CN104121916B - Method and system for map match - Google Patents
Method and system for map match Download PDFInfo
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- CN104121916B CN104121916B CN201310153324.4A CN201310153324A CN104121916B CN 104121916 B CN104121916 B CN 104121916B CN 201310153324 A CN201310153324 A CN 201310153324A CN 104121916 B CN104121916 B CN 104121916B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention discloses a kind of method and system for map match, wherein the method includes：The current location information of receive user；Current location information according to user mates the current road segment of this user on the map of user's history section；Current road segment in response to this user belongs to history section, continues to mate the follow-up current road segment of this user on the map of user's history section；Current road segment in response to user is not belonging to history section, and the current location information according to user mates the current road segment of this user on the map of overall section.The method of the present invention and system are conducive to improving the efficiency of map match.
Description
Technical field
The present invention relates to a kind of data processing method and system, more particularly, to a kind of method for map match
And system.
Background technology
Map match (map-matching) is one, intelligent transportation (intelligent transportation) field
The solution of core, the program is widely used in traffic flow monitoring and prediction, vehicle in use tracking, base based on motor vehicles
Congestion in road charge and the fields such as user's travel behaviour analysis in GPS.Position data due to collecting from GPS device has
The features such as discontinuity and unreliability (at 10 meters about, map datum also can have error to generally civilian GPS accuracy), map
Coupling is used for finding out correct road section (road from map datum according to customer location as the method for a core
Segment), and by the section found set merging become a closest real user run-length data (Journey
Data).
In order to determine the driving trace of user, map match needs to be searched according to GPS location point from massive map data
The road section of coupling.Traditional map-matching algorithm comprises two types：Incremental map coupling and overall section map
Join.Increment type coupling finds out optimal road section data according to some indexs set in advance for individual data point, conventional
Comparative indices include location point to the angular deviation (the smaller the better) of distance (the smaller the better), location point and section etc. in section.
Based on the standard of comparison selecting, increment type map match can select the section data with optimal weights, then using shortest path
Footpath algorithm generates the travel route of user.Overall section map-matching algorithm then considers the connectedness of section data, the first step
Remain the section data finding out one or more couplings for single location point, second step calculates the narrow spacing in two neighboring section
From the section set the shortest of last chosen distance.Overall formula map match can produce more preferable matching result, but compared to
Increment mates, and execution time is longer, and the system resource of consumption is also more.In the case of not doing any spatial index, this search
Performance be to be weighed with second unit.Even if adding multistage spatial index, this search procedure remained in units of a few tens of milliseconds
To calculate, well below the demand of client, in particular for Large-sized Communication platform, this performance indications is sometimes no this performance indications
Method accepts.
It is thus desirable to a kind of method and system for map match with greater efficiency.
Content of the invention
According to an aspect of the invention, it is provided a kind of method for map match, the method includes：Receive user
Current location information；Current location information according to user mates the current road of this user on the map of user's history section
Section；Current road segment in response to user belongs to history section, continues to mate subsequently working as of user on the map of user's history section
Front section；Current road segment in response to user is not belonging to history section, and the current location information according to user is on overall section ground
The current road segment of user is mated on figure.
According to another aspect of the present invention, there is provided a kind of system for map match, this system includes：Receive dress
Put, be arranged to the current location information of receive user；First coalignment, is arranged to the current location according to user
Information mates the current road segment of this user on the map of user's history section；Second coalignment, be arranged in response to
The current road segment at family belongs to history section, continues to mate the follow-up current road segment of user on the map of user's history section；3rd
Coalignment, is arranged to be not belonging to history section in response to the current road segment of user, according to the current location information of user
The current road segment of user is mated on the map of overall section.
The specific embodiment of the present invention proposes the performance that a kind of method based on user behavior improves map match, will
Time-consuming map datum search procedure is converted into user's history section coupling, such that it is able to significantly reduce the operation of map match
Time, save system resource.
Brief description
By combining accompanying drawing, disclosure illustrative embodiments are described in more detail, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent from, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1 shows the block diagram being suitable to the exemplary computer system/server 12 for realizing embodiment of the present invention.
Fig. 2 shows that the present invention is used for the first specific embodiment of map match.
Fig. 3 shows that the present invention executes the specific embodiment of user's history section map match.
Fig. 4 shows that the present invention carries out the specific embodiment party of section coupling using focus section map and overall section map
Formula.
Fig. 5 shows the specific implementation method that the present invention is updated to user's history section map.
Fig. 6 shows that the present invention is used for the block schematic illustration of the system of map match.
Specific embodiment
It is more fully described the preferred implementation of the disclosure below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Preferred implementation, however, it is to be appreciated that may be realized in various forms the disclosure and the embodiment party that should not illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope intactly conveys to those skilled in the art.
Person of ordinary skill in the field knows, the present invention can be implemented as system, method or computer program.
Therefore, the disclosure can be implemented as following form, that is,：Can be completely hardware, can also be completely software (include
Firmware, resident software, microcode etc.), can also be the form that hardware and software combines, referred to generally herein as " circuit ", " mould
Block " or " system ".Additionally, in certain embodiments, the present invention is also implemented as in one or more computer-readable mediums
In computer program form, comprise computer-readable program code in this computer-readable medium.
The combination in any of one or more computer-readable media can be adopted.Computer-readable medium can be calculated
Machine readable signal medium or computer-readable recording medium.Computer-readable recording medium can be for example but not limit
In the system of electricity, magnetic, optical, electromagnetic, infrared ray or quasiconductor, device or device, or arbitrarily above combination.Calculate
The more specifically example (non exhaustive list) of machine readable storage medium storing program for executing includes：There is the electrical connection, just of one or more wires
Take formula computer disk, hard disk, random access memory (RAM), read only memory (ROM), the programmable read-only storage of erasable type
Device (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In this document, computer-readable recording medium can any be comprised or store journey
The tangible medium of sequence, this program can be commanded execution system, device or device and use or in connection.
Computer-readable signal media can include the data signal in a base band or as carrier wave part propagation,
Wherein carry computer-readable program code.The data signal of this propagation can take various forms, including but
It is not limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium beyond computer-readable recording medium, this computer-readable medium can send, propagate or
Transmit for being used or program in connection by instruction execution system, device or device.
The program code comprising on computer-readable medium can with any suitable medium transmission, including but do not limit
In wireless, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
The computer for executing present invention operation can be write with one or more programming language or a combination thereof
Program code, described program design language includes object oriented program language-such as Java, Smalltalk, C++, also
Including conventional procedural programming language-such as " C " language or similar programming language.Program code can be complete
Ground executes on the user computer, partly executes on the user computer, executing, partly exist as an independent software kit
Part execution or execution completely on remote computer or server on the remote computer on subscriber computer.It is being related to
In the situation of remote computer, remote computer can include LAN (LAN) or wide area by the network of any kind
Net (WAN)-be connected to subscriber computer, or it may be connected to outer computer (for example utilize ISP Lai
By Internet connection).
Flow chart below with reference to the method for the embodiment of the present invention, device (system) and computer program and/or
Block diagram describes the present invention.It should be appreciated that each square frame in each square frame of flow chart and/or block diagram and flow chart and/or block diagram
Combination, can be realized by computer program instructions.These computer program instructions can be supplied to general purpose computer, special
Computer or the processor of other programmable data processing unit, thus producing a kind of machine, these computer program instructions
By computer or other programmable data processing unit execution, create rule in the square frame in flowchart and/or block diagram
The device of fixed function/operation.
These computer program instructions can also be stored in and can make computer or other programmable data processing unit
In the computer-readable medium working in a specific way, so, the instruction being stored in computer-readable medium just produces one
Individual command device (the instruction including the function/operation specified in square frame in flowchart and/or block diagram
Means manufacture (manufacture)).
Computer program instructions can also be loaded into computer, other programmable data processing unit or miscellaneous equipment
Above so that executing series of operation steps on computer, other programmable data processing unit or miscellaneous equipment, in terms of producing
The process that calculation machine is realized, so that the instruction of execution can provide flowchart on computer or other programmable device
And/or the process of function/operation specified in the square frame in block diagram.
Fig. 1 shows the block diagram being suitable to the exemplary computer system/server 12 for realizing embodiment of the present invention.
The computer system/server 12 that Fig. 1 shows is only an example, should not be to the function of the embodiment of the present invention and range
Bring any restriction.
As shown in figure 1, computer system/server 12 is showed in the form of universal computing device.Computer system/service
The assembly of device 12 can include but is not limited to：One or more processor or processing unit 16, system storage 28, connect
The bus 18 of different system assembly (including system storage 28 and processing unit 16).
Bus 18 represents one or more of a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, AGP, processor or using the arbitrarily bus-structured local bus in multiple bus structures.Lift
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, MCA (MAC)
Bus, enhancement mode isa bus, VESA's (VESA) local bus and periphery component interconnection (PCI) bus.
Computer system/server 12 typically comprises various computing systems computer-readable recording medium.These media can be appointed
What usable medium that can be accessed by computer system/server 12, includings volatibility and non-volatile media, movably with
Immovable medium.
System storage 28 can include the computer system readable media of form of volatile memory, such as random access memory
Memorizer (RAM) 30 and/or cache memory 32.Computer system/server 12 may further include other removable
Dynamic/immovable, volatile/non-volatile computer system storage medium.It is only used as illustrating, storage system 34 can be used for
Read and write immovable, non-volatile magnetic media (Fig. 1 does not show, commonly referred to " hard disk drive ").Although not showing in Fig. 1
Go out the disc driver it is provided that for reading and writing to removable non-volatile magnetic disk (such as " floppy disk "), and to removable
The CD drive that anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical medium) is read and write.In these cases,
Each driver can be connected with bus 18 by one or more data media interfaces.Memorizer 28 can include at least one
Individual program product, this program product has one group of (for example, at least one) program module, and these program modules are configured to perform
The function of various embodiments of the present invention.
There is the program/utility 40 of one group of (at least one) program module 42, such as memorizer 28 can be stored in
In, such program module 42 includes but is not limited to operating system, one or more application program, other program
The realization of network environment is potentially included in module and routine data, each of these examples or certain combination.Program mould
Block 42 generally executes function and/or method in embodiment described in the invention.
Computer system/server 12 can also be with one or more external equipment 14 (such as keyboard, sensing equipment, aobvious
Show device 24 etc.) communicate, the equipment that also can enable a user to be interacted with this computer system/server 12 with one or more is led to
Letter, and/or any set with enable that this computer system/server 12 communicated with one or more of the other computing device
Standby (such as network interface card, modem etc.) communication.This communication can be carried out by input/output (I/O) interface 22.And
And, computer system/server 12 can also be by network adapter 20 and one or more network (such as LAN
(LAN), wide area network (WAN) and/or public network, such as the Internet) communication.As illustrated, network adapter 20 passes through bus
18 are communicated with other modules of computer system/server 12.It should be understood that although not shown in can be in conjunction with computer
Systems/servers 12 use other hardware and/or software module, including but not limited to：At microcode, device driver, redundancy
Reason unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Referring now to Fig. 2, Fig. 2 shows that the present invention is used for the first specific embodiment of map match.In step 201
In, the current location information of receive user.New use can be received from the mobile device (such as mobile phone, GPS device etc.) of user
Family current location information, current location information shows the physical location in data acquisition moment for the user, each true location point
Show the physical location in data acquisition moment user, typically, current location information can comprise any one of following：With
Family longitude residing at that time (longitude), latitude (latitude), direction (direction), instantaneous velocity (speed), note
The information such as record time and check code.The mobile device of user can send present bit confidence according to fixing frequency in use
Cease to background server.Preferably, can also collect user travel during user preference (such as client is partial to travel on
Main road or bypass etc.) etc..
In step 203, the current location information according to user mates working as of this user on the map of user's history section
Front section.Unlike the prior art, the present embodiment mated using user's history section map with looking for another way and not
It is directly to be compared using overall section map.Reason is that applicant by long-term practice and studies a large amount of traffic datas
Find, in real world, user typically has specific behavioral pattern, and they are invariably prone to road familiar to oneself
Upper traveling, such as travels on specific road it means that being directed to the history section map of unique user in the specific time
Join result and there is similarity, by preferably utilizing the history route data of user itself, rather than be directed to whole map datum
To select possible section data it is possible to bring very big performance boost using whole map matching process for existing.
User's history section map is to be previously generated according to the history route data of user：It is to collect user's history position data first
Sequence, as current location information data, each location point shows the physical location in data acquisition moment user, generally
For, each location point can comprise the longitude (longitude) of user, dimension (latitude), direction (direction),
Instantaneous velocity (speed), records the information such as time and check code；Using overall section map match by discrete user location point
Be converted into continuous road section data, the first step be according to distance, angular deviation etc. mate index be each location point from
Select one or more possible section data in map datum, then select optimal section number using shortest path first
According to the continuous user's travel route of formation；And merge route of user data to user's history section map, each section number
Only occur once according in user's history section map：If section does not exist in the map of user's history section, it is added to
Map, if this section has existed in the map of user's history section, updates the usage log in this history section, described makes
With daily record can be used for focus section map below emerged and user's history section map usage history record.In addition
The history section data newly increasing during the map of actual match user's history section later for user, merges user continuous
Multiple current road segment add in the map of user's history section as new history section, and merge user in the scheduled time
The history section of interior repetition.Because user's history section map is ready for before coupling, and for unique user,
The total capacity of its user's history section map is smaller, therefore, it is possible to greatly speed up the process of section coupling.For concrete
Coupling user's history section map is then described in detail in the preferred implementation below with determining current road segment information.
In step 205, the current road segment in response to this user belongs to history section, continues in user's history section map
The upper follow-up current road segment mating this user.Wherein preferably, when determine user travelled on history section it is possible to
Follow-up current road segment is determined according to the connected relation in section in the map of user's history section, and need not be in user's history section map
In mated one by one, thus further decreasing subsequent calculations amount, less need to carry out in overall section map again
Join (unless there occurs the situation that cannot match history section), thus greatly increasing the matching efficiency of current road segment.
In step 207, the current road segment in response to user is not belonging to history section, according to the current location information of user
The current road segment of this user is mated on the map of overall section.Current location information if based on user and user's history section
Map judges that current user does not have and travels on its history route, then explanation user should be to have selected a new road
Line, then need further to be mated in bigger section map, thus finding out current road segment.Preferably, when in the overall situation
After obtaining multiple discrete sections in the matching process of section map, can also using shortest path first by mate obtain from
Scattered section is converted to the continuous route of user.
Fig. 3 shows that the present invention executes the specific embodiment of user's history section map match.In step 301, will
At least a portion data of described current location information maps on the described user's history section map of gridding, and from described
Candidate's history section of coupling current road segment is selected in the grid of user's history section map.Wherein said current location information
At least a portion data includes longitude and the latitude of current location.Preferably, can be in advance by user's history section map partitioning
For several uniform grids to set up spatial index, find out the grid at user current location data place, then basis first
Index set in advance (as the record of location point to section, deviation of directivity etc.) selects one or more possible times from grid
Select history section.Below, the method for selection typically delimit one specifically in GPS location point periphery taking GPS location point as a example
Scope (as oval or rectangle), find out all should in the range of candidate's history section, then calculate each section and GPS point it
Between deviation.Typically, deviation calculates and depends on various indexs, and such as GPS location point to the distance in candidate's history section is used
Matching degree of family travel direction and road direction etc., is that various Indexes Comparison results give different weighted values, by comprehensive use
The distance in family GPS location point and candidate's history section and the deviation of directivity, choose standard and go out to have candidate's history section of optimal weight, right
For those skilled in the art, can come as needed parameter and weighted value are selected, will not be described here.It is concrete
Algorithm may refer to " An Introduction to Map Matching for Personal Navigation
Assistants ", David Bernstein etc., New Jersey TIDE Center, August1996, P1-17 and "
Some map matching algorithms for personal navigation assistants ", Christopher
E.White etc., Transportation Research Part C8 (2000) P91-P108, Published by
Elsevier Science Lt, 2000 grade papers；In step 303, in response to there is candidate's history section and confidence
Degree exceedes confidence threshold value, then conclude that the current road segment of user is this candidate's history section.In confidence calculations, preferably permissible
Consider following two indices：Distance and angle.Typically, candidate road section and GPS location point distance is less and angular deviation more
Little, then there is more preferable confidence level.Confidence calculations are directed to the above-mentioned deviation result of calculation based on weight, its value bit
Between 0 and 1.For example, if a certain bar candidate's history section and GPS location point minimum range are zero and angle complete
Cause, then its confidence level result is 1, illustrates that this section has best confidence level.If a certain bar candidate's history section and GPS position
Put minimum range a little be 50 meters and angular deviation close to 90 degree, then confidence level result is poor.The result of confidence calculations according to
Comparative indices and specifically used algorithmic formula that Lai Yu selects, specific algorithm can be found in " A general map matching
Algorithm for transport telematics applications ", Mohammed A.Quddus etc., GPS
Solutions (2003), P157-P167 and " the fuzzy map-matching algorithm with matching degree feedback in automobile navigation ", Zhang Tao etc.,
Tsing-Hua University's journal (natural science edition), the 2nd phase of volume 49, P277-P280,2009 etc., those skilled in the art were based on this
Application, can select other suitable specific algorithms as desired.Preferably, when only one candidate's history section of determination is full
The confidence level of pedal system requires, then select this history section as current road segment；In step 305, in response to there is a plurality of time
Select history section and respective confidence level is above confidence threshold value, then the historical position information with reference to user to judge currently
Which bar candidate's history section section belongs to.This step needs to consider all candidate road section and historical position information (such as preposition road
Section) connectedness.If only existing a preposition candidate road section, calculate all current candidate sections using shortest path first
With the beeline in preposition section, distance is less to mean that confidence level is higher.When there is a plurality of preposition candidate road section, equally make
Determine the connectedness of the set of user's current candidate section and the set of preposition section with shortest path first, distance is less to be meaned
Confidence level is higher.It becomes possible to judge whether user's running section is coincide with candidate's history section after realizing this coupling；In step
In rapid 307, it is below or equal to confidence threshold value in response to there is not possible history section or confidence level, then concludes user
Current road segment be not belonging to candidate's history section.Preferably, travelled on history section it is possible to root when determining user
Connected relation according to section in the map of user's history section determines follow-up current road segment, and need not be in the map of user's history section
The history section of all scopes is mated one by one, thus further decreasing subsequent calculations amount.
Fig. 4 shows that the present invention carries out the specific embodiment party of section coupling using focus section map and overall section map
Formula.In step 401, the current road segment in response to user is not belonging to history section, and the current location information according to user is in warm
The current road segment of this user is mated on the map of point section.In step 403, the current road segment in response to this user is not belonging to focus
Section, the current location information according to user mates the current road segment of this user on the map of overall section.When cannot be in user
In the case of finding current road segment in the map of history section, in order to improve map match efficiency further it is preferable that can consider
Pre-build focus section map, and be not directly compared on the map of overall section.Focus section map refers to major part
The most frequently used section data of user.Preferably, during map match, the usage log of record section data, chooses automatically
If selecting the most used trunk section data, then this data communication all are formed the most frequently used in current map matching process
Section data, as focus section map.If coupling road cannot be found for current location on the map of user's history section
Section, then, before can executing map match on the map of overall section, first execute map match on the map of focus section.Map
The process of coupling with to carry out matching process in user's history section map similar, it is also preferable that in advance by focus section map
It is evenly dividing as several grids to set up spatial index, find out the grid at its place according to the current location information of user, so
Afterwards one or more possible heat are selected from grid according to desired indicator (as the distance of location point to section, angular deviation etc.)
Point section：If only exist a possible focus section and confidence level very high (confidence level threshold values can configure, select candidate road
The process of section and calculating confidence level can be found in above, will not be described here), then return to this focus section as current road segment；As
There is a plurality of possible focus section in fruit, then need to judge the heat of best match further combined with the historical position information of this user
Point section (being can be found in above according to the process that section connectedness selects candidate road section)；And if any possible coupling cannot be found
Focus section, then finally final need to be mated in overall section map, but for ordinary circumstance, through user's history road
The occurrence of probability that the coupling of section map and focus section map still cannot match is smaller.Using present bit
The process that confidence breath is mated in overall section map is equally carried out with user's history section map or focus section map
Coupling is similar, in advance according to longitude and latitude, overall section map is divided into some uniform small grid, by present bit confidence
Latitude and longitude information in breath is mapped to the small grid at its place, then therefrom selects one or more possible overall sections.As
Fruit only exists a possible section data and confidence level, and very high (confidence level requires configurable, selects candidate road section and calculating
The process of confidence level can refer to above, will not be described here), then using this overall section as current road segment；If there is a plurality of
Possible overall section, then need according to front and back position point and user preference (as client is partial to travel on main road or auxiliary
Road) judging optimal section, this process needs to consider the connectivity relationship of current road segment and preposition section, considers that user is inclined simultaneously
Good.For example, it is located at main road and bypass respectively if there is two candidate road section, according to the result of user's history behavior analysiss, use
Main road is partial to travel in family, then main road section has more preferable confidence level.But, the result needs of section coupling are comprehensive all
The result of Comparative indices, such as distance, direction, connectedness and user preference etc., find out confidence level highest section data.In addition,
The discrete section that will be obtained by focus section map or overall section map match, using shortest path first by its turn
It is changed to the continuous route of user, it will be appreciated by those skilled in the art that continuous route is made up of the continuous section of mutual head and the tail.Should
Process can form the continuous route of optimal traveling according to the GPS location point of user, and this continuous route can export as a result, and mends
It is charged into user's history section map, thus ensureing the renewal often of user's history section map it is preferable that can also be by longer
The user's history section all do not mated in time is deleted from the map of user's history section.
Fig. 5 shows the specific implementation method that the present invention is updated to user's history section map.In step 501,
The continuous route of user is added in the map of user's history section as new history section.When nothing in the map of history section
When method matches history section, illustrate that user exercises in new route it is therefore necessary to new route is added to user's history
In the map of section.Preferably, can set only by the continuous route repeating in the given time (twice or two in such as one week
The secondary above continuous route running over) add in the map of history section；And in step 503, merge the history road repeated
Section.Preferably, wherein for the history section repeated, need to replace old history section with new history section, or will be old
The usage log in history section be updated to the usage log in new history section.
Fig. 6 shows that the present invention is used for the block schematic illustration of the system of map match.This system 600 includes：Reception device
601, it is arranged to the current location information of receive user；First coalignment 603, it is arranged to according to user's
Current location information mates the current road segment of this user on the map of user's history section；Second coalignment 605, it is configured
Belong to history section for the current road segment in response to this user, after continuing to mate this user on the map of user's history section
Continuous current road segment；3rd coalignment 607, it is arranged to be not belonging to history section, root in response to the current road segment of user
Current location information according to user mates the current road segment of this user on the map of overall section.Being embodied in of said apparatus
Above all it is described in detail one by one, will not be described here.
Preferably, described first coalignment includes：Selecting device, is arranged to by described current location information extremely
Few a part of data maps on the described user's history section map of gridding, and the net from described user's history section map
Candidate's history section of coupling current road segment is selected in lattice.
Preferably, system 600 also include following at least one：First concludes device, is arranged in response to having one
Bar candidate's history section and confidence level exceedes confidence threshold value, then conclude that the current road segment of user is this candidate's history section；
First judgment means, are arranged in response to there is a plurality of candidate's history section and respective confidence level is above confidence level
Threshold value, then the historical position information with reference to user to judge which bar candidate's history section current road segment is；Second concludes device, quilt
It is configured to be below or equal to confidence threshold value in response to there is not candidate's history section or its confidence level, then conclude user
Current road segment be not belonging to history section.
Preferably, described 3rd coalignment also includes：Focus section coalignment, is arranged in response to user's
Current road segment is not belonging to history section, and the current location information according to user mates the current of this user on the map of focus section
Section；And overall section coalignment, it is arranged to be not belonging to focus section in response to the current road segment of this user, according to
The current location information of user mates the current road segment of this user on the map of overall section.
Preferably, described 3rd coalignment also includes：Second judgment means, are arranged to if there is multiple possibility
The focus section mated with the current road segment of this user, the historical position information further combined with this user and user preference are judged
The focus section of best match.
Preferably, described system 600 also includes：Conversion equipment, is arranged to will mate using shortest path first
To discrete section be converted to the continuous route of user.
Preferably, described system 600 also includes：Supplementary device, is arranged to the continuous route of user as new
History section adds in the map of user's history section；And merging device, it is arranged to merge the history section repeated.
Preferably, wherein said second coalignment includes：Follow-up current road segment determines device, be arranged to according to
In the map of family history section, the connected relation in history section determines follow-up current road segment.
Preferably, wherein said positional information includes at least one of：Longitude, latitude, direction, instantaneous velocity, record
Time and check code.
Flow chart in accompanying drawing and block diagram show the system of multiple embodiments according to the present invention, method and computer journey
The architectural framework in the cards of sequence product, function and operation.At this point, each square frame in flow chart or block diagram can generation
A part for one module of table, program segment or code, a part for described module, program segment or code comprises one or more use
Executable instruction in the logic function realizing regulation.It should also be noted that at some as in the realization replaced, being marked in square frame
The function of note can also be to occur different from the order being marked in accompanying drawing.For example, two continuous square frames can essentially base
Originally it is performed in parallel, they can also execute sometimes in the opposite order, this is depending on involved function.It is also noted that
It is, the combination of each square frame in block diagram and/or flow chart and the square frame in block diagram and/or flow chart, can be with executing rule
The special hardware based system of fixed function or operation, or can be with the group of specialized hardware and computer instruction realizing
Close and to realize.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Best explaining principle, practical application or the technological improvement to the technology in market of each embodiment, or this technology is made to lead
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.
Claims (14)
1. a kind of method for map match, including：
The current location information of receive user；
Current location information according to user mates the current road segment of user on the map of user's history section；
Current road segment in response to user belongs to history section, continues to mate subsequently working as of user on the map of user's history section
Front section；
Current road segment in response to user is not belonging to history section, and the current location information according to user is on the map of overall section
The current road segment of coupling user,
The current road segment that the wherein said current location information according to user mates user on the map of user's history section includes：
At least a portion data of described current location information is mapped on the described user's history section map of gridding, and
Candidate's history section of coupling current road segment is selected from the grid of described user's history section map,
Wherein said method also include following at least one：
In response to there is candidate's history section and confidence level exceedes confidence threshold value, then conclude that the current road segment of user is
This candidate's history section；
In response to there is a plurality of candidate's history section and respective confidence level is above confidence threshold value, then going through with reference to user
History positional information is come which bar candidate's history section to judge current road segment be；
It is below or equal to confidence threshold value in response to there is not candidate's history section or its confidence level, then conclude working as of user
Front section is not belonging to history section.
2. a kind of the method for claim 1, the wherein said current road segment in response to user is not belonging to history section, root
Also include according to the current road segment that the current location information of user mates user on the map of overall section：
Current road segment in response to user is not belonging to history section, and the current location information according to user is on the map of focus section
Mate the current road segment of this user；And
Current road segment in response to this user is not belonging to focus section, and the current location information according to user is in overall section map
The upper current road segment mating this user.
3. a kind of method as claimed in claim 2, the wherein said current road segment in response to user is not belonging to history section, root
Also include according to the current road segment that the current location information of user mates user on the map of overall section：
If there is multiple focus sections that may mate with the current road segment of this user, further combined with the history bit of this user
Confidence breath and user preference judge the focus section of best match.
4. a kind of method as claimed in claim 2 or claim 3, also includes：
Using shortest path first, the discrete section that coupling obtains is converted to the continuous route of user.
5. a kind of method as claimed in claim 4, also includes：
The continuous route of user is added in the map of user's history section as new history section；And
Merge the history section repeated.
6. a kind of the method for claim 1, after wherein said continuation mates user on the map of user's history section
Continuous current road segment includes：
Follow-up current road segment is determined according to the connected relation in history section in the map of user's history section.
7. a kind of the method for claim 1, wherein said positional information includes at least one of：Longitude, latitude, side
To, instantaneous velocity, record time and check code.
8. a kind of system for map match, including：
Reception device, is arranged to the current location information of receive user；
First coalignment, is arranged to the current location information according to user and mates this use on the map of user's history section
The current road segment at family；
Second coalignment, is arranged to belong to history section in response to the current road segment of user, continues on user's history road
The follow-up current road segment of user is mated on section map；
3rd coalignment, is arranged to be not belonging to history section in response to the current road segment of user, current according to user
Positional information mates the current road segment of user on the map of overall section,
Wherein said first coalignment includes：
Selecting device, is arranged at least a portion data of described current location information maps to the described use of gridding
On the map of family history section, and select candidate's history road of coupling current road segment from the grid of described user's history section map
Section, wherein said system also include following at least one：
First concludes device, is arranged in response to one candidate's history section of presence and confidence level exceedes confidence level threshold
Value, then conclude that the current road segment of user is this candidate's history section；
First judgment means, are arranged to above put in response to there is a plurality of candidate's history section and respective confidence level
Confidence threshold, then the historical position information with reference to user to judge which bar candidate's history section current road segment is；
Second concludes device, is arranged to be below or equal to and put in response to there is not candidate's history section or its confidence level
Confidence threshold, then conclude that the current road segment of user is not belonging to history section.
9. a kind of system as claimed in claim 8, the wherein the 3rd coalignment also includes：
Focus section coalignment, is arranged to be not belonging to history section in response to the current road segment of user, according to user's
Current location information mates the current road segment of this user on the map of focus section；And
Overall section coalignment, is arranged to be not belonging to focus section in response to the current road segment of this user, according to user
Current location information the current road segment of this user is mated on the map of overall section.
10. a kind of system as claimed in claim 9, wherein said 3rd coalignment also includes：
Second judgment means, are arranged to if there is multiple focus sections that may mate with the current road segment of this user,
Historical position information further combined with this user and user preference judge the focus section of best match.
A kind of 11. systems as described in claim 9 or 10, also include：
Conversion equipment, is arranged to be converted to the continuous of user using shortest path first by mating the discrete section obtaining
Route.
A kind of 12. systems as claimed in claim 11, also include：
Supplementary device, is arranged to for the continuous route of user to add to user's history section map as new history section
In；And
Merge device, be arranged to merge the history section repeated.
A kind of 13. systems as claimed in claim 8, wherein said second coalignment includes：
Follow-up current road segment determines device, and the connected relation being arranged to according to history section in the map of user's history section is true
Fixed follow-up current road segment.
A kind of 14. systems as claimed in claim 8, wherein said positional information includes at least one of：Longitude, latitude,
Direction, instantaneous velocity, record time and check code.
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| CN201310153324.4A CN104121916B (en) | 2013-04-27 | 2013-04-27 | Method and system for map match |
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| CN201310153324.4A CN104121916B (en) | 2013-04-27 | 2013-04-27 | Method and system for map match |
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| CN104121916B true CN104121916B (en) | 2017-03-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104599499B (en) * | 2015-01-12 | 2017-08-29 | 北京中交兴路车联网科技有限公司 | A kind of method and device of distributed statistics traffic location |
| JP6477675B2 (en) * | 2016-12-16 | 2019-03-06 | カシオ計算機株式会社 | Map matching device, map matching method and program |
| CN110573837B (en) * | 2017-06-30 | 2023-10-27 | Oppo广东移动通信有限公司 | Navigation method, navigation device, storage medium and server |
| CN109507995B (en) * | 2017-09-14 | 2022-01-04 | 深圳乐动机器人有限公司 | Management system of robot map and robot |
| CN110875836B (en) * | 2018-08-31 | 2023-04-07 | 北京京东尚科信息技术有限公司 | Application caching method, system, equipment and storage medium based on network prediction |
| CN110889962B (en) * | 2018-09-07 | 2022-09-30 | 上海擎感智能科技有限公司 | Planned route and track route comparison method and device |
| CN110222139B (en) * | 2019-06-14 | 2021-07-09 | 北京百度网讯科技有限公司 | Road entity data duplication eliminating method, device, computing equipment and medium |
| CN110426050B (en) * | 2019-08-07 | 2021-08-03 | 北京百度网讯科技有限公司 | Map matching correction method, device, equipment and storage medium |
| CN111024079B (en) * | 2019-11-27 | 2022-04-08 | 北京中交兴路信息科技有限公司 | Method and system for matching with route according to multiple position points |
| CN113701763A (en) * | 2020-05-20 | 2021-11-26 | 百度在线网络技术（北京）有限公司 | Method and apparatus for generating information |
| CN115326085A (en) * | 2022-08-17 | 2022-11-11 | 安徽蔚来智驾科技有限公司 | Map matching method, control device, readable storage medium and vehicle |
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| CN1653505A (en) * | 2002-03-29 | 2005-08-10 | 松下电器产业株式会社 | Map matching method, map matching device, database for shape matching, and shape matching device |
| JP4661439B2 (en) * | 2004-11-22 | 2011-03-30 | 株式会社デンソー | Vehicle navigation device and road map distribution system |
| CN101363907B (en) * | 2007-08-08 | 2013-04-03 | 北京灵图软件技术有限公司 | Road matching method and system based on satellite positioning |
| US20100011484A1 (en) * | 2008-07-15 | 2010-01-21 | Cole Williams | Knit fabric gloves and other knit articles with improved grip/protective surfaces |
| CN102193948A (en) * | 2010-03-16 | 2011-09-21 | 华为技术有限公司 | Feature matching method and device |
| CN102840867B (en) * | 2011-06-21 | 2015-06-17 | 歌乐株式会社 | Route searching system and method based on commonly used route |
| CN102901505B (en) * | 2011-07-29 | 2015-10-07 | 上海博泰悦臻电子设备制造有限公司 | Navigational system and road matching method and device |
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