CN101750082A - Road section recognizing and matching method based on decision-making circle - Google Patents
Road section recognizing and matching method based on decision-making circle Download PDFInfo
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- CN101750082A CN101750082A CN201010033829A CN201010033829A CN101750082A CN 101750082 A CN101750082 A CN 101750082A CN 201010033829 A CN201010033829 A CN 201010033829A CN 201010033829 A CN201010033829 A CN 201010033829A CN 101750082 A CN101750082 A CN 101750082A
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Abstract
The invention discloses a road section recognizing and matching method based on decision-making circle and is mainly applicable to the path recognition of a vehicle navigation system and other path recognition fields employing positioning technology. The invention also solves the problem of inaccurate recognition of complicated road section of the vehicle navigation system. Decision-making circles are arranged in the road section areas difficult to be matched with the general map matching method, accurate points of all road sections in the decision-making circles are collected, the GPS position points of vehicles in the decision-making circles are matched with the accurate points through point-to-point mode, and the number of successful matches of the accurate points in each road section is under statistical comparison to determine the road section wherein the vehicle is located. The method overcomes the inaccurate matching problem of the general algorithm, also avoids erecting the site beacon station equipment and accordingly saves large quantity of human and material resources.
Description
Technical field
The invention belongs to intelligent transportation map match field, be applied to Path Recognition in the Vehicular navigation system and other and relate to and utilize location technology to carry out the field of Path Recognition.
Background technology
In Vehicular navigation system, highway section identification and matching technology is one of crucial technology.During vehicle ', the mobile unit that is installed on the vehicle mates by GPS vehicle location information and vehicle electronics map, and identification position, highway section, vehicle place provides the driving information, and driving for human pilot provides decision support.
Usually road main road and bypass are in the same way in the actual road network, parallel, close situation is more, distance is through being everlasting about 5 meters between the identical travel direction main and side road, the existing precision of GPS is difficult to accurately distinguish usually greater than 10 meters, the navigation hint mistake that causes owing to identification highway section mistake usually occurs.
At present map-matching method commonly used is to judge that by the methods such as calculations incorporated road direction, vehicle heading and highway section topological relation of GPS point and highway section relative position driving vehicle is whether on the highway section in the automobile navigation.But, be difficult to use this highway section matching process to be distinguished for all close parallel road of range direction.Some other map-matching algorithm is difficult to real-time processing data as according to the principle of methods such as shortest path, neural network, fuzzy logic or comparatively complicated calculating.And be to communicate by letter with the trackside beacon station by mobile unit in the method that trackside adds beacon station, directly obtain the purpose that the highway section identification number reaches the highway section coupling, though this method can better solve the inaccurate problem of coupling, but need additionally at the scene frame do not have roadside device, spent the man power and material.
By analysis and research, we find that the shared ratio of map-matching method is obscured easily in road network situation is little.Be difficult to carry out the place of highway section coupling for these, we can adopt establish decision-making circle and in addition special treatment method solve.Mate inaccurate problem thereby overcome conventional algorithm, avoided on-the-spot way of setting up beacon station equipment simultaneously, thereby save lot of manpower and material resources.
Summary of the invention
In Vehicular navigation system, the identification in highway section, vehicle place is the unusual technology of core.And in the actual traffic road network, have the highway section that some roads are parallel, close and travel direction is identical, owing to be subjected to the influence of GPS precision, adopt conventional map-matching method to be difficult to these similar highway sections are made a distinction.
According to this situation, the present invention has proposed the notion of decision-making circle first.The zone, highway section that is difficult to locate coupling for the road conditions complexity is provided with decision-making circle, and the road in the decision-making circle is adopted special matched processing method.
The present invention proposes following disposal route for the highway section identification and matching:
1. analyze the concrete condition of road network, in the definition decision-making circle zone, place that is difficult to carry out map match;
2. in decision-making circle, respectively gather the precise local fix of equal amount in advance with hi-Fix equipment on each highway section, write down its coordinate.Indicate the identification number (numbering) in each affiliated highway section of point;
3. after vehicle entered decision-making circle, the mode that precise local fix point point mates on each highway section in employing and the decision-making circle was mated;
4. when vehicle left decision-making circle, all the match is successful accurate points relatively extracted that the match is successful it on and accurately count the highest highway section, and this highway section is identified as the affiliated highway section of vehicle.
Invention comprises two aspect contents: the one, and decision-making circle definition and establishing method; The 2nd, map-matching method in the decision-making circle.Concrete steps are as follows:
Step 1, being the center of circle to obscure regional center easily, is that the border circular areas of radius forms decision-making circle and sets for each decision-making circle and numbers can cover the scope of obscuring the zone.
Accurate point in step 2, the collection decision-making circle on all highway sections.Gather the accurate point of equal number on every highway section, these accurate points must be in decision-making circle, each highway section identification number (numbering) under accurately point is indicated.
Step, judge whether vehicle enters in the decision-making circle, if, do not adopt conventional highway section matching algorithm not at decision-making circle.If in decision-making circle,, extract the accurate point in each highway section in this decision-making circle according to the numbering of this decision-making circle.
Step 4, GPS location point and accurate some point point coupling: it be the center of circle that vehicle GPS search matched scope is reduced to vehicle GPS anchor point (vehicle location point), and radius improves search rate to being shorter than 0.5 second at every turn less than 5 meters scope.Accurate point on each highway section in vehicle location point and this decision-making circle is carried out a some coupling, and accurately point is in GPS search matched scope if the highway section is arranged, and then the match is successful, record accurate point and the affiliated highway section identification number thereof that the match is successful.
The match is successful step 5, each highway section of statistical accurately counts, determine the affiliated highway section of vehicle: when the vehicle location point leaves decision-making circle, each highway section identification number that the match is successful accurately puts in the statistical decision circle successfully mates the many highway sections of number with accurate point on it and is identified as highway section, vehicle place.
Effect of the present invention is as follows: by add virtual decision-making circle in road network, and to easily obscuring the method that special processing and identification are carried out in the highway section in the decision-making circle, can overcome because of GPS bearing accuracy deficiency, the conventional algorithm coupling is difficult to fast the effectively problem in the close highway section of identification.The coupling cost that also can avoid adding the trackside beacon station and bring increases.Through comparatively validate, be lower than 50% highway section and add virtual decision-making circle and handle being matched to power with conventional matching algorithm, about 90% vehicle has found correct coupling highway section and track.
Description of drawings
Fig. 1 is a FB(flow block) of the present invention
Fig. 2 accurately puts the coupling synoptic diagram in the decision-making circle.Decision-making circle contains two and easily obscures highway section (the highway section numbering is respectively 11 and 12), and 5 accurate points are respectively arranged on highway section 11 and the highway section 12.Accurate point identification on the highway section 11 number is 21,22,23,24,25.Accurate point identification on the highway section 1 number is 26,27,28,29,30.
Embodiment
Here we are that example illustrates method of the present invention with parallel close two highway sections.
Common parallel close two highway sections of arranging in the urban road, one is highway section 11, another is highway section 12, as shown in Figure 2.
Step 1, decision-making circle are to be the center of circle to obscure the place easily, are that the border circular areas of radius forms decision-making circle can cover the scope of obscuring the zone, and set for each decision-making circle and to number.
Highway section 11 and highway section 12 distances are close among Fig. 2, direction is identical, distinguish with conventional map-matching method is difficult, so decision-making circle is set is covered with two highway sections that are difficult to distinguish and carries out special processing.Decision-making circle is numbered 1 among Fig. 2.
Step 2, gather the accurate point on all highway sections in the decision-making circle: gather the accurate point of equal number on every highway section, these accurate points must be in decision-making circle, each highway section identification number value under accurately point is indicated.
On highway section 11 and highway section 12, respectively gather 5 accurate points among Fig. 2, wherein accurately put 21,22,23,24,25 and belong to highway section 11; 26,27,28,29,30 belong to highway section 12.
Step 3, judge whether vehicle enters in the decision-making circle, if, do not adopt conventional highway section matching algorithm not at decision-making circle.If in decision-making circle,, extract the accurate point in each highway section in this decision-making circle according to the numbering of this decision-making circle.Execution in step five.
Among Fig. 2, vehicle enters decision-making circle 1, and the accurate point in highway section that wherein belongs to decision-making circle 1 has: 21,22,23,24,25,26,27,28,29,30.
Step 4, GPS location point and accurate some point point coupling: it be the center of circle that vehicle GPS search matched scope is reduced to GPS anchor point (vehicle location point), and radius improves search rate to being shorter than 0.5 second at every turn less than 5 meters scope.Accurate point on each highway section in vehicle location point and this decision-making circle is carried out a some coupling, and accurately point is in GPS search matched scope if the highway section is arranged, and then the match is successful, highway section identification number under the record accurate point that the match is successful reaches.
If among Fig. 2 in the vehicle ' accurately point 21 successfully mate with vehicle location, then record accurately point 21 and under highway section 11.
The match is successful step 5, each highway section of statistical accurately counts, determine the affiliated highway section of vehicle: when GPS vehicle location point leaves decision-making circle, each highway section identification number that the match is successful accurately puts in the statistical decision circle successfully mates the many highway sections of number with accurate point on it and is identified as highway section, vehicle place.
Among Fig. 2, when vehicle leaves decision-making circle, have 21,22,23,24,25,27,29 with the vehicle accurate point that the match is successful.Wherein 21,22,23,24,25 belong to highway section 1; 27,29 belong to highway section 12.Accurate point on the highway section 11 successfully mates number greater than the accurate some coupling number on the highway section 12.Therefore can judge that vehicle ' is on highway section 11.
Claims (1)
1. the road section recognizing and matching method based on decision-making circle is characterized in that, may further comprise the steps:
Step 1, being the center of circle to obscure regional center easily, is that the border circular areas of radius forms decision-making circle and sets for each decision-making circle and numbers can cover the scope of obscuring the zone;
Accurate point in step 2, the collection decision-making circle on all highway sections; Gather the accurate point of equal number on every highway section, these accurate points must be in decision-making circle, each highway section identification number under accurately point is indicated;
Step 3, judge whether vehicle enters in the decision-making circle,,, extract the accurate point in each highway section in this decision-making circle according to the numbering of this decision-making circle if in decision-making circle;
Step 4, GPS location point and accurate some point point coupling: it is that the vehicle location point is the center of circle that vehicle GPS search matched scope is reduced to the GPS anchor point, and radius improves search rate to being shorter than 0.5 second at every turn less than 5 meters scope; Accurate point on each highway section in vehicle location point and this decision-making circle is carried out a some coupling, and accurately point is in GPS search matched scope if the highway section is arranged, and then the match is successful, highway section identification number under the record accurate point that the match is successful reaches;
The match is successful step 5, each highway section of statistical accurately counts, determine the affiliated highway section of vehicle: when GPS vehicle location point leaves decision-making circle, each highway section identification number that the match is successful accurately puts in the statistical decision circle successfully mates the many highway sections of number with accurate point on the highway section and is identified as highway section, vehicle place.
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| CN201010033829A CN101750082A (en) | 2010-01-08 | 2010-01-08 | Road section recognizing and matching method based on decision-making circle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155950A (en) * | 2011-02-23 | 2011-08-17 | 泉州市视通光电网络有限公司 | Road matching method based on GIS (Geographic Information System) |
| CN102183259A (en) * | 2011-03-17 | 2011-09-14 | 光庭导航数据（武汉）有限公司 | Navigation method based on electronic map road characteristic recognition |
| CN103575287A (en) * | 2013-10-31 | 2014-02-12 | 惠州市德赛西威汽车电子有限公司 | Method for improving accuracy of vehicle-mounted satellite navigator |
| CN107230375A (en) * | 2016-03-24 | 2017-10-03 | 北京握奇智能科技有限公司 | A kind of vehicle positioning method and system |
| US10677598B2 (en) | 2018-05-25 | 2020-06-09 | Here Global B.V. | Map-centric map matching method and apparatus |
| CN112712701A (en) * | 2021-01-06 | 2021-04-27 | 腾讯科技（深圳）有限公司 | Route determining method, device, equipment and storage medium based on identification device |
-
2010
- 2010-01-08 CN CN201010033829A patent/CN101750082A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155950A (en) * | 2011-02-23 | 2011-08-17 | 泉州市视通光电网络有限公司 | Road matching method based on GIS (Geographic Information System) |
| CN102155950B (en) * | 2011-02-23 | 2013-04-24 | 福建省视通光电网络有限公司 | Road matching method based on GIS (Geographic Information System) |
| CN102183259A (en) * | 2011-03-17 | 2011-09-14 | 光庭导航数据（武汉）有限公司 | Navigation method based on electronic map road characteristic recognition |
| CN102183259B (en) * | 2011-03-17 | 2014-07-23 | 武汉光庭信息技术有限公司 | Navigation method based on electronic map road characteristic recognition |
| CN103575287A (en) * | 2013-10-31 | 2014-02-12 | 惠州市德赛西威汽车电子有限公司 | Method for improving accuracy of vehicle-mounted satellite navigator |
| CN107230375A (en) * | 2016-03-24 | 2017-10-03 | 北京握奇智能科技有限公司 | A kind of vehicle positioning method and system |
| US10677598B2 (en) | 2018-05-25 | 2020-06-09 | Here Global B.V. | Map-centric map matching method and apparatus |
| CN112712701A (en) * | 2021-01-06 | 2021-04-27 | 腾讯科技（深圳）有限公司 | Route determining method, device, equipment and storage medium based on identification device |
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Open date: 20100623 |