CN113720341A - Vehicle travel route generation method, system, computer device, and storage medium - Google Patents
Vehicle travel route generation method, system, computer device, and storage medium Download PDFInfo
- Publication number
- CN113720341A CN113720341A CN202110865168.9A CN202110865168A CN113720341A CN 113720341 A CN113720341 A CN 113720341A CN 202110865168 A CN202110865168 A CN 202110865168A CN 113720341 A CN113720341 A CN 113720341A
- Authority
- CN
- China
- Prior art keywords
- road
- track
- turning
- point
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000004364 calculation method Methods 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims description 15
- 230000010339 dilation Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 5
- 230000002457 bidirectional effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses a vehicle driving route generation method, a system, computer equipment and a storage medium, wherein the method comprises the following steps: performing track matching calculation on all track points of the vehicle to generate an initial driving route consisting of a plurality of road sections; the section is marked with a unique road ID of the matched road; traversing the road sections, and checking a road section cluster formed by a plurality of road sections with the same road ID; judging whether track point drifting occurs in the road section clusters; if yes, deleting the road section cluster; and adjusting the rest road sections to obtain a final driving route. The invention obtains the accurate driving route of the vehicle by judging whether the vehicle track points at the two-way road intersection drift or not and deleting the road section clusters with the drifting vehicle track points.
Description
Technical Field
The present disclosure relates to the field of vehicle driving technologies, and in particular, to a method, a system, a computer device, and a storage medium for generating a vehicle driving route.
Background
The vehicle-mounted GPS records relevant data information in the driving process of the truck, and the data information is analyzed to obtain the driving route and the driving state of the truck. However, the GPS data points have certain errors in various data recorded due to equipment, especially errors in position information, which may cause difficulty in truck driving track analysis in the case of dense roads.
The position information of the track points of the running of the truck can be corrected by a track matching technology. The track matching usually includes searching surrounding roads for each recorded track point by combining an electronic map, then selecting an optimal matching road for each track point through some algorithms, matching all GPS track points to a road network of the electronic map, obtaining a corresponding optimal route, and helping to analyze the driving track and behavior of the truck in the follow-up process, so that the running mileage of the truck can be accurately counted and the patrol cost of the truck can be controlled.
On the other hand, the map data and the real road have errors, and the map representation mode and the real road have errors, which affect the matching accuracy. For example, the real road has a certain width, and the electronic map usually records the position of the center line, which results in deviation from the road of the electronic map even if the GPS points recorded during the driving process of the truck are relatively accurate.
The vehicle position navigation on the bidirectional road can be calculated in two directions, and if the track point drifts to the position space and the projection is disordered, errors can be caused to the navigation and the matching calculation. In reality, a vehicle can turn around at any place on a bidirectional road or drive away from and into the road, and if track point drift occurs, the problem of route detour calculation by navigation can be caused when the path is calculated by track matching in navigation.
Disclosure of Invention
The application provides a vehicle driving route generation method, a vehicle driving route generation system, computer equipment and a storage medium, and aims to solve the problems of route matching errors and navigation detours at a bidirectional road intersection caused by the drift of track points of vehicle driving.
In order to solve the technical problem, the application adopts a technical scheme that: provided is a vehicle travel route generation method including: performing track matching calculation on all track points of the vehicle to generate an initial driving route consisting of a plurality of road sections; the road section is marked with a unique road ID matched to the road; traversing the road sections, and checking a road section cluster formed by a plurality of road sections with the same road ID; judging whether track point drifting occurs in the road section clusters; if yes, deleting the road section cluster; and adjusting the rest road sections to obtain a final driving route.
As the further improvement of this application, judge whether track point drift appears in highway section cluster, include: and when the driving directions of the first road section and the last road section in the road section cluster are different, judging whether the distance between the track points in the range of the entrance end position and the exit end position of the road section cluster meets the preset condition.
As a further improvement of the present application, the preset conditions include: and the maximum distance between the position of the entrance end and all track points in the range of the entrance end and the exit end is smaller than a preset threshold value.
As a further improvement of the application, turning intersection identification is carried out on all track points, and only one target turning track point is taken at each turning intersection.
As a further improvement of the application, at least one turning track point is obtained according to the change of the connecting line direction and the change of the driving direction angle among the track points according to the time sequence; and taking the last turning point in the time sequence as a target turning track point.
As the further improvement of this application, will discern one by one at least one turn track point is as the central point, and the track point to turn track point back and forth expands and traverses the discernment and obtains turn track point cluster.
As a further improvement of this application, the expansion is traversed and is discerned and is obtained turning track point cluster, include: and judging whether the track points in front of and behind the turning track point meet the distance condition and the acquisition time interval condition one by one, and marking the track points meeting the conditions as new turning track points until the condition is not met.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a vehicle travel route generation system including: the matching module is used for performing track matching calculation on all track points of the vehicle to generate an initial driving route consisting of a plurality of road sections; the road section is marked with a unique road ID matched to the road; the inspection module is used for traversing the road sections and inspecting road section clusters formed by a plurality of road sections with the same road ID; the judging module is used for judging whether track point drifting occurs in the road section clusters; if yes, deleting the road section cluster; and the generation module is used for adjusting the rest road sections to obtain the final driving route.
In order to solve the above technical problem, the present application adopts another technical solution that: there is provided a computer device comprising a processor, a memory coupled to the processor, the memory having stored therein program instructions which, when executed by the processor, cause the processor to carry out the steps of the vehicle driving route generation method of any one of the above.
In order to solve the above technical problem, the present application adopts another technical solution that: there is provided a storage medium storing a program file capable of implementing the vehicle travel route generation method of any one of the above.
The beneficial effect of this application is: according to the vehicle driving route generation method, track matching calculation is conducted on all track points of the vehicle, initial driving routes of a plurality of road sections are generated, road section clusters formed by the road sections with the same road ID are obtained, track point drifting judgment is conducted on the road section clusters, road section clusters corresponding to the track points with drifting are deleted, a final accurate driving route is obtained, error routes caused by track point drifting are deleted, track matching accuracy is improved, and accurate basis is provided for follow-up analysis of vehicle driving tracks and behaviors.
Drawings
FIG. 1 is a schematic flow chart diagram of a vehicle travel route generation method according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a vehicle travel route generation system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a computer device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a storage medium according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 is a flowchart illustrating a vehicle travel route generation method according to an embodiment of the present invention. It should be noted that the method of the present application is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method includes:
step S1, performing track matching calculation on all track points of the vehicle to generate an initial driving route consisting of a plurality of road sections; the link is marked with a unique road ID that matches the road.
It should be noted that, a general vehicle is equipped with a GPS device, and the GPS device sends the trajectory of the vehicle to the server at regular time (for about several seconds), that is, the sent trajectory point data is the trajectory point data, and the trajectory point data includes the current vehicle speed, the current time for obtaining the trajectory point, the driving direction of the vehicle, the latitude and longitude information, and the like. The GPS equipment of the vehicle collects track point data of the vehicle in the driving process and sends the track point data to the server, and the server executes the vehicle driving route generating method to generate the driving route for the track point data.
In the embodiment, after the vehicle track point data is obtained, track matching calculation is performed on all the track point data to obtain the initial driving route of the vehicle, and the known initial driving route comprises the whole route of the vehicle which is driven at the current time and is in a straight line and a turn. The intersection or map data compiling body cuts an initial driving route to form a plurality of road sections, the road sections are marked with unique road IDs matched with roads, the road IDs are attributes defined for each road by an electronic map, and when track points are matched with the roads, the road IDs of the roads can be known.
Before step S1, the method further includes: step S5: and identifying all track points at turning intersections, and only taking one target turning track point at each turning intersection.
Before the turning intersection identification is carried out on all track points, all track points are preprocessed, and points with too low speed and too close distance in the track points are removed.
For example: and checking the speeds of all track points, and removing the track points with the speeds smaller than the static track point judgment threshold value. Preferably, it is at restThe track point judgment threshold is set to be 0.5 km/h; after the static track points are filtered, calculating the linear distance between two adjacent track points and the driving direction angle difference of the two adjacent track points, and if the linear distance between the adjacent track points is smaller than a distance threshold value and the direction angle difference is smaller than an included angle threshold value, filtering the track point with the later time sequence; preferably, the distance threshold and the angle threshold are set to 5m and 15 °, respectively; specifically, after arranging all track points in time sequence, setting a starting track point (i.e. a first track point) as a reference point p1Judging the second locus point and p1Whether the relation between the linear distance and the driving direction angle needs to be filtered or not is judged, if the relation meets the filtering condition, a second track point is filtered, and the subsequent track points are continuously judged; if not, setting the second track point as a reference point p1And continuing to judge the subsequent track points. Track points at the turning position are identified through the track point position information and the driving direction information recorded by the vehicle and are preprocessed, so that the calculation error rate in the follow-up track matching calculation is reduced.
In the embodiment, because the speed of the vehicle running on the turning road is slower than that of the vehicle running on the straight road, track points recorded by a GPS device of the vehicle at a turning position are denser than those on the straight road, the track points at the turning position are too dense, and once the overall drift is large, the influence on the track matching calculation of the rear part is large.
Further, step S5 specifically includes: and according to the time sequence, obtaining at least one turning track point according to the change of the connecting line direction and the change of the driving direction angle between the track points.
Specifically, starting from the second track point, calculating the change of the connecting line direction and the change of the driving direction angle between adjacent track points, and calculating one by one until the last but one track point; is specifically calculatedThe process comprises the following steps: when the ith trace point p is calculatediThen, a point with the earliest accumulated distance within a preset threshold (for example, 30m) is found forward to serve as a front-end reference track point pprevIf no track point exists within the range of a preset threshold (for example: 30m), directly selecting the (i-1) th point; similarly, finding back-end reference trace point p backwardsnextThen calculate from pprevPoint of direction piAngle theta between vector of (a) and true north direction1And from piPoint of direction pnextAngle theta between vector of (a) and true north direction2And finally calculating the included angle d theta of the two1(ii) a Finding out the trace point pprevAnd the locus point pnextThe recorded directions of travel and calculating their included angle d θ2: and then adding the change of the connecting line direction between the track points and the change of the driving direction angle according to the weight to be used as a rotation angle change value of the ith track point, preferably, the calculation formula of the rotation angle change value in the embodiment is as follows: d theta is 0.6d theta1+0.4dθ2If the calculated change value of the rotation angle is more than 60 degrees, the ith track point p is determinediMarked as turning track points.
And further, at least one turning track point obtained through identification is used as a central point one by one, and the turning track point cluster is obtained through expanding, traversing and identifying the track points in front of and behind the turning track point.
In this embodiment, the vehicle usually records a plurality of track points near the turn track point, but the turn track point may not be completely recognized in the turn track point recognition in the above steps, and therefore, the expansion calculation is required to recognize the turn track point adjacent to the previously recognized turn track point.
Further, expanding, traversing and identifying to obtain turning track point clusters comprises: and judging whether the track points in front of and behind the turning track point meet the distance condition and the acquisition time interval condition one by one, and marking the track points meeting the conditions as new turning track points until the condition is not met.
Specifically, all track points are traversed, and the track point p marked as a turning track point is subjected to tracingturnThe following treatment is carried out: setting an expansion distance threshold dexp20 m, first, to the turning track point pturnExpansion was previously performed: setting the turning track point pturnFor the current track point ppresAnd initializing the cumulative extension distance dtotalWhen p is equal to 0, calculate ppresLinear distance d from previous track pointpAnd the time difference Δ t if the straight-line distance dp+dtotal＜dexpAnd the time difference deltat is less than a preset time interval threshold (e.g., 2s), the previous track point is marked as a turn track point and the cumulative dilation distance d is updatedtotalIs dtotal+dpAnd setting the previous track point as the current track point ppresContinuing to expand forwards until the judgment condition is not met or dtotal＞dexp(ii) a When d is defined astotal＞dexpAnd if so, no backward expansion traversal identification is performed, otherwise, backward expansion traversal identification is continued. Then expanding backwards again: setting the turning track point pturnFor the current track point ppresAnd initializing the accumulated running distance dtotalIs dtotal+dpNamely, after the trace point before the turning trace point is expanded, traversed and identified, when the trace point is continuously expanded, traversed and identified backwards, the accumulated running distance is not reset to 0, but is continuously accumulated, and the aim is to ensure that the total expansion distance does not exceed the preset expansion distance threshold value when the trace point is expanded, traversed and identified forwards and backwards. Calculating ppresLinear distance d from the next track pointpAnd the time difference Δ t if the straight-line distance dp+dtotal＜dexpAnd the time difference deltat is smaller than a preset time interval threshold (e.g., 2s), the latter track point is marked as a turning track point, and the accumulated dilation distance d is updatedtotalIs dtotal+dpAnd setting the next track point as the current track point ppresContinuing to expand backwards until the judgment condition is not met or dtotal＞dexp. When the front and back expansion traversal identification of the turning track point is performed, the order of the front or back traversal identification is not specified, and the identification is performed according to the actual situation.
And further, taking the last turning track point in the time sequence as a target turning track point.
In this embodiment, after the track points before and after all the turning track points are expanded, traversed and identified, the turning track points obtained by all the identification and the turning track points obtained by the expanded, traversed and identified form a cluster of the turning track points. The speed of the vehicle running on the turning road is slower than that of the vehicle running on the straight road, so track points recorded by a GPS device of the vehicle at a turning point are denser than those on the straight road, the track points at the turning point are too dense, the influence on the matching calculation of the following track is great once the overall drift is large, the probability of matching errors is higher if the matching is possible to be wrong subsequently, only the last track point of the category is reserved, other points are filtered, the front-back logic relationship is considered during the matching calculation, the real road can be matched, the probability of errors in the matching calculation is reduced, and in addition, only the last turning track point of the time sequence in the turning track point cluster is reserved.
Step S2, traversing the links, and checking the link clusters formed by a plurality of links with the same road ID.
It should be noted that the road ID of each link in the initial driving route can be obtained after the track matching calculation is performed, and a link cluster formed by a plurality of links having the same road ID can be obtained by checking the road ID of each link. For example, route calculation is performed on all track points through a track matching algorithm, multiple road segments in the obtained initial driving route are 2, 3, 4, 5, 5, 5, 5, 6, 7, 8, and the number serial numbers represent road IDs of different road segments, where four road segments with a road ID of 5 are road segment clusters.
Step S3, judging whether track point drifting occurs in the road section cluster; and if so, deleting the road section cluster.
Specifically, according to the time sequence of vehicle driving, comparing the driving directions of a first road section and a last road section in a road section cluster, and if the driving directions are the same, not processing; if the driving directions are different, the vehicle enters from one end point of the road section and finally drives away from the end point, and then whether the matching is wrong due to the drift of the track point at the turning position is judged; and if the track drift is the turning track, deleting all the sections of the cluster from the initial driving route, otherwise, keeping cluster data. And performing subsequent analysis on the matching route at the two-way road intersection, eliminating matching errors and detour conditions caused by the drift of the track points, and improving the accuracy of track matching.
It should be noted that, the same driving direction is the same, the same road segment appears in a plurality of road segments continuously, and it may be that the driver walks in one direction, because the road segment is longer, the track points will be more, and when the track matching calculation is performed, the road segment between two track points in sequence is added into a plurality of road segments, which will be the case, so the normal phenomenon is caused.
Further, judging whether track point drift occurs in the road section cluster comprises: and when the driving directions of the first road section and the last road section in the road section cluster are different, judging whether the distance between the track points in the range of the entrance end position and the exit end position of the road section cluster meets the preset condition.
Specifically, when the traveling directions of the vehicles are different, the distances between the track points in the ranges of the entry end position and the departure end position of the road section cluster are calculated, it should be noted that the entry end position and the departure end position of the road section cluster are actually the region ranges of the turning points, and the number of the track points in the range may be one or multiple. Therefore, when the distances between the track points in the range of the position of the entrance end and the position of the departure end of the road section cluster are judged, the distances of all the track points in the range of the area need to be judged.
Further, the preset conditions include: and the maximum distance between the position of the entrance end and all track points in the range of the entrance end and the exit end is smaller than a preset threshold value.
Specifically, calculating the distance between the position of the entry end of the road segment cluster and all track points in the range of the entry end and the exit end, wherein the position of the entry end is the actual geographic position of the first road segment of the road segment cluster where the vehicle enters, and the exit end is the actual geographic position of the last road segment of the road segment cluster where the vehicle exits; and if the calculated maximum distance value is smaller than the preset threshold value 15m, judging that the track point drift of the road section cluster occurs, deleting all road sections of the road section cluster from the initial driving route, and otherwise, keeping the road section cluster.
And step S4, adjusting the rest road sections to obtain the final driving route.
Specifically, track matching calculation is performed on all track points of the vehicle to generate initial driving routes of a plurality of road sections, road section clusters formed by a plurality of road sections with the same road ID are obtained, then track point drifting judgment is performed on the road section clusters, so that the road section clusters corresponding to the track points which drift are deleted, the rest of the road sections are adjusted, and a final accurate driving route is obtained. The method is used in a vehicle track point matching calculation program, and provides a more accurate reference basis for vehicle track and mileage analysis and driver performance assessment.
According to the vehicle driving route generation method, the initial driving route formed by a plurality of road sections is generated by performing track matching calculation on all track points of the vehicle; the road section is marked with a unique road ID matched to the road; traversing the road sections, and checking a road section cluster formed by a plurality of road sections with the same road ID; judging whether track point drifting occurs in the road section clusters; if yes, deleting the road section cluster; and adjusting the rest road sections to obtain a final driving route. The invention obtains the accurate driving route of the vehicle by judging whether the vehicle track points at the two-way road intersection drift or not and deleting the road section clusters with the drifting vehicle track points. Track points at the turning positions are identified through track point position information and driving direction information recorded by the vehicles and are preprocessed, so that the complexity of road intersection route selection in subsequent track matching calculation is simplified; and performing subsequent analysis on the matching route at the two-way road intersection, eliminating matching errors and detour conditions caused by the drift of the track points, and improving the accuracy of track matching.
Fig. 2 is a functional block diagram of a vehicle travel route generation system according to an embodiment of the present application. As shown in fig. 2, the vehicle travel route generation system 2 includes a matching module 21, an inspection module 22, a judgment module 23, and a generation module 24.
The matching module 21 is used for performing track matching calculation on all track points of the vehicle to generate an initial driving route formed by a plurality of road sections; the section is marked with a unique road ID of the matched road;
a checking module 22, which traverses the road segments and checks the road segment clusters formed by a plurality of road segments with the same road ID;
the judging module 23 judges whether track point drifting occurs in the road section clusters; if yes, deleting the road section cluster;
and the generation module 24 adjusts the rest road sections to obtain the final driving route.
Optionally, the determining whether the track point drift occurs in the road segment cluster includes: and when the driving directions of the first road section and the last road section in the road section cluster are different, judging whether the distance between the track points in the range of the entrance end position and the exit end position of the road section cluster meets the preset condition.
Optionally, the preset conditions include: and the maximum distance between the position of the entrance end and all track points in the range of the entrance end and the exit end is smaller than a preset threshold value.
Optionally, turning intersection identification is performed on all track points, and only one target turning track point is taken at each turning intersection.
Optionally, according to the time sequence, obtaining at least one turning track point according to the change of the connecting line direction and the change of the driving direction angle between the track points;
and taking the last turning point in the time sequence as a target turning track point.
Optionally, at least one turning track point obtained through identification is used as a central point, and the turning track point cluster is obtained through expanding, traversing and identifying the track points in front of and behind the turning track point.
Optionally, whether the track points in front of and behind the turning track point all meet the distance condition and the acquisition time interval condition is judged one by one, and the track points meeting the conditions are marked as new turning track points until the conditions are not met.
For other details of the technical solutions implemented by the modules in the vehicle driving route generating system according to the above embodiment, reference may be made to the description of the vehicle driving route generating method in the above embodiment, and details are not repeated here.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment
Referring to fig. 3, fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in fig. 3, the computer device 30 includes a processor 31 and a memory 32 coupled to the processor 31.
The memory 32 stores program instructions that, when executed by the processor 31, cause the processor 31 to execute the steps of the vehicle travel route generation method in the above-described embodiment.
The processor 31 may also be referred to as a CPU (Central Processing Unit). The processor 31 may be an integrated circuit chip having signal processing capabilities. The processor 31 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 41 capable of implementing all the methods described above, where the program file 41 may be stored in the storage medium in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (10)
1. A vehicle travel route generation method characterized by comprising:
s1, performing track matching calculation on all track points of the vehicle to generate an initial driving route consisting of a plurality of road sections; the section is marked with a unique road ID of the matched road;
s2, traversing the road sections, and checking a road section cluster formed by a plurality of road sections with the same road ID;
s3, judging whether track point drifting occurs in the road section cluster; if yes, deleting the road section cluster;
and S4, adjusting the rest road sections to obtain the final driving route.
2. The vehicle travel route generation method according to claim 1, wherein the determining whether or not a track point drift occurs in the link cluster in step S3 includes:
and when the driving directions of the first road section and the last road section in the road section cluster are different, judging whether the distance between the track points in the range of the entrance end position and the exit end position of the road section cluster meets the preset condition.
3. The vehicle travel route generation method according to claim 2, wherein the preset condition includes:
and the maximum distance between the position of the entrance end and all track points in the range of the entrance end and the exit end is smaller than a preset threshold value.
4. The vehicle travel route generation method according to claim 1, characterized by, before the step S1, further comprising:
and S5, identifying all track points through turning intersections, and only taking one target turning track point at each turning intersection.
5. The vehicle travel route generation method according to claim 4, wherein the step S5 includes:
s51, obtaining at least one turning track point according to the change of the connecting line direction and the change of the driving direction angle among the track points according to the time sequence;
and S52, taking the last turning point in the time sequence as a target turning track point.
6. The vehicle travel route generation method according to claim 5, characterized by, before the step S52 and after the step S51, comprising:
and S50, the at least one turning track point obtained through identification is used as a central point one by one, and the turning track point cluster is obtained through expanding, traversing and identifying the track points in front of and behind the turning track point.
7. The vehicle travel route generation method according to claim 6, wherein the dilation traversal recognition results in a turning trajectory point cluster, including:
and judging whether the track points in front of and behind the turning track point meet the distance condition and the acquisition time interval condition one by one, and marking the track points meeting the conditions as new turning track points until the track points meet the conditions which are not met.
8. A vehicle travel route generation system characterized by comprising:
the matching module is used for performing track matching calculation on all track points of the vehicle to generate an initial driving route consisting of a plurality of road sections; the section is marked with a unique road ID of the matched road;
the inspection module is used for traversing the road sections and inspecting road section clusters formed by a plurality of road sections with the same road ID;
the judging module is used for judging whether track point drifting occurs in the road section clusters; if yes, deleting the road section cluster;
and the generation module is used for adjusting the rest road sections to obtain the final driving route.
9. A computer device, characterized in that the computer device comprises a processor, a memory coupled to the processor, in which memory program instructions are stored which, when executed by the processor, cause the processor to carry out the steps of the vehicle driving route generation method according to any one of claims 1 to 7.
10. A storage medium characterized by storing a program file capable of implementing the vehicle travel route generation method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865168.9A CN113720341A (en) | 2021-07-29 | 2021-07-29 | Vehicle travel route generation method, system, computer device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865168.9A CN113720341A (en) | 2021-07-29 | 2021-07-29 | Vehicle travel route generation method, system, computer device, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113720341A true CN113720341A (en) | 2021-11-30 |
Family
ID=78674309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110865168.9A Pending CN113720341A (en) | 2021-07-29 | 2021-07-29 | Vehicle travel route generation method, system, computer device, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113720341A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115733867A (en) * | 2022-12-29 | 2023-03-03 | 阿维塔科技(重庆)有限公司 | Vehicle-mounted GPS data uploading method, system and equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09297031A (en) * | 1996-05-07 | 1997-11-18 | Matsushita Electric Ind Co Ltd | Navigation apparatus |
| CN105021202A (en) * | 2014-04-29 | 2015-11-04 | 高德软件有限公司 | Map matching method and device |
| CN106568456A (en) * | 2016-11-21 | 2017-04-19 | 北京工业大学 | Non-stop toll collection method based on GPS/Beidou positioning and cloud computing platform |
| CN106610294A (en) * | 2015-10-27 | 2017-05-03 | 高德信息技术有限公司 | Positioning method and device |
| CN110095126A (en) * | 2019-05-07 | 2019-08-06 | 北京百度网讯科技有限公司 | Map-matching method, device, equipment and medium |
| CN112683286A (en) * | 2021-03-16 | 2021-04-20 | 季华实验室 | Method and system for establishing topological road network map, storage medium and electronic equipment |
-
2021
- 2021-07-29 CN CN202110865168.9A patent/CN113720341A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09297031A (en) * | 1996-05-07 | 1997-11-18 | Matsushita Electric Ind Co Ltd | Navigation apparatus |
| CN105021202A (en) * | 2014-04-29 | 2015-11-04 | 高德软件有限公司 | Map matching method and device |
| CN106610294A (en) * | 2015-10-27 | 2017-05-03 | 高德信息技术有限公司 | Positioning method and device |
| CN106568456A (en) * | 2016-11-21 | 2017-04-19 | 北京工业大学 | Non-stop toll collection method based on GPS/Beidou positioning and cloud computing platform |
| CN110095126A (en) * | 2019-05-07 | 2019-08-06 | 北京百度网讯科技有限公司 | Map-matching method, device, equipment and medium |
| CN112683286A (en) * | 2021-03-16 | 2021-04-20 | 季华实验室 | Method and system for establishing topological road network map, storage medium and electronic equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115733867A (en) * | 2022-12-29 | 2023-03-03 | 阿维塔科技(重庆)有限公司 | Vehicle-mounted GPS data uploading method, system and equipment |
| CN115733867B (en) * | 2022-12-29 | 2024-04-16 | 阿维塔科技(重庆)有限公司 | Vehicle-mounted GPS data uploading method, system and equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105937912B (en) | The map data processing device of vehicle | |
| JP4950494B2 (en) | Traveling lane estimation apparatus and traveling lane estimation method | |
| US20090248768A1 (en) | Road shape estimating device, road shape estimating method and program | |
| CN102679991B (en) | Drive supporting device, driving support method | |
| CN103308050B (en) | Movable body position detection system, device and method | |
| CN106104656A (en) | Map information generating systems, method and program | |
| KR20200024934A (en) | Lane information management method, driving control method and lane information management device | |
| CN113847925A (en) | Method, device, equipment and medium for detecting vehicle yaw based on track data | |
| US20090248290A1 (en) | Road shape estimating device, road shape estimating method and program | |
| CN102853827A (en) | Travel guidance system, travel guidance apparatus, travel guidance method, and computer program | |
| JP2014130529A (en) | New road determination method, new road determination device, display device, computer program and recording medium | |
| CN104276178A (en) | Apparatus and method for detecting narrow road in front of vehicle | |
| CN107917716B (en) | Fixed line navigation method, device, terminal and computer readable storage medium | |
| CN113127466B (en) | Vehicle track data preprocessing method and computer storage medium | |
| CN111856521A (en) | Data processing method and device, electronic equipment and storage medium | |
| CN113587944B (en) | Quasi-real-time vehicle driving route generation method, system and equipment | |
| JP2017003728A (en) | Map generation system, method, and program | |
| CN113837442A (en) | Method and system for generating correction track oscillation route, terminal device and storage medium | |
| US20090248299A1 (en) | Road shape estimating device, road shape estimating method and program | |
| CN113720341A (en) | Vehicle travel route generation method, system, computer device, and storage medium | |
| US20090245583A1 (en) | Road shape estimating device, road shape estimating method and program | |
| US10697787B2 (en) | Detour recommended area estimation system, detour recommended area estimation program, and navigation device | |
| CN116009046A (en) | Vehicle positioning method and device | |
| CN117664157A (en) | Determination method, device, equipment, medium and vehicle of high-precision navigation path | |
| CN117664156A (en) | Path planning method, device, equipment, medium and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518000 floor 4, building a, Lufthansa aviation Park, hourui community, Hangcheng street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Leap New Technology Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant before: Shenzhen Leap New Technology Co.,Ltd. |