CN104299425B - A kind of position bus method and apparatus of travel direction on bus special lane - Google Patents

Abstract

The present invention provides a kind of and positions bus method of travel direction on public transportation lane, comprising the following steps: obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores formation one data base together；Obtain the real-time positioning information of bus；According to real-time latitude and longitude information, take out one by one with the special lane information in aforementioned data storehouse and compare, it is judged that whether bus is in public transportation lane: if it is, take out the course information of residing public transportation lane；Otherwise, this step is repeated；Judge bus traffic direction in public transportation lane: if the difference of the two is setting in threshold range, then judges that bus running direction is consistent with the direction of public transportation lane, export result of determination；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane.The invention still further relates to and a kind of position bus device of travel direction on public transportation lane.

Description

A kind of position bus method and apparatus of travel direction on bus special lane

Technical field

The present invention relates to urban traffic control technical field, position bus method and apparatus of travel direction on public transportation lane in particular to a kind of.

Background technology

At present, China large-and-medium size cities all suffer from the pressure of urban traffic blocking, it is endowed the bus average speed travelling special lane also only between 10-15 kilometer/hour, public vehicles illegally take bus zone for a long time, causing " public transportation lane is not special " phenomenon, this is the major obstacle of restriction bus rider speed and transport power.Monitoring public transportation lane, punishes illegal road occupation behavior, imperative to improve Public Resource utilization rate.

Based on this, prior art occurs in that a kind of new monitoring system, for instance the MTCP-2000B system of Jiangsu Union of Science and Technology Co., Ltd.'s research and development, utilize this system can effectively monitor public transportation lane, it is possible to illegal vehicle is effectively collected evidence.

But in monitoring evidence obtaining process, whether driver is opened on public transportation lane by car, whether the direction that bus travels is consistent with the direction of public transportation lane, and whether public transportation lane ground has yellow line, directly affects the effective percentage of evidence obtaining.Law enfrocement official can only be relied at present to audit forensic information again, and the misinformation of invalid forensic information also result in the waste of post and telecommunication tariff.

Summary of the invention

Present invention aim at providing a kind of and position bus method of travel direction on public transportation lane, the method is utilized to can determine whether bus travel direction on public transportation lane, the false grasp shooting and the leakage that improve unidirectional special lane are captured, and Neng Jiang road and walking direction are placed on front-end processing, the method reducing the location public transportation lane of background work load.

Another object of the present invention is to, it is provided that a kind of position bus device of travel direction on public transportation lane.

The above-mentioned purpose of the present invention is realized by the technical characteristic of independent claims, and dependent claims develops the technical characteristic of independent claims in the way of selecting else or be favourable.

For reaching above-mentioned purpose, the technical solution adopted in the present invention is as follows:

A kind of position bus method of travel direction on public transportation lane, comprise the following steps:

Step 1, obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores formation one data base together, and aforementioned parameters information includes special lane direction, course, title；

Step 2, obtain bus real-time positioning information, including latitude and longitude information, speed, course information；

Step 3, the latitude and longitude information obtained according to step 2, take out one by one with the special lane information in abovementioned steps 1 the data obtained storehouse and compare, judge whether bus is in public transportation lane: if it is, take out the course information of residing public transportation lane and enter next step；Otherwise, this step is repeated；

Step 4, it is in the result of public transportation lane in response to bus, check that the course information taken out and the real-time course information of acquisition in abovementioned steps 2 are to judge bus traffic direction in public transportation lane: if difference therebetween is in setting threshold range, then judge that bus running direction is consistent with the direction of public transportation lane, exports result of determination；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, return step 3.

In further embodiment, in abovementioned steps 1, the parameter information for public transportation lane adopts following data form to store:

X_n={ (x_n1,y_n1),(x_n2,y_n2),θ_n,Direction_n,Name_n}

Wherein, x_n1Represent the longitude of the head-end of the n-th straightway, y_n1Represent the latitude value of the head-end of the n-th straightway, x_n2Represent the longitude of the distal point of the n-th straightway, y_n2Represent the latitude value of the distal point of the n-th straightway, θ_nRepresent the course information that the public transportation lane represented by n-th section of straightway is corresponding, Direction_nRepresent the direction of the n-th straightway, Name_nRepresent the title of the n-th straightway.

In further embodiment, in abovementioned steps 2, by reading the real-time positioning information of the location data acquisition bus of vehicle GPS satellite positioning device or big-dipper satellite positioner, this location information table is shown as:

Y={ (x1, y1), θ 1}

Wherein, x1 represents the real-time longitude information got, and y1 represents the real-time latitude information got, and θ 1 represents the real-time course information got.

In further embodiment, aforesaid step 3 judging, whether bus is in the realization of public transportation lane and comprises the following steps:

1) data base obtained from step 1 takes out the data of the first and last end points of preservation one by one, and the expression of straightway is equivalent to:

Y=kx+b

Where it is assumed that x_n1<x_n2, x_n1<x<x_n2, k is the slope of straight line, and x represents longitude, and y represents latitude；

2) check whether the first and last end points preserved in the data obtained storehouse in step 1 meets | x_n2-x_n1| < T also judges the existence of aforementioned slope k accordingly, in response to | x_n2-x_n1| < T then thinks that k is absent from and by the first and last end points currently taken out and x_n1、y_n1、x_n2、y_n2Four values are+T ,+T ,-T ,-T respectively and are processed, otherwise it is assumed that k exists and keeps the first and last end points of current taking-up, aforementioned T is the longitude threshold value set；The latitude and longitude information of the real-time latitude and longitude information (x1, y1) then step 2 obtained and first and last end points compares: if | x_n2-x_n1| < T, then the longitude and latitude data after use process, otherwise use longitude and latitude data before treatment: if meet x simultaneously_n1<x1<x_n2And y_n1<y1<y_n2, then continue next step: otherwise, take out next distal point preserved in step 1 the data obtained storehouse, repeat this step；

3) according to abovementioned steps 2) result of determination, utilization process after longitude and latitude data or longitude and latitude data before treatment solve slope k::

$k=\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}$

4) intercept b is solved according to slope k:

$b=y_{n1}-{\mathrm{kx}}_{n1}=y_{n1}-\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}*x_{n1}$

5) longitude and latitude obtained in step 2 is substituted into the line segment of matching:

Matching line segment: $y=\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}x+(y_{n1}-\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}{x}_{n1})$

Then real-time longitude information x1 step 2 obtained substitutes into matching line segment and draws the latitude information y of matching₀:

$y_0=\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}x1+(y_{n1}-\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}{x}_{n1})$

Obtain latitude difference DELTA accordingly:

Δ=| y₀-y1|

Finally judge < whether S sets up Δ, and S is the latitude threshold value set: if set up, then it is assumed that bus is in public transportation lane, and takes out the course information θ of corresponding public transportation lane from step 1 the data obtained storehouse_n；Otherwise return step 2, continuing to compare with next distal point data in step 1 the data obtained storehouse, completing until finding out all first and last end-point data all comparisons in the matching line segment or step 1 the data obtained that satisfy condition.

Course information θ in further embodiment, in abovementioned steps 4, according to the public transportation lane that step 3 is taken out_nCarry out following judgement:

If the course information θ of the public transportation lane taken out_nMeet and make | θ 1-θ_n| or (360-| θ 1-θ_n|) less than one set course threshold value, then judge bus running direction consistent with the direction of public transportation lane；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, return step 3.

Improvement according to the present invention, it is also proposed that a kind of position bus device of travel direction on public transportation lane, including:

For obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores the first module forming a data base together, aforementioned parameters information includes special lane direction, course, title；

For obtaining the second module of the real-time positioning information of bus, aforementioned real-time positioning information includes latitude and longitude information, speed, course information；

For according to the latitude and longitude information obtained, take out one by one with the special lane information in aforementioned data storehouse and compare, judge whether bus is in public transportation lane, and be in the three module of the course information of the residing public transportation lane of judged result taking-up of public transportation lane based on bus；

For being in the result of public transportation lane in response to bus, check that the real-time course information of course information and the aforementioned acquisition taken out is to judge bus traffic direction in public transportation lane: if difference therebetween is in setting threshold range, then judge that bus running direction is consistent with the direction of public transportation lane, exports result of determination；Otherwise, it is determined that the direction of bus running direction and public transportation lane is inconsistent, and controls described three module and proceed multilevel iudge and take out the 4th module of sail information.

From the above technical solution of the present invention shows that, location bus method and apparatus of travel direction on public transportation lane proposed by the invention, its algorithm is simply clear, utilize the solution of the present invention, the judgement of special lane can be placed on front end, real-time is stronger, the pressure on backstage can be alleviated, by judging bus travel direction on public transportation lane, the false grasp shooting phenomenon that individual event special lane is reverse can be reduced, significantly enough improve on bus monitoring device on unidirectional bus special lane to public vehicles false grasp shooting phenomenon.

Accompanying drawing explanation

Fig. 1 is location bus flowchart of the method for travel direction on public transportation lane of an embodiment of the present invention.

Detailed description of the invention

In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and to coordinate institute accompanying drawings to illustrate as follows.

As it is shown in figure 1, the preferred embodiment according to the present invention, a kind of position bus method of travel direction on public transportation lane, comprise the following steps:

Step 1, obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores formation one data base together, and aforementioned parameters information includes special lane direction, course, title；

Step 2, obtain bus real-time positioning information, including latitude and longitude information, speed, course information；

Step 3, the latitude and longitude information obtained according to step 2, take out one by one with the special lane information in abovementioned steps 1 the data obtained storehouse and compare, judge whether bus is in public transportation lane: if it is, take out the course information of residing public transportation lane and enter next step；Otherwise, this step is repeated；

Step 4, it is in the result of public transportation lane in response to bus, check that the course information taken out and the real-time course information of acquisition in abovementioned steps 2 are to judge bus traffic direction in public transportation lane: if difference therebetween is in setting threshold range, then judge that bus running direction is consistent with the direction of public transportation lane, exports result of determination；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, return step 3.

Previously-described implementation of the present invention, it is adaptable to whether bus runs on bus zone and consistent with the navigation of dedicated bus lanes travel.In microcosmic bus traveling is the circuit being made up of some straight lines, is the line segment of several walkings straight lines composition in approximately the same plane.Therefore, it is corresponding to corresponding dedicated bus lanes by these line segments are found out, and collectively form data base with the direction in track, course, title, and then may utilize the real-time positioning information of the bus of follow-up acquisition, the new algorithm that the present embodiment proposes is adopted to compare judgement, obtain the running status of bus, namely whether run on bus zone and consistent with the navigation of dedicated bus lanes.

In abovementioned steps 1, the parameter information for public transportation lane adopts following data form to store:

X_n={ (x_n1,y_n1),(x_n2,y_n2),θ_n,Direction_n,Name_n}

Wherein, x_n1Represent the longitude of the head-end of the n-th straightway, y_n1Represent the latitude value of the head-end of the n-th straightway, x_n2Represent the longitude of the distal point of the n-th straightway, y_n2Represent the latitude value of the distal point of the n-th straightway, θ_nRepresent the course information that the public transportation lane represented by n-th section of straightway is corresponding, Direction_nRepresent the direction of the n-th straightway, Name_nRepresent the title of the n-th straightway.

Such as, for the straightway that a certain section of public transportation lane being positioned at Tian Yin main road in a certain city is corresponding, it can be expressed as follows:

X_n=(3155.57630,11855.17121), (2232.56350,11355.38114), 98, West → East, TianyinAvenue) }

In the present embodiment, in abovementioned steps 2, by reading the real-time positioning information of the location data acquisition bus of vehicle GPS satellite positioning device or big-dipper satellite positioner, this location information table is shown as:

Y={ (x1, y1), θ 1}

Wherein, x1 represents the real-time longitude information got, and y1 represents the real-time latitude information got, and θ 1 represents the real-time course information got.

Alternatively, aforesaid step 3 judging, whether bus is in the realization of public transportation lane and comprises the following steps:

1) data base obtained from step 1 takes out the data of the first and last end points of preservation one by one, and the expression of straightway is equivalent to:

Y=kx+b

Where it is assumed that x_n1<x_n2, x_n1<x<x_n2, k is the slope of straight line, and x represents longitude, and y represents latitude；

2) check whether the first and last end points preserved in the data obtained storehouse in step 1 meets | x_n2-x_n1| < T also judges the existence of aforementioned slope k accordingly, in response to | x_n2-x_n1| < T then thinks that k is absent from and by the first and last end points currently taken out and x_n1、y_n1、x_n2、y_n2Four values are+T ,+T ,-T ,-T respectively and are processed, otherwise it is assumed that k exists and keeps the first and last end points of current taking-up, aforementioned T is the longitude threshold value set；The latitude and longitude information of the real-time latitude and longitude information (x1, y1) then step 2 obtained and first and last end points compares: if | x_n2-x_n1| < T, then the longitude and latitude data after use process, otherwise use longitude and latitude data before treatment: if meet x simultaneously_n1<x1<x_n2And y_n1<y1<y_n2, then continue next step: otherwise, take out next distal point preserved in step 1 the data obtained storehouse, repeat this step；

3) according to abovementioned steps 2) result of determination, utilization process after longitude and latitude data or longitude and latitude data before treatment solve slope k::

$k=\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}$

4) intercept b is solved according to slope k:

$b=y_{n1}-{\mathrm{kx}}_{n1}=y_{n1}-\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}*x_{n1}$

5) longitude and latitude obtained in step 2 is substituted into the line segment of matching:

Matching line segment: $y=\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}x+(y_{n1}-\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}{x}_{n1})$

Then real-time longitude information x1 step 2 obtained substitutes into matching line segment and draws the latitude information y of matching₀:

$y_0=\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}x1+(y_{n1}-\frac{y_{n2}-y_{n1}}{x_{n2}-x_{n1}}{x}_{n1})$

Obtain latitude difference DELTA accordingly:

Δ=| y₀-y1|

Finally judge < whether S sets up Δ, and S is the latitude threshold value set: if set up, then it is assumed that bus is in public transportation lane, and takes out the course information θ of corresponding public transportation lane from step 1 the data obtained storehouse_n；Otherwise return step 2, continuing to compare with next distal point data in step 1 the data obtained storehouse, completing until finding out all first and last end-point data all comparisons in the matching line segment or step 1 the data obtained that satisfy condition.

As it is shown in figure 1, the course information θ in abovementioned steps 4, according to the public transportation lane that step 3 is taken out_nCarry out following judgement:

If the course information θ of the public transportation lane taken out_nMeet and make | θ 1-θ_n| or (360-| θ 1-θ_n|) less than one set course threshold value, then judge bus running direction consistent with the direction of public transportation lane；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, return step 3.

Below for one equipped with the bus of vehicle GPS satellite positioning device, travel near certain research park Tian Yin main road, city, simulation special lane, and gather gps signal as sample, its speed is at 12-38km/h, the latitude and longitude information of this section of road being joined in data base, and adopt the method for embodiment illustrated in fig. 1 to judge, result is as shown in table 1 below.

Having only selected that representative data in following table, in the judgement field that wherein whether direction is consistent, TRUE represents consistent.The course threshold value that this example takes is 40.

Improvement according to the present invention, it is also proposed that a kind of position bus device of travel direction on public transportation lane, including:

For obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores the first module forming a data base together, aforementioned parameters information includes special lane direction, course, title；

For obtaining the second module of the real-time positioning information of bus, aforementioned real-time positioning information includes latitude and longitude information, speed, course information；

For according to the latitude and longitude information obtained, take out one by one with the special lane information in aforementioned data storehouse and compare, judge whether bus is in public transportation lane, and be in the three module of the course information of the residing public transportation lane of judged result taking-up of public transportation lane based on bus；

For being in the result of public transportation lane in response to bus, check that the real-time course information of course information and the aforementioned acquisition taken out is to judge bus traffic direction in public transportation lane: if difference therebetween is in setting threshold range, then judge that bus running direction is consistent with the direction of public transportation lane, exports result of determination；Otherwise, it is determined that the direction of bus running direction and public transportation lane is inconsistent, and controls described three module and proceed multilevel iudge and take out the 4th module of sail information.

In the present embodiment, aforementioned first module, the second module, three module, the 4th module, its function, effect, effect and detailed description of the invention have carried out corresponding description and explanation in aforesaid one or more embodiments, do not repeat them here.

Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on those as defined in claim.

Claims (4)

1. one kind positions bus method of travel direction on public transportation lane, it is characterised in that comprise the following steps:

Step 1, obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores formation one data base together, and aforementioned parameters information includes special lane direction, course, title；

Step 2, obtain bus real-time positioning information, including latitude and longitude information, speed, course information；

Step 3, the latitude and longitude information obtained according to step 2, take out one by one with the special lane information in abovementioned steps 1 the data obtained storehouse and compare, judge whether bus is in public transportation lane: if it is, take out the course information of residing public transportation lane and enter next step；Otherwise, this step is repeated；

Step 4, it is in the result of public transportation lane in response to bus, check that the course information taken out and the real-time course information of acquisition in abovementioned steps 2 are to judge bus traffic direction in public transportation lane: if difference therebetween is in setting threshold range, then judge that bus running direction is consistent with the direction of public transportation lane, exports result of determination；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, return step 3；

Wherein:

In abovementioned steps 1, the parameter information for public transportation lane adopts following data form to store:

X_n={ (x_n1,y_n1),(x_n2,y_n2),θ_n,Direction_n,Name_n}

Wherein, x_n1Represent the longitude of the head-end of the n-th straightway, y_n1Represent the latitude value of the head-end of the n-th straightway, x_n2Represent the longitude of the distal point of the n-th straightway, y_n2Represent the latitude value of the distal point of the n-th straightway, θ_nRepresent the course information that the public transportation lane represented by n-th section of straightway is corresponding, Direction_nRepresent the direction of the n-th straightway, Name_nRepresent the title of the n-th straightway；

In abovementioned steps 2, by reading the real-time positioning information of the location data acquisition bus of vehicle GPS satellite positioning device or big-dipper satellite positioner, this location information table is shown as:

Y={ (x1, y1), θ 1}

Wherein, x1 represents the real-time longitude information got, and y1 represents the real-time latitude information got, and θ 1 represents the real-time course information got；

Aforesaid step 3 judging, whether bus is in the realization of public transportation lane and comprises the following steps:

1) data base obtained from step 1 takes out the data of the first and last end points of preservation one by one, and the expression of straightway is equivalent to:

Y=kx+b

Where it is assumed that x_n1<x_n2, x_n1<x<x_n2, k is the slope of straight line, and x represents longitude, and y represents latitude；

2) check whether the first and last end points preserved in the data obtained storehouse in step 1 meets | x_n2-x_n1| < T also judges the existence of aforementioned slope k accordingly, in response to | x_n2-x_n1| < T then thinks that k is absent from and by the first and last end points currently taken out and x_n1、y_n1、x_n2、y_n2Four values are+T ,+T ,-T ,-T respectively and are processed, otherwise it is assumed that k exists and keeps the first and last end points of current taking-up, aforementioned T is the longitude threshold value set；The latitude and longitude information of the real-time latitude and longitude information (x1, y1) then step 2 obtained and first and last end points compares: if | x_n2-x_n1| < T, then the longitude and latitude data after use process, otherwise use longitude and latitude data before treatment: if meet x simultaneously_n1<x1<x_n2And y_n1<y1<y_n2, then continue next step: otherwise, take out next distal point preserved in step 1 the data obtained storehouse, repeat this step；

3) according to abovementioned steps 2) result of determination, utilization process after longitude and latitude data or longitude and latitude data before treatment solve slope k:

4) intercept b is solved according to slope k:

5) longitude and latitude obtained in step 2 is substituted into the line segment of matching:

Matching line segment:

Then real-time longitude information x1 step 2 obtained substitutes into matching line segment and draws the latitude information y of matching₀:

Obtain latitude difference DELTA accordingly:

Δ=| y₀-y1|

Finally judge < whether S sets up Δ, and S is the latitude threshold value set: if set up, then it is assumed that bus is in public transportation lane, and takes out the course information θ of corresponding public transportation lane from step 1 the data obtained storehouse_n；Otherwise return step 2, continuing to compare with next distal point data in step 1 the data obtained storehouse, completing until finding out all first and last end-point data all comparisons in the matching line segment or step 1 the data obtained that satisfy condition.

2. location according to claim 1 bus method of travel direction on public transportation lane, it is characterised in that the course information θ in abovementioned steps 4, according to the public transportation lane that step 3 is taken out_nCarry out following judgement:

If the course information θ of the public transportation lane taken out_nMeet and make | θ 1-θ_n| or (360-| θ 1-θ_n|) less than one set course threshold value, then judge bus running direction consistent with the direction of public transportation lane；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, return step 3.

3. one kind positions bus device of travel direction on public transportation lane, it is characterised in that including:

For obtain the GPS information of public transportation lane and be divided into n section straightway, the parameter information of two end points corresponding public transportation lane that take each straightway stores the first module forming a data base together, aforementioned parameters information includes special lane direction, course, title；

For obtaining the second module of the real-time positioning information of bus, aforementioned real-time positioning information includes latitude and longitude information, speed, course information；

For according to the latitude and longitude information obtained, take out one by one with the special lane information in aforementioned data storehouse and compare, judge whether bus is in public transportation lane, and be in the three module of the course information of the residing public transportation lane of judged result taking-up of public transportation lane based on bus；

For being in the result of public transportation lane in response to bus, check that the real-time course information of course information and the aforementioned acquisition taken out is to judge bus traffic direction in public transportation lane: if difference therebetween is in setting threshold range, then judge that bus running direction is consistent with the direction of public transportation lane, exports result of determination；Otherwise, it is determined that the direction of bus running direction and public transportation lane is inconsistent, and controls described three module and proceed multilevel iudge and take out the 4th module of sail information；

Wherein:

Described first module is configured to according to following form, the parameter information of public transportation lane be stored:

X_n={ (x_n1,y_n1),(x_n2,y_n2),θ_n,Direction_n,Name_n}

Wherein, x_n1Represent the longitude of the head-end of the n-th straightway, y_n1Represent the latitude value of the head-end of the n-th straightway, x_n2Represent the longitude of the distal point of the n-th straightway, y_n2Represent the latitude value of the distal point of the n-th straightway, θ_nRepresent the course information that the public transportation lane represented by n-th section of straightway is corresponding, Direction_nRepresent the direction of the n-th straightway, Name_nRepresent the title of the n-th straightway；

Described second module is set to read the real-time positioning information of the location data acquisition bus of vehicle GPS satellite positioning device or big-dipper satellite positioner, and this location information table is shown as:

Y={ (x1, y1), θ 1}

Wherein, x1 represents the real-time longitude information got, and y1 represents the real-time latitude information got, and θ 1 represents the real-time course information got；

Described three module is configured to judge whether bus is in public transportation lane in the following manner:

1) from described data base, take out the data of the first and last end points of preservation one by one, and the expression of straightway be equivalent to:

Y=kx+b

Where it is assumed that x_n1<x_n2, x_n1<x<x_n2, k is the slope of straight line, and x represents longitude, and y represents latitude；

2) check whether the first and last end points preserved in data base meets | x_n2-x_n1| < T also judges the existence of aforementioned slope k accordingly, in response to | x_n2-x_n1| < T then thinks that k is absent from and by the first and last end points currently taken out and x_n1、y_n1、x_n2、y_n2Four values are+T ,+T ,-T ,-T respectively and are processed, otherwise it is assumed that k exists and keeps the first and last end points of current taking-up, aforementioned T is the longitude threshold value set；Then the latitude and longitude information of the real-time latitude and longitude information (x1, y1) obtained Yu first and last end points is compared: if | x_n2-x_n1| < T, then the longitude and latitude data after use process, otherwise use longitude and latitude data before treatment: if meet x simultaneously_n1<x1<x_n2And y_n1<y1<y_n2, then continue next step: otherwise, take out to obtain next distal point of preserving in data base, repeat this step；

3) according to aforementioned 2) result of determination, utilization process after longitude and latitude data or longitude and latitude data before treatment solve slope k:

4) intercept b is solved according to slope k:

5) longitude and latitude obtained is substituted into the line segment of matching:

Matching line segment:

Then the real-time longitude information x1 obtained is substituted into matching line segment and draw the latitude information y of matching₀:

Obtain latitude difference DELTA accordingly:

Δ=| y₀-y1|

Finally judge < whether S sets up Δ, and S is the latitude threshold value set: if set up, then it is assumed that bus is in public transportation lane, and takes out the course information θ of corresponding public transportation lane from data base_n；Otherwise, continuing to compare with next distal point data in data base, completing until finding out all first and last end-point data all comparisons in the matching line segment or data that satisfy condition.

4. location according to claim 3 bus device of travel direction on public transportation lane, it is characterised in that aforementioned 4th module is configured to the course information θ according to the public transportation lane taken out_nCarry out following judgement:

If the course information θ of the public transportation lane taken out_nMeet and make | θ 1-θ_n| or (360-| θ 1-θ_n|) less than one set course threshold value, then judge bus running direction consistent with the direction of public transportation lane；Otherwise, it is determined that bus running direction is inconsistent with the direction of public transportation lane, returns and re-start course information judgement.