CN103256937A - Method and apparatus for path matching - Google Patents
Method and apparatus for path matching Download PDFInfo
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- CN103256937A CN103256937A CN2012100372062A CN201210037206A CN103256937A CN 103256937 A CN103256937 A CN 103256937A CN 2012100372062 A CN2012100372062 A CN 2012100372062A CN 201210037206 A CN201210037206 A CN 201210037206A CN 103256937 A CN103256937 A CN 103256937A
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Abstract
The invention provides a method and an apparatus for path matching. The method comprises: acquiring vehicle driving information of a vehicle; according to the vehicle driving information, calculating a driving trajectory of the vehicle; according to the driving trajectory, calculating a curvature of the driving trajectory; and according to the vehicle driving information and the curvature of the driving trajectory, acquiring a navigation path matched with a current driving path of the vehicle from an electronic map database. With the method and the apparatus, path matching accuracy can be effectively increased.
Description
Technical field
The present invention relates to field of navigation technology, relate in particular to a kind of method and device that in automobile navigation, utilizes road curvature and road grade to carry out route matching.
Background technology
Route matching is to utilize the GPS of vehicle (Global Positioning System, GPS), locating device such as gyroscope, inclinator, the sensor signal that receives and the road network in the map of navigation electronic are mated, and most possible in sensor signal and a map of navigation electronic Link (for example guidance path) who represents the current driving road mated, obtain mating the path.
Because the route matching function is the basic Core Feature of automatic navigator, the route matching of mistake will cause other navigation features to carry out or provide wrong information to the driver, therefore be necessary further to strengthen the accuracy of route matching.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of method and device of route matching, can increase the accuracy of route matching effectively.
In order to solve the problems of the technologies described above, the invention provides a kind of method of route matching, described method comprises:
Obtain the vehicle traveling information of vehicle;
According to described vehicle traveling information, calculate the driving trace of vehicle;
According to described driving trace, calculate the curvature of described driving trace;
According to the curvature of described vehicle traveling information and described driving trace, from electronic map database, obtain the guidance path with vehicle current driving route coupling.
Preferably,, calculate before the step of curvature of described driving trace according to described driving trace described, described method also comprises:
According to vehicle traveling information, from electronic map database, choose the guidance path of candidate.
Preferably, described vehicle traveling information comprises: the travel direction information of the positional information of vehicle, vehicle and the angle of inclination information of vehicle.
Preferably, the described step of choosing the guidance path of candidate from electronic map database comprises:
According to the positional information of described vehicle, all guidance paths in the selected preset range in electronic map database;
According to the travel direction information of described vehicle, in all guidance paths, the travel direction of current direction and vehicle is deviated from bigger guidance path reject, obtain the guidance path of candidate.
Preferably, also comprise:
If the historical track that has vehicle to travel, the historical track that travels according to vehicle again, in conjunction with the travel direction of vehicle, in the guidance path of described candidate, the guidance path that can not enter vehicle excludes, the guidance path of the candidate after being optimized.
Preferably, described curvature according to described vehicle traveling information and described driving trace obtains comprising with the step of the guidance path of vehicle current driving route coupling from electronic map database:
According to the travel direction information of the positional information of described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, calculate the assessed value of the guidance path of each candidate;
According to the assessed value of the guidance path of described each candidate, obtain the guidance path with vehicle current driving route coupling.
Preferably, the travel direction information of described positional information according to described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, the step of assessed value that calculates the guidance path of each candidate comprises:
Distance according between the guidance path of the position of vehicle and each candidate arranges the first weighted value q
d
Angle according between the guidance path of the travel direction of vehicle and each candidate arranges the second weighted value q
θ
Corresponding to the angential curvature of the point on the guidance path of each candidate, the 3rd weighted value q is set according to the curvature of described driving trace and vehicle
ρ
The gradient according to the guidance path of the angle of inclination of vehicle and each candidate arranges the 4th weighted value q
δ
According to w=k1 * q
d+ k2 * q
θ+ k3 * q
ρ+ k4 * q
δ, calculate the assessed value w of the guidance path of each candidate, wherein k1, k2, k3 and k4 are respectively coefficient.
The present invention also provides a kind of device of route matching, comprising:
First acquisition module is for the vehicle traveling information that obtains vehicle;
First processing module is used for according to described vehicle traveling information, calculates the driving trace of vehicle;
Second processing module is used for according to described driving trace, calculates the curvature of described driving trace;
Matching module is used for the curvature according to described vehicle traveling information and described driving trace, obtains the guidance path with vehicle current driving route coupling from electronic map database.
Preferably, also comprise:
Second acquisition module is used for according to vehicle traveling information, chooses the guidance path of candidate from electronic map database.
Preferably, described matching module comprises:
Computing unit is used for according to the travel direction information of the positional information of described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, calculates the assessed value of the guidance path of each candidate;
Matching unit is used for the assessed value according to the guidance path of described each candidate, obtains the guidance path with vehicle current driving route coupling.
As shown from the above technical solution, embodiments of the invention have following beneficial effect: by in route matching, the angle of inclination of the curvature of the driving trace of vehicle and vehicle as the reference factor, in the calculating of the assessed value of participation path candidate, increased the accuracy of route matching, especially in the complicated zone of road conditions such as rotary island, overhead gateway remarkable advantages has been arranged.
Description of drawings
Fig. 1 is expressed as the method flow diagram of route matching in the embodiments of the invention;
Fig. 2 is expressed as and utilizes road curvature and road grade to carry out the method flow diagram of route matching in the embodiments of the invention;
Fig. 3 is expressed as in the embodiments of the invention vehicle synoptic diagram that travels;
Fig. 4 is expressed as the structure drawing of device of route matching in the embodiments of the invention.
Embodiment
In the present embodiment, at first obtain the vehicle traveling information of vehicle; Secondly according to described vehicle traveling information, calculate the driving trace of vehicle; Again, according to described driving trace, calculate the curvature of described driving trace; According to the curvature of described vehicle traveling information and described driving trace, from electronic map database, obtain the guidance path with vehicle current driving route coupling at last.
For the purpose, technical scheme and the advantage that make the embodiment of the invention is clearer, below in conjunction with embodiment and accompanying drawing, the embodiment of the invention is done explanation in further detail.At this, illustrative examples of the present invention and explanation are used for explanation the present invention, but not as a limitation of the invention.
As shown in Figure 1, be the method flow diagram of route matching in the embodiments of the invention, concrete steps are as follows:
Step 101, obtain the vehicle traveling information of vehicle;
Vehicle traveling information, the relevant information when travelling for the expression vehicle, for example: the travel direction information of the positional information of vehicle, vehicle, the angle of inclination information of vehicle.The angle of inclination information of vehicle refers to the body sway angle of vehicle, can obtain by obliquity sensor.
Step 102, according to vehicle traveling information, calculate the driving trace of vehicle;
Step 103, according to driving trace, calculate the curvature of driving trace;
Step 104, according to the curvature of vehicle traveling information and driving trace, from electronic map database, obtain the guidance path with vehicle current driving route coupling.
In electronic map database, set in advance many bar navigations path, by execution in step 101～step 104, can obtain the guidance path with current driving route coupling, this guidance path can be presented in the navigating instrument, and the driver can carry out vehicle drive according to the prompting of guidance path.
In step 104, at first according to the positional information of vehicle, the travel direction information of vehicle, the angle of inclination information of vehicle and the curvature of driving trace, calculate the assessed value of the guidance path of each candidate; According to the assessed value of the guidance path of each candidate, obtain the guidance path with vehicle current driving route coupling then.
In existing route matching, generally to judge these two indexs of the current angular separation in distance, vehicle heading and path between vehicle location and the path, and in the existing electronic chart, path in the electronic chart has curvature and these two attributes of the gradient, therefore can take full advantage of this point, add curvature and two weights of the gradient, can improve the accuracy of route matching preferably.
Further, in the route matching of present embodiment, the angle of inclination of the curvature of the driving trace of vehicle and vehicle as the reference factor, in the calculating of the assessed value of participation path candidate, increased the accuracy of route matching, especially in the complicated zone of road conditions such as rotary island, overhead gateway remarkable advantages has been arranged.
In the present embodiment, before execution in step 103, can from electronic map database, choose the guidance path of candidate according to vehicle traveling information.Further can realize in the following way:
According to the positional information of vehicle, all guidance paths in the selected preset range in electronic map database;
According to the travel direction information of vehicle, in all guidance paths, the travel direction of current direction and vehicle is deviated from bigger guidance path reject, obtain the guidance path of candidate.
If the historical track that has vehicle to travel, the historical track that travels according to vehicle again, in conjunction with the travel direction of vehicle, in the guidance path of described candidate, the guidance path that can not enter vehicle excludes, the guidance path of the candidate after being optimized.
As shown in Figure 2, carry out the method flow diagram of route matching for utilizing road curvature and road grade in the embodiments of the invention, concrete steps are as follows:
Vehicle traveling information is used for the relevant status information of expression vehicle driving process, and for example vehicle traveling information includes but not limited to: the travel direction information of the positional information of vehicle, vehicle and the angle of inclination information of vehicle.
This vehicle traveling information generally can obtain by existing sensors, and wherein the positional information of vehicle can be obtained by GPS module or GPS and DR (Dead Reckoning, a kind of simple, vehicle positioning technology of using always) composite module; The angle of inclination information of vehicle can be obtained by obliquity sensor.
For example: when adopting GPS and DR composite module, under the good situation of gps signal, be the main vehicle traveling-position of determining with the gps signal, DR is auxiliary; Under the bad situation of star condition, based on DR.Generally can adopt Kalman filtering that GPS and DR signal are merged, draw the locus of more accurate vehicle.
In the present embodiment, can adopt existing algorithm in conjunction with vehicle traveling information, calculate the driving trace that calculates the preset distance (for example 20 meters～50 meters) that vehicle travels recently, and can further adopt Kalman filtering that driving trace is handled, obtain smoother curve, in order to better calculate the curvature of driving trace.
Positional information according to vehicle, all guidance paths in the at first selected preset range (for example 50 meters or can be reduced into 30 meters), again according to the travel direction information of vehicle, in all paths, the travel direction of current direction and vehicle is deviated from bigger guidance path and reject, obtain the guidance path of candidate.
Further, if when the historical track that vehicle travels was arranged, the historical track that can travel according to vehicle again was in conjunction with the travel direction information of vehicle, the guidance path that can not enter vehicle in the guidance path of candidate excludes, the guidance path of the candidate after being optimized.
Suppose: the current anchor point of vehicle is P (i), at P (i) a series of tracing point P (1) is arranged before, P (2) ..., P (i-1) supposes P (1), P (2), ..., the velocity reversal that P (i) is corresponding is A (1), A (2), ..., A (i), and corresponding speed is V (1), V (2) ..., V (i), the assumption period location is spaced apart T, then when vehicle is received the locating information of P (i) point, can calculate curvature K (i)=(A (i)-A (1))/S of the track of vehicle of S rice before.
For example: according to the positional information of vehicle, the travel direction information of vehicle, the angle of inclination information of vehicle and the curvature of driving trace, calculate the assessed value of the guidance path of each candidate, according to the assessed value of the guidance path of each candidate, obtain the guidance path with vehicle current driving route coupling then.
In the present embodiment, calculating the assessed value of the guidance path of each candidate can be in the following way:
Distance according between the guidance path of the position of vehicle and each candidate arranges the first weighted value q
d
Angle according between the guidance path of the travel direction of vehicle and each candidate arranges the second weighted value q
θ
Corresponding to the angential curvature of the point on the guidance path of each candidate, the 3rd weighted value q is set according to the curvature of described driving trace and vehicle
ρ
The gradient according to the guidance path of the angle of inclination of vehicle and each candidate arranges the 4th weighted value q
δ
According to w=k1 * q
d+ k2 * q
θ+ k3 * q
ρ+ k4 * q
δ, calculate the assessed value w of the guidance path of each candidate, k1 wherein,, k2, k3 and k4 be respectively coefficient, can choose as the case may be, concrete mode is as follows:
At first, carrying out distance and judge, calculate the position of vehicle to the vertical range of the guidance path of each candidate, as an important reference value, is distance d as if the position of vehicle to the vertical range of the guidance path of candidate, then its first weighted value
Wherein unit is rice.
Then, calculate the angle of the guidance path of vehicle heading and each candidate, the angle of supposing the guidance path of vehicle and each candidate is θ, then second weighted value
Wherein unit is degree.
Secondly, for the curvature of road, generally be divided into three kinds: straight line curvature is 0, circular curve curvature is a constant, and adjustment curve curvature is from 0 to the variable quantity a certain constant, wherein circular curve and to relax curvature of curve all be directive, forward is reversed negative for just.Calculate the curvature ρ of the driving trace of vehicle
CWith the angential curvature ρ of vehicle corresponding to the point on the guidance path of candidate
L, the 3rd weighted value
Namely when being straight line on the guidance path of candidate, weighted value is 0, otherwise calculates the formed weighted value of its difference.
Again, the 4th weighted value of the value of delta of the gradient of the guidance path of the angle of inclination of calculating vehicle and candidate
At last, give every numerical value weighting, calculate the assessed value of the guidance path of each candidate.When vehicle location during apart from crossing, road front (＞30 meters) far away, w=0.5 * q
d+ 0.3 * q
θ+ 0.1 * q
ρ+ 0.1 * q
δWhen vehicle location is positioned at crossing (＜30 meters), w=0.2 * q
d+ 0.3 * q
θ+ 0.3 * q
ρ+ 0.2 * q
δGet the guidance path of the minimum candidate of w value wherein, as the guidance path of the candidate of Optimum Matching, thereby finish route matching.
As shown in Figure 3, be the synoptic diagram that travels of vehicle in the embodiments of the invention, arrow is vehicle heading, along the viaduct, stride across crossroad, drive towards ring road, wherein the position 1, position 2, position 3 broken circles are the range of drift of vehicle location, overpass from the position 1 preceding 10 meters drive off bypass by ring road.
As can be seen, when vehicle drives to position 1, utilize traditional route matching technology, be difficult to distinguish vehicle and on overhead, still drive off bypass, consider the drift of vehicle location, be easy to judge by accident, therefore, add curvature and the gradient and judge, then be easy to distinguish vehicle and whether sail bypass into.
When vehicle drives to position 2, according to vehicle driving trace, determine vehicle easily still on overhead but not on the crossroad.
When vehicle drove to position 3, tangible curvature had taken place and has changed in entrance ramp, then can judge the coupling road and should be ring road.
Referring to Fig. 4, be the structure drawing of device of route matching in the embodiments of the invention, the device of this route matching comprises:
First acquisition module is for the vehicle traveling information that obtains vehicle;
First processing module is used for according to described vehicle traveling information, calculates the driving trace of vehicle;
Second processing module is used for according to described driving trace, calculates the curvature of described driving trace;
Matching module is used for the curvature according to described vehicle traveling information and described driving trace, obtains the guidance path with vehicle current driving route coupling from electronic map database.
In another embodiment of the present invention, device also comprises:
Second acquisition module is used for according to vehicle traveling information, chooses the guidance path of candidate from electronic map database.
In another embodiment of the present invention, described matching module comprises:
Computing unit is used for according to the travel direction information of the positional information of described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, calculates the assessed value of the guidance path of each candidate;
Matching unit is used for the assessed value according to the guidance path of described each candidate, obtains the guidance path with vehicle current driving route coupling.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the method for a route matching is characterized in that, described method comprises:
Obtain the vehicle traveling information of vehicle;
According to described vehicle traveling information, calculate the driving trace of vehicle;
According to described driving trace, calculate the curvature of described driving trace;
According to the curvature of described vehicle traveling information and described driving trace, from electronic map database, obtain the guidance path with vehicle current driving route coupling.
2. method according to claim 1 is characterized in that,, calculates before the step of curvature of described driving trace according to described driving trace described, and described method also comprises:
According to vehicle traveling information, from electronic map database, choose the guidance path of candidate.
3. method according to claim 2 is characterized in that, described vehicle traveling information comprises: the travel direction information of the positional information of vehicle, vehicle and the angle of inclination information of vehicle.
4. method according to claim 3 is characterized in that, the described step of choosing the guidance path of candidate from electronic map database comprises:
According to the positional information of described vehicle, all guidance paths in the selected preset range in electronic map database;
According to the travel direction information of described vehicle, in all guidance paths, the travel direction of current direction and vehicle is deviated from bigger guidance path reject, obtain the guidance path of candidate.
5. method according to claim 4 is characterized in that, also comprises:
If the historical track that has vehicle to travel, the historical track that travels according to vehicle again, in conjunction with the travel direction of vehicle, in the guidance path of described candidate, the guidance path that can not enter vehicle excludes, the guidance path of the candidate after being optimized.
6. method according to claim 4 is characterized in that, described curvature according to described vehicle traveling information and described driving trace obtains comprising with the step of the guidance path of vehicle current driving route coupling from electronic map database:
According to the travel direction information of the positional information of described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, calculate the assessed value of the guidance path of each candidate;
According to the assessed value of the guidance path of described each candidate, obtain the guidance path with vehicle current driving route coupling.
7. method according to claim 6, it is characterized in that, the travel direction information of described positional information according to described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, the step of assessed value that calculates the guidance path of each candidate comprises:
Distance according between the guidance path of the position of vehicle and each candidate arranges the first weighted value q
d
Angle according between the guidance path of the travel direction of vehicle and each candidate arranges the second weighted value q
θ
Corresponding to the angential curvature of the point on the guidance path of each candidate, the 3rd weighted value q is set according to the curvature of described driving trace and vehicle
ρ
The gradient according to the guidance path of the angle of inclination of vehicle and each candidate arranges the 4th weighted value q
δ
According to w=k1 * q
d+ k2 * q
θ+ k3 * q
ρ+ k4 * q
δ, calculate the assessed value w of the guidance path of each candidate, wherein k1, k2, k3 and k4 are respectively coefficient.
8. the device of a route matching is characterized in that, comprising:
First acquisition module is for the vehicle traveling information that obtains vehicle;
First processing module is used for according to described vehicle traveling information, calculates the driving trace of vehicle;
Second processing module is used for according to described driving trace, calculates the curvature of described driving trace;
Matching module is used for the curvature according to described vehicle traveling information and described driving trace, obtains the guidance path with vehicle current driving route coupling from electronic map database.
9. device according to claim 8 is characterized in that, also comprises:
Second acquisition module is used for according to vehicle traveling information, chooses the guidance path of candidate from electronic map database.
10. device according to claim 8 is characterized in that, described matching module comprises:
Computing unit is used for according to the travel direction information of the positional information of described vehicle, described vehicle, the angle of inclination information of vehicle and the curvature of described driving trace, calculates the assessed value of the guidance path of each candidate;
Matching unit is used for the assessed value according to the guidance path of described each candidate, obtains the guidance path with vehicle current driving route coupling.
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| WO2019028819A1 (en) * | 2017-08-11 | 2019-02-14 | 深圳配天智能技术研究院有限公司 | Vehicle positioning method and related devices |
| CN110832277A (en) * | 2017-08-11 | 2020-02-21 | 深圳配天智能技术研究院有限公司 | Vehicle positioning method and related equipment |
| CN110832277B (en) * | 2017-08-11 | 2023-08-15 | 深圳配天智能技术研究院有限公司 | Vehicle positioning method and related equipment |
| CN110031876A (en) * | 2018-01-11 | 2019-07-19 | 中南大学 | A kind of vehicle mounted guidance tracing point offset antidote based on Kalman filtering |
| CN109584605A (en) * | 2018-12-03 | 2019-04-05 | 北京远特科技股份有限公司 | Vehicle position acquisition method and device |
| CN109919518B (en) * | 2019-03-29 | 2021-08-03 | 百度在线网络技术（北京）有限公司 | Quality determination method, device, server and medium for map track matching data |
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| CN110254424A (en) * | 2019-07-01 | 2019-09-20 | 江苏东交工程检测股份有限公司 | Travel antidote, device, controller and storage medium |
| CN110926498A (en) * | 2019-09-12 | 2020-03-27 | 深圳市麦谷科技有限公司 | Vehicle mileage compensation method, device, computer equipment and program product |
| CN110926498B (en) * | 2019-09-12 | 2022-06-10 | 深圳市麦谷科技有限公司 | Vehicle mileage compensation method and device and computer equipment |
| CN111260656A (en) * | 2020-01-07 | 2020-06-09 | 北京百度网讯科技有限公司 | Method and device for analyzing navigation track |
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