CN103106807B - Method of location early warning in official vehicle monitoring - Google Patents
Method of location early warning in official vehicle monitoring Download PDFInfo
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Abstract
The invention discloses a method of location early warning in official vehicle monitoring. Buffering radiuses are respectively winded into each point rotation of a target object to generate a target buffering zone frontier. A sensitive location buffering area, a regulated route buffering area and an electronic guardrail buffering area can be accurately formed according to the preset early warning type and the buffering radiuses. The method of location early warning in official vehicle monitoring solves the problem of distorting phenomenon of frontiers of the regulated route buffering area and the electronic guardrail buffering area, solves the problem of self-interaction of the regulated route buffering area and the electronic guardrail buffering area, combines the buffering area algorithm and a monotonous chain algorithm creatively, constructs a buffering area only by obtaining coordinate sets and buffering radiuses corresponding to the sensitive location, the regulated route and the electronic guardrail, judges space relation of the official vehicle location and the sensitive location, the regulated route and the electronic guardrail, generates early warning and has strong operability.
Description
Technical field
The present invention relates to Geographic Information System (GIS) and official vehicle supervision area, particularly relate to the method for position early warning in the supervision of a kind of official vehicle, a kind of buffer zone analysis generating algorithm and Monotone Chain alarm algorithm of utilizing is to carry out the method for the official vehicle position early warning of space judgement specifically.
Background technology
At present, China is building economizing type harmonious society, also requires that functional government departments must strengthen the management of self, and official vehicle supervision is exactly a wherein very important part.The key technical problems relating to position early warning in official vehicle supervision is: how accurately to judge whether official vehicle arrives responsive place, depart from regulation circuit and fence of coming in and going out, and can produce early warning information in time.
Current, as the important method of spatial analysis, all there is application buffer zone in a lot of fields, but also comes with some shortcomings in accuracy.Wherein, the traditional algorithm of buffer zone analysis mainly contains two kinds, one is angular bisector algorithm, two is salient angle circular arc algorithms, they are all weak when generating buffering, there is the phenomenon of Boundary Distortion, when processing the self intersection problem on border, buffer zone, accuracy is inadequate especially, can not meet the actual demand in official vehicle supervision.
Summary of the invention
The method of position early warning in the object of the present invention is to provide a kind of official vehicle to supervise, adopts the data structure simplified, not only saves a large amount of storage spaces, and greatly save operation time, ensure that the requirement of real-time of position early warning in bus supervision.
A method for position early warning in official vehicle supervision, comprises the following steps:
Step 1, use buffer zone analysis generating algorithm, according to early warning classification and buffering radius, generate dot buffer zone, regulation circuit buffer zone, fence buffer zone sensitively;
Step 2, use Monotone Chain alarm algorithm, for differentiating the spatial relationship of official vehicle current location point and the dot buffer zone sensitively generated, regulation circuit buffer zone, the fence buffer zone obtained by GNSS, and report to the police according to the alarm rule preset.
Generate dot buffer zone sensitively in described step 1, the way of regulation circuit buffer zone and fence buffer zone be:
(1) set the coordinate points in responsive place as A, take up an official post in A point place plane and get 1 B, connect A, B 2 as buffering radius r, if the angle that buffering radius r arrives X-axis formation clockwise around A point is α, center of circle A (x, y), buffering radius r is around A point rotated counterclockwise by angle β, generation point coordinate A ' (x ', y ')
Wherein x '=x+ Υ
1* sin (alpha+beta)
y’=y+Υ
1*cos(α+β)
β=0, Υ
1, 2 Υ
1...., (n-1) Υ
1, Υ
1=2 π/n, n are by the limit number of regular polygon, can obtain each apex coordinate connecing positive n limit shape in border, dot buffer zone sensitively;
(2) establish the coordinate set of regulation circuit to form score, first generate the right side area of first coordinate points on score, connects first point and form straight line with next point, according to dot buffer zone analysis generating algorithm, angle α from π, according to Υ
2=π/6 increase progressively counterclockwise gets point (π, π+Υ
2, π+2 Υ
2), until α=3 pi/2, symbiosis becomes 4 coordinate points;
Secondly generate the region of a kth flex point B on score, judge the concavity and convexity of flex point B; Get kth-1 some A, k+1 some C according to score direction, connect A, B and B respectively, C generates straight line AB, BC; If the cross product of AB, BC is L, by the right-hand rule of vector algebra, calculate L: if L>0, A, B, C be counter clockwise direction, flex point B is salient point; If L<0, A, B, C clockwise direction, flex point B is concave point; If L=0, A, B, C three point on a straight line; If the angle that the angle of BC and X positive axis is α, AB and BC is β, if flex point is salient point, then the angle α in step (1) is changed into from θ=α+3 pi/2-β, other as step (1) algorithm generate apex coordinate; If flex point is concave point, then corresponding buffer point be AB, BC parallel on the convex intersection point of formation that moves;
Then generate the right side area of distal point on score, connect the formation straight line AB second from the bottom on distal point and score, the generation method of its buffer point is as step (1);
If left field generates, with reference to the step as above analyzing generating algorithm about right side area, difference is should from the last point on score;
(3) coordinate set of fence forms target face, when destination object is face, then using the peripheral polygon in face as a closed line, then use the generation method of the regulation circuit buffer zone in step (2) to realize.
Described solution specifies that the way of the distortion phenomenon of circuit buffer zone or boundary line, fence buffer zone is:
(41) the regulation circuit buffer zone of above-mentioned generation or fence buffer zone are called initialization buffer zone, if present node on axis, namely the angle of this side, turning point place is re-entrant angle, calculate its angle α, this node adjacent two edges is r1, r2, distance between a upper node and present node is the distance on r1 limit, be set to | r1|, distance between present node and next node is the distance on r2 limit, be set to | r2|, | r1|, | r2| with the product of the tangent value of the half of angle α is respectively | r1|tan α/2, | r2|tan α/2; When | r1|tan α/2<r<=|r2|tan α/2, be considered as undistorted, but occurred depressed phenomenon, therefore need clip and be in buffer point under parallel lines and relevant depression line segment thereof, parallel connection parallel lines are by the line segment clipped, and process distortion step terminates; When r>|r1|tan α/2, produce distortion phenomenon, enter step (42);
(42), chained list is created according to the concavity and convexity of changing coordinates point and front and back coordinate points thereof, point k-1 is the previous coordinate points of a k, if some k-1 is salient angle, first point that the corresponding point of getting a k-1 are concentrated, the corresponding point set of described some k-1 is for the center of circle with a k-1, to cushion radius r for radius, be 0 degree of direction with a k to a some k-1 node direction, be rotated counterclockwise institute on 90 ° of 1/4 circular arcs formed a little; If some k-1 is re-entrant angle, last coordinate points that the corresponding point of getting a k-2 are concentrated; This k+1 is a rear coordinate points of a k, if some k+1 is salient angle, and first coordinate points that the corresponding point of getting a k+1 are concentrated; If some k+1 is re-entrant angle, last coordinate points that the corresponding point of getting a k+2 are concentrated, inserts the line direction order of these coordinate points according to target line in chained list, forms the coordinate point sequence table revised;
(43), the borderline distorted coordinates point in initialization buffer zone is deleted, this initialization buffer zone is direct generation, does not carry out the buffer zone result of special processing, now corresponding is also the coordinate point sequence table of distortion, then uses the coordinate point sequence table of coordinate point sequence table replacement distortion revise in step (42).
Described process specifies that the way of circuit buffer zone or boundary line, fence buffer zone self intersection is:
(51) progressively judge on regulation circuit buffer zone or border, fence buffer zone, whether each line segment intersects, except first and last line segment, adjacent segments;
(52) if intersected, then all the point of intersection are recorded;
(53) two dynamic arrays are defined, dynamic array Array1 for memory buffer boundary polygon orderly node coordinate and another is for storing the dynamic array Array2 of all re-entrant polygons orderly node coordinate;
(54) by each node of buffer zone boundary polygon of producing above by genesis sequence stored in array Array1;
(55) apply recursion method and ask for all re-entrant polygons and stored in array Array2;
(56) adopting the approximate data of the definite integral of area again, judge the direction of re-entrant polygon in array Array2, if clockwise direction, is then the inner ring of buffer zone boundary polygon; If counterclockwise, then the polygon of area maximum absolute value is the outer shroud of buffer zone boundary polygon, and other anticlockwise polygon is not the ingredient of buffer zone;
(57) connect all buffer zone intersection points of trying to achieve, namely obtain border result.
The specific practice of described step 2 is:
(1) chained list is created
Single linked list is adopted to represent target polygon and reference polygon, each node of single linked list presses the polygonal summit of sequential storage of summit input, pointed first node of last node, each chained list is by a head pointed first node, adopt above-mentioned data structure to create target polygon and with reference to polygon chained list, judge and calculate first intersection point;
(2) intersection point is calculated
Use cartesian geometry to calculate the every bar limit place straight line in target polygon and place, any limit straight line in reference polygon, ask the intersection point of two line segments by straight line general equation, and judge whether intersecting point coordinate is actual intersection point;
If actual intersection point, then this intersection point with its sequencing on target polygon, be inserted in two polygonal chained lists by polygon route direction; Through the situation of polygon vertex, after obtaining intersection point, no longer identical intersection point is inserted in chained list if to occur through the line segment of intersection point; If occur through intersection point line segment with reference to certain situation overlapping on one side polygonal, ignore the reference limit of this overlap, friendship asked to the polygonal limit beyond coincidence limit;
(3) chained list is traveled through
The target polygon that traversal step (1) creates and reference polygon chained list, if there is intersection point, then can judge that location point is in buffer zone;
(4) according to following default alarm rule, early warning information is produced:
(41) alarm rule in responsive place, is arrived: location point is in buffer zone;
(42) alarm rule of regulation circuit, is departed from: location point is outside buffer zone;
(43), the alarm rule of discrepancy fence: location point becomes outside buffer zone or outside buffer zone and becomes in buffer zone in buffer zone.
The invention discloses the method for position early warning in the supervision of a kind of official vehicle, propose a kind of new buffer zone analysis generating algorithm, solve the defect existed in traditional algorithm, simplify the generative process of dot buffer zone, regulation circuit buffer zone, fence buffer zone sensitively in official vehicle supervision, to some extent solve Boundary Distortion phenomenon, and more accurately can process buffer zone self intersection problem; Based on the buffer zone generated, propose a kind of Monotone Chain alarm algorithm, for differentiating the spatial relationship of official vehicle current location point and the dot buffer zone sensitively generated, regulation circuit buffer zone, the fence buffer zone obtained by GNSS, to reach the object of accurate early warning.
Accompanying drawing explanation
Fig. 1 is dot buffer zone generative process schematic diagram sensitively in the present invention;
Fig. 2 is regulation circuit buffer generation process schematic in the present invention;
Fig. 3 is that the border self intersection of regulation circuit buffer zone in the present invention solves effect schematic diagram;
Fig. 4-1 is one of intersection point situation of relating to of Monotone Chain alarm algorithm of the present invention;
Fig. 4-2 is the intersection point situation two that Monotone Chain alarm algorithm of the present invention relates to;
Fig. 4-3 is the intersection point situation three that Monotone Chain alarm algorithm of the present invention relates to.
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Embodiment
A method for position early warning in official vehicle supervision, comprises the following steps:
Step 1, use buffer zone analysis generating algorithm, according to early warning classification and buffering radius, generate dot buffer zone, regulation circuit buffer zone, fence buffer zone sensitively:
(1) generation of dot buffer zone sensitively:
As shown in Figure 1, the coordinate points in responsive place is A, and the result of algorithm is the buffer zone that will generate coordinate points A.
Take up an official post in A point place plane and get 1 B, connect A, B 2 as buffering radius r, if the angle that buffering radius r arrives X-axis formation clockwise around A point is α, center of circle A (x, y), cushion radius r around A point rotated counterclockwise by angle β, generation point coordinate A ' (x ', y ')
Wherein x '=x+ Υ
1* sin (alpha+beta)
y’=y+Υ
1*cos(α+β)
β=0, Υ
1, 2 Υ
1...., (n-1) Υ
1, Υ
1=2 π/n, n are by the limit number of regular polygon, can obtain each apex coordinate connecing positive n limit shape in border, dot buffer zone sensitively;
(2) generation of circuit buffer zone is specified:
As shown in Figure 2, the coordinate set of regulation circuit forms score, and the result of algorithm is the buffer zone that will generate score.
First generate the right side area of first coordinate points on score, connect first point and form straight line with next point, according to dot buffer zone analysis generating algorithm, angle α from π, according to Υ
2=π/6 increase progressively counterclockwise gets point (π, π+Υ
2, π+2 Υ
2), until α=3 pi/2, symbiosis becomes 4 coordinate points;
Secondly generate the region of a kth flex point B on score, judge the concavity and convexity of flex point B.Get kth-1 some A, k+1 some C according to score direction, connect A, B and B respectively, C generates straight line AB, BC; If the cross product of AB, BC is L, by the right-hand rule of vector algebra, calculate L: if L>0, A, B, C be counter clockwise direction, flex point B is salient point; If L<0, A, B, C clockwise direction, flex point B is concave point; If L=0, A, B, C three point on a straight line.If the angle that the angle of BC and X positive axis is α, AB and BC is β, if flex point is salient point, then the angle α in step (1) is changed into from θ=α+3 pi/2-β, other as step (1) algorithm generate apex coordinate; If flex point is concave point, then corresponding buffer point be AB, BC parallel on the convex intersection point of formation that moves;
Then generate the right side area of distal point on score, connect the formation straight line AB second from the bottom on distal point and score, the generation method of its buffer point is as step (1);
If left field generates, with reference to the step as above analyzing generating algorithm about right side area, difference is should from the last point on score;
(3) generation of fence buffer zone:
The coordinate set of fence forms target face, and the result of algorithm is the buffer zone that will generate target face.
When destination object is face, then the periphery in face, namely peripheral polygon is as a closed line, then uses the generation method of the regulation circuit buffer zone in step (2) to realize;
(4) distortion phenomenon of regulation circuit buffer zone or boundary line, fence buffer zone is solved.The buffer zone directly generated in step (2) and (3) is called initialization buffer zone by us.Because distortion phenomenon only can produce the recessed side on score, therefore process corresponding distortion phenomenon as follows:
(41) if the angle of present node (turning point) this side, place is re-entrant angle on axis, calculate its angle α, this node adjacent two edges is r1, r2, distance between a upper node and present node, is the distance on r1 limit, is set to | r1|, distance between present node and next node, for the distance on r2 limit, be set to | r2|, | r1|, | r2| with the product of the tangent value of the half of angle α is respectively | r1|tan α/2, | r2|tan α/2; When | r1|tan α/2<r<=|r2|tan α/2, undistorted, but occurred depressed phenomenon, therefore need clip and be in buffer point under parallel lines and relevant depression line segment thereof, parallel connection parallel lines are by the line segment clipped, and process distortion step terminates; When r>|r1|tan α/2, produce distortion phenomenon, enter step (42);
(42), chained list is created according to the concavity and convexity of changing coordinates point and front and back coordinate points thereof.Point k-1 is the previous coordinate points of a k, if a k-1 is salient angle, first point that the corresponding point of getting a k-1 are concentrated, described some k-1 corresponding point set refer to a k-1 as the center of circle, to cushion radius for radius, with a k to some a k-1 direction be 0 degree of direction, be rotated counterclockwise on 90 ° of 1/4 circular arcs formed institute a little; If some k-1 is re-entrant angle, last coordinate points that the corresponding point of getting a k-2 are concentrated, this k+1 is a rear coordinate points of a k, if some k+1 is salient angle, first coordinate points that the corresponding point of getting a k+1 are concentrated; If some k+1 is re-entrant angle, last coordinate points that the corresponding point of getting a k+2 are concentrated, inserts the line direction order of these coordinate points according to target line in chained list, forms the coordinate point sequence table revised;
(43) (initialization buffer zone is direct generation, the buffer zone result of not carrying out special processing, to delete initialization buffer zone, now corresponding is also the coordinate point sequence table of distortion) borderline distorted coordinates point, then use the coordinate point sequence table of coordinate point sequence table replacement distortion revise;
(5) the self intersection problem of process regulation circuit buffer zone or boundary line, fence buffer zone:
(51) progressively judge on regulation circuit buffer zone or border, fence buffer zone, whether each line segment intersects, except first and last line segment, adjacent segments;
(52) if intersected, be then have self intersection problem, record all the point of intersection;
(53) two dynamic arrays are defined, dynamic array Array1 for memory buffer boundary polygon orderly node coordinate and another is for storing the dynamic array Array2 of all re-entrant polygons orderly node coordinate;
(54) by each node of buffer zone boundary polygon (closed hoop) of producing above by genesis sequence stored in array Array1;
(55) apply recursion method and ask for all re-entrant polygons and stored in array Array2;
(56) adopting the approximate data of the definite integral of area again, judge the direction of re-entrant polygon in array Array2, if clockwise direction, is then the inner ring of buffer zone boundary polygon; If counterclockwise, then the polygon of area maximum absolute value is the outer shroud of buffer zone boundary polygon, and other anticlockwise polygon is not the ingredient of buffer zone;
(57) connect all buffer zone intersection points of trying to achieve, namely obtain border result; As shown in Figure 3, be the border self intersection result of regulation circuit buffer zone.
Step 2, use Monotone Chain alarm algorithm, for differentiating by GNSS(GLONASS (Global Navigation Satellite System), comprise GPS, the Big Dipper etc.) spatial relationship of the official vehicle current location point that obtains and the dot buffer zone sensitively generated, regulation circuit buffer zone, fence buffer zone, the alarm rule according to presetting is reported to the police:
The ultimate principle of Monotone Chain alarm algorithm judges that whether a polygon is crossing with another polygon.On the one hand, this algorithm is using dot buffer zone, regulation circuit buffer zone, fence buffer zone all judge as one with reference to polygon sensitively, when being 0 with reference to polygonal number of vertex, then be expressed as dot buffer zone sensitively, when being 2 with reference to polygonal number of vertex, then being expressed as regulation circuit buffer zone, when being more than or equal to 3 with reference to polygonal number of vertex, being then expressed as fence buffer zone; On the other hand, using official vehicle current location point also as the target polygon that a number of vertex is 0, and judge that whether the target polygon representing location point is crossing with the reference polygon of aforementioned expression buffer zone.
The realization of Monotone Chain alarm algorithm: create target polygon and with reference to polygon chained list, calculating intersection point, traversal chained list, generation early warning information, specifically comprise the steps:
(1) chained list is created
Algorithm adopts single linear chained list to represent target polygon and with reference to polygon, and each node of single linked list according to the order of sequence (order of summit input) stores a polygonal summit.Pointed first node (circulation single linked list) of last node.Each chained list is by a head pointed first node.Adopt above-mentioned data structure to create target polygon and with reference to polygon chained list, judge and calculate first intersection point;
(2) intersection point is calculated
Monotone Chain alarm algorithm of the present invention, has 3 kinds of intersection point situations.Pass through the line segment of some A under normal circumstances as shown in Fig. 4-1.Separately have 2 kinds of abnormal conditions: through polygon vertex situation as shown in the Fig. 4-2; With a certain bar limit conllinear situation, conllinear just has infinite many intersection points, causes judgment rule to lose efficacy as shown in Fig. 4-3.
Use cartesian geometry to calculate the every bar limit place straight line in target polygon and place, any limit straight line in reference polygon, ask the intersection point of two line segments by straight line general equation, and judge whether intersecting point coordinate is actual intersection point;
If actual intersection point.Then this intersection point with its sequencing on target polygon, be inserted in two polygonal chained lists by polygon route direction; Shown in Fig. 4-2, through the line segment of intersection point through the situation of polygon vertex, after obtaining intersection point, no longer identical intersection point is inserted in chained list; For Fig. 4-3 through intersection point line segment with reference to certain situation overlapping on one side polygonal, ignore this overlap with reference to limit, friendship is asked to the polygonal limit beyond coincidence limit;
(3) chained list is traveled through
The target polygon that traversal step (1) creates and reference polygon chained list, if there is intersection point, then can judge that location point is in buffer zone.
(4) according to following default alarm rule, early warning information is produced:
(41) alarm rule in responsive place, is arrived: location point is in buffer zone;
(42) alarm rule of regulation circuit, is departed from: location point is outside buffer zone;
(43), the alarm rule of discrepancy fence: location point becomes (to go out) outside buffer zone or become in buffer zone (to enter) outside buffer zone in buffer zone.
The accurate early warning of official vehicle supervision, first requirement accurately can generate dot buffer zone, regulation circuit buffer zone and fence buffer zone sensitively; There is buffer zone, the location point of official vehicle and the spatial relationship of three buffer zone could have been judged fast and accurately, realize position early warning further.Compared to traditional buffer generation method, the present invention is directed to applied environment and improve efficiently Data Structure Design through the buffer zone algorithm optimized, simplify the generative process on border, buffer zone, improve the precision of border self intersection, substantially increase formation speed and the accuracy of prewarning area on the whole, effectively can meet early warning requirement fast and accurately in bus supervision.
The main thought of Monotone Chain alarm algorithm of the present invention adopts the polygonal input and output of circulation single linear storage of linked list, and each node stores a polygonal coordinate vertices according to the order of sequence.This Monotone Chain alarm algorithm have employed simple data structure, not only saves a large amount of storage spaces, and saves a large amount of operation time.
The present invention only need obtain coordinate set corresponding to responsive place, regulation circuit, this three of fence and buffering radius, can construct buffer area, and then judge the spatial relationship of official vehicle position and this three, finally produce early warning, have extremely strong operability.
The above, it is only present pre-ferred embodiments, not technical scope of the present invention is imposed any restrictions, thus every above embodiment is done according to technical spirit of the present invention any trickle amendment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (3)
1. a method for position early warning in official vehicle supervision, is characterized in that comprising the following steps:
Step 1, use buffer zone analysis generating algorithm, according to early warning classification and buffering radius, generate dot buffer zone, regulation circuit buffer zone, fence buffer zone sensitively:
(1) set the coordinate points in responsive place as A, take up an official post in A point place plane and get 1 B, connect A, B 2 as buffering radius r, if the angle that buffering radius r arrives X-axis formation clockwise around A point is α, center of circle A (x, y), buffering radius r is around A point rotated counterclockwise by angle β, generation point coordinate A ' (x ', y ')
Wherein x '=x+ Υ
1* sin (alpha+beta)
y’＝y+Υ
1*cos(α+β)
β=0, Υ
1, 2 Υ
1...., (n-1) Υ
1, Υ
1=2 π/n, n are by the limit number of regular polygon, can obtain each apex coordinate connecing positive n limit shape in border, dot buffer zone sensitively;
(2) establish the coordinate set of regulation circuit to form score, first generate the right side area of first coordinate points on score, connects first point and form straight line with next point, according to dot buffer zone analysis generating algorithm, angle α from π, according to Υ
2=π/6 increase progressively counterclockwise gets point (π, π+Υ
2, π+2 Υ
2), until α=3 pi/2, symbiosis becomes 4 coordinate points;
Secondly generate the region of a kth flex point B on score, judge the concavity and convexity of flex point B; Get kth-1 some A, k+1 some C according to score direction, connect A, B and B respectively, C generates straight line AB, BC; If the cross product of AB, BC is L, by the right-hand rule of vector algebra, calculate L: if L>0, A, B, C be counter clockwise direction, flex point B is salient point; If L<0, A, B, C clockwise direction, flex point B is concave point; If L=0, A, B, C three point on a straight line; If the angle that the angle of BC and X positive axis is α, AB and BC is β, if flex point is salient point, then the angle α in step (1) is changed into from θ=α+3 pi/2-β, other as step (1) algorithm generate apex coordinate; If flex point is concave point, then corresponding buffer point be AB, BC parallel on the convex intersection point of formation that moves;
Then generate the right side area of distal point on score, connect the formation straight line AB second from the bottom on distal point and score, the generation method of its buffer point is as step (1);
If left field generates, with reference to the step as above analyzing generating algorithm about right side area, difference is should from the last point on score;
(3) coordinate set of fence forms target face, when destination object is face, then using the peripheral polygon in face as a closed line, then use the generation method of the regulation circuit buffer zone in step (2) to realize;
Step 2, use Monotone Chain alarm algorithm, for differentiating the spatial relationship of official vehicle current location point and the dot buffer zone sensitively generated, regulation circuit buffer zone, the fence buffer zone obtained by GNSS, and report to the police according to the alarm rule preset:
(1) chained list is created
Single linked list is adopted to represent target polygon and reference polygon, each node of single linked list presses the polygonal summit of sequential storage of summit input, pointed first node of last node, each chained list is by a head pointed first node, adopt above-mentioned singly linked list to create target polygon and with reference to polygon chained list, judge and calculate first intersection point;
(2) intersection point is calculated
Use cartesian geometry to calculate the every bar limit place straight line in target polygon and place, any limit straight line in reference polygon, ask the intersection point of two line segments by straight line general equation, and judge whether intersecting point coordinate is actual intersection point;
If actual intersection point, then this intersection point with its sequencing on target polygon, be inserted in two polygonal chained lists by polygon route direction; Through the situation of polygon vertex, after obtaining intersection point, no longer identical intersection point is inserted in chained list if to occur through the line segment of intersection point; If occur through intersection point line segment with reference to certain situation overlapping on one side polygonal, ignore the reference limit of this overlap, friendship asked to the polygonal limit beyond coincidence limit;
(3) chained list is traveled through
The target polygon that traversal step (1) creates and reference polygon chained list, if there is intersection point, then can judge that location point is in buffer zone;
(4) according to following default alarm rule, early warning information is produced:
(41) alarm rule in responsive place, is arrived: location point is in buffer zone;
(42) alarm rule of regulation circuit, is departed from: location point is outside buffer zone;
(43), the alarm rule of discrepancy fence: location point becomes outside buffer zone or outside buffer zone and becomes in buffer zone in buffer zone.
2. the method for position early warning in a kind of official vehicle supervision according to claim 1, is characterized in that the way of the distortion phenomenon solving regulation circuit buffer zone or boundary line, fence buffer zone in step 1 is further:
(41) the regulation circuit buffer zone of above-mentioned generation or fence buffer zone are called initialization buffer zone, if present node on axis, namely the angle of this side, turning point place is re-entrant angle, calculate its angle α, this node adjacent two edges is r1, r2, distance between a upper node and present node is the distance on r1 limit, be set to | r1|, distance between present node and next node is the distance on r2 limit, be set to | r2|, | r1|, | r2| with the product of the tangent value of the half of angle α is respectively | r1|tan α/2, | r2|tan α/2; When | r1|tan α/2<r<=|r2|tan α/2, be considered as undistorted, but occurred depressed phenomenon, therefore need clip and be in buffer point under parallel lines and relevant depression line segment thereof, parallel connection parallel lines are by the line segment clipped, and process distortion step terminates; When r>|r1|tan α/2, produce distortion phenomenon, enter step (42);
(42), chained list is created according to the concavity and convexity of changing coordinates point and front and back coordinate points thereof, point k-1 is the previous coordinate points of a k, if some k-1 is salient angle, first point that the corresponding point of getting a k-1 are concentrated, the corresponding point set of described some k-1 is for the center of circle with a k-1, to cushion radius r for radius, with a k to some a k-1 direction be 0 degree of direction, be rotated counterclockwise on 90 ° of 1/4 circular arcs formed institute a little; If some k-1 is re-entrant angle, last coordinate points that the corresponding point of getting a k-2 are concentrated; This k+1 is a rear coordinate points of a k, if some k+1 is salient angle, and first coordinate points that the corresponding point of getting a k+1 are concentrated; If some k+1 is re-entrant angle, last coordinate points that the corresponding point of getting a k+2 are concentrated, inserts the line direction order of these coordinate points according to target line in chained list, forms the coordinate point sequence table revised;
(43), the borderline distorted coordinates point in initialization buffer zone is deleted, this initialization buffer zone is direct generation, does not carry out the buffer zone result of special processing, now corresponding is also the coordinate point sequence table of distortion, then uses the coordinate point sequence table of coordinate point sequence table replacement distortion revise in step (42).
3. the method for position early warning in a kind of official vehicle supervision according to claim 1, is characterized in that the way processing regulation circuit buffer zone or boundary line, fence buffer zone self intersection in step 1 is further:
(51) progressively judge on regulation circuit buffer zone or border, fence buffer zone, whether each line segment intersects, except first and last line segment, adjacent segments;
(52) if intersected, then all the point of intersection are recorded;
(53) two dynamic arrays are defined, dynamic array Array1 for memory buffer boundary polygon orderly node coordinate and another is for storing the dynamic array Array2 of all re-entrant polygons orderly node coordinate;
(54) by each node of buffer zone boundary polygon of producing above by genesis sequence stored in array Array1;
(55) apply recursion method and ask for all re-entrant polygons and stored in array Array2;
(56) adopting the approximate data of the definite integral of area again, judge the direction of re-entrant polygon in array Array2, if clockwise direction, is then the inner ring of buffer zone boundary polygon; If counterclockwise, then the polygon of area maximum absolute value is the outer shroud of buffer zone boundary polygon, and other anticlockwise polygon is not the ingredient of buffer zone;
(57) connect all buffer zone intersection points of trying to achieve, namely obtain border result.
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| CN112908042A (en) | 2015-03-31 | 2021-06-04 | 深圳市大疆创新科技有限公司 | System and remote control for operating an unmanned aerial vehicle |
| CN106447225A (en) * | 2016-10-20 | 2017-02-22 | 国网山东省电力公司菏泽供电公司 | Intelligent service car management method, device and system |
| EP3348964A1 (en) * | 2017-01-13 | 2018-07-18 | Carrosserie Hess AG | Method for predicting future driving conditions for a vehicle |
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| CN111246376B (en) | 2018-11-28 | 2021-11-16 | 北京嘀嘀无限科技发展有限公司 | System and method for determining whether a target belongs to a target geofence |
| CN110909097B (en) * | 2019-11-13 | 2023-01-10 | 浙江大搜车软件技术有限公司 | Polygonal electronic fence generation method and device, computer equipment and storage medium |
| CN111127935A (en) * | 2019-12-13 | 2020-05-08 | 广东电网有限责任公司 | Bus dispatching path analysis method and system |
| CN111083643B (en) * | 2019-12-17 | 2023-04-28 | 陕西天行健车联网信息技术有限公司 | Custom application-oriented vehicle off-line fence calculation method |
| CN113709006B (en) * | 2021-10-29 | 2022-02-08 | 上海闪马智能科技有限公司 | Flow determination method and device, storage medium and electronic device |
| CN117553806B (en) * | 2024-01-11 | 2024-03-15 | 亿海蓝（北京）数据技术股份公司 | Ship yaw determination method, device and readable storage medium |
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