CN101359434A - Process for constructing road net model for traffic navigation system and traffic emulation system - Google Patents
Process for constructing road net model for traffic navigation system and traffic emulation system Download PDFInfo
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- CN101359434A CN101359434A CNA2008102224482A CN200810222448A CN101359434A CN 101359434 A CN101359434 A CN 101359434A CN A2008102224482 A CNA2008102224482 A CN A2008102224482A CN 200810222448 A CN200810222448 A CN 200810222448A CN 101359434 A CN101359434 A CN 101359434A
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Abstract
The invention discloses a road network model construction method used for the traffic navigation system and the traffic simulation system. The road network model construction method is used for storing the electronic map in the traffic navigation system and defining the virtual road network in the traffic simulation system. The construction method adopts the <road-lane> as the basic unit and adopts the directed graph as the abstract data structure; the model construction method includes the network entity description method, the lane connectivity description method, the intersection traffic rule description method and the method which adopts the XML format to store the road network data files. The road network model construction method has the advantages that the constructed road network model can realize the description of the contents, including the shape and position features of roads, the inter-road connective relation, the inter-lane connective relation, adjacent relation, steering limitations and the attribute information, and the traffic rules of the road intersections; the constructed road network model also can organize and manage great quantities of attribute and connectivity information.
Description
Technical field
The present invention relates to a kind of construction method of urban road network descriptive model, particularly relate to a kind of formalized description of model and the date storage method of model thereof.
Background technology
Road net model is used for describing the information of road network topology structure and road network entity, is the basic ingredient of traffic navigation system and traffic simulating system.For the former, road net model is mainly used to represent road transport network (electronic chart), and planning travelling route is also implemented visual real-time traffic navigation.For the latter, traffic simulation is normally set up the motion simulation model and the Data Analysis Model of vehicle on road net model, and then carries out the motion simulation of vehicle, and obtains and analyze motion result.The size of the described quantity of information of road net model, institutional framework and data storage method etc. all directly influence the function and the performance of system, as the speed of path planning and the indexs such as scale of traffic simulation.Therefore, a road net model reasonable in design is very important, also quite is necessary.
At present, in most application systems, use following two types road net model respectively.A kind of is base unit with " intersection (abstract is the node of digraph) " and " road (abstract is the limit of digraph) ", comes modeling with this data structure of digraph, just " road-road " road net model.Use this model, be difficult to describe the multilane attribute of road, the association attributes in track (as allowing driving vehicle type, priority, speed limit, turning to restriction etc.), the connectedness in different tracks and the traffic rules at intersection place.For example, during Beijing Olympic Games, only travel for Olympic Games special vehicle in the track on some road, and general civilian vehicle is forbidden travelling.Above-mentioned model can't directly be described this scene.
Another kind of is base unit with " crossing, track (abstract is the node of digraph) " and " track (abstract is the limit of digraph) ", uses the digraph modeling, just " track-track " road net model.Use this model, can solve the defective of " road-road " road net model.But it can't represent between the track in abutting connection with characteristic, also just can't guide the behavior of changing trains in (or emulation) vehicle ' process; Data such as the road attribute of organization and management enormous amount, track attribute, track connectedness more effectively.
In view of the above problems, the characteristics of two kinds of models can be merged, design the road net model that a kind of " road " and " track " combine.
Summary of the invention
The object of the present invention is to provide a kind of is base unit with " road-track ", with the road net model construction method of digraph modeling.The model that this method makes up can be described the traffic rules at multilane attribute, track connectedness and intersection place.In order to achieve the above object, the present invention has adopted following technical proposals.
The road net model that the method for the invention makes up can be to connected relation between the shape orientative feature of road, road, connected relation, syntople between the track, turns to the contents such as traffic rules of restriction, attribute information and intersection to be described.This method comprises the steps:
(1) entity in the road network is described.Promptly the entities such as initial sum final position point in the crossing of the road that road network is occurred, track, road, road shunting and crossing, interflow and track define, and to the attributes of entities assignment.
(2) connectedness to road and track is described.Explicitly illustrates the connection attribute in " track-track " in model, to describe the connectedness between the different tracks.And the cross connection between the parallel track on the same road is not added restriction, that is to say to allow vehicle changing Lane in the process of moving that this also meets reality.
(3) traffic rules to each crossing of road are described, and mainly consider the periodically variable regular modeling of crossing's signal lamp out of phase.
And just can construct the urban road network that " road-track " combines according to step 1,2 and 3.
In addition, the present invention also comprises the step that road net data is preserved, and wherein, is the data in the file storage road net model that adopts the XML form.Because traditional method is that road net data is kept in the database with the binary coding form, need can read, show and edit by the instrument of special use, thereby the cost of development height of application system, very flexible, properties of product are low.And the data of using the XML form to preserve can directly be opened and edit with common text editor, editing machine that also can own customized development special use; And data have good semantic feature, logical organization and readability, are convenient to carry out fast secondary development.
The urban road network that makes up by the method that the present invention introduced can be described the traffic rules of multilane attribute, connectedness and intersection, and the file with the XML form is stored the road net data file, the huge road information of organization and management city data volume effectively, thereby have higher utility.
Description of drawings
Fig. 1 is the logical architecture synoptic diagram of road net model of the present invention;
Fig. 2 is a road net model formalized description synoptic diagram of the present invention;
Fig. 3 is a road net model construction step process flow diagram of the present invention;
Fig. 4 is the synoptic diagram of the intersection example of road net model of the present invention;
Fig. 5 a is one of synoptic diagram of the connective example in the track of road net model of the present invention;
Fig. 5 b be the connective example in the track of road net model of the present invention synoptic diagram two;
Fig. 6 a is one of method synoptic diagram that calculates the track connectedness automatically of road net model of the present invention;
Fig. 6 b be road net model of the present invention the method synoptic diagram that automatically calculates the track connectedness two;
Fig. 6 c be road net model of the present invention the method synoptic diagram that automatically calculates the track connectedness three;
Fig. 6 d be road net model of the present invention the method synoptic diagram that automatically calculates the track connectedness four;
Certain city road network that Fig. 7 simulates for road net model.
Embodiment
Below in conjunction with accompanying drawing and specific implementation process road net model of the present invention and construction method are elaborated.
Shown in Fig. 1, the method for the invention makes up the logical architecture of road net model, and it comprises entity description method 1 in the road network, road network connectivity describing method 2, intersection place traffic rules describing method 3 and road net data storage means 4.
Shown in Fig. 2 and Fig. 3, the method for the invention makes up is be base unit with " road-track ", and the road net model of employing digraph modeling.Wherein, the node in the digraph is represented the point of crossing entity in the road network, and the road entity in the road network is represented on the limit of digraph.Owing to the track is to depend on road to exist, and be one-way trip, therefore, the crossing of real road, road shunting and crossing, interflow, and the initial sum final position point in track etc. all abstract be the point of crossing entity, just distribute different property values to distinguish its type.In actual applications, polygon rendering can be adopted in described point of crossing.
This road net model adopts two tuple RN=, and (G C) comes formalized description.Wherein, G is for describing the digraph of road network primary entity structure, by two tuple G=(R, J) expression; C is the set that path connected and point of crossing are communicated with logical organization in the road network, by two tuple C=(E
c, J
c) expression.
Two tuple G=(R, J) in, R is the set of road in the road network; J is the set of point of crossing in the road network.
At two tuple C=(E
c, J
c) in, E
cThe expression path connected, J
cThe expression point of crossing is communicated with logic.
(R is J) with two tuple C=(E to explain tlv triple G=below respectively
c, J
c) implication.
Two tuple G=(R, J)---body modeling method in the road net model
(R, J) corresponding road network body modeling method 1 is in order to be described definition (step 11) to each entity that occurs in the road network for two tuple G=.This entity can be the initial sum final position point in road, track, intersection, road shunting and crossing, interflow, track and bus-stop, track speed limit mark or the like.
1) road description
R represents the set { r of road in the road network
1, r
2, r
3..., r
n, abstract is limit in the digraph.Each element r of R all is by tlv triple (prop
Basic, prop
Lane, LaneVector) form.
Prop
Basic=(ID, FromNode, ToNode, Length, Angle, Maxspeed, Priority Type) is one eight tuple, in order to describing the base attribute of road, the meaning of each element can be with reference to shown in the table 1:
The basic attribute list of table 1 road
| Attribute | Meaning |
| ID | The name of road |
| FromNode | The start node of linking-up road |
| ToNode | The termination node of linking-up road |
| Length | The length of road |
| Angle | The angle of road |
| Maxspeed | The maximum permission speed of road |
| Priority | The priority of road |
| Type | Road type |
Prop
Lane=(LaneNum LaneSpreadMode) is one two tuple, in order to describe the association attributes in track on the current road.LaneNum represents the track quantity that road comprises; LaneSpreadMode represents the expansion pattern of track on road.
LaneVector is the set { l in track on the current road
1, l
2, l
3..., l
n, its each element l represents a concrete track, depends on concrete road and exists.
(Depart AllowedVType) is a four-tuple to l=for ID, Shape.Wherein, ID is the unique identifying number in track, according to the direction of road, names from left to right.Shape represents the shape in track, is one group of coordinate points { (x
1, y
1), (x
2, y
2) ..., (x
n, y
n) set.Depart is a Boolean variable, represents whether this track allows to dispatch a car: 1 expression allows to dispatch a car, and 0 expression does not allow to dispatch a car.AllowedVType allows current type of vehicle in order to the expression track, and it needs according to specifically being used for being defined; In addition, can also add the singularity in other parametric representation tracks.
Thereby finish road and with the initial sum final position point in the track on the relevant road of road, intersection, road shunting and crossing, interflow, track and bus-stop, track speed limit mark or the like entity description (with reference to road example shown in Figure 1) by foregoing description.
2) point of crossing is described
J is the set { j of point of crossing in the road network
1, j
2, j
3..., j
n, in order to the real road point of crossing of expression in the traffic network, abstract is node in the digraph.In the enforcement, each element j represents single point of crossing among the J, and be expressed as four-tuple (ID, Position, Type, Shape, Inc), its concrete implication can be with reference to shown in the table 2.
Table 2 point of crossing attribute list
| Attribute | Meaning |
| ID | The name of point of crossing |
| Position | The position of point of crossing |
| Type | The type of point of crossing |
| Shape | The shape of point of crossing |
| Inc | Enter the track set of point of crossing |
Wherein, type Type represents the traffic rules or the traffic constraint at place, point of crossing, and its concrete value is as shown in table 3.
Table 3 crosspoint type sorted table
| Type | Meaning |
| unknown | UNKNOWN TYPE |
| traffic light | Be subjected to the point of crossing of traffic lights control |
| priority junction | The right of priority point of crossing |
| right before left | The preferential point of crossing of right lateral |
| no junction | The preferential point of crossing of non-right lateral |
| dead end | Stop the point of crossing |
In the last table, no junction is used to describe the special circumstances that intersect two expressways; Dead end represents the terminal point of road, promptly can't advance forward along the direction vehicle of road.
The attribute Inc of point of crossing represents to enter the track set { inc of point of crossing
1, inc
2, inc
3..., inc
n, its each element inc represents the numbering laneID in a track.Shape describes the shape of road network point of crossing, is a polygon, and actual value is the set { (x of polygon vertex coordinate
1, y
1), (x
2, y
2) ..., (x
n, y
n) (with reference to intersection example shown in Figure 4).
2. two tuple C=(E
c, J
c)---the road network connectivity modeling method
Two tuple C=(E
c, J
c) corresponding road network connectivity modeling method 2, in order to the road entity that occurs in the road network, the connectedness of track entity are made to describe definition (step 12).
In actual road network, two road that the position is adjacent or track may not be communicated with between them.Shown in Fig. 5 a, owing to turn to restriction, the vehicle that travels at road left does not allow, so and road top be not communicated with.And in the road network shown in Fig. 5 b, the vehicle that travels at road left can drive towards other three roads, and can turn around to turn to.
Therefore, during the actual implementation road network, needs use path connected represents to close on the actual accessibility between the road.In road net model, use E
cExpression.
The connectedness of road is used E
cExpression.E
c=(E2E L2L), is one two tuple.Wherein E2E is for describing the set that " road-road " connects in the road network; Each element e2e represents a connection, and e2e can be expressed as tlv triple (ID, FromEdge, ToEdge), the unique identifying number that ID connects in order to expression " road-road ", FromEdge then stops road number in order to the initial sum that expression is connected with ToEdge; L2L represents the set that " track-track " in the road network connects, its each element l2l be expressed as (ID, EdgeID, LaneID, JunctionID ConnLanes), is a five-tuple.Wherein, ID is the unique identifying number that " track-track " connects, EdgeID, LaneID represent current road, track respectively with JunctionID and are connected the numbering of the point of crossing of passing through, ConnLanes represents the follow-up track that connects, each element connlane is expressed as two tuple (LaneID, prop), LaneID is the track identification number, and prop represents the attribute information with join dependency.
J
cExpression is communicated with logic, is used for describing the traffic rules of road crossing.Concrete meaning is in joint explanation down.
In addition, under the situation of not specifying special connection restriction, can adopt the algorithm of robotization to calculate the road at all intersection places in the road network, the connectedness in track fast.This described algorithm illustrates as shown in Fig. 6 a, Fig. 6 b, Fig. 6 c and Fig. 6 d.
The 1st step: order travels through all roads in the road network, preserves the road that every road can be communicated with, and just can produce the road that turns to.
The 2nd step: order travels through intersections all in the road network, and all roads of crossing are numbered (ordering just) according to clockwise direction.Execution result is shown in Fig. 6 a.
The 3rd step: order travels through intersections all in the road network, and according to the intersection type of preserving in the road network, the traffic rules attribute that each intersection is set is an a certain value cited in the table 3.
The 4th step: order travels through intersections all in the road network, and according to the intersection type of preserving in the road network, the priority level of road is set clockwise.
The 5th step:, preserve the link information of road and road according to the execution result in the 1st step.Execution result is shown in Fig. 6 b.
The 6th step:, calculate the road that every track can be communicated with according to the quantity in track on every road.If the bicycle road, can be to 3 directional steerings; If two-way traffic, outer track can right turn, and inside lane can oriented 2 directional steerings; If 3 tracks, outer track can right turn, and middle lane is kept straight on, and inside lane is kept straight on and left steering; If 4 tracks, outer track can right turn, keeps straight in middle 2 tracks, and inside lane can left steering
The 7th step:, calculate the track that every track can be communicated with according to the quantity in track on every road.That is to say, determine that vehicle passes through intersection after, can on any bar track, travel.Execution result is shown in Fig. 6 c.
The 8th step: the connectedness in check track, check whether to have to be set at connection between the road, but do not set up the situation of connected relation between the track on the road.
The 9th step:, draw turn marking according to the communication information in every track.Execution result is shown in Fig. 6 d.
3. intersection place traffic rules modeling method
Described intersection place traffic rules modeling method 3 is for defining and describe (step 13) in order to the traffic rules to place, the point of crossing in the road network.When passing through at the intersection place, vehicle need observe certain traffic rules.When making up model, definable is subjected to the preferential point of crossing (as shown in table 4) of point of crossing, the point of crossing with right of priority and right lateral of traffic lights control.
The optional type of table 4 intersection place traffic rules
| traffic light | Be subjected to the point of crossing of traffic lights control |
| priority junction | The right of priority point of crossing |
| right before left | The preferential point of crossing of right lateral |
Described intersection traffic rules are to comprise traffic rules that are subjected to traffic lights control and the traffic rules that do not have traffic lights control.The traffic rules that controlled by traffic lights are mainly consideration and how describe traffic lights phase change rule on each track; Do not have the traffic rules of traffic lights control mainly to consider how to describe different travel directions and whether conflicts, dodge rule when clashing, will dodge vehicle on the major trunk roads as the vehicle of branch road.
Therefore, the road net model of the present invention method of carrying out modeling for the traffic rules at intersection place comprises for the modeling method of traffic lights rule with to the modeling method of priority rules.
1) traffic lights rule modeling method
Modeling method to the traffic lights rule is as follows.
Attribute to traffic lights is described, and the attribute of definition traffic lights signal lamp comprises position and phase sets.The position is in order to the residing intersection of explanation traffic lights.The element of phase sets is a phase place, in order to describe the transformation rule of traffic lights, the situation of representing all the signal lamp linear transformations on the intersection, and described phase place also comprises four attributes: the duration, the track that shows green light signals shows the track of red signal and the track of demonstration steady yellow.
In the practice, can be as＜phase duration=" 6 " phase=" 001100001100 " brake=" 110011000000 " yellow=" 000000110011 ".Wherein, this column data is the traffic lights phase place at a time on 12 tracks of 4 roads, an intersection place, the described duration is 6 seconds, shown in the value of a certain position of phase be that the pairing track of 1 expression green light lights, shown in the value of a certain position of brake be that the pairing track of 1 expression red light lights, shown in the value of a certain position of yellow be that amber light lights on the pairing track of 1 expression.
2) priority rules modeling method
Described modeling method to priority rules is used to be communicated with logic J
cDescribe.J
cForm by one group of position collection set, represent by set 0 or 1 whether the vehicle stream in current connection track needs to wait for.For example, in the point of crossing that does not have traffic lights control, select right lateral vehicle sequence rule; And for the point of crossing that is subjected to traffic lights control, whether vehicle waits for the state that depends on traffic lights for employing.
4. road net data storage means
Described road net data storage means 4 is in order to storage road net model data, use the file of XML form to store (step 14), the file of this form and being described as follows:
<net>
＜!-road description--〉
＜edges no=" quantity of all roads in the road network "〉ID in all highway sections, separate with the space
</edges>
＜edge id=" road section ID " length=" length " speed=" road Maximum speed limit " name="
Road name is as Chang'an street " NoLanes=" track quantity " XFrom=" starting point azimuthal coordinates "
YFrom=" starting point azimuthal coordinates " XTo=" home orientation coordinate " YTo=" home orientation coordinate "
From=" initial crossing " to=" termination crossing " Priority=" highway section priority " 〉
＜lanes〉＜!-be attached to all tracks of this road--
＜lane id=" track _ ID " vclasses=allows the type " " by vehicle
Maxspeed=" track speed limit " length=" length "〉shape in track, with polygonal summit table
Show＜/lane 〉
</lanes>
</edge>
＜node_count〉on the road network intersection quantity＜/node_count
＜!--intersection information--〉
＜junction id=" crossing ID " type=" crossing type " x=" position horizontal ordinate " y="
Position ordinate " 〉
＜inclanes〉enter the normal track ID of this crossing, separate with the space
</inclanes>
＜intlanes〉track, inside ID that this crossing comprised, separate with the space
</intlanes>
＜shape〉geometric configuration of crossing, with polygonal apex coordinate represent＜/shape
</junction>
＜!--information of path connected--〉
＜succ edge=" road ID " lane=" track ID " junction=" intersection ID " 〉
" road makes tl=＜succlane lane=" road section ID " via=" track, the inside ID of process "
Which organizes traffic lights " linkno=" track with use who of traffic lights, correspondence
Which kind of turn marking the position of pahse/brake/yellow etc. " dir=" uses, r to the right/l left/s
Craspedodrome/t turns around "/
</succ>
＜!--traffic lights logic--〉
＜tl-logic type=" static, switching time etc. of expression signal lamp be what to fix " 〉
＜key〉the ID numbering＜/key 〉
＜phaseno〉the traffic lights phase tranformation quantity＜/phaseno
" green light is bright for phase=for＜phase duration=" time span of a phase place of traffic lights "
The track that track " yellow=" amber light that track " brake=" red light that rises lights lights "/
</net>
The file of this described form has good readability and logicality, is present more common a kind of data carrier, and can directly be brought by various application systems and use or customize.Therefore, use the XML form to preserve road net data, can easily edit the data of road net model for unit or the personnel that use road net model of the present invention.
In sum, in road net model of the present invention, be communicated with logic by adding necessary track attribute information and point of crossing, and reasonably, effectively, creatively will combine, finish the modeling of transportation network based on the road net model of road with based on the road net model in track.The overall architecture of road net model as shown in Figure 1, the process that makes up road net model is as shown in Figure 3.
The city road network synoptic diagram that Fig. 7 simulates for the road net model that adopts the method for the invention to make up.
Claims (4)
1. a road net model construction method that is used for traffic navigation system and traffic simulating system is characterized in that, comprises the steps:
(1) entity in the road network is described, and to this attributes of entities assignment;
(2) connectedness to road and track is described, its explicitly illustrates the connection attribute in " track-track " in model, and to describe the connectedness between the different tracks, and the cross connection between the parallel track on the same road is not added restriction, allow vehicle changing Lane in the process of moving;
(3) traffic rules to each crossing of road are described, and it is based on to the periodically variable regular modeling of crossing's signal lamp out of phase;
(4) data in the file storage road net model of use XML form.
2. be used for the road net model construction method of traffic navigation system and traffic simulating system according to claim 1, it is characterized in that, comprise in the step (1) point of crossing is described.
3. the road net model construction method that is used for traffic navigation system and traffic simulating system according to claim 1, it is characterized in that entity described in the step (1) comprises the track on road, the road, crossing, road shunting and the crossing, interflow of road, initial sum final position point and other additional facilities in track.
4. be used for the road net model construction method of traffic navigation system and traffic simulating system according to claim 1, it is characterized in that, also comprise in the step (3) for the description of traffic lights rule with to the description of priority rules.
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2008
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