CN104215256B - The method that route or travel by vehicle is shown on map - Google Patents

The method that route or travel by vehicle is shown on map Download PDF

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Publication number
CN104215256B
CN104215256B CN201310221095.5A CN201310221095A CN104215256B CN 104215256 B CN104215256 B CN 104215256B CN 201310221095 A CN201310221095 A CN 201310221095A CN 104215256 B CN104215256 B CN 104215256B
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road
point
tracing point
tracing
vehicle
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CN104215256A (en
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黄德承
张先助
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ChinaGPS Co Ltd Shenzhen
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ChinaGPS Co Ltd Shenzhen
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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
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a kind of method that route or travel by vehicle is shown on map, methods described includes step：Whether the track of vehicle point for S1. judging to report is GPS shift points, if it is not, then performing step S2, if so, then giving up the tracing point, returns to step S1；S2. the tracing point is matched with the road on pre-stored map；S3. with found on the road of the track Point matching with the road waypoint of the track Point matching, and the road waypoint is set to the correction point of the tracing point；S4. after the correction point for finding the tracing point of all non-GPS shift points, all correction points are connected with matched curve.Implement the method for the present invention, true on the electronic map can accurately reproduce the travel route of GPS vehicles, while play back track and seem smoother attractive in appearance.

Description

The method that route or travel by vehicle is shown on map
Technical field
The present invention relates to vehicular traffic field of navigation technology, more particularly to a kind of route or travel by vehicle is shown on map Method.
Background technology
Trace playback, refer to the data in the vehicles traveling process according to navigation system records, in geography information Figure（Electronic map）On tool public to traffic the operation that is reappeared of course.
Current most commonly used navigation system is GPS system, and the track of vehicle playback based on GPS system has turned into a kind of big Many widely used technologies.But easily there is following technical problem in the track of vehicle playback for being currently based on GPS system：
1st, hysteresis quality during data is collected due to GPS system, when GPS system receives the location data of vehicle, due to vehicle It is constantly in traveling process, the location data is possible to larger error be present with the physical location of vehicle, and this will cause Range deviation be present with its actual travel route in the track of vehicle shown on electronic map.
2nd, the track of vehicle on electronic map is usually and is directly connected the traveling-position that vehicle timing reports with straight line It is integrally a polygonal broken line come what is formed, it appears that it is not smooth enough, influence attractive in appearance.
The content of the invention
The technical problem to be solved in the present invention is, for the track of vehicle that plays back on the electronic map in the prior art with Actual travel path deviation is big, inaesthetic drawbacks described above, there is provided one kind can accurate and flow display vehicle on the electronic map The method of travel route.
The technical solution adopted for the present invention to solve the technical problems is：It is a kind of that route or travel by vehicle is shown on map Method, it is characterised in that the described method comprises the following steps：
S1. the position that itself is periodically presently in by vehicle reports information desk as tracing point, and information desk judges to report Track of vehicle point whether be GPS shift points, if it is not, then perform step S2, if so, then giving up the tracing point, return to step S1；
S2. the tracing point is matched with the road information to prestore；
S3. the road with the track Point matching is found on the road with the tracing point with the information to match Point, and the road waypoint is set to the correction point of the tracing point；
S4. after the correction point for finding the tracing point of all non-GPS shift points, all correction points are connected with matched curve.
Preferably, the step S1 includes：
S11. from the track of vehicle point reported preset a reference point, and record the reference point on call time；
S12. calculate the spacing of the tracing point and the reference point and report the time difference；
S13. the tracing point and the spacing of the reference point and the ratio of the time difference are calculated, if the ratio is pre- If in scope, then it is not GPS shift points to judge the tracing point, if not existing, judge the tracing point for GPS shift points.
Preferably, the address in location when the reference point in the step S11 is the vehicle launch, if the vehicle stops Only run, the address in location is updated to reference point when the vehicle is restarted.
Preferably, a tracing point before the reference point in the step S11 is the tracing point.
Preferably, the step S2 includes：
S21. according to the latitude and longitude information of the tracing point, the warp containing the tracing point is searched in the road information to prestore The road of latitude information, if finding a road, step S23 is performed, if finding at least two road, perform step S22；
S22. according to the other at least one tracing point adjacent with the tracing point, selected from least two road One road, and selected road is set to the matching road of the tracing point；
S23., one road is set to the matching road of the tracing point.
Preferably, in the step S22, if the other tracing point adjacent with the tracing point is multiple, and this is more The road that at least half is in a plurality of road in individual other tracing point, then be set to the track by the road The matching road of point.
Preferably, the step S3 includes：
S31. the tracing point and the distance for matching road Shang Ge roads waypoint are calculated；
S32. more all distances, the road waypoint minimum with tracing point distance is found out, and the road waypoint is set to The correction point of the tracing point；
S33. the correction point is marked with default mark on the map.
Preferably, the step S4 includes：
S41. default fitting function is called；
S42. by the direction of road of all correction points along the information for having with the tracing point and matching with The curve connection of the fitting function generation of calling.
Implement the method for the present invention, the gps data reported and larger error existing for actual travel point can be eliminated so that electricity The track of vehicle shown on sub- map is truer accurate；Also the track of vehicle on electronic map can be made to seem smoother attractive in appearance.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the schematic flow sheet of the inventive method preferred embodiment；
Fig. 2 is the schematic flow sheet of step S1 preferred embodiment in specific implementation figure；
Fig. 3 is the schematic flow sheet of step S2 preferred embodiment in specific implementation figure；
Fig. 4 is the schematic flow sheet of step S3 preferred embodiment in specific implementation figure；
Fig. 5 is the trace playback display effect schematic diagram without fitting；
Fig. 6 is the trace playback display effect schematic diagram after fitting.
Embodiment
As shown in figure 1, the method that the present invention shows route or travel by vehicle on map, comprises the following steps：
S1. the position that itself is periodically presently in by vehicle reports information desk as tracing point, and information desk judges to report Track of vehicle point whether be GPS shift points, if it is not, then perform step S2, if so, then giving up the tracing point, return to step S1, continue to judge next tracing point.GPS, which drifts about, to be referred in GPS location, the location data and physical location of track of vehicle point Have a larger gap, and occur during exercise and actual path has the continuous paths of certain intervals, in the present invention will it is this and The larger tracing point of physical location gap is referred to as GPS shift points.
Tracing point is the location information for the vehicle that vehicle GPS alignment system calculates during the actual progress of vehicle, and this is fixed Position information is the latitude and longitude information of each traveling-position of the vehicle traveling in actual road conditions.And GPS system is calculating determining for vehicle Unfixed error be present during the information of position, point caused by big error is GPS shift points.In this step, in order to avoid error compared with Big tracing point influences the whole structure of trace playback, first has to statistics GPS system in advance when calculating vehicle location information Error range, then presets criterion according to the error range, and specific criterion can be that tracing point a and one are pre- If the scope of the unit interval operating range of the distance of reference point or the affiliated vehicle of the tracing point.If tracing point a meets Criterion, then next step operation is carried out, if not meeting criterion, gives up tracing point a.
S2. tracing point is matched with the road information to prestore.
If tracing point a is not GPS shift points, the specific orientation of tracing point on the electronic map is further determined.At this In step, the present invention will not be that GPS shift points tracing point is matched with the road on electronic map, in geographic information database In, in the range of the longitude and latitude scope of the every road on electronic map to prestore covers for the circumscribed rectangle of this road Each point latitude and longitude information.If tracing point a latitude and longitude information in the range of a certain bar road A of electronic map longitude and latitude, that This road A is tracing point a matching road.
In this step, if the road of the latitude and longitude information comprising tracing point a has more than two, then can further join Adjacent some tracing points before and after a set in advance with the tracing point are examined specifically with that road to match, in this step, tool Body with reference to those adjacent track points, with reference to several tracing points and specific how with reference to being preset by operator, can be only with reference to And the first at least one tracing point thereon reported adjacent with tracing point a, can also be only with reference to adjacent with tracing point a and be later than Its at least one tracing point reported, can also refer to it is adjacent with tracing point a before and after each at least one tracing point, it is best With reference to more than three, if most a certain bar A in more than two roads in reference point, then current to find matching road Tracing point a be in A roads longitude and latitude in the range of, road A is tracing point a matching road.
In this step, if can not find the road matched with tracing point a, GIS-Geographic Information System can be first passed through to electronically Figure is updated, and then finds the road matched with tracing point a again.If tracing point a matching road still can not be found, Can all tracing points of critical-path analysis, find out it is all can not find matching road tracing points, according to the longitude and latitude of these tracing points The newly-built road of information, the newly-built road are the matching road of these tracing points.
S3. the road with the track Point matching is found on the road with the tracing point with the information to match Point, and the road waypoint is set to the correction point of the tracing point, the road waypoint is that the point of the road is formed on electronic map.
In this step, tracing point a, and the road that will can replace tracing point a are replaced with the road waypoint on matching road Point b is set to tracing point a correction point, is then calibrated with set in advance come default mark can be a red Circle, black triangle or other shapes of mark.All road waypoints and rail of road can be matched by comparing composition The distances of mark point a on the electronic map find correction point.
S4. after the correction point for finding the tracing point of all non-GPS shift points, all correction points are connected with matched curve.
In this step, the correction point marked in step S is connected with matched curve, forms a smooth track Curve, the smoothed curve is the history travel route for really and accurately having reproduced GPS vehicles.
In the specific operation process of this step, first have to call default fitting function, then will according to the fitting function All correction points connect along road direction curve.
It is as shown in Fig. 2 as follows the step of step S1 in specific implementation Fig. 1：
S11., reference point is set, and records the time for reporting reference point.
In this step, the address in location when reference point can be vehicle launch, if during traveling, the vehicle faces When it is out of service, then the address in location is updated to reference point when the vehicle is restarted, only record the car restarting when Engrave time when report starts address longitude and latitude geography information and the latitude and longitude information reported.
In this step, any one tracing point before reference point can also be tracing point a, but to ensure tracing point a At the time of between reference point, vehicle is without interim out of service.If centre have it is out of service, when recording out of service Between, paid attention in step s 12 during the spacing of calculating tracing point and reference point.
S12. tracing point a and preset reference point spacing are calculated and reports the time difference.
S13. spacing and the ratio of time difference are calculated, if the ratio is within a preset range, tracing point a is not GPS drifts Point, then step S2 is performed, if not existing, gives up tracing point a.The affiliated vehicles of tracing point a are in list in the default scope i.e. present invention The scope of the distance of traveling in the time of position.
It is as shown in figure 3, as follows the step of step S2 in specific implementation Fig. 1：
S21. according to tracing point a latitude and longitude information, the road containing its latitude and longitude information is searched on pre-stored map, if looking into To a road, then step S23 is performed, if finding at least two road, perform step S22.
S22. according at least two tracing points adjacent with tracing point a, selected from least two road in step S21 One road, and selected road is set to tracing point a matching road.Count first in this step adjacent with tracing point a At least two tracing points are in that road, if a road B in the above-mentioned at least a plurality of road that wherein at least half is in, Road B is then set to tracing point a matching road.
S23., the unique road of that in step S21 is set to tracing point a matching road.
It is as shown in figure 4, as follows the step of step S3 in specific implementation Fig. 1：
S31. the distance of the matched road Shang Ge roads waypoints of tracing point a is calculated.
S32. more all distances calculated, find out the minimum road waypoint of distance, and Bing Jianggai roads waypoint is set to tracing point a Correction point.
S33. above-mentioned correction point is marked with default mark on the electronic map.
Fig. 5 and Fig. 6 is the trace playback display effect schematic diagram without fitting according to the data into table three of table one respectively With the trace playback display effect schematic diagram after fitting.
Table one：
Track period Tracing point 1 Tracing point 2 Tracing point 3 Tracing point 4 Tracing point 5
Original longitude 94.299835 94.299946 94.300355 94.301384 94.302696
Original latitude 34.192997 34.193698 34.194512 34.194460 34.194567
Correction longitude 94.299976 94.299776 94.300486 94.301448 94.302601
Correction latitude 34.193109 34.193723 34.194384 34.194625 34.194437
Table one：
Track period Tracing point 6 Tracing point 7 Tracing point 8 Tracing point 9 Tracing point 10
Original longitude 94.303588 94.304968 94.306032 94.306530 94.307703
Original latitude 34.194125 34.194685 34.195375 34.196243 34.196346
Correction longitude 94.303650 94.305074 94.305849 94.306707 94.307682
Correction latitude 34.194246 34.194613 34.195434 34.196102 34.196496
Table three：
Track period Tracing point 11 Tracing point 12 Tracing point 13 Tracing point 14 Tracing point 15
Original longitude 94.309138 94.310193 94.310492 94.311029 94.310897
Original latitude 34.196889 34.196562 34.197251 34.197910 34.198598
Correction longitude 94.309151 94.310266 94.310602 94.310783 94.311065
Correction latitude 34.196731 34.196750 34.197278 34.197978 34.198704
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.

Claims (3)

  1. A kind of 1. method that route or travel by vehicle is shown on map, it is characterised in that the described method comprises the following steps：
    S1. the position that itself is periodically presently in by vehicle reports information desk as tracing point, and information desk judges the car reported Whether tracing point is GPS shift points, if it is not, then performing step S2, if so, then giving up the tracing point, returns to step S1；
    S2. the tracing point is matched with the road information to prestore；
    S3. the road waypoint with the track Point matching is found on the road with the tracing point with the information to match, and The road waypoint is set to the correction point of the tracing point；
    S4. after the correction point for finding the tracing point of all non-GPS shift points, all correction points are connected with matched curve；
    The step S1 includes：
    S11. from the track of vehicle point reported preset a reference point, and record the reference point on call time；
    S12. calculate the spacing of the tracing point and the reference point and report the time difference；
    S13. the tracing point and the spacing of the reference point and the ratio of the time difference are calculated, if the ratio is in default model In enclosing, then it is not GPS shift points to judge the tracing point, if not existing, judges the tracing point for GPS shift points；
    The step S2 includes：
    S21. according to the latitude and longitude information of the tracing point, the longitude and latitude containing the tracing point is searched in the road information to prestore The road of information, if finding a road, step S23 is performed, if finding at least two road, perform step S22；
    S22. according to the other at least one tracing point adjacent with the tracing point, one is selected from least two road Road, and selected road is set to the matching road of the tracing point；
    S23., one road is set to the matching road of the tracing point；
    In the step S22, if the other tracing point adjacent with the tracing point is multiple, and the plurality of other track The road, then be set to the matching of the tracing point by the road that at least half is at least two road in point Road；
    The step S3 includes：
    S31. the tracing point and the distance for matching road Shang Ge roads waypoint are calculated；
    S32. more all distances, the road waypoint minimum with tracing point distance is found out, and the road waypoint is set to described The correction point of tracing point；
    S33. the correction point is marked with default mark on the map；
    The step S4 includes：
    S41. default fitting function is called；
    S42. by the direction of road of all correction points along the information for having with the tracing point and matching to call Fitting function generation curve connection.
  2. 2. the method according to claim 1 that route or travel by vehicle is shown on map, it is characterised in that the step The address in location, if the vehicle is out of service, the vehicle is opened again when reference point in S11 is the vehicle launch The address in location is updated to reference point when dynamic.
  3. 3. the method according to claim 1 that route or travel by vehicle is shown on map, it is characterised in that the step Reference point in S11 is a tracing point before the tracing point.
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