CN105957387A - Driving state early warning method of fixed route vehicle - Google Patents
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Abstract
本发明公开了一种固定路线车辆的行驶状态预警方法，建立车辆行驶状态静态测试时空缓冲区监控模型，当车辆行驶范围超出空间缓冲扩展距离L设定的空间阈值时，判定行驶车辆属于空间越界状态；当车辆在相应弧段内的行驶时间小于弧段行驶时间范围H的最小值Min或者大于弧段行驶时间范围H的最大值Max和时间阈值h的和时，判定行驶车辆属于时间越界状态；当车辆出现越界状态时，将越界时的轨迹点作为新的起点，生成新的弧段并更新车辆行驶状态静态测试时空缓冲区监控模型参数，重新开始监控。本发明能够准确实时获取车辆状况，为车辆监控提供了良好的参考依据。
The invention discloses a driving state early warning method of a fixed-route vehicle, which establishes a time-space buffer monitoring model for a static test of the vehicle driving state, and determines that the driving vehicle belongs to a space out of bounds when the vehicle driving range exceeds the space threshold set by the space buffer extension distance L State: When the travel time of the vehicle in the corresponding arc segment is less than the minimum value Min of the arc segment travel time range H or greater than the sum of the maximum value Max of the arc segment travel time range H and the time threshold h, it is determined that the driving vehicle belongs to the time-out-of-bounds state ; When the vehicle is out of bounds, use the track point when it is out of bounds as a new starting point, generate a new arc segment and update the parameters of the monitoring model of the space-time buffer in the static test of the vehicle's driving state, and start monitoring again. The invention can accurately acquire the vehicle condition in real time, and provides a good reference basis for vehicle monitoring.
Description
技术领域technical field
本发明涉及一种预警方法，特别是一种固定路线车辆的行驶状态预警方法。The invention relates to an early warning method, in particular to an early warning method for a vehicle with a fixed route.
背景技术Background technique
GPS车辆监控系统是为了加强车辆的可视性运行管理而建立的集成系统。它采用GPS全球卫星定位技术、GIS地理信息技术、移动通信技术以及计算机处理技术等构建而成，通过管理中心和车载终端来帮助使用单位实现车辆的监控调度管理。通过车辆监控系统，可以实时了解车辆的位置、速度、行驶状态等信息；可以实现就近调度、遇险报警和求救报警；可以了解车辆历史行驶状态；可以对车辆的工作情况进行数据分析统计，并形成统计报表。车辆监控调度系统的建设，使得对车辆的管理更加科学、合理，在提高管理水平的同时，也减少了很多不必要的开支。The GPS vehicle monitoring system is an integrated system established to strengthen the visibility and operation management of vehicles. It is constructed using GPS global satellite positioning technology, GIS geographic information technology, mobile communication technology and computer processing technology, etc., and helps users realize vehicle monitoring, dispatching and management through the management center and vehicle-mounted terminal. Through the vehicle monitoring system, you can know the location, speed, driving status and other information of the vehicle in real time; you can realize nearby dispatching, distress alarm and emergency alarm; you can understand the historical driving status of the vehicle; you can analyze and count the working conditions of the vehicle, and form Statistical report. The construction of the vehicle monitoring and dispatching system makes the management of the vehicles more scientific and reasonable, while improving the management level, it also reduces a lot of unnecessary expenses.
现有的车辆监控系统的功能多以位置显示为主，辅以超速、疲劳驾驶等预警功能，这些状态功能反应的信息比较单一，不能让监控中心有效实时地获取车辆真正的运行状态，因此迫切需要一种能够对所有车辆进行全方位实时监控，筛选出异常状态车辆的结果的车辆的行驶状态预警方法。The functions of the existing vehicle monitoring system are mostly based on location display, supplemented by early warning functions such as speeding and fatigue driving. There is a need for a vehicle driving state early warning method that can monitor all vehicles in all directions in real time and screen out the results of abnormal state vehicles.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种固定路线车辆的行驶状态预警方法。The technical problem to be solved by the present invention is to provide a method for early warning of the driving state of vehicles with fixed routes.
为解决上述技术问题，本发明所采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
一种固定路线车辆的行驶状态预警方法，其特征在于包含以下步骤：A driving state early warning method for a fixed-route vehicle, characterized in that it comprises the following steps:
步骤一：建立车辆行驶状态静态测试时空缓冲区监控模型，主要参数包含空间缓冲扩展距离L、时间节点数量N、弧段行驶时间范围H、时间阈值h、距离阈值s、弧段平均行驶速度 Step 1: Establish a space-time buffer monitoring model for the static test of vehicle driving status. The main parameters include the space buffer expansion distance L, the number of time nodes N, the arc travel time range H, the time threshold h, the distance threshold s, and the average travel speed of the arc
步骤二：当车辆行驶范围超出空间缓冲扩展距离L设定的空间阈值时，判定行驶车辆属于空间越界状态；Step 2: When the driving range of the vehicle exceeds the space threshold set by the space buffer extension distance L, it is determined that the driving vehicle belongs to the space out-of-boundary state;
步骤三：弧段行驶时间范围H是车辆在相应弧段内的行驶时间，时间阈值h是车辆发生突发状况的延长时间，当车辆在相应弧段内的行驶时间小于弧段行驶时间范围H的最小值Min或者大于弧段行驶时间范围H的最大值Max和时间阈值h的和时，判定行驶车辆属于时间越界状态；Step 3: The travel time range H of the arc segment is the travel time of the vehicle in the corresponding arc segment, and the time threshold h is the extended time for the vehicle to have an emergency. When the travel time of the vehicle in the corresponding arc segment is less than the travel time range H of the arc segment When the minimum value Min of or greater than the sum of the maximum value Max of the arc travel time range H and the time threshold h, it is determined that the driving vehicle belongs to the time-out-of-bounds state;
步骤四：当车辆出现越界状态时，将越界时的轨迹点作为新的起点，生成新的弧段并更新车辆行驶状态静态测试时空缓冲区监控模型参数，重新开始监控。Step 4: When the vehicle is out of bounds, use the track point when it is out of bounds as a new starting point, generate a new arc segment and update the parameters of the monitoring model of the space-time buffer in the static test of the vehicle's driving state, and start monitoring again.
进一步地，所述空间缓冲扩展距离L为车辆偏移预定路线的阈值，当有服务区时，L值相应局部增大。Further, the space buffer extension distance L is a threshold value for the vehicle to deviate from the predetermined route, and when there is a service area, the value of L increases locally accordingly.
进一步地，所述时间阈值h由公式计算得到，其中Min是相应弧段行驶时间范围的最小值，Max是相应弧段行驶时间范围的最大值。Further, the time threshold h is given by the formula Calculated, where Min is the minimum value of the travel time range of the corresponding arc segment, and Max is the maximum value of the travel time range of the corresponding arc segment.
进一步地，所述弧段平均行驶速度由各弧段每天行驶平均速度计算平均值得到，距离阈值s由公式得到。Further, the average traveling speed of the arc segment The average value is calculated from the average speed of each arc every day, and the distance threshold s is given by the formula get.
进一步地，所述步骤四包含更新弧段起点、更新模型参数值和调用新生成的监控方案。Further, the fourth step includes updating the starting point of the arc segment, updating model parameter values and invoking the newly generated monitoring scheme.
进一步地，所述更新弧段起点过程为，当车辆在弧段Li内的某轨迹点Xk出现越界情况时，系统发出警报并同时运行一键恢复模块，将轨迹点Xk作为弧段Li新的起点，生成新的弧段Li′，即轨迹点Xi至节点i之间的弧段，后继的计算将基于Xk进行。Further, the process of updating the starting point of the arc segment is that when the vehicle crosses the boundary at a certain track point Xk in the arc segment Li, the system sends out an alarm and simultaneously runs the one-key recovery module, and uses the track point Xk as the new arc segment Li The starting point generates a new arc segment Li', that is, the arc segment between the trajectory point Xi and the node i, and subsequent calculations will be based on Xk.
进一步地，所述更新模型参数值过程为，弧段起始点更新后，新生成弧段Li′的行驶时间范围H′[Min′,Max′]、弧段平均行驶速度弧段时间阈值h′、弧段距离阈值s′发生改变，采用线性插值方法对参数值H′和进行更新，然后基于H′和的计算结果，分别计算时间阈值h′和距离阈值s′。Further, the process of updating the model parameter value is, after the starting point of the arc segment is updated, the travel time range H'[Min', Max'] of the newly generated arc segment Li', the average travel speed of the arc segment When the arc time threshold h' and the arc distance threshold s' change, the parameter value H' and is updated, and then based on H' and Calculate the results of the time threshold h' and the distance threshold s' respectively.
进一步地，所述线性插值方法过程为， 其中原始弧段Li行驶时间范围为H[Min,Max]，x、分别为Li的长度和平均行驶速度，x′为Li′的长度。Further, the process of the linear interpolation method is, Among them, the travel time range of the original arc section Li is H[Min,Max], x, are the length of Li and the average driving speed respectively, and x' is the length of Li'.
进一步地，所述调用新生成的监控方案过程为，采用车载的北斗或者GPS导航通信设备，设置某一按键的程序功能来实现新生成的监控方案触发调用，或者服务器后台采用隔段时间自动调用新生成的监控方案的方式来保证车辆的全程智能监控。Further, the process of invoking the newly generated monitoring scheme is to use the vehicle-mounted Beidou or GPS navigation communication equipment, set the program function of a certain button to realize the triggering call of the newly generated monitoring scheme, or the server background uses automatic calling at intervals The newly generated monitoring scheme is used to ensure the whole process of intelligent monitoring of the vehicle.
本发明与现有技术相比，具有以下优点和效果：通过对固定路线行驶车辆的轨迹分析，得到行驶规律，然后对所有车辆进行实时监控，筛选出异常状态车辆的结果，然后在监控中心可通过人工通信回访，确定车辆的情况，以为应急提供参考依据，监控信息参数多样，能够准确实时获取车辆状况，为车辆监控提供了良好的参考依据。Compared with the prior art, the present invention has the following advantages and effects: by analyzing the trajectory of vehicles traveling on a fixed route, the driving rules are obtained, and then all vehicles are monitored in real time, and the results of abnormal state vehicles are screened out, and then the monitoring center can Through manual communication return visits, determine the condition of the vehicle, and provide a reference for emergency response. The monitoring information parameters are diverse, and the vehicle status can be obtained accurately and in real time, providing a good reference for vehicle monitoring.
附图说明Description of drawings
图1是本发明的一种固定路线车辆的行驶状态预警方法的车辆行驶状态静态测试时空缓冲区监控模型示意图。FIG. 1 is a schematic diagram of a space-time buffer monitoring model for a static test of a vehicle running state in a method for early warning of a running state of a fixed-route vehicle according to the present invention.
图2是本发明的一种固定路线车辆的行驶状态预警方法的更新新弧段示意图。Fig. 2 is a schematic diagram of an updated new arc section of a method for early warning of a driving state of a fixed-route vehicle according to the present invention.
图3是本发明的一种固定路线车辆的行驶状态预警方法的车辆行驶状态静态测试时空缓冲区监控模型参数信息表。Fig. 3 is a parameter information table of the space-time buffer monitoring model for static testing of the vehicle driving state in a method for early warning of the driving state of a fixed-route vehicle according to the present invention.
具体实施方式detailed description
下面结合附图并通过实施例对本发明作进一步的详细说明，以下实施例是对本发明的解释而本发明并不局限于以下实施例。The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are explanations of the present invention and the present invention is not limited to the following examples.
如图所示，本发明的一种固定路线车辆的行驶状态预警方法，包含以下步骤：As shown in the figure, a method for early warning of the driving state of a fixed-route vehicle according to the present invention includes the following steps:
步骤一：建立车辆行驶状态静态测试时空缓冲区监控模型，主要参数包含空间缓冲扩展距离L、时间节点数量N、弧段行驶时间范围H、时间阈值h、距离阈值s、弧段平均行驶速度 Step 1: Establish a space-time buffer monitoring model for the static test of vehicle driving status. The main parameters include the space buffer expansion distance L, the number of time nodes N, the arc travel time range H, the time threshold h, the distance threshold s, and the average travel speed of the arc
步骤二：当车辆行驶范围超出空间缓冲扩展距离L设定的空间阈值时，判定行驶车辆属于空间越界状态；Step 2: When the driving range of the vehicle exceeds the space threshold set by the space buffer extension distance L, it is determined that the driving vehicle belongs to the space out-of-boundary state;
步骤三：弧段行驶时间范围H是车辆在相应弧段内的行驶时间，时间阈值h是车辆发生突发状况的延长时间，当车辆在相应弧段内的行驶时间小于弧段行驶时间范围H的最小值Min或者大于弧段行驶时间范围H的最大值Max和时间阈值h的和时，判定行驶车辆属于时间越界状态；Step 3: The travel time range H of the arc segment is the travel time of the vehicle in the corresponding arc segment, and the time threshold h is the extended time for the vehicle to have an emergency. When the travel time of the vehicle in the corresponding arc segment is less than the travel time range H of the arc segment When the minimum value Min of or greater than the sum of the maximum value Max of the arc travel time range H and the time threshold h, it is determined that the driving vehicle belongs to the time-out-of-bounds state;
步骤四：当车辆出现越界状态时，将越界时的轨迹点作为新的起点，生成新的弧段并更新车辆行驶状态静态测试时空缓冲区监控模型参数，重新开始监控。Step 4: When the vehicle is out of bounds, use the track point when it is out of bounds as a new starting point, generate a new arc segment and update the parameters of the monitoring model of the space-time buffer in the static test of the vehicle's driving state, and start monitoring again.
空间缓冲扩展距离L为车辆偏移预定路线的阈值，当有服务区时，L值相应局部增大。空间缓冲区的扩展距离L，此参数控制了车辆偏移预定路线的阈值，如果考虑到服务区等因素，则在不同的道路行驶区域，该值会有所变化。车辆行驶超出此空间缓冲区，又事先未和监控中心进行沟通，则处系统判定属于空间越界状态。时间节点的数量N，此参数决定了车辆轨迹自动预警监控方法的时间精度。弧段行驶时间范围H，该值表明车辆在相应弧段内的行驶时间，它决定了车辆的运行状态，如车辆若行驶到时间节点3处需要90分钟，而实际行驶时间为110分钟，又事先未和监控中心沟通，则该车辆处于时间越界状态。该参数是计算时间阈值和距离阈值的数据基础。时间阈值h，该参数是依据弧段行驶时间范围而确定的值，它为车辆行驶时发生突发状况提供了时间延长的可能。车辆在途行驶时总会遇到突发状况，如短时间内的堵车、车辆，没油等，这些事件可能会耽误行程，导致车辆不能按时到达指定区域。同时，此类事件也无需向监控中心沟通，增加监控中心的工作量。因此，弧段行驶时间范围就需要有一定的伸缩性，从而提出时间阈值这一参数。The spatial buffer extension distance L is the threshold for the vehicle to deviate from the predetermined route. When there is a service area, the value of L increases locally accordingly. The expansion distance L of the space buffer zone, this parameter controls the threshold for the vehicle to deviate from the predetermined route. If factors such as the service area are taken into account, the value will vary in different road driving areas. If the vehicle travels beyond the space buffer zone and has not communicated with the monitoring center in advance, the system will determine that it is a space out-of-boundary state. The number of time nodes N, this parameter determines the time accuracy of the vehicle trajectory automatic early warning monitoring method. Arc travel time range H, which indicates the travel time of the vehicle in the corresponding arc segment, which determines the running state of the vehicle. For example, if the vehicle travels to time node 3, it takes 90 minutes, but the actual travel time is 110 minutes. If there is no communication with the monitoring center in advance, the vehicle is in the state of time out of bounds. This parameter is the data basis for calculating the time threshold and distance threshold. Time threshold h, this parameter is a value determined according to the travel time range of the arc, which provides the possibility of time extension for unexpected situations when the vehicle is driving. Vehicles will always encounter unexpected situations when driving on the road, such as traffic jams, vehicles, and lack of fuel in a short period of time. These events may delay the trip and cause the vehicle to fail to arrive at the designated area on time. At the same time, such events do not need to be communicated to the monitoring center, increasing the workload of the monitoring center. Therefore, the travel time range of the arc needs to have certain flexibility, so the parameter of time threshold is proposed.
时间阈值h由公式(1)计算得到，Min是相应弧段行驶时间范围的最小值，Max是相应弧段行驶时间范围的最大值。如弧段1，行驶时间范围是[70，90]，Min＝70，Max＝90，计算得弧段1行驶时间阈值h＝13分钟。The time threshold h is calculated by formula (1), Min is the minimum value of the travel time range of the corresponding arc segment, and Max is the maximum value of the travel time range of the corresponding arc segment. For example, in arc 1, the travel time range is [70, 90], Min=70, Max=90, and the arc 1 travel time threshold h=13 minutes is calculated.
弧段平均行驶速度由各弧段每天行驶平均速度计算平均值所求得，它反映了弧段内车辆行驶的状态，是计算距离阈值s的数据依据。距离阈值s，该参数是由时间阈值h和弧段内车辆平均速度决定的。理论上，在一定时间内，车辆以一定的速度会行驶一定的距离。在车辆实际行驶中，并不能确保在一定的时间内行驶相应的距离，到达指定地点。所以此时就需要行驶的里程具有伸缩性，来调节适应情况的发生。距离阈值s由公式(2)计算得到。Average driving speed of the arc It is obtained by calculating the average value of the average daily driving speed of each arc segment. It reflects the driving state of the vehicle in the arc segment and is the data basis for calculating the distance threshold s. Distance threshold s, this parameter is determined by the time threshold h and the average vehicle speed in the arc segment decided. In theory, a vehicle will travel a certain distance at a certain speed within a certain period of time. In the actual driving of the vehicle, it cannot be guaranteed to travel the corresponding distance within a certain period of time to reach the designated location. Therefore, at this time, the mileage needs to be flexible to adjust and adapt to the occurrence of the situation. The distance threshold s is calculated by formula (2).
提出的车辆监控模型是静态的模型，模型的各参数值是根据车辆历史轨迹数据通过统计分析得到的，一旦车辆行驶路线确定，则各参数值将确定，模型依据确定的参数对轨迹进行监控。当车辆在途行驶出现越界状态时，系统的处理方式是发出报警并等待司机调整行驶状态，监控系统对车辆的监控将在越界点之后继续进行，模型继续依据参数累积计算行驶路程。结合长途和短途车辆轨迹的模拟监控分析结果可以发现，在静态监控模型进行轨迹监控期间，当某弧段内出现越界情况时，该弧段内会持续出现越界情况，监控中心将不断发出警报，增加监控工作的难度。为了提高模型的监控效率和准确度，可以对监控模型进行优化，实现轨迹监控的“一键恢复”功能，使非正常停滞一定时段后的车辆仍然可以采用本监控模型。The proposed vehicle monitoring model is a static model. The parameter values of the model are obtained through statistical analysis based on the historical vehicle trajectory data. Once the vehicle driving route is determined, the parameter values will be determined, and the model monitors the trajectory according to the determined parameters. When the vehicle crosses the boundary while driving, the system will issue an alarm and wait for the driver to adjust the driving state. The monitoring system will continue to monitor the vehicle after the crossing point, and the model will continue to calculate the driving distance based on the accumulated parameters. Combining the simulation monitoring and analysis results of long-distance and short-distance vehicle trajectories, it can be found that during the trajectory monitoring of the static monitoring model, when there is an out-of-boundary situation in a certain arc, the out-of-boundary situation in the arc will continue to occur, and the monitoring center will continue to issue alarms. Increase the difficulty of monitoring work. In order to improve the monitoring efficiency and accuracy of the model, the monitoring model can be optimized to realize the "one-button recovery" function of trajectory monitoring, so that vehicles that have abnormally stagnated for a certain period of time can still use this monitoring model.
优化方案主要针对弧段起始点，优化后的模型能够在越界状态出现超过一定时段后实现对弧段起始点的实时更新，生成一个新的弧段起点继续弧段后继轨迹的处理。The optimization scheme is mainly aimed at the starting point of the arc segment. The optimized model can realize the real-time update of the starting point of the arc segment after the out-of-boundary state occurs for a certain period of time, and generate a new starting point of the arc segment to continue the processing of the subsequent trajectory of the arc segment.
1)更新弧段起点1) Update the starting point of the arc segment
当车辆在弧段Li(i>0)内的某轨迹点Xk(k>0)出现越界情况时，系统发出警报并同时运行“一键恢复”模块，将轨迹点Xk作为弧段Li新的起点，生成新的弧段Li′，即轨迹点Xi至节点i之间的弧段，后继的计算将基于Xk进行。When the vehicle crosses the boundary at a certain trajectory point Xk (k>0) in the arc segment Li (i>0), the system will send out an alarm and run the "one-key recovery" module at the same time, and use the trajectory point Xk as the new arc segment Li The starting point generates a new arc segment Li', that is, the arc segment between the trajectory point Xi and the node i, and subsequent calculations will be based on Xk.
2)更新模型参数值2) Update model parameter values
弧段起始点更新后，新生成弧段Li′的行驶时间范围H′[Min′,Max′]、弧段平均行驶速度将会改变，弧段时间阈值h′、弧段距离阈值s′也会随之改变。因此，弧段起点更新后，需要对该弧段涉及的模型参数值进行更新。在此，采用线性插值方法对参数值H′和进行更新，插值方法核心公式见公式(3)和公式(4)，其中原始弧段Li行驶时间范围为H[Min,Max]，x、分别为Li的长度和平均行驶速度，x′为Li′的长度。然后基于H′和的计算结果，利用公式(1)和公式(2)分别计算时间阈值h′和距离阈值s′。After the starting point of the arc segment is updated, the driving time range H′[Min′,Max′] of the newly generated arc segment Li′, and the average driving speed of the arc segment will change, and the arc time threshold h' and the arc distance threshold s' will also change accordingly. Therefore, after the starting point of the arc segment is updated, the model parameter values involved in the arc segment need to be updated. Here, the parameter values H′ and For updating, the core formula of the interpolation method is shown in formula (3) and formula (4), where the travel time range of the original arc segment Li is H[Min,Max], x, are the length of Li and the average driving speed respectively, and x' is the length of Li'. Then based on H' and The calculation results of the formula (1) and formula (2) are used to calculate the time threshold h' and the distance threshold s' respectively.
3)调用新生成的监控方案3) Call the newly generated monitoring scheme
可采用车载的北斗或者GPS导航通信设备，设置某一按键的程序功能来实现该优化方案的“一键式”触发调用，或者服务器后台采用隔段时间自动调用优化模型的方式来保证车辆的全程智能监控。The Beidou or GPS navigation and communication equipment on the vehicle can be used to set the program function of a certain button to realize the "one-button" trigger call of the optimization scheme, or the server background can automatically call the optimization model at intervals to ensure the whole process of the vehicle Intelligent monitoring.
本说明书中所描述的以上内容仅仅是对本发明所作的举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种修改或补充或采用类似的方式替代，只要不偏离本发明说明书的内容或者超越本权利要求书所定义的范围，均应属于本发明的保护范围。The above content described in this specification is only an illustration of the present invention. Those skilled in the technical field to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, as long as they do not deviate from the content of the present invention specification or exceed the scope defined in the claims, all should Belong to the protection scope of the present invention.
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