CN101608926A - Multilevel multi-modal routing navigating method - Google Patents
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Abstract
Multilevel multi-modal routing navigating method relates to a kind of footpath navigation of seeking.Set up road axis ode table and segmental arc table, generate topological file T1 and T2, input starting point S and terminal point D read road axis and runway attribute data, calculate optimal path R1 and R2 based on T1 and T2; Set up actual track topological structure T3, record physics track ID, virtual track ID and related starting point ID and terminal point ID; Read actual track attribute data, calculate optimal path R3 based on T3; Dynamically generate the buffer zone B1 of certain limit d1 according to R1, select the building collection L1 in the B1, express L1 in the 2D visualization window, select the landmark collection L2 among the L1, in the 2.5D visualization window, express L2, according to drivers's coordinate position, the buffer zone B2 of dynamic dispatching d2, select the real-time visual terrestrial reference L3 that comprises L2 in the B2, in B2, dynamically call in the road traffic related facility.
Description
Technical field
The present invention relates to a kind of footpath navigation of seeking, particularly relate to a kind of multilevel multi-modal routing navigating method when being used for various vehicle driving.
Background technology
A gordian technique in many important applied field such as the service that seeking directly navigates is based on the position, intelligent transportation, emergency reaction.Along with the fast development in city, complicated road network system and means of transportation have appearred in the big city, such as viaduct, underpass, auxilliary road, viaduct etc., all present typical three-dimensional feature.Incident is dynamic, diversity and the specialization of traffic control, for example turns to restriction, one-way trip, Emergency Vehicle Lane, speed limit track etc.In the face of so complicated traffic environment, the service quality of seeking the footpath navigation has had new requirement, is presented as personalized and linguistic context (personalized ﹠amp especially; Contextual).
The path query of at first, satisfying personalized different road network levels.For the user who is familiar with local road traffic environment, needing to understand concrete which bar track can pass through; And, be concerned about how to arrive the destination for the user who is not familiar with the local transit environment, only need to understand which bar street and allow current.Promptly seek the footpath problem at many levels.
Secondly, the visual of navigation information varies with each individual, because of scape different.Such as, the individual user needs three-dimensional navigation scene true to nature to experience local environment on the spot in personly, and other users need provide whole route indication, and the user needs the switching between the different mode in addition, maximizes scene comprehensively and experiences.In addition, the navigation content under the different conditions is not quite similar, and need provide disaster relevant information such as the navigation Service under the calamity emergency situation.It is multi-modal navigation problem.
At present, the principal element of restriction multilevel multi-modal routing navigating development has: the road net model tormulation is improper, seek at many levels that the footpath algorithm is improper, the navigation thinking does not match.Below make simple analysis with regard to the problems referred to above.
(1) road network model misrepresentation
Tradition is sought the road axis that the footpath air navigation aid is based on two dimension mostly, with the multilevel traffic of complexity abstract be simple node, with single segmental arc expression whole street.This describing method obviously can not be expressed complicated multilevel traffic, particularly expresses the topological relation between single track and the complexity of crossing and turns to relation.Relevant improving one's methods arranged in recent years, mainly is to express multilevel traffic by the nonplanar network method, or embodies the restriction that turns to of crossing with GO TO table method or dual graph, or writes down single track topology with the linear reference method.It seems that comprehensively the relevant interdependent geometry entity of improving one's methods remains road axis or comprehensive track, still rests on two dimension in the visual expression.Relevant document has: 1, Fohl, Curtin, Goodchild et al.ANon-Planar, Lane-Based Navigable Data Model for ITS.7th International Symposium on SpatialData Handling, 1996; 2, Lu Feng, Zhou Chenghu, ten thousand celebratings. based on the urban traffic network on-plane surface data model of feature. mapping journal, 2000,29 (4): 334-341; 3, what Guiping, Zhao Hongduo, Yao Zukang. based on the OO grade separation model of linear reference system. highway communication science and technology, 2001,6:86-89; 4, Jiang, Han and Chen.Modelling Turning Restrictionsin Traffic Network for Vehicle Navigation System.Symposium on geospatial theory, processing andapplications, 2002; 5, Winter.Modeling Costs of Turns in Route Planning.GeoInformatica, 2002,6 (4): 345-361; 6, Han Gang, Jiang Jie, Chen Jun treat etc., take the segmental arc dijkstra's algorithm of road turning restriction in the onboard navigation system into account. mapping journal, 2002,31 (4): 366-368; 7, Cova and Johnson.A Network Flow Model for Lane-basedEvacuation Routing.Transportation Research Part A:Policy and Practice, 2003,37 (7): 579-604; 8, Zuo Xiaoqing, Li Qingquan, Xie Zhiying. based on the road data model in track. Chang An University's journal (natural science edition), 2004,24 (2): 73-76; 9, appoint just Wang Wei, Deng Wei. band turns to shortest route problem and the method for solving thereof of incuring loss through delay and limiting. Southeast China University's journal (natural science edition), 2004,34 (1): 104-108; 10, Malaikrisanachalee and Adams.Lane-based Networkfor Transportation Network Flow Analysis and Inventory Management.TRR Journal of theTransportation Research Board, 2005,1935:101-110; 11, Li and Lin.A Trajectory-OrientedCarriageway-Based Road Network Data Model, Part 1:Background.Geo-spatiaI InformationScience, 2006,9 (1): 65-70.
(2) seek at many levels the footpath algorithm improper
The present footpath algorithm of seeking at many levels mainly contains two types, and a kind of is the attribute hierarchies information (national highway, major trunk roads, subsidiary road and branch road etc.) of utilizing road net intrinsic, preferentially selects the high highway section of category of roads.Another kind is to utilize multistage road net structure like the structure pyramid of multiple dimensioned data source nature (1: 50000,1: 10000 and 1: 5000 etc.), preferentially selects the small scale road network to optimize and seeks footpath efficient.Analysis-by-synthesis can be seen, seeks the footpath algorithm at many levels for these two kinds and all can not solve the footpath problem of seeking at many levels that " road axis-runway-actual track " this class is considered spatial cognition rule and reasoning rule.Pertinent literature has: 12, Quek and Srikanthan.A hierarchical representation of roadway networks 7th World Congress onIntelligent Transportation Systems, 2000; 13, Park, Sung, Doh et al.Finding a path in thehierarchical road networks.Proceedings of 2001 IEEE Intelligent Transportation Systems, 2001,936-942; 14, Jagadeesh, Srikanthan and Quek.Heuristic Techniques for Accelerating HierarchicalRouting on Road Networks.IEEE Transactions on intelligent transportation system 2002,3 (4): 301-309; 15, Chen Ze king, Yuan's letter. based on a kind of real-time vehicle path planning algorithm of layering decomposition. Nanjing Aero-Space University's journal, 2003,35 (2): 193-197; 16, Fu Mengyin, Li Jie, Deng Zhihong. based on the novel path planning algorithm of layering road network. computer-aided design (CAD) and graphics journal, 2005,17 (4): 719-722; 17, Chen Yumin, Gong Jianya, Shi Wenzhong. the optimal path algorithm research of multistage road net. Wuhan University's journal information science version, 2006,31 (1): 70-73).
(3) the navigation thinking does not match
From the visual angle of navigating, the focus that the past people pay close attention to often concentrates on two aspects: the first satisfies different traffic trip modes (such as train, public transport, highway, pedestrian etc.) or different information interaction mode (voice, image, touch etc.) the visual service of navigation, promptly so-called multi-modal navigation; Another kind is to utilize appropriate landmark enhanced navigation effect of visualization, promptly so-called ground marker navigation.These two kinds navigation thinkings have satisfied the integrality and the verisimilitude of navigation Service to a certain extent, but can't solve personalized question, particularly vary with each individual, because of the different multi-modal navigation problem of scape.Pertinent literature has: 18, Goodchild.GIS and Transportation:Status and Challenges.GeoInformatica, 2000,4 (2): 127-139; 19, Timpf and Heye.Complexity of routes in multi-modal wayfinding.Second InternationalConference on Geographic Information Science, 2002; 20, Brenner and Elias.Extracting landmarksfor car navigation systems using existing GIS databases and laser scanning.ISPRS Archives, 2003, XXXIV (Part 3/W8): 17-19; 21, Elias and Brenner.Automatic Generation and Application ofLandmarks in Navigation Data Sets.11th International Symposium on Spatial Data Handling, 2004; 22, Li Yuan. based on the architectural scale multi-mode emergency route planning of semantic information. Central China building, 2007,25 (3): 109-111; 24, Xiong Liyin, Lu Feng, Chen Chuanbin. city multimode traffic network characterization connected relation is expressed model. Wuhan University's journal information science version, 2008,33 (4): 393-396.
Domestic related application, such as publication number be the application for a patent for invention of CN101191730 disclose a kind of in auto-navigation system the method and the device thereof of retrieval user point of interest (points of interest) database.The information retrieval method of auto-navigation system may further comprise the steps: be information necessary in the searching interest point data base, generate the general index of relevant numeric type data and the full treatment step of the inverted file index of the title that not have to sort; Differentiating the search condition of input, under the situation that title is retrieved separately, is that step is for information about retrieved and exported on the basis with the inverted file index to above-mentioned title; Differentiate the search condition of input, under the situation beyond title is retrieved separately,, retrieve and export step for information about based on the general index of above-mentioned numeric type data.
Publication number provides for the application for a patent for invention of CN1724976 on the picture of navigational system by user's requirement display frame treatment situation step by step.
Although above-mentioned patent documentation has promoted the personalized level of seeking the footpath navigation Service, and does not match different scale applied environment (such as macroscopical 2D, middle sight 2.5D and microcosmic 3D).Up to the present, yet there are no complete multilevel multi-modal routing navigating patent documentation.
Summary of the invention
The object of the present invention is to provide a kind of multilevel multi-modal routing navigating method when being mainly used in various vehicle driving.
The present invention includes following steps:
1) according to the road axis geometric data, set up road axis ode table and segmental arc table, generate topological file T1, write down each segmental arc ID, start node ID and stop node ID;
2) according to runway center line geometric data and crossing region geometry data, generate topological file T2, write down the connected relation in each runway and the zone, crossing;
3) input starting point S and terminal point D reads road axis attribute data and runway attribute data, utilizes dijkstra's algorithm to calculate optimal path R1 and R2 based on topological file T1 and topological file T2 respectively;
4) according to optimal path R2, read related with it runway data set, set up actual track topological structure T3, record physics track ID and virtual track ID, and related starting point ID and terminal point ID;
5) read actual track attribute data, utilize the optimal path R3 of dijkstra's algorithm calculating based on actual track topological structure T3;
6) according to optimal path R1, dynamically generate the buffer zone B1 of certain limit d1, filter out the building collection L1 in the buffer zone B1 scope, express building collection L1 in the 2D visualization window with diagramatic way, overall navigational environment is provided;
7) call the building attribute information, further filter out the landmark collection L2 among the building collection L1 that meets the demands, in the 2.5D visualization window,, see navigational environment in providing with axonometric drawing model tormulation landmark collection L2;
8) according to drivers's coordinate position, the buffer zone B2 of dynamic dispatching certain limit d2, further screen the real-time visual landmark collection L3 that comprises landmark collection L2 in the buffer zone B2 scope, give respective texture, and in buffer zone B2 scope, dynamically call in the road traffic related facility, 3D microcosmic navigational environment is provided.
In step 3), described road axis attribute data comprises distance, average speed etc., and described runway attribute comprises data such as distance, the unidirectional speed of a motor vehicle, crossing time delay.
In step 4), described actual track attribute data comprises current observation time in track and current stand-by period of crossing etc.
In step 7), described building attribute information comprises character, height etc.
In step 8), described road traffic related facility comprises street lamp, traffic indication board etc.
Described step 2) in, according to runway center line geometric data and crossing region geometry data, generate topological file T2, the method that writes down the connected relation in each runway and the zone, crossing may further comprise the steps:
1) according to the runway geometric data, set up runway ode table and segmental arc table, generate runway local topology file T2
*, write down each runway ID, start node ID and stop node ID;
2) utilize the crossing geometric data, extract its how much barycenter, set up crossing's ode table, and record crossing determinant attribute information, described crossing determinant attribute information comprises enters a profession track ID and goes out runway ID etc.;
3) according to crossing ode table and runway local topology file T2
*, newly-built crossing region topology file T2#, connection segmental arc ID, start node ID in the record zone, crossing and termination node ID;
4) merge runway local topology file T2
*With crossing region topology file T2#, generate topological file T2, write down complete runway connected relation.
In the described step 4),, read with it related runway data set, set up actual track topological structure T3 according to optimal path R2, record physics track ID and virtual track ID, and related starting point ID and the method for terminal point ID may further comprise the steps:
1) reads the runway ID data set related, generate the fundamental of actual track topology, make up actual track local topology file T3 according to the attribute data of each runway ID correspondence with optimal path R2
*Write down each physics track ID, start node ID and stop node ID, the attribute data of described each runway ID correspondence comprises actual number of lanes etc., the fundamental of described actual track topology comprise by the runway direction from left to right serial number represent actual track attribute;
2) utilize the number information in actual track and the turning restrictive condition of crossing, replenish the virtual track ID of crossing, make up the local topology file T3# of crossing, write down each virtual track ID, start node ID and stop node ID, the turning restrictive condition of described crossing comprises craspedodrome, left-hand rotation, the control etc. of turning right;
3) merge actual track local topology file T3
*Local topology file T3# with crossing generates topological file T3^, writes down complete static actual track connected relation;
4) detect whether the incident of existence and event property thereof are arranged, the mutual click of mouse carried out track discretize processing, dynamically increases actual track node and actual track segmental arc, generates dynamic topology T3 on topological file T3^ basis.
The present invention is based on multi-level road network model and multiple dimensioned BUILDINGS MODELS, rely on the three-dimension GIS system, automatically make up actual track, runway and road axis three-layer network topological structure by semantic relation, multi-level path optimization algorithm is provided, set up the visual navigation window of 2D, 2.5D and three kinds of mode of 3D, the route guidance of corresponding macroscopic view, middle sight and microcosmic respectively, satisfying personalized linguistic context self-adaptation navigation demand.
The Basic Ways that the present invention realizes is according to given departure place and destination, at first, analyzes the topological network of road axis, satisfies macroanalysis and visual needs, the particularly needs of the dynamic dispatching of icon model; And then see the runway topological network of level in analyzing, and take all factors into consideration and flow to and turn and limit in the crossing, the minimum initial data set of optimal path is provided for the selection in actual track.At last, according to the actual track topology information of association and actual track attribute information etc., determine practicable track at the microcosmic level.In navigation information output, consider the control of two-layer mode: first application context mode, " role " by definition (role) and " environment " (situation) control the content of visual output; It two is a visualization window mode, decomposes navigation information, the overall situation and local message that the maximization input is navigated by " two-dimensional map view ", " the 2.5 dimension navigator views " and " three-dimensional behavior view " set.
Description of drawings
Fig. 1 is a principle schematic of the present invention.
Fig. 2 seeks the footpath process flow diagram at many levels for the present invention.
Fig. 3 is the multi-modal navigation flowcharts of the present invention.
Fig. 4 is road axis constructing network topology figure of the present invention.
Fig. 5 is runway constructing network topology figure of the present invention.
Fig. 6 is the actual track of the present invention constructing network topology figure.
Fig. 7 is a 2D map modal data tissue of the present invention.
Fig. 8 is 2.5D navigation modal data tissue of the present invention.
Fig. 9 is a 3D behavior modal data tissue of the present invention.
Embodiment
Following examples will the present invention is further illustrated in conjunction with the accompanying drawings.
Referring to Fig. 1, technical scheme principle of the present invention is based on multi-level Three-dimensional Numeric Map database, comprise multi-level three-dimensional road network model and multiple dimensioned three-dimensional building model, under the support of high precision vehicle positioning technology, utilize the three-dimension GIS system operation platform, multi-level path optimization and multi-modal path navigation are provided, satisfy the personalized navigation Service in the complicated urban environment.Be explained as follows at wherein key modules:
1) multi-level three-dimensional road network model:,, be organized as the geometry and the network topology structure of " road axis-runway-actual track " three levels with same road, and make up its internal relations according to the level of detail difference.Wherein, the road-center line structure is with the geometric shape of single line abstractdesription road, and its locus places road central authorities; Runway is described the geometric shape of road with two-wire, and the two-wire locus places the center of the flow direction respectively; Actual track is with the geometric shape of multi-thread description road, according to function difference be subdivided into physics track and virtual track (how much bands in track in the corresponding real road network in physics track, virtual track realize the physics track laterally with the zone, crossing in be connected).
2) high precision vehicle location: with the high precision vehicle positioning technology is support, centimetre-sized vehicle Real-time and Dynamic three-dimensional coordinate information is provided, cooperate the track band geological information in the multi-level three-dimensional road network model, can extrapolate the particular location of vehicle on actual track.
3) 3DGIS man-machine interface: three-dimension GIS provides data processing and visual platform, and three-dimensional spatial analysis functions such as three-dimensional buffer zone analysis and the three-dimensional multi-scale expression control of band texture particularly is provided.Utilize the 3DGIS man-machine interface, can inquire about three-dimensional above and below ground object in real time, the overall situation and local visible environment are provided at three dimensions.
4) multi-level path optimization: this function is on multi-level three-dimensional road network models, designs corresponding path calculation method respectively, and the path based on road axis, the path of runway and the path in actual track are provided.
5) multi-modal path navigation: based on the result of multi-level path optimization, consider multi-level Three-dimensional Numeric Map database, on the 3DGIS platform, develop 2D, 2.5D and 3D navigation visualization window, correspondence figure mode navigation on a macro scale respectively, the navigation of mesoscopic model mode and the navigation of microscopic behavior mode.
6) personalized application environment: the whole external demand of seeking the footpath navigation Service, be presented as the personalization apolegamy of navigation content, the selection of navigation mode.
Referring to Fig. 2, the algorithm flow of seeking the footpath at many levels comprises structure three-layer network topological structure T1, T2 and T3.Wherein, T1 and T2 are independent structures, and T3 further makes up on the R2 basis.The input content of seeking the footpath algorithm flow at many levels is three-dimensional scenic, inquiry starting point and terminal point, and output content is R1, R2 and R3.At first, according to the topological network (topological T1) and the runway topological network (topological T2) of predefined process (topology constructing 1 and topology constructing 2) analysis road axis, calculate road-center thread path (path R1) and runway path (path R2) with predefined process (Dijkstra seeks the footpath algorithm).Then, utilize path R2 to read related partial row's lane information, analyze actual track topological network (topological T3), calculate path, actual track (path R3) with predefined process (Dijkstra seeks the footpath algorithm) according to predefined process (topology constructing 3).
Referring to Fig. 3, the algorithm flow of multi-modal navigation is with R1, and R2 and R3 are the basis, by the method for data screening layer by layer, expressed with 2D map view, 2.5D navigator views and 3D behavior view respectively.Wherein, multiple dimensioned model database is an important foundation of the present invention, comprises 2D diagram, 2.5D axonometric drawing and the 3D model of building.At path R1, utilize buffer zone analysis 1 to call the 2D diagram, produce and analyze data (diagram collection L1), and offer the 2D map view.Simultaneously,, call in predefined process (semantic analysis), read building height attribute and character attribute, filter out terrestrial reference collection L2, and offer the 2.5D navigator views based on L1 and axonometric drawing database.Then,, call in predefined process (buffer zone analysis 2), calculate the 3D building collection L3 in the visual line of sight, and offer 3D behavior view based on L2 and 3D model bank.
Implementation procedure of the present invention adopts computer automation to handle, and may further comprise the steps:
Step 2 is referring to Fig. 5.According to runway center line geometric data and crossing region geometry data, generate topological file T2, write down the connected relation in each runway and the zone, crossing.Runway geometric network of the present invention is not how much connections, is to realize that by the zone, crossing logic is communicated with.On specific implementation, by introducing the mode of crossing node, in the zone, crossing, set up virtual connection segmental arc, set up the annexation in the zone, crossing, whole runway cellular logic is communicated with.
For the ease of implementing, the invention provides the concrete mode of step 2, may further comprise the steps:
Step 2.1 according to the runway geometric data, is set up runway ode table and segmental arc table, generates runway local topology file T2
*The present invention reads every runway point set successively according to the runway geometric data, sets up the segmental arc table.Then, obtain in the runway point set and have a few, extract node from beginning to end, and inspection has or not repetition, remove the repetition node, set up the runway ode table.Then, according to coordinate position, the table that establishes a connection generates runway local topology file T2 by segmental arc ID in node ID in the ode table and the segmental arc table
*, write down each runway ID, start node ID and stop node ID.
Step 2.2 is utilized the crossing geometric data, extracts its how much barycenter, sets up crossing's ode table, and record crossing determinant attribute information (go into runway ID and go out runway ID).The present invention stores each crossing separately, is the runway connected relation of object tissue crossing with the crossing.On implementation, at first choose the crossing geometric object, be selected into the runway geometric object of crossing then successively, select the driveway geometric object of crossing after the affirmation more successively.Under the default situations, system confirms to go into runway and go out runway according to the digitizing direction of runway automatically.Then, according to the apex coordinate collection of crossing object, calculate center-of-mass coordinate and write down generation crossing ode table barycenter ID number.The crossing ode table is recorded into runway ID collection and goes out runway ID collection.
Step 2.3 is according to crossing ode table and T2
*, newly-built crossing region topology file T2#, connection segmental arc ID, the start node ID in the record zone, crossing and termination node ID.Among the present invention, the topological relation of inside, crossing is to realize by the segmental arc of setting up automatically between runway node and the crossing node.At first, utilize going into runway ID collection and going out runway ID collection in the ode table of crossing, find each runway ID, and at T2
*Two records of middle increase " are gone into crossing ID " and " going out crossing ID ", and the crossing id information is recorded each runway ID.Then, utilize the T2 that upgrades
*In each runway ID play period (F_Node) and endpoint number (T_Node), and go into to intersect the slogan (In_Node) and the slogan (Out_Node) that goes out to intersect, newly-built crossing intra-zone segmental arc ID, segmental arc starting point and terminal point are played period and are gone out to intersect slogan by runway respectively, perhaps the runway terminal point and the slogan of going into to intersect constitute, and finish crossing region topology file T2# and set up.
Step 2.4 merges T2
*And T2#, generate topological file T2, write down complete runway connected relation.This step is with newly-built crossing intra-zone segmental arc ID table, is increased in the runway ID table, constitutes a complete segmental arc-ode table.
Step 3, input starting point S and terminal point D, read road axis attribute data (distance, average speed) and runway attribute (distance, the unidirectional speed of a motor vehicle, crossing time delay) data, utilize dijkstra's algorithm to calculate optimal path R1 and R2 respectively based on T1 and T2.The present invention utilizes traditional Dijkstra to seek the footpath algorithm, calculates the optimal path of vehicle location to the destination.Because road-center spider lines and runway network data amount are not very big, the node number that can travel through calculating is not a lot, can meet the demands on efficiency of algorithm.On implementation, create two tables (Open table and Close table), preserve all respectively and generated and node of not investigating and the node of having visited.At first in the accesses network from starting point recently and the point that was not examined, this point is put into the Open table and is waited to look into.Find out apart from the nearest point of starting point from the Open table then, find out this and put all child nodes, put into the Close table changing the time.The child node that traversal is investigated this point calculates the weighted value of these nodes apart from starting point, puts child node in the Open table.At last, repeat preceding step, be sky up to the Open table, or find impact point.Among the present invention, for the road-center spider lines, the weight of consideration is a distance, and for the runway network, owing to have the traffic flow directivity, the weight of consideration is a transit time.
Step 4 is referring to Fig. 6.According to R2, read related with it runway data set, set up actual track topological structure T3, record physics track ID and virtual track ID, and related starting point ID and terminal point ID.Among the present invention, adopt the heuristic local method that makes up actual track topology, significantly reduce web search space and actual track network calculations efficient.On implementation, by setting up the actual track topology element on the expression highway section, physics track, by setting up the actual track connected relation in the expression zone, crossing, virtual track.Simultaneously, this research further contemplates the discretize in actual track and handles, and promptly maybe ought detect interim incident (blocking such as the track) at the prompting place of changing trains, and upgrades actual track topology.
For the ease of implementing, the invention provides the concrete mode of step 4, may further comprise the steps:
Step 4.1, read the runway ID data set related with R2, according to the attribute data (actual number of lanes) of each runway ID correspondence generate actual track topology fundamental (by the runway direction from left to right serial number represent actual track attribute), make up actual track local topology file T3
*, write down each physics track ID, start node ID and stop node ID.Among the present invention, actual track topology is derived by the runway geometric network, derive concrete actual track topology key element according to the actual number of lanes that writes down in the runway attribute list, and automatically the runway topology element that derives is write actual lane number according to the direction of runway.
Step 4.2, utilize the number information in actual track and the turning restrictive condition of crossing (control of keeping straight on, turn left, turn right), replenish the virtual track ID of crossing, make up the local topology file T3# of crossing, write down each virtual track ID, start node ID and stop node ID.The virtual track robotization that the present invention utilizes respective rule to control crossing makes up.On implementation, rule definition is as follows:
1) same highway section runway, numbering is set up virtual track between the minimum actual track, with the virtual track of turning around for the U type
2) the actual track, centre of runway is gone into by crossing, sets up virtual track with other actual tracks, centre that go out runway (remove same highway section and go out runway), with being Through Lane.
3) the actual track of the numbering maximum of runway is gone into by crossing, sets up virtual track with other actual tracks that go out the numbering maximum of runway (remove same highway section and go out runway), with being right-turn lane.
Wherein, because the actual number of lanes of each runway record changes, as above rule may produce and repeat virtual track, needs deletion repeating data automatically; In addition, each regional actual traffic planning has special case, need set up virtual track automatically according to actual steering restriction change traffic rules.
Step 4.3 merges T3
*And T3#, generate topological file T3^, write down complete static actual track connected relation.This step is with the virtual track of intra-zone, newly-built crossing segmental arc ID table, is increased in the physics track ID table, constitutes a complete actual track segmental arc-ode table.
Step 4.4, whether detect has the incident of existence and event property thereof, and mutual click of mouse carried out track discretize processing, dynamically increases actual track node and actual track segmental arc, generates dynamic topology T3 on the T3^ basis.The present invention considers two kinds of traffic behaviors, and a kind of is the behavior of changing between the actual track, and also a kind of is actual Lane Closed behavior under the interim incident.On implementation, handle automatically by computer for first kind, promptly according to the runway direction, choose 2/3 place for changing a little, actual track is divided into the speed-raising district and changes Dao Qu.Second kind is passed through the artificial runway geometric network of clicking, and specifies the position of actual Lane Closed alternately.Two kinds of processing modes all on the segmental arc of original physical track, increase intermediate node, and increase the virtual segmental arc between the intermediate node automatically, are updated to dynamic actual track topology T3.
Step 6 is referring to Fig. 7.According to R1, dynamically generate the buffer zone B1 of certain limit d1, filter out the building collection L1 in the B1 scope, express L1 in the 2D visualization window with diagramatic way, overall navigational environment is provided.The present invention adopts local two-dimensional diagram mode in the macroscopic view navigation is visual, maximum characteristics are that diagram has clear and definite feature and meaning, such as hotel, market, stopway, charge station etc.Employing ISO19117 preestablishes the two-dimensional diagram collection as illustrating the reference international standard of expressing according to building and type of ground objects, builds as the diagram that buffer zone analysis filters out in the R1 certain limit by the association of building character with to path R1.On implementation, the radius d1 default setting of R1 buffer zone is 50m, and whole navigational environment promptly provides the building symbolism all along the path to represent scene.For the extraneous building of buffer zone, still to build two-dimentional geometrical shape as visual background.
Step 7 is referring to Fig. 8.Call building attribute information (character, highly), further filter out the landmark collection L2 among the L1 that meets the demands, in the 2.5D visualization window,, see navigational environment in providing with axonometric drawing model tormulation L2.The present invention adopts local 2.5 dimension stereoscopic model modes in middle sight navigation is visual, maximum characteristics are to highlight building height and building character.On specific implementation, the mode that adopts attribute data to read promptly reads elevation information and the building property information of the building ID of landmark association among the L1, filters out vision is outstanding, meaning is important building as landmark.Then, utilize height attributes to draw high landmark and give particular color and strengthen effect of visualization.The default rule of definitions of color is as follows: { residential architecture: yellow; Commercial building: orange; Administrative office building: redness; Other buildings: blueness }.
Step 8 is referring to Fig. 9.Coordinate position according to the drivers, the buffer zone B2 of dynamic dispatching certain limit d2, further screen the visual building collection of the real-time three-dimensional that the comprises L2 L3 in the B2 scope, give respective texture, and in the B2 scope, dynamically call in road traffic related facility (street lamp, traffic indication board etc.), 3D microcosmic navigational environment is provided.The present invention adopts partial 3 d texture model mode in the microcosmic navigation is visual, real-time environmental information is provided, and comprises that traffic mark and the traffic auxiliary facility in the certain visual line of sight of vehicle is visual.On implementation, be initial point with driver, the circular buffer zone B2 of dynamic calculation certain limit d2 (acquiescence d2 value is set at 100 meters), and the dynamic and visual building that filters out in the L2 collects L3.Equally, the mode that adopts attribute data to read reads and builds ID among the L3, dynamically accesses the three-dimensional building model and the auxiliary facility model that are rich in texture accordingly from multi-level BUILDINGS MODELS.
Claims (7)
1. multilevel multi-modal routing navigating method is characterized in that may further comprise the steps:
1) according to the road axis geometric data, set up road axis ode table and segmental arc table, generate topological file T1, write down each segmental arc ID, start node ID and stop node ID;
2) according to runway center line geometric data and crossing region geometry data, generate topological file T2, write down the connected relation in each runway and the zone, crossing;
3) input starting point S and terminal point D reads road axis attribute data and runway attribute data, utilizes dijkstra's algorithm to calculate optimal path R1 and R2 based on topological file T1 and topological file T2 respectively;
4) according to optimal path R2, read related with it runway data set, set up actual track topological structure T3, record physics track ID and virtual track ID, and related starting point ID and terminal point ID;
5) read actual track attribute data, utilize the optimal path R3 of dijkstra's algorithm calculating based on actual track topological structure T3;
6) according to optimal path R1, dynamically generate the buffer zone B1 of certain limit d1, filter out the building collection L1 in the buffer zone B1 scope, express building collection L1 in the 2D visualization window with diagramatic way, overall navigational environment is provided;
7) call the building attribute information, further filter out the landmark collection L2 among the building collection L1 that meets the demands, in the 2.5D visualization window,, see navigational environment in providing with axonometric drawing model tormulation landmark collection L2;
8) according to drivers's coordinate position, the buffer zone B2 of dynamic dispatching certain limit d2, further screen the real-time visual landmark collection L3 that comprises landmark collection L2 in the buffer zone B2 scope, give respective texture, and in buffer zone B2 scope, dynamically call in the road traffic related facility, 3D microcosmic navigational environment is provided.
2. multilevel multi-modal routing navigating method as claimed in claim 1, it is characterized in that described step 2) in, according to runway center line geometric data and crossing region geometry data, generate topological file T2, the method that writes down the connected relation in each runway and the zone, crossing may further comprise the steps:
1) according to the runway geometric data, set up runway ode table and segmental arc table, generate runway local topology file T2*, write down each runway ID, start node ID and stop node ID;
2) utilize the crossing geometric data, extract its how much barycenter, set up crossing's ode table, and record crossing determinant attribute information, described crossing determinant attribute information comprises enters a profession track ID and goes out runway ID etc.;
3) according to crossing ode table and runway local topology file T2*, newly-built crossing region topology file T2#, connection segmental arc ID, start node ID in the record zone, crossing and termination node ID;
4) merge runway local topology file T2* and crossing region topology file T2#, generate topological file T2, write down complete runway connected relation.
3. multilevel multi-modal routing navigating method as claimed in claim 1 is characterized in that in step 3), and described road axis attribute data comprises distance, average speed, and described runway attribute comprises distance, the unidirectional speed of a motor vehicle, crossing time delay.
4. multilevel multi-modal routing navigating method as claimed in claim 1 is characterized in that in step 4), and described actual track attribute data comprises current observation time in track and current stand-by period of crossing.
5. multilevel multi-modal routing navigating method as claimed in claim 1, it is characterized in that in the described step 4), according to optimal path R2, read related with it runway data set, set up actual track topological structure T3, record physics track ID and virtual track ID, and related starting point ID and the method for terminal point ID may further comprise the steps:
1) reads the runway ID data set related with optimal path R2, generate the fundamental of actual track topology according to the attribute data of each runway ID correspondence, make up actual track local topology file T3*, write down each physics track ID, start node ID and stop node ID, the attribute data of described each runway ID correspondence comprises actual number of lanes etc., the fundamental of described actual track topology comprise by the runway direction from left to right serial number represent actual track attribute;
2) utilize the number information in actual track and the turning restrictive condition of crossing, replenish the virtual track ID of crossing, make up the local topology file T3# of crossing, write down each virtual track ID, start node ID and stop node ID, the turning restrictive condition of described crossing comprises craspedodrome, left-hand rotation, the control etc. of turning right;
3) the local topology file T3# of actual track local topology file T3* of merging and crossing generates topological file T3^, writes down complete static actual track connected relation;
4) detect whether the incident of existence and event property thereof are arranged, the mutual click of mouse carried out track discretize processing, dynamically increases actual track node and actual track segmental arc, generates dynamic topology T3 on topological file T3^ basis.
6. multilevel multi-modal routing navigating method as claimed in claim 1 is characterized in that in step 7), and described building attribute information comprises character, highly.
7. multilevel multi-modal routing navigating method as claimed in claim 1 is characterized in that in step 8), and described road traffic related facility comprises street lamp, traffic indication board.
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