阅读说明：本技术 车辆测速、定位方法和装置以及电子设备 (Vehicle speed measuring and positioning method and device and electronic equipment ) 是由 赵晖 于 2018-06-07 设计创作，主要内容包括：本发明实施例提供了一种车辆测速、定位方法和装置以及电子设备。该车辆测速方法包括：持续获取车辆在垂直方向上的加速度；根据所述车辆在垂直方向上的加速度,识别所述车辆前轮经过障碍物的震动时间点和后轮经过所述障碍物的震动时间点；计算所述车辆前轮经过所述障碍物的震动时间点和后轮经过所述障碍物的震动时间点之间的时间长度；获取车辆轴距,用所述车辆轴距除以所述时间长度,得到所述车辆的第一行驶速度。本发明实施例利用导航设备的惯性传感器,获取车辆在垂直方向上的加速度的变化情况,对车辆经过障碍物产生的震动信息进行检测,通过车辆前后轮震动的时间差,获得更为准确的车辆行驶速度,进而实现更为精确的车辆定位。(The embodiment of the invention provides a vehicle speed measuring and positioning method and device and electronic equipment. The vehicle speed measuring method comprises the following steps: continuously acquiring the acceleration of the vehicle in the vertical direction; according to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle; calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle; and acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle. According to the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is acquired by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, and more accurate vehicle running speed is acquired through the time difference of the vibration of the front wheel and the rear wheel of the vehicle, so that more accurate vehicle positioning is realized.)

1. a method of measuring a speed of a vehicle, comprising:

Continuously acquiring the acceleration of the vehicle in the vertical direction;

according to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;

Calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;

And acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.

2. a method of measuring vehicle speed according to claim 1, further comprising:

Acquiring an initial running speed and an acceleration in a horizontal direction of a vehicle;

Calculating to obtain a second running speed of the vehicle at a set moment according to the initial running speed of the vehicle and the acceleration in the horizontal direction;

and performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.

3. The method for measuring the speed of the vehicle according to claim 2, wherein the fusion calculation of the first running speed and the second running speed at the same time to obtain the fusion running speed of the vehicle at the time comprises:

And carrying out weighted average calculation or Kalman filtering calculation on the first running speed and the second running speed to obtain the fusion running speed of the vehicle.

4. A method according to any one of claims 1 to 3, wherein before said identifying a point in time at which a front wheel of said vehicle vibrates over an obstacle and a point in time at which a rear wheel vibrates over said obstacle based on acceleration of said vehicle in a vertical direction, further comprising:

and carrying out low-pass filtering processing on the acceleration in the vertical direction.

5. a vehicle positioning method, based on the vehicle speed measuring method of any one of claims 1 to 4, further comprising:

Acquiring an initial positioning position and a course of a vehicle;

Calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.

6. A vehicle speed measuring device, comprising:

The first acquisition module is used for continuously acquiring the acceleration of the vehicle in the vertical direction;

The vibration time point identification module is used for identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the acceleration of the vehicle in the vertical direction;

The time length calculation module is used for calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;

And the first vehicle speed calculating module is used for acquiring a vehicle wheel base and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.

7. A vehicle speed measurement device according to claim 6, further comprising:

The second acquisition module is used for acquiring the initial running speed and the acceleration in the horizontal direction of the vehicle;

the second vehicle speed calculation module is used for calculating and obtaining a second running speed of the vehicle at a set moment according to the initial running speed of the vehicle and the acceleration in the horizontal direction;

and the fusion calculation module is used for performing fusion calculation on the first running speed and the second running speed at the same moment to obtain the fusion running speed of the vehicle at the moment.

8. the vehicle speed measuring device according to claim 7, wherein the fusion calculation module is further configured to perform weighted average calculation or kalman filter calculation on the first traveling speed and the second traveling speed to obtain the fusion traveling speed of the vehicle.

9. A vehicle speed measurement device according to any of claims 6 to 8, further comprising:

And the filtering module is used for carrying out low-pass filtering processing on the acceleration in the vertical direction before the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle are identified according to the acceleration in the vertical direction of the vehicle.

10. A vehicle positioning device comprising the vehicle speed measuring device according to any one of claims 6 to 9, and further comprising:

the positioning module is used for acquiring an initial positioning position and a course of a vehicle and calculating and acquiring a current positioning position of the vehicle according to the initial positioning position, the course and a first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.

11. An electronic device, comprising:

a memory for storing a program;

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

continuously acquiring the acceleration of the vehicle in the vertical direction;

According to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;

calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;

and acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.

12. an electronic device, characterized in that, on the basis of the electronic device of claim 11, the processor is further configured to:

Acquiring an initial positioning position and a course of a vehicle;

Calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.

Technical Field

The invention relates to the technical field of computers, in particular to a vehicle speed measuring and positioning method and device and electronic equipment.

Background

Vehicle Dead Reckoning (VDR) technology estimates the current position of a Vehicle by combining the speed and the heading based on the position of the Vehicle measured last time. The existing navigation device uses VDR technology, and uses a Global Positioning System (GPS) and an inertial sensor to perform fusion positioning of a vehicle.

under the existing technical conditions, the GPS positioning can only work normally if at least four satellites are in the view field of the GPS receiving module. In the urban environment where the GPS navigation precision is crucial, the sky sight is often blocked, and the GPS signals reflected by high-rise buildings cause serious multipath effect, thereby reducing the signal quality of the GPS. In a tunnel or an underground parking lot, GPS positioning cannot work due to GPS signal loss.

in the case where the GPS signal is weakened or missing, the navigation apparatus estimates the vehicle speed by an acceleration sensor (i.e., an accelerometer), calculates the heading by a sensor such as a gyroscope, and then estimates the current position of the vehicle.

in the process of implementing the invention, the inventor finds that the prior art has at least the following problems: under the scene that the absolute speed of the vehicle cannot be obtained through the GPS signal, the real-time vehicle speed can be estimated only through the change of the horizontal acceleration, and the measurement of the horizontal acceleration is easily influenced by centripetal acceleration caused by vibration, uphill and downhill and turning. Therefore, the estimation accuracy of the vehicle speed is low.

Disclosure of Invention

The embodiment of the invention provides a vehicle speed measuring and positioning method and device and electronic equipment, aiming at solving the defect of low speed calculation precision under the condition that GPS signals are weakened or lost in the prior art and improving the speed calculation precision.

In order to achieve the above object, an embodiment of the present invention provides a vehicle speed measurement method, including:

Continuously acquiring the acceleration of the vehicle in the vertical direction;

According to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;

Calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;

and acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.

the embodiment of the invention also provides a vehicle positioning method, which is based on the vehicle speed measuring method and further comprises the following steps:

acquiring an initial positioning position and a course of a vehicle;

Calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.

The embodiment of the present invention further provides a vehicle speed measuring device, including:

The first acquisition module is used for continuously acquiring the acceleration of the vehicle in the vertical direction;

The vibration time point identification module is used for identifying the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle according to the acceleration of the vehicle in the vertical direction;

The time length calculation module is used for calculating the time length between the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;

And the first vehicle speed calculating module is used for acquiring a vehicle wheel base and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.

the embodiment of the present invention further provides a vehicle positioning device, including the vehicle speed measuring device, further including:

The positioning module is used for acquiring an initial positioning position and a course of a vehicle and calculating and acquiring a current positioning position of the vehicle according to the initial positioning position, the course and a first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.

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:

continuously acquiring the acceleration of the vehicle in the vertical direction;

According to the acceleration of the vehicle in the vertical direction, recognizing the vibration time point of the front wheel of the vehicle passing through the obstacle and the vibration time point of the rear wheel passing through the obstacle;

Calculating a time length between a vibration time point of the front wheels of the vehicle passing through the obstacle and a vibration time point of the rear wheels passing through the obstacle;

And acquiring a vehicle wheel base, and dividing the vehicle wheel base by the time length to obtain a first running speed of the vehicle.

an embodiment of the present invention further provides an electronic device, and on the basis of the electronic device, the processor is further configured to:

acquiring an initial positioning position and a course of a vehicle;

Calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the first running speed of the vehicle; or calculating to obtain the current positioning position of the vehicle according to the initial positioning position, the course and the fusion running speed of the vehicle.

According to the vehicle speed measuring and positioning method and device and the electronic equipment provided by the embodiment of the invention, the change condition of the acceleration of the vehicle in the vertical direction is obtained by using the inertial sensor of the navigation equipment, the vibration information generated when the vehicle passes through an obstacle is detected, and the more accurate vehicle running speed is obtained through the time difference of the vibration of the front wheel and the rear wheel of the vehicle, so that the more accurate vehicle positioning is realized.

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 system block diagram of an embodiment of a business system provided by the present invention;

FIG. 2 is a flow chart of an embodiment of a method for measuring vehicle speed provided by the present invention;

FIG. 3 is a flow chart of another embodiment of a method for measuring vehicle speed according to the present invention;

FIG. 4a is a flowchart of one embodiment of a vehicle locating method provided by the present invention;

FIG. 4b is a schematic diagram of a vehicle positioning method according to an embodiment of the present invention;

FIG. 5 is a flow chart of another embodiment of a vehicle location method provided by the present invention;

FIG. 6 is a schematic structural diagram of an embodiment of a vehicle speed measuring device provided by the present invention;

Fig. 7 is a schematic structural diagram of another embodiment of the vehicle speed measuring device provided by the invention;

FIG. 8 is a schematic structural diagram of one embodiment of a vehicle positioning device provided in the present invention;

FIG. 9 is a schematic structural diagram of another embodiment of a vehicle positioning device provided in accordance with the present invention;

FIG. 10 is a schematic structural diagram of an embodiment of an electronic device provided in the present invention;

fig. 11 is a schematic structural diagram of another embodiment of the 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.

When a user uses the vehicle-mounted navigation equipment to navigate, the navigation equipment (such as a terminal like a smart phone) is fixed with a vehicle, the navigation equipment is used for acquiring a GPS signal, the vehicle speed and the driving direction are measured according to the GPS signal, and a gyroscope in the navigation equipment is combined to carry out dead reckoning so as to carry out positioning and navigation. And under the scene that the GPS signal is weakened or lost, the horizontal acceleration of the vehicle can be obtained only through an acceleration sensor of the navigation equipment, so that the real-time speed of the vehicle is estimated through the change of the acceleration in the horizontal direction and the initial speed of the vehicle. However, the measurement of the acceleration in the horizontal direction is easily affected by the centripetal acceleration due to vibration, uphill/downhill, and cornering, so that the estimation accuracy of the vehicle speed is low. Therefore, the application provides a vehicle speed measurement scheme, and its leading principle is: the method comprises the steps of acquiring the variation condition of the acceleration of a vehicle in a vertical direction by using inertial sensors (comprising an acceleration sensor for measuring the acceleration and a gyroscope for measuring the angular velocity) of a navigation device, and detecting vibration information generated when the vehicle passes through an obstacle (such as a speed bump or an uneven road) according to the time difference of the vibration of front wheels and rear wheels of the vehicle. Then, based on the time difference and the vehicle wheel base (i.e., the distance between the front and rear wheels of the vehicle), a more accurate vehicle running speed is calculated, and thus more accurate vehicle positioning can be achieved.

The method provided by the embodiment of the invention can be applied to any service system with an intelligent terminal navigation function. Fig. 1 is a system block diagram of an embodiment of a service system provided by the present invention, and the structure shown in fig. 1 is only one example of a service system to which the technical solution of the present invention can be applied. As shown in fig. 1, the service system includes a vehicle speed measuring device. This vehicle speed sensor includes: the first obtaining module, the vibration time point identifying module, the duration calculating module and the first vehicle speed calculating module may be configured to execute the following processing flows shown in fig. 2 and 3. In the service system, firstly, the acceleration of a vehicle in the vertical direction is continuously acquired, vibration time points of front and rear wheels of the vehicle passing through an obstacle are acquired according to the change of the acceleration in the vertical direction, and the time length between the vibration time points of the front and rear wheels passing through the obstacle is calculated; and finally, dividing the vehicle wheel base by the time length to obtain the running speed of the vehicle.

On the other hand, the service system may further include a positioning module, and each module in the positioning module and the vehicle speed measurement device constitutes a vehicle positioning device, which may be used to execute the processing flow shown in fig. 4a and fig. 5 described below. In the service system, the initial positioning position and the course of the vehicle can be obtained, and then the current positioning position of the vehicle is calculated according to the initial positioning position, the course and the vehicle running speed obtained by the vehicle speed measuring device. Therefore, the vehicle speed calculation precision is improved, more accurate and continuous vehicle positioning service is provided, and the user experience is improved in the scene that GPS signals are weakened or lost.

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.