of determining a moving direction of a moving object according to claim 1, further comprising:

acquiring a device direction change angle of the mobile terminal in a preset time period after the device direction is changed;

and if the equipment direction change angle is larger than a preset angle threshold, judging that the current equipment direction of the mobile terminal is interference data and is not used for determining the current moving direction of the moving object.

4. The method of determining a moving direction of a moving object according to claim 1, further comprising:

acquiring road network information;

in the road network information, if intersection information consistent with the change direction of the equipment direction of the mobile terminal does not exist in the preset distance range of the current position of the mobile object, the current equipment direction of the mobile terminal is judged to be interference data and is not used for determining the current moving direction of the mobile object.

5. The method for determining the moving direction of a moving object according to any one of claims 2 to 4, further comprising:

when the current equipment direction of the mobile terminal is judged to be interference data, the direction included angle between the mobile terminal and the mobile object is obtained again, and the direction included angle is the included angle between the equipment direction of the mobile terminal and the mobile direction of the mobile object after the equipment direction of the mobile terminal is changed.

6. A method of determining a direction of movement of a moving object, comprising:

acquiring the equipment direction of the mobile terminal in real time;

and when the equipment direction of the mobile terminal is changed, calculating the current moving direction of the moving object according to the equipment direction change angle of the mobile terminal and based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal is changed.

7. The method of determining a moving direction of a moving object according to claim 6, further comprising:

acquiring the acceleration of the mobile terminal when the direction of the equipment is changed;

and if the acceleration meets a preset condition, judging that the equipment direction change angle of the mobile terminal is interference data and is not used for determining the current moving direction of the moving object.

8. The method of determining a moving direction of a moving object according to claim 6, further comprising:

acquiring current road network information;

in the road network information, if intersection information consistent with the change direction of the equipment direction of the mobile terminal does not exist in the preset distance range of the current position of the mobile object, judging that the equipment direction change angle of the mobile terminal is interference data and is not used for determining the current moving direction of the mobile object.

9. An apparatus for determining a moving direction of a moving object, comprising:

the first direction acquisition module is used for acquiring the equipment direction of the mobile terminal in real time;

the first determining module is used for determining the current moving direction of the moving object according to the current equipment direction of the mobile terminal and a direction included angle between the mobile terminal and the moving object when the equipment direction of the mobile terminal changes, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the moving object.

10. The apparatus for determining the moving direction of a moving object according to claim 9, further comprising:

the first judgment module is used for acquiring the acceleration of the mobile terminal when the equipment direction changes; and if the acceleration meets a preset condition, judging that the current equipment direction of the mobile terminal is interference data and is not used for determining the current moving direction of the moving object.

11. The apparatus for determining the moving direction of a moving object according to claim 9, further comprising:

the second judgment module is used for acquiring the equipment direction change angle of the mobile terminal in a preset time period after the equipment direction is changed; and if the equipment direction change angle is larger than a preset angle threshold, judging that the current equipment direction of the mobile terminal is interference data and is not used for determining the current moving direction of the moving object.

12. The apparatus for determining the moving direction of a moving object according to claim 9, further comprising:

the third judging module is used for acquiring road network information; in the road network information, if intersection information consistent with the change direction of the equipment direction of the mobile terminal does not exist in the preset distance range of the current position of the mobile object, the current equipment direction of the mobile terminal is judged to be interference data and is not used for determining the current moving direction of the mobile object.

13. The apparatus for determining a moving direction of a moving object according to any one of claims 10 to 12, further comprising:

and the included angle resetting module is used for reacquiring the mobile terminal and the direction included angle of the mobile object when the current equipment direction of the mobile terminal is judged to be interference data, and the direction included angle is the included angle between the equipment direction of the mobile terminal and the moving direction of the mobile object after the equipment direction of the mobile terminal is changed.

14. An apparatus for determining a moving direction of a moving object, comprising:

the second direction acquisition module is used for acquiring the equipment direction of the mobile terminal in real time;

and the second determining module is used for calculating the current moving direction of the moving object based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal changes according to the equipment direction change angle of the mobile terminal.

15. The apparatus for determining the moving direction of the moving object according to claim 14, further comprising:

the fourth judging module is used for acquiring the acceleration of the mobile terminal when the equipment direction changes; and if the acceleration meets a preset condition, judging that the equipment direction change angle of the mobile terminal is interference data and is not used for determining the current moving direction of the moving object.

16. The apparatus for determining the moving direction of the moving object according to claim 14, further comprising:

a fifth judging module, configured to obtain current road network information; in the road network information, if intersection information consistent with the change direction of the equipment direction of the mobile terminal does not exist in the preset distance range of the current position of the mobile object, judging that the equipment direction change angle of the mobile terminal is interference data and is not used for determining the current moving direction of the mobile object.

17. A mobile terminal, comprising:

the direction sensor is used for acquiring the direction of the equipment in real time;

and the direction determining module is used for determining the current moving direction of the moving object according to the current equipment direction and a direction included angle when the equipment direction acquired by the direction sensor changes, wherein the direction included angle is the included angle between the equipment direction and the moving direction of the moving object at the previous moment when the equipment direction changes.

18. A mobile terminal, comprising:

the direction sensor is used for acquiring the direction of the equipment in real time;

and the direction determining module is used for calculating the current moving direction of the moving object based on the moving direction of the moving object at the previous moment when the equipment direction is changed according to the change angle of the equipment direction when the equipment direction acquired by the direction sensor is changed.

19. An electronic device, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory for:

acquiring the equipment direction of the mobile terminal in real time;

when the equipment direction of the mobile terminal changes, the current moving direction of the mobile object is determined according to the current equipment direction of the mobile terminal and the direction included angle between the mobile terminal and the mobile object, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the mobile object.

20. An electronic device, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory for:

acquiring the equipment direction of the mobile terminal in real time;

and when the equipment direction of the mobile terminal is changed, calculating the current moving direction of the moving object according to the equipment direction change angle of the mobile terminal and based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal is changed.

Technical Field

The present invention relates to the field of navigation technologies, and in particular, to a method and an apparatus for determining a moving direction of a moving object, a mobile terminal, and an electronic device.

Background

With the popularization and wide application of navigation technology, more and more people select a navigation system for navigation when going out. Under the condition that the destination cannot be found or the road condition is not familiar, a reasonable travel route can be planned through the navigation system so as to smoothly reach the destination.

When a moving object such as a vehicle is navigated, a navigation system determines the moving direction of the moving object by the moving track of the moving object. In theory, when the moving trajectory of the moving object is a straight line, it is determined that the moving object is moving straight, and when the moving object deviates from the straight moving trajectory, it is determined that the moving object has turned (that is, the moving direction of the moving object changes).

In the process of implementing the invention, the inventor finds that the prior art has at least the following problems: since GPS has an error in positioning a moving object (the positioning error is generally about 10 meters), the navigation system determines the deviation distance as the positioning error at the initial stage of the moving object deviating from the straight movement trajectory (when the deviation distance is within 10 meters), and at this time, it is impossible to determine whether the moving object turns, and it is impossible to accurately determine the moving direction of the moving object.

Disclosure of Invention

The embodiment of the invention provides a method and a device for determining the moving direction of a moving object, a mobile terminal and electronic equipment, and aims to overcome the defect that the moving direction of a turning moving object cannot be accurately determined in the prior art.

In order to achieve the above object, an embodiment of the present invention provides a method for determining a moving direction of a moving object, including:

acquiring the equipment direction of the mobile terminal in real time;

when the equipment direction of the mobile terminal changes, the current moving direction of the mobile object is determined according to the current equipment direction of the mobile terminal and the direction included angle between the mobile terminal and the mobile object, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the mobile object.

The embodiment of the invention also provides a method for determining the moving direction of the moving object, which comprises the following steps:

acquiring the equipment direction of the mobile terminal in real time;

and when the equipment direction of the mobile terminal is changed, calculating the current moving direction of the moving object according to the equipment direction change angle of the mobile terminal and based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal is changed.

An embodiment of the present invention further provides a device for determining a moving direction of a moving object, including:

the first direction acquisition module is used for acquiring the equipment direction of the mobile terminal in real time;

the first determining module is used for determining the current moving direction of the moving object according to the current equipment direction of the mobile terminal and a direction included angle between the mobile terminal and the moving object when the equipment direction of the mobile terminal changes, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the moving object.

An embodiment of the present invention further provides a device for determining a moving direction of a moving object, including:

the second direction acquisition module is used for acquiring the equipment direction of the mobile terminal in real time;

and the second determining module is used for calculating the current moving direction of the moving object based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal changes according to the equipment direction change angle of the mobile terminal.

An embodiment of the present invention further provides a mobile terminal, including:

the direction sensor is used for acquiring the direction of the equipment in real time;

and the direction determining module is used for determining the current moving direction of the moving object according to the current equipment direction and a direction included angle when the equipment direction acquired by the direction sensor changes, wherein the direction included angle is the included angle between the equipment direction and the moving direction of the moving object at the previous moment when the equipment direction changes.

An embodiment of the present invention further provides a mobile terminal, including:

the direction sensor is used for acquiring the direction of the equipment in real time;

and the direction determining module is used for calculating the current moving direction of the moving object based on the moving direction of the moving object at the previous moment when the equipment direction is changed according to the change angle of the equipment direction when the equipment direction acquired by the direction sensor is changed.

An embodiment of the present invention further provides an electronic device, including:

a memory for storing a program;

a processor for executing the program stored in the memory for:

acquiring the equipment direction of the mobile terminal in real time;

when the equipment direction of the mobile terminal changes, the current moving direction of the mobile object is determined according to the current equipment direction of the mobile terminal and the direction included angle between the mobile terminal and the mobile object, wherein the direction included angle is the previous moment when the equipment direction of the mobile terminal changes, and the equipment direction of the mobile terminal and the included angle between the moving directions of the mobile object.

An embodiment of the present invention further provides an electronic device, including:

a memory for storing a program;

a processor for executing the program stored in the memory for:

acquiring the equipment direction of the mobile terminal in real time;

and when the equipment direction of the mobile terminal is changed, calculating the current moving direction of the moving object according to the equipment direction change angle of the mobile terminal and based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal is changed.

According to the method and the device for determining the moving direction of the moving object, the mobile terminal and the electronic equipment, provided by the embodiment of the invention, the moving direction of the moving object is determined in an auxiliary manner through the equipment direction data of the mobile terminal arranged on the moving object, and the moving direction of the turning moving object can be determined relatively accurately, so that a navigation system can respond to the turning of the moving object in time, and the user experience is improved.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic diagram illustrating a method for determining a moving direction of a moving object according to an embodiment of the present invention;

fig. 2 is a system block diagram of a service system provided in an embodiment of the present invention;

fig. 3 is a flowchart of a first embodiment of a method for determining a moving direction of a moving object according to the present invention;

fig. 4 is a flowchart of a second method for determining a moving direction of a moving object according to the present invention;

fig. 5 is a flowchart of a third method for determining a moving direction of a moving object according to the present invention;

fig. 6 is a flowchart of a fourth method for determining a moving direction of a moving object according to the present invention;

fig. 7 is a flowchart of a fifth method for determining a moving direction of a moving object according to the present invention;

fig. 8 is a flowchart of a sixth embodiment of a method for determining a moving direction of a moving object according to the present invention;

fig. 9 is a flowchart of a seventh embodiment of a method for determining a moving direction of a moving object according to the present invention;

fig. 10 is a schematic structural diagram of an embodiment of a device for determining a moving direction of a moving object according to the present invention;

fig. 11 is a schematic structural diagram of another embodiment of the device for determining the moving direction of the moving object according to the present invention;

fig. 12 is a schematic structural diagram of a device for determining a moving direction of a moving object according to another embodiment of the present invention;

fig. 13a is a schematic structural diagram of a device for determining a moving direction of a moving object according to still another embodiment of the present invention;

fig. 13b is a schematic structural diagram of an embodiment of a mobile terminal provided in the present invention;

FIG. 14 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention;

fig. 15 is a schematic structural diagram of another embodiment of an electronic device provided in the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Aiming at the defect that the moving direction of a turning moving object cannot be accurately judged in the prior art, the application provides a scheme for determining the moving direction of the moving object, and the main principle is as follows: the moving direction of the moving object is determined by the device orientation (orientation) of the mobile terminal. Specifically, the device orientation of the mobile terminal refers to an orientation of the mobile terminal detected by a sensor (e.g., a gyroscope) provided in the mobile terminal. Fig. 1 is a schematic diagram illustrating a method for determining a moving direction of a moving object according to an embodiment of the present invention. As shown in fig. 1, the moving object is a vehicle as an example, the right part of the figure shows the moving direction of the vehicle at the time T1, T2, T3 and T4, respectively, and the device direction of the mobile terminal disposed in the vehicle, and it can be seen from the figure that the moving direction of the vehicle can be determined by the device direction of the mobile terminal when the angle between the device direction of the mobile terminal and the front direction of the vehicle is constant. The left part of the figure is the direction of movement of the moving object determined according to the prior art: at the time of T1, when the vehicle runs from the point A to the point B, the running direction of the vehicle is determined to be A → B according to the moving track of the moving object; at time T2, the vehicle is traveling from point B to point C, and since point C deviates from the travel direction a → B by a distance less than the positioning error distance (e.g., less than 10 meters), the navigation system does not recognize the deviation of the vehicle, and therefore, at time T2, the direction of movement of the moving object determined by the navigation system is still a → B (i.e., a → C'); at time T3, the vehicle is traveling from point C to point D, and since point D is still less than the positioning error distance (e.g., less than 10 meters) from the travel direction a → B, the navigation system still does not recognize the vehicle's deviation, and therefore, at time T3, the navigation system determines that the moving direction of the moving object is still a → B (i.e., a → D'); at time T4, the vehicle travels from point D to point E, and point E deviates from the travel direction a → B by more than a positioning error distance (e.g., more than 10 meters), at which point the navigation system can recognize the deviation of the vehicle, and thus determine the travel direction as E' → E. Therefore, the actual traveling direction of the vehicle when turning is a → B → C → D → E, but the traveling direction determined by the related art is a → B → C '→ D' → E. The scheme provided by the embodiment of the invention indirectly calculates the direction of the head of the vehicle by using the equipment direction data of the mobile terminal (such as an intelligent terminal which is provided with various sensors and can determine the equipment direction in real time) arranged in the vehicle, and can determine the driving direction of the vehicle in real time when the vehicle turns. As shown in fig. 1, the right part is the moving direction of the moving object determined by the present scheme: at time T1, when the vehicle travels from point a to point B, the direction of travel of the vehicle is a → B; at time T2, the vehicle travels from point B to point C, and at this time, since the device direction of the mobile terminal is obtained in real time and changes, the current travel direction of the vehicle can be determined to be B → C according to the current device direction of the mobile terminal; at time T3, the vehicle travels from point C to point D, and at this time, since the device direction of the mobile terminal is obtained in real time and changes, the current travel direction of the vehicle can be determined to be C → D according to the current device direction of the mobile terminal; at time T4, the vehicle travels from point D to point E, and at this time, the device direction that acquired the mobile terminal in real time changes, so the current travel direction of the vehicle can be determined to be D → E according to the current device direction of the mobile terminal. By the scheme, the moving direction of the turning moving object can be accurately determined, so that the navigation system can respond to the turning of the moving object in time, and the user experience is improved.

The method provided by the embodiment of the invention can be applied to any business system with the navigation and positioning functions. Fig. 2 is a system block diagram of a service system provided in an embodiment of the present invention, and the structure shown in fig. 2 is only one example of a service system to which the technical solution of the present invention can be applied. As shown in fig. 2, the service system includes a moving direction determining device. The device for determining the moving direction of the moving object comprises: the first direction obtaining module and the first determining module may be configured to execute the processing flows shown in fig. 3, 4, 5, 6, and 7. In the service system, a device for determining the moving direction of the moving object obtains the equipment direction of the mobile terminal in real time, and when the equipment direction of the mobile terminal changes, the current moving direction of the moving object is determined according to the current equipment direction of the mobile terminal and the direction included angle between the mobile terminal and the moving object. When the device direction of the mobile terminal and the moving direction of the mobile object have an included angle, the included angle between the device direction of the mobile terminal and the moving object, that is, the included angle between the device direction of the mobile terminal and the moving direction of the mobile object at the previous moment when the device direction of the mobile terminal changes, may be obtained first. Then, according to the current equipment direction of the mobile terminal and the included angle of the direction, the current moving direction of the moving object can be determined. Further, the device for determining the moving direction of the moving object may include: the second direction obtaining module and the second determining module may be configured to execute the processing flows shown in fig. 8 and 9. In the service system, a device for determining the moving direction of the moving object acquires the equipment direction of the mobile terminal in real time, and when the equipment direction of the mobile terminal changes, the current moving direction of the moving object is calculated based on the moving direction of the moving object at the previous moment when the equipment direction of the mobile terminal changes according to the equipment direction change angle of the mobile terminal. The device direction data of the mobile terminal are acquired in real time, so that the moving direction of the turning moving object can be determined in an auxiliary manner, the determined moving direction is accurate, the navigation system can respond to the turning of the moving object in time, and the user experience is improved.

The above embodiments are illustrations of technical principles and exemplary application frameworks of the embodiments of the present invention, and specific technical solutions of the embodiments of the present invention are further described in detail below through a plurality of embodiments.