CN108562296A - A kind of road matching method and device based on vehicle satellite location data - Google Patents
A kind of road matching method and device based on vehicle satellite location data Download PDFInfo
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Abstract
The invention discloses a kind of road matching method and device based on vehicle satellite location data, belongs to intelligent transportation big data field.The method includes：The satellite location data of collection vehicle；Determine the connection relation between each adjacent position point in the satellite location data of acquisition；Calculate the connection cost of each connection relation；Each connection cost is carried out that path adaptation result is calculated using viterbi algorithm.In the present invention, by the alternative path set for determining each position point, and the matched path candidate of preference strategy priority processing most probable is used, all connection relations of each adjacent position point are sequentially found, and then carry out calculating and the path adaptation of the connection cost of each connection relation；Should during, useless calculating is not present, does not interfere with the response speed of bottom, and do not interfere between two neighboring location point can communication path transformation, to substantially increase the accuracy rate of path adaptation.
Description
Technical field
The present invention relates to intelligent transportation big data field more particularly to a kind of roads based on vehicle satellite location data
Method of completing the square and device.
Background technology
Vehicle satellite location data is to be mounted with that the vehicle of satellite positioning mobile unit acquires in real time according to certain frequency
Satellite location data, which is sent to satellite location and monitor center by wireless network.
The path adaptation of vehicle satellite location data is the calculating that the satellite location data of acquisition is matched to known road
Case processing procedure carries out matching degree calculating according to data such as the longitude of vehicle, dimensions with the spatial position data of known road,
To obtain the best match road of satellite location data.The path adaptation of existing vehicle satellite location data, typically base
In the road unicom detection of the adjacent satellite anchor point of breadth-first search algorithm (also known as BFS)；Wherein, breadth-first search is calculated
Preference strategy is not present in method in search, causes many useless calculating to influence the response speed of bottom, further also just influences
Between two neighboring location point (satellite site) can communication path transformation, thus lead to the matching result of final road
There are errors, reduce the accuracy rate of path adaptation result.
Invention content
To solve the deficiencies in the prior art, the present invention provides a kind of road matching method based on vehicle satellite location data
And device.
On the one hand, the present invention provides a kind of road matching method based on vehicle satellite location data, including：
Step S1：The satellite location data of collection vehicle；
Step S2：Determine the connection relation between each adjacent position point in the satellite location data；
Step S3：Calculate the connection cost of each connection relation；
Step S4：Each connection cost is carried out that path adaptation result is calculated using viterbi algorithm.
Optionally, the satellite location data, including：At a series of location points and each position point on time dimension
Travel direction；
Accordingly, the step S2, specifically includes：
Step S2-1：According to time dimension, successively by its in a series of location points in addition to the last one location point
His each position point is as current location point；
Step S2-2：The first alternative path set for determining the current location point, according to the row of the current location point
Direction is sailed, each path candidate in first alternative path set is left into each path that node is connected to as described current
Second alternative path set of next location point of location point；
Step S2-3：The present bit is determined according to first alternative path set and second alternative path set
Set the connection relation a little between next location point of current location point.
Optionally, the step S2-2, specifically includes：
Step S2-2-1：Using the current location point as the center of circle, candidate regions are drawn a circle to approve in map by radius of preset length
Domain；
Step S2-2-2：According to the traveling of the routing information in each path contained in the candidate region and current location point
Choose each path candidate of the current location point in direction；
Step S2-2-3：Determine the distance between the current location point and its each path candidate, and according to distance by big
To small sequence successively by corresponding path candidate stacking, the first alternative path set is obtained；
Step S2-2-4：Each path candidate in first alternative path set is popped successively, and by each path candidate
Leave the path candidate of each path that node is connected to as next location point of the current location point；
Step S2-2-5：Determine the travel direction of next location point of the current location point and next position
Angle between each path candidate of point, and obtained successively by corresponding path candidate stacking according to the descending sequence of angle
To the second alternative path set.
Optionally, the step S2-3, specially：
According to the travel direction of current location point, by first alternative path set and second alternative path set
In the next location point of the connection relation of each path candidate that can be connected to as current location point and the current location point
Between connection relation.
Optionally, the step S3, specially：According to following formula is calculated corresponding connection generation to each connection relation successively
Valence；
Cost=α * L+M+ β * P are connected, wherein：
α is the angle between the travel direction and the current candidate path of current location point of current location point；
L is that section is left in first mapping point of the current location point in its current candidate path and the current candidate path
The distance between point；
The length of M communication paths between current location point and next location point of current location point；
β is the current candidate path of the travel direction and next location point of next location point of current location point
Between angle；
P is next location point of current location point second reflecting in the current candidate path of next location point
The distance between the source Nodes of exit point and the current candidate path of next location point.
On the other hand, the present invention provides a kind of path adaptation device based on vehicle satellite location data, including：
Acquisition module is used for the satellite location data of collection vehicle；
Connection relation determining module, each adjacent position point in the satellite location data for determining acquisition module acquisition
Between connection relation；
Computing module, the connection cost for calculating each connection relation that the connection relation determining module determines；
Path adaptation module, for being calculated each connection cost that the computing module calculates using viterbi algorithm
Obtain path adaptation result.
Optionally, the satellite location data, including：At a series of location points and each position point on time dimension
Travel direction；
Accordingly, the connection relation determining module, including：As submodule, the first determination sub-module, second determine son
Module, connection relation determination sub-module；
It is described to be used as submodule, a series of location points for according to time dimension, successively acquiring the acquisition module
In other each position points in addition to the last one location point as current location point；
First determination sub-module, the first alternative path set for determining the current location point；
Second determination sub-module, for the travel direction according to the current location point, by first determination sub-module
Each path candidate leaves each path that node is connected to as the current location point in the first determining alternative path set
Next location point the second alternative path set；
The connection relation determination sub-module, the first path candidate collection for being obtained according to first determination sub-module
The second alternative path set that conjunction and second determination sub-module obtain determines the current location point and the current location
Connection relation between next location point of point.
Optionally, first determination sub-module, including：Draw a circle to approve unit, selection unit and the first stacking submodule；
Optionally, second determination sub-module, including：Go out stack cell, as unit and the second stacking submodule；
The delineation unit, for using the current location point determined as submodule as the center of circle, being with preset length
Radius draws a circle to approve candidate region in map；
Believe in the path of the selection unit, each path for containing in the candidate region according to the delineation unit delineation
The travel direction of breath and current location point chooses each path candidate of the current location point；
Described first enters stack cell, each path candidate chosen with the selection unit for determining the current location point
The distance between, and, successively by corresponding path candidate stacking, obtain the first path candidate according to apart from descending sequence
Set；
It is described go out stack cell, for each path candidate in first alternative path set to be popped successively；
It is described to be used as unit, for by it is described go out each road left node and be connected to of each path candidate popped of stack cell
Path candidate of the diameter as next location point of the current location point；
Described second enters stack cell, for determine the current location point next location point travel direction with it is described
Angle between each path candidate of next location point, and according to the descending sequence of angle successively by corresponding candidate road
Diameter stacking obtains the second alternative path set.
Optionally, the connection relation determination sub-module, is specifically used for：According to the travel direction of current location point, by institute
State the second path candidate of the first alternative path set and second determination sub-module determination of the determination of the first determination sub-module
Next position of the connection relation for each path candidate that can be connected in set as current location point and the current location point
Connection relation between setting a little.
Optionally, the computing module, is specifically used for：Corresponding company is calculated according to following formula to each connection relation successively
Connect cost；
Cost=α * L+M+ β * P are connected, wherein：
α is the angle between the travel direction and the current candidate path of current location point of current location point；
L is that section is left in first mapping point of the current location point in its current candidate path and the current candidate path
The distance between point；
The length of M communication paths between current location point and next location point of current location point；
β is the current candidate path of the travel direction and next location point of next location point of current location point
Between angle；
P is next location point of current location point second reflecting in the current candidate path of next location point
The distance between the source Nodes of exit point and the current candidate path of next location point.
The advantage of the invention is that：
In the present invention, during carrying out the path adaptation of vehicle satellite location data, by the time for determining each position point
Set of paths is selected, and uses the matched path candidate of preference strategy priority processing most probable, sequentially finds each adjacent position point
All connection relations, and then carry out calculating and the path adaptation of the connection cost of each connection relation；During being somebody's turn to do, there is no useless
Calculating, do not interfere with the response speed of bottom, and not interfering between two neighboring location point can be in the quantity of communication path
Limit, to substantially increase the accuracy rate of path adaptation.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Attached drawing 1 is a kind of road matching method flow chart based on vehicle satellite location data provided by the invention；
Attached drawing 2 is the relevant information schematic diagram of current location point provided by the invention and its next location point；
Attached drawing 3 is that a kind of path adaptation apparatus module based on vehicle satellite location data provided by the invention forms frame
Figure.
Specific implementation mode
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.It is to be able to be best understood from the disclosure on the contrary, providing these embodiments, and can be by this public affairs
The range opened completely is communicated to those skilled in the art.
Embodiment one
According to the embodiment of the present invention, a kind of road matching method based on vehicle satellite location data, such as Fig. 1 are provided
It is shown, including：
Step 101：The satellite location data of collection vehicle；
Specifically, the satellite location data that the mobile unit of collection vehicle reports；
Wherein, satellite location data, including：A series of location points on time dimension are (i.e. according to the sequencing of time
Generate a series of location points) and each position point at travel direction.
Step 102：Determine the connection relation between each adjacent position point in the satellite location data of acquisition；
In the present embodiment, step 102, it specifically includes：
Step 102-1：According to time dimension, successively by a series of location points in addition to the last one location point other are each
Location point is as current location point；
Step 102-2：The first alternative path set for determining current location point, according to the travel direction of current location point,
Each path candidate in first alternative path set is left into each path that node is connected to as the next of current location point
Second alternative path set of location point；
Step 102-3：According to the first alternative path set and the second alternative path set determine current location point with it is current
Connection relation between next location point of location point.
According to the embodiment of the present invention, step 102-2 is specifically included：
Step 102-2-1：Using current location point as the center of circle, candidate region is drawn a circle to approve in map by radius of preset length；
Preferably, in the present embodiment, preset length is 30 meters.
Step 102-2-2：According to the traveling side of the routing information in each path contained in candidate region and current location point
To each path candidate for choosing current location point；
Specifically, according to the regulation travel direction in each path contained in candidate region, regulation driving vehicle type and
The routing informations such as connectivity choose (vehicle cannot drive in the wrong direction) identical as the travel direction of current location point, driving vehicle type phase
Path candidate of the same path as current location point.
Step 102-2-3：Determine the distance between current location point and its each path candidate, and according to apart from descending
Sequence successively by corresponding path candidate stacking, obtain the first alternative path set；
Specifically, make vertical line to each path candidate respectively along current location point, measure between current location point and intersection point
Distance obtains the distance between front position point and its each path candidate, compares the size of each distance, and according to descending suitable
Sequence by corresponding path candidate stacking, obtains the first alternative path set successively.
In the present embodiment, current location point and the distance between path candidate are shorter, then the path candidate is current location
Point coupling path possibility it is bigger, according to apart from descending sequence successively by corresponding path candidate stacking so that
It subsequently first pops apart from short path candidate, to preferentially find the communication path apart from short path candidate, i.e., by preferential
Policy priority handles the matched path candidate of most probable；Useless calculating is not present in overall process, and does not interfere with adjacent
Between two location points can communication path transformation.
Step 102-2-4：Each path candidate in the first alternative path set is popped successively, and by each path candidate from
Open the path candidate of each path that node is connected to as next location point of current location point；
In road network, a paths usually contain the path of a plurality of connection, and the path being respectively connected to is likely to be present bit
Set the path where the next position point a little, therefore in the present invention, by each path candidate to leave each path that node is connected to equal
The path candidate of next location point as current location point, ensures the integrality of data；Wherein, path candidate leaves section
Point, the i.e. path are also known as connected to the intersection point in other paths communicated therewith, and the source Nodes in other paths of connection
Other paths starting point.
A certain communication path as shown in Figure 2, wherein B points are the source sections for leaving node and path BC of path AB
Point.
Step 102-2-5：Determine the travel direction of next location point of current location point and next location point
Each path candidate between angle, and obtained successively by corresponding path candidate stacking according to the descending sequence of angle
Second alternative path set.
Specifically, respectively along next location point of current location point make next location point path candidate it is flat
Line, the angle between the travel direction and parallel lines of next location point are the traveling side of next location point
Angle between the path candidate of next location point.
In the present invention, the angle between the travel direction and its path candidate of next location point is smaller, and indicating should
Path candidate is that the possibility of the coupling path of described one next location point is bigger；Successively will according to the descending sequence of angle
Corresponding path candidate stacking passes through the matched path candidate of preference strategy priority processing most probable to priority processing；It is whole
Useless calculating is not present during body, and do not interfere between two neighboring location point can communication path transformation.
According to the embodiment of the present invention, step 102-3, specially：
According to the travel direction of current location point, will can connect in the first alternative path set and the second alternative path set
The connection relation of logical each path candidate is closed as the connection between current location point and next location point of current location point
System.
Preferably, in the present embodiment, the path number for recording each path candidate, according to the traveling side of current location point
To the path number for each path candidate that can be connected in the first alternative path set and the second alternative path set is continuously protected
It deposits, obtains the connection relation between current location point and next location point of current location point；
For example, current location point is H, and the path candidate for being 1 and 2 containing road number in the alternative path set of point H, point
Next location point of H is Y, the path candidate for being 3,4,5,6 containing road number in the candidate road set of point Y；Wherein, road
The path candidate that number is 1 is connected to the path candidate that road number is 3 and 4, and the path candidate that road number is 2 is compiled with road
Number be connected to 6 path candidate for 5, then the connection relation of point H and point Y is 1-3,1-4,2-5 and 2-6.
Step 103：Calculate the connection cost of each connection relation；
Specifically, corresponding connection cost is calculated according to following formula to each connection relation successively；
Cost=α * L+M+ β * P are connected, wherein：
α is the angle between the travel direction and the current candidate path of current location point of current location point；
L be first mapping point of the current location point in its current candidate path and current candidate path leave node it
Between distance；
The length of M communication paths between current location point and next location point of current location point；
β is the current candidate path of the travel direction and next location point of next location point of current location point
Between angle；
P is next location point of current location point second reflecting in the current candidate path of next location point
The distance between the source Nodes of exit point and the current candidate path of next location point.
More specifically, as shown in Fig. 2, making vertical line to its current candidate path AB along current location point, and intersection point W is made
For the first mapping point；Next location point along current location point hangs down to the current candidate path DE of next location point
Line, and using intersection point Q as the second mapping point；M be communication path WB, BC, CD, DQ length and；
Wherein, the length of each communication path, existing statistical data specially in road net data.
It needs explanatorily, attached drawing 2 is given for example only explanation, rather than limits.
Step 104：Each connection cost is carried out that path adaptation result is calculated using viterbi algorithm.
Specifically, using each connection cost being calculated as the input data of Viterbi (Viterbi) algorithm model into
Row calculates, and exports road matching result.
Embodiment two
According to the embodiment of the present invention, a kind of path adaptation device based on vehicle satellite location data, such as Fig. 3 are provided
It is shown, including：
Acquisition module 201 is used for the satellite location data of collection vehicle；
Connection relation determining module 202, for determine acquisition module 201 acquire satellite location data in each adjacent position
Connection relation between point；
Computing module 203, the connection cost of each connection relation for calculating the determination of connection relation determining module 202；
Path adaptation module 204, based on using each connection cost that viterbi algorithm calculates computing module 203 to carry out
Calculation obtains path adaptation result.
According to the embodiment of the present invention, acquisition module 201 are specifically used for：What the mobile unit of collection vehicle reported defends
Star location data；Wherein, satellite location data, including：A series of location points on time dimension are (i.e. suitable according to the priority of time
Sequence generate a series of location points) and each position point at travel direction；
According to the embodiment of the present invention, connection relation determining module 202, including：Submodule is determined as submodule, first
Block, the second determination sub-module, connection relation determination sub-module, wherein：
As submodule, for according to time dimension, being removed most in a series of location points for successively acquiring acquisition module 201
Other each position points outside the latter location point are as current location point；
First determination sub-module, the first alternative path set for determining current location point；
Second determination sub-module, for according to the travel direction of current location point, the first determination sub-module is determined the
Each path candidate leaves the next position of each path that node is connected to as current location point in one alternative path set
Second alternative path set of point；
Connection relation determination sub-module, the first alternative path set and second for being obtained according to the first determination sub-module
The second alternative path set that determination sub-module obtains determines between current location point and next location point of current location point
Connection relation.
According to the embodiment of the present invention, the first determination sub-module, including：Draw a circle to approve unit, selection unit and the first stacking
Submodule, wherein：
Unit is drawn a circle to approve, is radius on ground using preset length for using the current location point determined as submodule as the center of circle
Candidate region is drawn a circle to approve in figure；
Selection unit, for according to the routing information for drawing a circle to approve each path contained in the candidate region that unit is drawn a circle to approve and currently
The travel direction of location point chooses each path candidate of current location point；
First enters stack cell, the distance between each path candidate chosen for determining current location point and selection unit,
And, successively by corresponding path candidate stacking, obtain the first alternative path set according to apart from descending sequence.
Wherein, preset length, preferably 30 meters.
According to the embodiment of the present invention, the second determination sub-module, including：Go out stack cell, as unit and the second stacking
Submodule, wherein：
Go out stack cell, for each path candidate in the first alternative path set to be popped successively；
As unit, for leaving each path that node is connected to as working as using go out each path candidate that stack cell is popped
The path candidate of next location point of front position point；
Second enters stack cell, the travel direction of next location point for determining current location point and next position
Set the angle between each path candidate a little, and according to the descending sequence of angle successively by corresponding path candidate stacking,
Obtain the second alternative path set.
According to the embodiment of the present invention, connection relation determination sub-module is specifically used for：According to the traveling of current location point
Direction, the second path candidate that the first alternative path set and the second determination sub-module that the first determination sub-module is determined determine
Next location point of the connection relation for each path candidate that can be connected in set as current location point and current location point
Between connection relation.
According to the embodiment of the present invention, computing module 203 are specifically used for：Successively to each connection relation according to following public affairs
Formula calculates corresponding connection cost；
Cost=α * L+M+ β * P are connected, wherein：
α is the angle between the travel direction and the current candidate path of current location point of current location point；
L be first mapping point of the current location point in its current candidate path and current candidate path leave node it
Between distance；
The length of M communication paths between current location point and next location point of current location point；
β is the current candidate path of the travel direction and next location point of next location point of current location point
Between angle；
P is next location point of current location point second reflecting in the current candidate path of next location point
The distance between the source Nodes of exit point and the current candidate path of next location point.
In the present invention, during carrying out the path adaptation of vehicle satellite location data, by the time for determining each position point
Set of paths is selected, and uses the matched path candidate of preference strategy priority processing most probable, sequentially finds each adjacent position point
All connection relations, and then carry out calculating and the path adaptation of the connection cost of each connection relation；During being somebody's turn to do, there is no useless
Calculating, do not interfere with the response speed of bottom, and not interfering between two neighboring location point can be in the quantity of communication path
Limit, to substantially increase the accuracy rate of path adaptation.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (10)
1. a kind of road matching method based on vehicle satellite location data, which is characterized in that including：
Step S1：The satellite location data of collection vehicle；
Step S2：Determine the connection relation between each adjacent position point in the satellite location data；
Step S3：Calculate the connection cost of each connection relation；
Step S4：Each connection cost is carried out that path adaptation result is calculated using viterbi algorithm.
2. according to the method described in claim 1, it is characterized in that,
The satellite location data, including：A series of travel direction at location points and each position point on time dimension；
The step S2, specifically includes：
Step S2-1：According to time dimension, successively by a series of location points in addition to the last one location point other are each
Location point is as current location point；
Step S2-2：The first alternative path set for determining the current location point, according to the traveling side of the current location point
To each path candidate in first alternative path set is left each path that node is connected to as the current location
Second alternative path set of next location point of point；
Step S2-3：The current location point is determined according to first alternative path set and second alternative path set
Connection relation between next location point of the current location point.
3. according to the method described in claim 2, it is characterized in that,
The step S2-2, specifically includes：
Step S2-2-1：Using the current location point as the center of circle, candidate region is drawn a circle to approve in map by radius of preset length；
Step S2-2-2：According to the travel direction of the routing information in each path contained in the candidate region and current location point
Choose each path candidate of the current location point；
Step S2-2-3：Determine the distance between the current location point and its each path candidate, and according to apart from descending
Sequence successively by corresponding path candidate stacking, obtain the first alternative path set；
Step S2-2-4：Each path candidate in first alternative path set is popped successively, and by each path candidate from
Open the path candidate of each path that node is connected to as next location point of the current location point；
Step S2-2-5：Determine the travel direction of next location point of the current location point and next location point
Angle between each path candidate, and according to the descending sequence of angle is obtained successively by corresponding path candidate stacking
Two alternative path sets.
4. according to the method described in claim 2, it is characterized in that, the step S2-3, specially：
According to the travel direction of current location point, by energy in first alternative path set and second alternative path set
The connection relation for each path candidate being enough connected to is as between current location point and next location point of current location point
Connection relation.
5. according to the method described in claim 2, it is characterized in that, the step S3, specially：Each connection relation is pressed successively
Corresponding connection cost is calculated according to following formula；
Cost=α * L+M+ β * P are connected, wherein：
α is the angle between the travel direction and the current candidate path of current location point of current location point；
L be first mapping point of the current location point in its current candidate path and the current candidate path leave node it
Between distance；
The length of M communication paths between current location point and next location point of current location point；
β is between the travel direction and the current candidate path of next location point of next location point of current location point
Angle；
P is second mapping point of the next location point of current location point in the current candidate path of next location point
With the distance between the source Nodes in the current candidate path of next location point.
6. a kind of path adaptation device based on vehicle satellite location data, which is characterized in that including：
Acquisition module is used for the satellite location data of collection vehicle；
Connection relation determining module, in the satellite location data for determining acquisition module acquisition between each adjacent position point
Connection relation；
Computing module, the connection cost for calculating each connection relation that the connection relation determining module determines；
Path adaptation module, for each connection cost that the computing module calculates to be calculated using viterbi algorithm
Path adaptation result.
7. according to the method described in claim 6, it is characterized in that, the satellite location data, including：One on time dimension
Travel direction at serial position point and each position point；
The connection relation determining module, including：As submodule, the first determination sub-module, the second determination sub-module, connection are closed
It is determination sub-module；
It is described to be used as submodule, for according to time dimension, will be removed in a series of location points that the acquisition module acquires successively
Other each position points outside the last one location point are as current location point；
First determination sub-module, the first alternative path set for determining the current location point；
Second determination sub-module, for the travel direction according to the current location point, by first determination sub-module
Each path candidate leaves each path that node is connected to as the current location point in the first determining alternative path set
Next location point the second alternative path set；
The connection relation determination sub-module, the first alternative path set for being obtained according to first determination sub-module and
The second alternative path set that second determination sub-module obtains determines the current location point and the current location point
Connection relation between next location point.
8. device according to claim 7, which is characterized in that
First determination sub-module, including：Draw a circle to approve unit, selection unit and the first stacking submodule；
Second determination sub-module, including：Go out stack cell, as unit and the second stacking submodule；
The delineation unit is used for using the current location point determined as submodule as the center of circle, using preset length as radius
Candidate region is drawn a circle to approve in map；
The selection unit, the routing information in each path for containing in the candidate region according to the delineation unit delineation and
The travel direction of current location point chooses each path candidate of the current location point；
Described first enters stack cell, for determining between the current location point and each path candidate of selection unit selection
Distance, and, successively by corresponding path candidate stacking, obtain the first alternative path set according to apart from descending sequence；
It is described go out stack cell, for each path candidate in first alternative path set to be popped successively；
It is described to be used as unit, for by it is described go out each path candidate for popping of stack cell each path that node is connected to of leaving make
For the path candidate of next location point of the current location point；
Described second enters stack cell, for determine the current location point next location point travel direction with it is described next
Angle between each path candidate of a location point, and successively enter corresponding path candidate according to the descending sequence of angle
Stack obtains the second alternative path set.
9. device according to claim 7, which is characterized in that the connection relation determination sub-module is specifically used for：According to
The travel direction of current location point, the first alternative path set that first determination sub-module is determined and described second determine
The connection relation of each path candidate that can be connected in the second alternative path set that submodule determines as current location point and
Connection relation between next location point of the current location point.
10. device according to claim 7, which is characterized in that the computing module is specifically used for：Successively to each connection
Relationship calculates corresponding connection cost according to following formula；
Cost=α * L+M+ β * P are connected, wherein：
α is the angle between the travel direction and the current candidate path of current location point of current location point；
L be first mapping point of the current location point in its current candidate path and the current candidate path leave node it
Between distance；
The length of M communication paths between current location point and next location point of current location point；
β is between the travel direction and the current candidate path of next location point of next location point of current location point
Angle；
P is second mapping point of the next location point of current location point in the current candidate path of next location point
With the distance between the source Nodes in the current candidate path of next location point.
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