CN101409011B - Method, apparatus and system for matching map and conferring route - Google Patents
Method, apparatus and system for matching map and conferring route Download PDFInfo
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- CN101409011B CN101409011B CN2008102250951A CN200810225095A CN101409011B CN 101409011 B CN101409011 B CN 101409011B CN 2008102250951 A CN2008102250951 A CN 2008102250951A CN 200810225095 A CN200810225095 A CN 200810225095A CN 101409011 B CN101409011 B CN 101409011B
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Abstract
The invention discloses a method of map matching and route estimation, and a device and a system thereof, and pertain to the processing and application field of urban road traffic situation information, and aim at solving the problem of low operating efficiency of the map matching and route estimation in the prior art. The device and the system preprocess the original map data in the map matching and route estimation: first, pre-generating a route, then dividing a road net into smaller grids, re-organizing the data of each new grid, and finally compiling the data into a file according to a defined data structure for the following map matching and route estimation, thus enhancing the operating efficiency. The method, the device and the system can directly position the grid at which a GPS point is located, and as the grids are smaller, Link numbers in the grids are fewer, the GPS point matching rate is extremely fast; and no frequent route exploration is needed in the following route estimation, which greatly improves the route estimation efficiency, thus an algorithm of the method is simple.
Description
Technical field
The present invention relates to the processing application of urban highway traffic traffic information, relate in particular to a kind of map match and path culculating method, device and system.
Background technology
Map match is exactly that (Float Car Data, longitude that GPS FCD) is ordered and latitude are found out this highway section on map by Floating Car; Path culculating is exactly according to GPS point run trace, infers the rational path of matching degree on map.In today that urban transportation develops rapidly, urban road is complicated day by day, so the car-mounted terminal navigational system more and more is subject to people's attention.But, and realize that on this basis map match and path culculating are technological difficulties fast in the limited car-mounted terminal of the processing power large-scale road network information of organization and management that gets on.
In classic method, separately carry out in that system is in service often map match and path culculating these two aspects, original map data is not reorganized, generate back plane system map match in service and the needed FCD of path culculating and expand grid data with road network, with the map match of raising back and the operational efficiency of path culculating, the operational efficiency of total system is just lower like this.
Summary of the invention
In order to improve the operational efficiency of map match and path culculating, the present invention by the following technical solutions:
On the one hand, the invention provides a kind of map match and path culculating method.
A kind of map match and path culculating method comprise:
Carry out the path according to original map data and generate in advance, and preserve the routing information that generates;
Original map is carried out secondary divide, original map is divided into littler grid, reorganize original map data according to new grid;
Write the map datum after described routing information and the reorganization as binary file and preservation.
On the other hand, the invention provides a kind of map match and path culculating device.
A kind of map match and path culculating device comprise:
The pre-generation module in path is used for carrying out the path according to original map data and generates in advance, and preserves the routing information that generates;
Recombination module is used for that original map is carried out secondary and divides, and original map is divided into littler grid, reorganizes original map data according to new grid;
Collector is used for described routing information and the map datum after reorganizing is write as binary file and preservation.
At last, the present invention also provides a kind of map match and path culculating system.
A kind of map match and path culculating system comprise:
Floating Car is used to obtain the transport information of the road that passes through;
Map match and path culculating device are used for carrying out the path according to original map data and generate in advance, and preserve pregenerated routing information; Original map is carried out secondary divide, original map is divided into littler grid, reorganize original map data according to new grid; Write the map datum after described routing information and the reorganization as binary file and preservation.
The invention provides a kind of map match and path culculating method, device and system, before map match and path culculating, original map data is carried out pre-service.At first carry out the path and generate in advance, generate every road chain (Link) at the appointed time the path that might arrive; Then road network is divided into littler grid,, is write these data as binary file and storage,, thereby improve operational efficiency so that the map match of back and path culculating are used to the data reorganization of each new grid.The present invention can directly navigate to the grid at GPS point place, and,, and in the path culculating of back, need not frequently carry out track search so GPS point matching speed is very fast because grid is less, improved the efficient of path culculating greatly, therefore calculating of the present invention is simple.
Description of drawings
Fig. 1 is map match of the present invention and path culculating method process flow diagram;
Fig. 2 is GPS point of the present invention and new lattice relationship synoptic diagram;
Fig. 3 is map match of the present invention and path culculating device block diagram;
Fig. 4 is described map match of invention and path culculating system chart.
Embodiment
In order to improve the operational efficiency of map match and path culculating, the invention provides a kind of map match and path culculating method.
In existing intelligent transportation system (ITS), (Float Car Data) obtains the transport information instrument by Floating Car.Floating Car also is known as probe vehicles (Probe car), its ultimate principle is: according to the vehicle location of Floating Car periodic logging in its driving process of equipping vehicle-bone global positioning system, direction and velocity information, using relevant computation model and algorithm such as map match, path culculating handles, Floating Car position data and urban road are associated on time and space, finally obtain the traffic congestion information such as driving hourage of the Vehicle Speed of road that Floating Car is passed through and road.If in the city, dispose the Floating Car of sufficient amount, and the position data of these Floating Car is transferred to an information processing centre regularly, in real time by wireless telecommunication system, by information center's overall treatment, just can obtain dynamic, the real-time traffic congestion information of entire city.
As shown in Figure 1, this map match and path culculating method comprise:
101, carry out the path according to original map data and generate in advance, and preserve pregenerated routing information.
Concerning the road of different stage, because the speed of a motor vehicle difference of design, so the distance of travelling in the identical time is different, the time that is to say in same distance to be spent is different.According to " Code for planning design of transport on urban road " (issue in January nineteen ninety-five), the relation of highway section design speed and category of roads, number of track-lines is as shown in table 1.
The relation of table 1 design speed and category of roads
| Category of roads | Expressway | Major trunk roads | Subsidiary road | Branch road |
| Design speed (km/h) | 60～80 | 40～60 | 30～40 | 20～30 |
| Irreversible engine motor-car number of track- |
2～4 | 2～4 | 1～3 | 1～2 |
[0031]Road network is made up of point, road chain (Link), road, and wherein road comprises the road chain, and the road chain comprises again a little, and the road chain is represented on the road part between two point of crossing.Each bar Link to original map data, (road species are meant that category of roads is as super expressway according to the road species, quick way, Ordinary Rd etc., the speed of a motor vehicle of different road grades is different, its transit time also is different so), traffic regulation (one-way trip or forbid etc.), relevant limit information such as turning regulation (as no left turn etc.), all data in the traversal original map, generate (such as 90 seconds) at the appointed time from this Link forward and the reverse institute path that might arrive, simultaneously the length of storing path and pass through the relevant informations such as number of Link.Like this, when the path culculating of back, just need not frequently carry out track search, improve operational efficiency greatly.
The same for the path that generates in advance with original map data, also organize according to graticule mesh, the index of path in original map data that record generates in advance in pre-generation pass is so that the path culculating of back conveniently finds the relevant Link data in the original map data.
With the Floating Car is unit, and all GPS points of each car are carried out path culculating.The initial Link information of expansion at first is set, obtains the coupling Link information that the GPS of back order then successively, the path that GPS is ordered is expanded, obtain the optimal result in arrival path.In some cases, the shortest path that can not pass through between two GPS points of certain of possible Floating Car is then preserved the optimal path of front, and the GPS point to the back carries out the Link expansion again, and the optimum that finally obtains this car is inferred the path; If between the two GPS point shortest path that can pass through is arranged, continue expansion so and go down, until at last.
After the optimum of the expansion Link that the GPS of all vehicles is ordered infers that the path is all calculated and preserved, then the storing path of each car is recalled, thereby the GPS that obtains each car is ordered the optimal path information of the Link that mated.
102, reorganize original map data.
For positioning GPS data fast, improve matching efficiency, each grid of original map is carried out the secondary of m * n (such as 8 * 8) and divides, be littler grid with former grid dividing, with original map data according to new grid reorganization.Former grid dividing for what new grids will consider in conjunction with actual conditions, can not be too many, and many times that can increase traversal; Can not lack the effect that does not just have reorganization very little.
After grid is repartitioned, Link in the original map data is divided in the corresponding new grid, deposit in the corresponding new grid for not divided Link whole piece, divided Link will distinguish the access different piece in the affiliated new grid, writes down the lower left corner coordinate (with respect to original map data) of the length of the new grid number that each former grid comprises, new grid and width, each new grid, Link number that each new grid comprises and the relevant information of Link etc. simultaneously.After dividing new grid, want to learn the position at GPS point place, at first to determine the new grid at GPS point place.
The new grid of determining fast GPS point place can be in the following manner:
As shown in Figure 2, P point among the figure is represented the GPS point of Floating Car, the latitude and longitude coordinates that GPS is ordered is converted to the normalized coordinates such as the P1 (X1 of gridding, Y1), (X1, Y1) be the coordinate of GPS point in former grid, can obtain the lower left corner coordinate of the new grid in GPS point place by the coordinate of GPS point in former grid.The size of new grid be the size of original grid respectively divided by m and n (preferably can divide exactly), promptly the length of former grid is the length of new grid divided by m, the width of former grid is the width of new grid divided by n.The width of supposing new grid is Width, and the length of new grid is Height, so just be easy to obtain the new grid at this GPS point place that coordinate P2 in former grid of the lower left corner (X2 Y2), can obtain by following formula calculating:
X2＝X1/Width*Width
Y2＝Y1/Height*Height
Wherein, X1, Y1, X2, Y2, Width, Height are integer.In computation process, the value of X1/Width, Y1/Height will round, and promptly the part after the result of calculation radix point is removed.
Such as the coordinate of GPS point in former grid is (300,200), and the length of new grid is 13, and width is 11, and the lower left corner coordinate of the new grid in GPS point place is so:
300/13=23 (round numbers part) 23*13=299
200/11=18 (round numbers part) 18*11=198
So the coordinate of the lower left corner in former grid of the new grid in GPS point place is (299,198).
When system carried out map match to the GPS point, after having determined the relative position of the new grid in GPS point place in former grid, need learn needed which new grid of traversal.By set the GPS point to Link apart from threshold values, relatively the GPS point is to the distance of Link and the size of distance threshold values, will know all Link that need in which new grid of traversal (maximum 4), Link number in the new grid is less than the Link number in the former grid, and running efficiency of system has just improved greatly like this.The GPS point to candidate matches Link apart from threshold values, generally to be set to half less than the minimum value of new grid length and width, this new grid that also just requires to repartition can not be too little.
Calculate GPS point (the P point among Fig. 2) respectively to four summits of GPS point place grid and the distance of four intermediate points (shown in pore among Fig. 2), if the GPS point to the distance of these 8 points greater than the threshold values of setting, the pairing new grid of these 8 points (being followed successively by grid 1, grid 2, grid 3, grid 4, grid 5, grid 6, grid 7, grid 8 in the direction of the clock) is not just among considering so, when the GPS point is carried out map match, only need to consider the new grid (as the grid among the figure 9) at the place of GPS point own so.If the GPS point is closer from the summit of new grid of living in, at most also only need to consider 4 new grids, closer such as the GPS point from the summit on the top of new grid of living in and the left side, only need to consider grid 1, grid 2, grid 9 among Fig. 2, grid 8 is just much of that.In the ordinary course of things, only need to consider 1 new grid at the place of GPS point own, so just dwindled the quantity of candidate matches Link greatly, improved operational efficiency.
Each GPS point to each Floating Car travels through, and obtains all candidate Link that each GPS is ordered.In concrete matching process, at first the GPS point is passed through said method, determine the new grid of required visit fast; Then this new grid is traveled through, every Link in this new grid is judged, need consider that when judging the GPS point is to the distance of mate Link, GPS velocity reversal angle (comparing with setting value) and the line matching direction (the line direction that former and later two GPS are ordered) with mate Link direct of travel, all candidate matches Link that each GPS of process judgement acquisition is ordered.These candidates' coupling Link can provide data for the path culculating of back.
103, write the map datum after pregenerated routing information and the reorganization as binary file and preservation.
The present invention has defined a kind of data structure, comprise original mesh number, the number of new grid, the serial number of new grid, the Link record number that comprises in each new grid, the starting point of every Link and terminal point are put index between mending, Floating Car Link number, the ID of current Link (road chain number), relevant information such as accessible all Link numbers of current Link in the time (comprise forward and oppositely) is being set, and is defining the order of these information in data structure: original mesh number, the number of new grid, the serial number of new grid, the Link record number that comprises in each new grid, the starting point of every Link and terminal point are put index between mending, Floating Car Link number, the ID of current Link, accessible all Link numbers of current Link in time (comprising forward and reverse) are being set.In storage, write these information as binary file and stored in the system according to said sequence.
When system carries out map match and path culculating so in the back, only need read into memory the binary file of being stored according to the data structure that defines and just can utilize these information, thereby the operational efficiency of system is provided.
The invention provides the method for a kind of map match and path culculating, before map match and path culculating, original map data is carried out pre-service.At first carry out the path and generate in advance, generate every road chain (Link) at the appointed time the path that might arrive; Then road network is divided into littler grid, to the data reorganization of each new grid, the index of record Link in each new grid; With the data structure of these data, be compiled into a file at last,, thereby improve operational efficiency so that the map match of back and path culculating are used according to definition.The present invention can directly navigate to the grid at GPS point place, and because grid is less, thereby the Link number in the grid is also just fewer, so GPS point matching speed is very fast; In addition by setting the size apart from threshold values and new grid of GPS point to Link, the required grid number of searching has only 4 at most, and in the path culculating of back, need not frequently carry out track search, and improved the efficient of path culculating greatly, therefore calculating of the present invention is simple.
The present invention also provides a kind of map match and path culculating device.
In existing intelligent transportation system (ITS), (Float Car Data) obtains the transport information instrument by Floating Car.Floating Car also is known as probe vehicles (Probe car), its ultimate principle is: according to the vehicle location of Floating Car periodic logging in its driving process of equipping vehicle-bone global positioning system, direction and velocity information, using relevant computation model and algorithm such as map match, path culculating handles, Floating Car position data and urban road are associated on time and space, finally obtain the traffic congestion information such as driving hourage of the Vehicle Speed of road that Floating Car is passed through and road.If in the city, dispose the Floating Car of sufficient amount, and the position data of these Floating Car is transferred to an information processing centre regularly, in real time by wireless telecommunication system, by information center's overall treatment, just can obtain dynamic, the real-time traffic congestion information of entire city.
As shown in Figure 3, this device comprises:
The pre-generation module 301 in path is used for carrying out the path according to original map data and generates in advance, and preserves pregenerated routing information.
The pre-generation module in this path comprises:
The pre-generation unit 304 in path is used for determining the Floating Car position, travels through all original map data, according to relevant information generate vehicle forward at the appointed time and oppositely the path that might arrive.
Concerning the road of different stage, because the speed of a motor vehicle difference of design, so the distance of travelling in the identical time is different, the time that is to say in same distance to be spent is different.Road network is made up of point, road chain (Link), road, and wherein road comprises the road chain, and the road chain comprises again a little, and the road chain is represented on the road part between two point of crossing.Each bar Link to original map data, (road species are meant that category of roads is as super expressway according to the road species, quick way, Ordinary Rd etc., the speed of a motor vehicle of different road grades is different, its transit time also is different so), traffic regulation (one-way trip or forbid etc.), relevant limit information such as turning regulation (as no left turn etc.), all data in the traversal original map, generate (such as 90 seconds) at the appointed time from this Link forward and the reverse institute path that might arrive, simultaneously the length of storing path and pass through the relevant informations such as number of Link.Like this, when the path culculating of back, just need not frequently carry out track search, improve operational efficiency greatly.
The same for the path that generates in advance with original map data, also organize according to graticule mesh, write down the index of path in original map data that generates in advance simultaneously, so that the path culculating of back conveniently finds the relevant Link data in the original map data.
With the Floating Car is unit, and all GPS points of each car are carried out path culculating.The initial Link information of expansion at first is set, obtains the coupling Link information that the GPS of back order then successively, the path that GPS is ordered is expanded, obtain the optimal result in arrival path.In some cases, the shortest path that can not pass through between two GPS points of certain of possible Floating Car is then preserved the optimal path of front, and the GPS point to the back carries out the Link expansion again, and the optimum that finally obtains this car is inferred the path; If between the two GPS point shortest path that can pass through is arranged, continue expansion so and go down, until at last.
After the optimum of the expansion Link that the GPS of all vehicles is ordered infers that the path is all calculated and preserved, then the storing path of each car is recalled, thereby the GPS that obtains each car is ordered the optimal path information of the Link that mated.
This recombination module comprises:
For positioning GPS data fast, improve matching efficiency, each grid of original map is carried out the secondary of m * n (such as 8 * 8) and divides, be littler grid with former grid dividing, with original map data according to new grid reorganization.Former grid dividing for what new grids will consider in conjunction with actual conditions, can not be too many, and many times that can increase traversal; Can not lack the effect that does not just have reorganization very little.
After grid is repartitioned, Link in the original map data is divided in the corresponding new grid, deposit in the corresponding new grid for not divided Link whole piece, divided Link will distinguish the access different piece in the affiliated new grid, writes down the lower left corner coordinate (with respect to original map data) of the length of the new grid number that each former grid comprises, new grid and width, each new grid, Link number that each new grid comprises and the relevant information of Link etc. simultaneously.
The new grid of determining fast GPS point place can be in the following manner:
As shown in Figure 2, P point among the figure is represented the GPS point of Floating Car, the latitude and longitude coordinates that GPS is ordered is converted to the normalized coordinates such as the P1 (X1 of gridding, Y1), (X1, Y1) be the coordinate of GPS point in former grid, can obtain the lower left corner coordinate of the new grid in GPS point place by the coordinate of GPS point in former grid.The size of new grid be the size of original grid respectively divided by m and n (preferably can divide exactly), promptly the length of former grid is the length of new grid divided by m, the width of former grid is the width of new grid divided by n.The width of supposing new grid is Width, and the length of new grid is Height, so just be easy to obtain the new grid at this GPS point place that coordinate P2 in former grid of the lower left corner (X2 Y2), can obtain by following formula calculating:
X2＝X1/Width*Width
Y2＝Y1/Height*Height
Wherein, X1, Y1, X2, Y2, Width, Height are integer.In computation process, the value of X1/Width, Y1/Height will round, and promptly the part after the result of calculation radix point is removed.
Such as the coordinate of GPS point in former grid is (300,200), and the length of new grid is 13, and width is 11, and the lower left corner coordinate of the new grid in GPS point place is so:
300/13=23 (round numbers part) 23*13=299
200/11=18 (round numbers part) 18*11=198
So the coordinate of the lower left corner in former grid of the new grid in GPS point place is (299,198).
When system carried out map match to the GPS point, after having determined the relative position of the new grid in GPS point place in former grid, need learn needed which new grid of traversal.By set the GPS point to Link apart from threshold values, relatively the GPS point is to the distance of Link and the size of distance threshold values, will know all Link that need in which new grid of traversal (maximum 4), Link number in the new grid is less than the Link number in the former grid, and running efficiency of system has just improved greatly like this.The GPS point to candidate matches Link apart from threshold values, generally to be set to half less than the minimum value of new grid length and width, this new grid that also just requires to repartition can not be too little.
Calculate GPS point (the P point among Fig. 2) respectively to four summits of GPS point place grid and the distance of four intermediate points (shown in pore among Fig. 2), if the GPS point to the distance of these 8 points greater than the threshold values of setting, the pairing new grid of these 8 points (being followed successively by grid 1, grid 2, grid 3, grid 4, grid 5, grid 6, grid 7, grid 8 in the direction of the clock) is not just among considering so, when the GPS point is carried out map match, only need to consider the new grid (as the grid among the figure 9) at the place of GPS point own so.If the GPS point is closer from the summit of new grid of living in, at most also only need to consider 4 new grids, closer such as the GPS point from the summit on the top of new grid of living in and the left side, only need to consider grid 1, grid 2, grid 9 among Fig. 2, grid 8 is just much of that.In the ordinary course of things, only need to consider 1 new grid at the place of GPS point own, so just dwindled the quantity of candidate matches Link greatly, improved operational efficiency.
Each GPS point to each Floating Car travels through, and obtains all candidate Link that each GPS is ordered.In concrete matching process, at first the GPS point is passed through said method, determine the new grid of required visit fast; Then this new grid is traveled through, every Link in this new grid is judged, need consider that when judging the GPS point is to the distance of mate Link, GPS velocity reversal angle (comparing with setting value) and the line matching direction (the line direction that former and later two GPS are ordered) with mate Link direct of travel, all candidate matches Link that each GPS of process judgement acquisition is ordered.These candidates' coupling Link can provide data for the path culculating of back.
The present invention has defined a kind of data structure, comprise original mesh number, the number of new grid, the serial number of new grid, the Link record number that comprises in each new grid, the starting point of every Link and terminal point are put index between mending, Floating Car Link number, the ID of current Link (road chain number), relevant information such as accessible all Link numbers of current Link in the time (comprise forward and oppositely) is being set, and is defining the order of these information in data structure: original mesh number, the number of new grid, the serial number of new grid, the Link record number that comprises in each new grid, the starting point of every Link and terminal point are put index between mending, Floating Car Link number, the ID of current Link, accessible all Link numbers of current Link in time (comprising forward and reverse) are being set.In storage, write these information as binary file and stored in the system according to said sequence.
When system carries out map match and path culculating so in the back, only need read into memory the binary file of being stored according to the data structure that defines and just can utilize these information, thereby the operational efficiency of system is provided.
The invention provides a kind of map match and path culculating device, before map match and path culculating, original map data is carried out pre-service.At first carry out the path and generate in advance, generate every road chain (Link) at the appointed time the path that might arrive; Then road network is divided into littler grid, to the data reorganization of each new grid, the index of record Link in each new grid; With the data structure of these data, be compiled into a file at last,, thereby improve operational efficiency so that the map match of back and path culculating are used according to definition.The present invention can directly navigate to the grid at GPS point place, and because grid is less, thereby the Link number in the grid is also just fewer, so GPS point matching speed is very fast; In addition by setting the size apart from threshold values and new grid of GPS point to Link, the required grid number of searching has only 4 at most, and in the path culculating of back, need not frequently carry out track search, and improved the efficient of path culculating greatly, therefore calculating of the present invention is simple.
The embodiment of the invention also provides a kind of map match and path culculating system.
As described in Figure 4, this system comprises:
Floating Car 401 is used to obtain the transport information of road that Floating Car is passed through;
Map match and path culculating device 402, the Traffic Information and the urban road that are used to Floating Car is obtained associate on time and space, finally obtain dynamic, the real-time traffic congestion information of entire city.
As shown in Figure 3, this map match and path culculating device comprise:
The pre-generation module 301 in path is used for carrying out the path according to original map data and generates in advance, and preserves pregenerated routing information;
The above; only be the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; can expect easily changing or replacing, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (7)
1. map match and path culculating method is characterized in that, comprising:
Carry out the path according to original map data and generate in advance, and preserve pregenerated routing information;
Original map is carried out secondary divide, original map is divided into littler grid, reorganize original map data according to new grid;
Write the map datum after described routing information and the reorganization as binary file and preservation.
2. map match according to claim 1 and path culculating method is characterized in that, describedly carry out the path according to original map data and generate in advance, and preserve the routing information that generates and comprise:
Determine the Floating Car position, travel through all original map data, according to relevant information generate forward at the appointed time and oppositely the path that might arrive;
Preserve described routing information.
3. map match according to claim 2 and path culculating method is characterized in that, described relevant information comprises: road species, traffic regulation, turning regulation.
4. map match and path culculating device is characterized in that, comprising:
The pre-generation module in path is used for carrying out the path according to original map data and generates in advance, and preserves pregenerated routing information;
Recombination module is used for that original map is carried out secondary and divides, and original map is divided into littler grid, reorganizes original map data according to new grid;
Collector is used for described routing information and the map datum after reorganizing is write as binary file and preservation.
5. map match according to claim 4 and path culculating device is characterized in that, the pre-generation module in described path comprises:
The pre-generation unit in path is used for determining the Floating Car position, travels through all original map data, according to relevant information generate forward at the appointed time and oppositely the path that might arrive;
Preserve the unit, be used for the routing information that the pre-generation unit of storing path generates.
6. map match according to claim 5 and path culculating device is characterized in that, described relevant information comprises: road species, traffic regulation, turning regulation.
7. map match and path culculating system is characterized in that, comprising:
Floating Car is used to obtain the transport information of the road that passes through;
Map match and path culculating device are used for carrying out the path according to original map data and generate in advance, and preserve pregenerated routing information fast; Original map is carried out secondary divide, original map is divided into littler grid, reorganize original map data according to new grid; Write the map datum after described routing information and the reorganization as binary file and preservation.
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| CN101794511B (en) * | 2009-12-30 | 2012-01-04 | 北京世纪高通科技有限公司 | Road condition analyzing method and device |
| CN102147260B (en) * | 2010-02-09 | 2014-12-24 | 日电（中国）有限公司 | Electronic map matching method and device |
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