CN104318767B - A kind of traffic informations based on public transport GPS track data generate method - Google Patents

Abstract

The invention discloses a kind of traffic informations based on public transport GPS track data and generate method, including: step one, in transit network data structure, node is all used to represent actual bus station, erect-position point, circuit intersection point and junction node, in the same direction and being connected by a line segment between adjacent two nodes on a road, this line segment is defined as section, for representing the road segment segment of a unidirectional reality, and using the travel direction of this road segment segment as the relating attribute in this section；Step 2, obtain n bus certain period of time T in all GPS track data；Step 3, by all GPS track Data Matching of n bus to transit network data structure；Step 4, h the bus mated using corresponding section average speed as the traffic information of this real road section.The present invention utilizes a key element and line feature to build whole transit network data structure, accurately reflects out the road conditions in this section.

Description

A kind of traffic informations based on public transport GPS track data generate method

Technical field

The present invention relates to field of traffic, particularly relate to a kind of traffic informations based on public transport GPS track data and generate method.

Background technology

Quickening and the increase of urban population, vehicle guaranteeding organic quantity and resident trips recently as urbanization process are aobvious Writing and improve, traffic relation between supply and demand is the most unbalance, and congestion in road phenomenon becomes increasingly conspicuous, and development intelligent transportation system becomes the world already The main path of various countries' reply urban transport problems.Wherein, research and the application of carrying out intelligent public transportation system more embody public transport Preferentially, the idea of development of Green Travel, carry lifting public transport intelligence running scheduling ability and public transport science and technology with service water Flat weighty responsibility.Traffic information is concentrated expression urban highway traffic operation conditions, and embodies urban road network Block up or the information of unimpeded degree, real-time scheduling foundation and tour reference can be provided to administration section and the public, also be Carry out the data basis of numerous intelligent transportation research application work.

The most multiple fixed and that movable traffic information collecting device is traffic information generation provides possibility, especially It is floating car technology and data are widely applied.But for city each grade road, running scheduling phase can be covered equally For independent and special public transit system, mostly it is distributed in the information density of the fixed detection equipment of through street, trunk roads, Process means with road conditions generation based on city common road net data structure and also cannot embody a concentrated reflection of or meet the emerging of public transit system Interest focus and actual running scheduling demand.The traffic information based on public transport gps data that the present invention proposes generates method, emphatically In from the road network structure of public transit system and special topic characteristic, it is more applicable for process and the application of public transport traffic information.

The fitness that common road network processes at public transit system running scheduling and traffic information is the highest, and reason is: On the one hand, vector quantization process or the structure of tradition road network lacks the topological relation being specifically designed for transit network；On the other hand, each bar Public bus network separates according to respective website, and a plurality of circuit is stacked, thus the smudgy of overlapping edge, section gives meter Bigger error is introduced during calculating these section road conditions.As shown in Figure 1, it is known that terminal is the circuit b of B, then by belonging to b Floating car data generate the road conditions of interval mB, mn road conditions, only at mB, are broadly calculated meeting as mB road conditions by its action scope Cause being greatly reduced of information accuracy.

Summary of the invention

For above-mentioned technical problem, the invention provides a kind of be more precisely computed traffic information based on public transport GPS rail The traffic information of mark generates method.

The technical scheme that the present invention provides is:

A kind of traffic informations based on public transport GPS track data generate method, including:

Step one, actual transit network comprise some the public bus networks being formed on road network, are had by actual Multiple bus stations of same station item merge and referred to as erect-position point, and the point intersected each other by different public bus networks is referred to as circuit Intersection point, some road cross or category of roads changed is referred to as junction node；Transit network number is built with node and line segment According to structure, in transit network data structure, actual bus station, erect-position point, circuit intersection point and junction node are all used Node represents, in the same direction and being connected by a line segment between adjacent two nodes on a road, is defined as by this line segment Section, for representing the road segment segment of a unidirectional reality, and using the azimuth of this road segment segment as the association in this section Attribute；

Step 2, all GPS track numbers obtained in certain period of time T of n bus in described transit network According to, each bus organizes GPS track data to having in described time period T more；

Step 3, by all GPS track Data Matching of n bus in described transit network data structure, thus Determine that h bus is mated in each section, and same bus mates on a section and have k group GPS track data；

Step 4, road segment segment for any one reality, with the average speed of h the bus that corresponding section is matedTraffic information as this real road section.

Preferably, in described traffic information generation methods based on public transport GPS track data,

In described step 2, one group of GPS track data includes time value and instantaneous velocity；

In described step 4, the average speed of h the bus that section is matedConcrete calculating process be:

Calculating the average speed of each bus of this section coupling, wherein, the average speed of the bus of numbered m isV_m,nFor the instantaneous velocity of n-th group GPS track data of the bus of numbered m,

Calculate the average speed of h bus of this section coupling

Preferably, in described traffic information generation methods based on public transport GPS track data, in described step one, Will be located on a road in the same direction and there is the standoff distance bus station less than 5m in the bus station of identical name of station merge, And represented by a node in described transit network data structure, described circuit intersection point is circuit bifurcation or circuit converges Point, wherein, circuit bifurcation is to be entered the point of non-overlapped section between different public bus networks by overlay segment, and circuit point is not By the point of non-overlapped section of entrance overlay segment between same public bus network.

Preferably, in described traffic information generation methods based on public transport GPS track data,

In described step one, in described transit network data structure, by belong to a of same public bus network in the same direction and The section set that end to end section is formed is defined as interval；

In described step 3, b bus of described interval coupling, and same bus mate in this interval and have c Group GPS track data；

In described step 4, for the road segment segment of arbitrary group of actual continuous distribution, with corresponding interval b mated The average speed of bus is as the traffic information of the road segment segment of this group reality.

Preferably, in described traffic information generation methods based on public transport GPS track data, described step 2, step Rapid three, step 4 and step 5 constitute a circulation, perform step 2, step 3, step 4 and step 5 successively every 30s.

Preferably, in described traffic information generation methods based on public transport GPS track data, also include:

Step 5, the average speed of h the bus mated according to each section and the road class associated by this section Type, distributes jam level for each section, and each jam level correspondence is represented by a color, updates electronic chart, at electronics Corresponding color is used to represent the jam level in each section on map.

Preferably, in described traffic information generation methods based on public transport GPS track data,

In described step 2, one group of GPS track data is defined as the tracing point that coordinate is determined by longitude and latitude；

Described step 3 specifically includes following steps:

One by one n bus is carried out process calculated below, for any of which bus:

Step (1) is for any one tracing point P in multiple tracing points_i, determine in described transit network data structure Multiple candidate matches sections of this tracing point, and form a candidate matches section set, calculate tracing point P_iTo each candidate Coupling section Q_{I, j}Subpoint and projector distance d_{I, j}, above-mentioned subpoint is referred to as candidate matches point P '_{I, j}；

In two candidate matches points, advance along its section, place for starting point with first candidate matches point, sequentially pass through Some middle sections, march to second candidate matches point always, and with the second candidate matches point as terminal, advanced away from From the operating range being defined as between two candidate matches points；

Step (2), it is that first tracing point determines an a unique coupling section and match point, one by one to except first The candidate matches section set of the residual track point outside individual tracing point judges: for n-th tracing point,

(1) any one candidate matches point place of N-1 tracing point is belonged to when it only has this candidate matches section During the follow-up section of M level in section, then n-th tracing point candidate matches point on this candidate matches section is judged to coupling Point,

(2) when one of them section, candidate matches point place having multiple candidate matches section to belong to N-1 tracing point M level follow-up section time, each candidate matches section is carried out following judgement the most again: if in a candidate matches section The follow-up section of Z level be the candidate matches section of N+1 tracing point, then by n-th tracing point in this candidate matches section On candidate matches point be judged to match point, and calculate match point the owning to N+1 tracing point of the 1st tracing point successively First operating range of candidate matches point, if the Z level in a candidate matches section to the follow-up section of Z+a level is not the most The candidate matches section of N+1 tracing point, then calculate the match point Z+a level to this candidate matches section of the 1st tracing point Multiple candidate matches sections are compared, when a candidate matches section by the second operating range of the terminal in follow-up section Second operating range is all higher than first operating range in remaining candidate matches section, then by this candidate matches section from candidate Joining in the set of section and reject, wherein, M is the positive integer that value is more than or equal to 1, and Z, a are the positive integer that value is more than or equal to 1,

Wherein, N is the positive integer that value is more than 1, has often carried out the judgement of the candidate matches section set of a tracing point, N value adds 1, repeats said process.

Preferably, in described traffic information generation methods based on public transport GPS track data, step (2) is specifically led to Cross procedure below to realize:

Step is 1.

From the i-th-1 tracing point at corresponding 1st candidate matches section Q_{(i-1), 1}On candidate matches point

P_{(i-1), 1}' start, one by one all candidate matches points of the i-th-1 tracing point are carried out calculated below:

Calculate current candidate match point P_{(i-1), d}' section, place R_{(i-1), d}The first order follow-up section set R_{(i-1), d}' and the The candidate matches section set Q of i tracing point_iCommon factor, wherein, d represents the numbering of candidate matches point,

In occuring simultaneously, there is 1 element q, then this element is retained in candidate matches section set Q_{I, j}, to the i-th-1 rail The next candidate matches point of mark point calculates；

In occuring simultaneously, there is s element q, then start one by one this s element to be carried out following judgement from the 1st element: meter Calculate currentElement q_tThe first order follow-up section set R_{(i-1), t}' and the candidate matches section set Q of i+1 tracing point_i+1's Occur simultaneously, be not empty, then by currentElement q as occured simultaneously_tIt is retained in the candidate matches section set of i-th tracing point, counts one by one Calculate the candidate matches point P of first tracing point₁' and i+1 tracing point P_i+1All candidate matches point P_(i+1)Between ' One operating range, and it is designated as S_e, wherein, e represents the numbering of the candidate matches point of i+1 tracing point, i+1 tracing point pair Should have E candidate matches point, e is the integer of 1 to E, as occured simultaneously for empty, then continues to calculate currentElement q_tFollow-up road, the second level Duan Jihe R_{(i-1), t}" and the candidate matches section set Q of i+1 tracing point_i+1Common factor, as occur simultaneously for sky, calculate the most one by one The candidate matches point P of first tracing point₁' gather R with follow-up section, the second level_{(i-1), t}All elements r in "_{(i-1), t}" terminal Between the second operating range, and be designated as S_f, wherein, f represents follow-up section, second level set R_{(i-1), t}Element r in "_{(i-1), t}" Numbering, follow-up section, second level set R_{(i-1), t}Element r in "_{(i-1), t}" number be F, when as currentElement q_tAll of S_f Value is more than all of S in all candidate matches sections_e, then currentElement q_tQ is gathered from the candidate matches section of i-th tracing point_i Middle rejecting, when all having calculated s element, calculates the next candidate matches point of i-th tracing point；

As occured simultaneously for sky, the most one by one the selection first order follow-up section set R_{(i-1), d}All elements r in '_{(i-1), d}', carry out Calculated below: to calculate currentElement r_{(i-1), d}' follow-up section, the second level set R_{(i-1), d}" mate with the candidate of i-th tracing point The common factor of section set Qi, as occured simultaneously for empty, then abandons currentElement, and the next candidate matches point to i-th tracing point Calculate；

Step is 2. when all candidate matches points of the i-th-1 tracing point are carried out above-mentioned calculating process, then to i-th track 1. all candidate matches points of point perform step, repeat step 1., until selecting at least one coupling road for each tracing point Section, corresponding candidate matches point is judged as match point；

The match point of all of tracing point, according to sequence, is connected into a plurality of candidate row wheel paths by step (3), wherein, same The Different matching point of one tracing point belongs to different candidate row wheel paths, candidate row wheel paths most for match point number is sentenced It is set to wheelpath；

Step (4) described wheelpath is through some sections, so that it is determined that coupling has k tracing point on each section.

Preferably, in described traffic information generation methods based on public transport GPS track data,

In described step (3), candidate row wheel paths as most in there is at least two match point numbers, the most respectively at least Article two, the candidate row wheel paths that match point number is most carries out calculated below:

For any bar candidate row wheel paths, its coupling has L tracing point, for azimuth difference absolute value α_{I, j}, projection away from From d_{I, j}And the operating range S of this candidate row wheel paths is respectively allocated weight λ₁、λ₂And λ₃, wherein, this candidate row wheel paths The 1st operating range between tracing point and last tracing point that operating range S is mated by this candidate row wheel paths, then Calculate cumulative errors θ,

$\mathrm{\θ}={\mathrm{\λ}}_1\underset{i}{\overset{L}{\Σ}}{\mathrm{\α}}_{i,j}+{\mathrm{\λ}}_2\underset{i}{\overset{L}{\Σ}}{d}_{i,j}+{\mathrm{\λ}}_{3}S$

Wherein, the candidate row wheel paths that θ is minimum is judged to wheelpath, the azimuth difference of a tracing point α_{I, j}Absolute value for the azimuth difference in the matched section of this tracing point.

Preferably, in described traffic information generation methods based on public transport GPS track data,

In described step one, using the speed limit of a road segment segment as the relating attribute of corresponding line segment；

In described step (1), the judge process of the candidate matches section set of any one tracing point Pi comprises the following steps:

In step the most described transit network data structure, with this tracing point for the center of circle with gps data precision as radial design The relief area of one circle, if intersecting with this relief area or tangent trunk section constitutes the set of candidate matches section；

Step is 2. when the instantaneous velocity of described tracing point is more than the speed limit in a candidate matches section, then by this candidate Join section and gather rejecting from candidate matches section, when being such as less than equal to the speed limit in this candidate matches section, then retain；

Step is 3. such as the absolute value α of described tracing point and the azimuth difference in a candidate matches section_{I, j}＞ 90 °, then will This candidate matches section is from the set rejecting of candidate matches section, such as 0≤α_{I, j}≤ 90 °, then retain.

The method have the advantages that

The present invention devises transit network data structure, and this transit network data structure has taken into full account actual transit network Feature, utilize some key element and line feature build whole transit network data structure, make transit network present on map representation Going out the single line of two different directions, any section in the same direction does not all have the situation that multiple line feature is overlapping, makes a certain section mate The average speed of many buses can accurately reflect out the road conditions in this section.It addition, by the GPS track number of many buses According to when mating in transit network data structure, the mode using many kinds of parameters to combine differentiates, especially with same One bus in a time series before and after tracing point candidate matches section between connectedness, GPS track point to the greatest extent may be used Can belong to truly in transit network data structure, thus the actual travel position being engraved on road when being accurately judged to vehicle Put, to obtain traffic information accurately.

Accompanying drawing explanation

Fig. 1 is the structural representation of road net data structure in prior art of the present invention；

Fig. 2 is the transit network feature schematic diagram of reality of the present invention；

Fig. 3 is the schematic diagram of an embodiment of transit network data structure of the present invention, and Fig. 3 shows one direction Transit network data structure；

Fig. 4 is public transport GPS track text data of the present invention；

Fig. 5 is that public transport GPS track data of the present invention are to the flow chart of transit network data structure matching；

Fig. 6 is the schematic diagram of the relief area of tracing point of the present invention；

Fig. 7 is bus schematic diagram of tracing point sequence in a time series of the present invention；

Fig. 8 is the schematic diagram utilizing travel speed to judge candidate matches section of the present invention, Fig. 8 (1) and Fig. 8 (2) corresponds respectively to the situation in two moment；

Fig. 9 is the schematic diagram utilizing travel direction to judge candidate matches section of the present invention, Fig. 9 (1) and Situation in Fig. 9 (2) line correspondence road segment segment respectively and curved road section；

Figure 10 is the schematic diagram utilizing projector distance to judge candidate matches section of the present invention；

Figure 11 is the schematic diagram utilizing operating range to judge candidate matches section of the present invention；

Figure 12 is the schematic diagram of the virtual transit network generated in a computer of the present invention；

Figure 13 is calculated system-wide networking of the present invention condition figure.

Detailed description of the invention

The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to description literary composition Word can be implemented according to this.

The present invention provides a kind of traffic informations based on public transport GPS track data to generate method, including:

Step one, actual transit network comprise some the public bus networks being formed on road network, are had by actual Multiple bus stations of same station item merge and referred to as erect-position point, and the point intersected each other by different public bus networks is referred to as circuit Intersection point, some road cross or category of roads changed is referred to as junction node；Transit network number is built with node and line segment According to structure, in transit network data structure, actual bus station, erect-position point, circuit intersection point and junction node are all used Node represents, in the same direction and being connected by a line segment between adjacent two nodes on a road, is defined as by this line segment Section, for representing the road segment segment of a unidirectional reality, and using the azimuth of this road segment segment as the association in this section Attribute；

Step 2, all GPS track numbers obtained in certain period of time T of n bus in described transit network According to, each bus organizes GPS track data to having in described time period T more；

Step 3, by all GPS track Data Matching of n bus in described transit network data structure, thus Determine that h bus is mated in each section, and same bus mates on a section and have k group GPS track data；

Step 4, road segment segment for any one reality, with the average speed of h the bus that corresponding section is matedTraffic information as this real road section.

In described traffic information generation methods based on public transport GPS track data, in described step 2, one group of GPS rail Mark data include time value and instantaneous velocity；In described step 4, the average speed of h the bus that section is mated Concrete calculating process be: calculate the average speed of each bus of this section coupling, wherein, the bus of numbered m Average speed isV_m,nFor the instantaneous velocity of n-th group GPS track data of the bus of numbered m, Calculate the average speed of h bus of this section coupling

In described traffic information generation methods based on public transport GPS track data, in described step one, will be located in one On road in the same direction and there is the standoff distance bus station less than 5m in the bus station of identical name of station merge, and in described public affairs Being represented by a node in cross-channel network data structure, described circuit intersection point is circuit bifurcation or circuit point, wherein, circuit Bifurcation is to be entered the point of non-overlapped section between different public bus networks by overlay segment, and circuit point is different public bus network Between by non-overlapped section enter overlay segment point.

In described traffic information generation methods based on public transport GPS track data, in described step one, in described public transport In road net data structure, a of same public bus network will be belonged in the same direction and the section set that formed of end to end section It is defined as interval；In described step 3, b bus is mated in described interval, and same bus mates in this interval There are c group GPS track data；In described step 4, for the road segment segment of arbitrary group of actual continuous distribution, with corresponding interval institute The average speed of b bus of coupling is as the traffic information of the road segment segment of this group reality.

In described traffic information generation methods based on public transport GPS track data, described step 2, step 3, step Four and step 5 constitute a circulation, perform step 2, step 3, step 4 and step 5 successively every 30s.

In described traffic information generation methods based on public transport GPS track data, also include: step 5, according to each Road type associated by the average speed of h bus of section coupling and this section, blocks up for the distribution of each section Level, each jam level correspondence is represented by a color, updates electronic chart, uses corresponding color to represent on electronic chart The jam level in each section.

In described traffic information generation methods based on public transport GPS track data, in described step 2, by one group of GPS Track data is defined as the tracing point that coordinate is determined by longitude and latitude；Described step 3 specifically includes following steps: one by one to n public affairs Car is handed over to carry out process calculated below, for any of which bus: step (1) is for any one tracing point in multiple tracing points P_i, described transit network data structure determines multiple candidate matches sections of this tracing point, and forms a candidate matches Section is gathered, and calculates tracing point P_iTo each candidate matches section Q_{I, j}Subpoint and projector distance d_{I, j}, by above-mentioned subpoint It is referred to as candidate matches point P '_{I, j}；In two candidate matches points, with first candidate matches point for starting point along its section, place row Enter, sequentially pass through some middle sections, march to second candidate matches point always, and with the second candidate matches point as end Point, the distance definition advanced is the operating range between two candidate matches points；Step (2), it is that first tracing point determines A unique coupling section and a match point, the candidate matches to the residual track point in addition to first tracing point one by one Section set judges: for n-th tracing point, (1) belongs to the N-1 track when it only has this candidate matches section During the follow-up section of M level in any one section, candidate matches point place of point, then by n-th tracing point in this candidate matches section On candidate matches point be judged to match point, (2) belong to one of them of N-1 tracing point when there being multiple candidate matches section During the follow-up section of M level in section, candidate matches point place, the most again each candidate matches section is carried out following judgement: if It is the candidate matches section of N+1 tracing point in the follow-up section of Z level in a candidate matches section, then by n-th track Point candidate matches point on this candidate matches section is judged to match point, and the match point calculating the 1st tracing point successively arrives First operating range of all candidate matches points of N+1 tracing point, if the Z level in a candidate matches section is to Z+ The follow-up section of a level is not the most the candidate matches section of N+1 tracing point, then calculate the match point of the 1st tracing point to this time Multiple candidate matches sections are compared by the second operating range of the terminal in the follow-up section of Z+a level in choosing coupling section, when Second operating range in one candidate matches section is all higher than first operating range in remaining candidate matches section, then by this time Choosing coupling section is rejected from candidate matches section is gathered, and wherein, M is the positive integer that value is more than or equal to 1, and Z, a are that value is big In the positive integer equal to 1, wherein, N is the positive integer that value is more than 1, has often carried out the candidate matches section collection of a tracing point The judgement closed, N value adds 1, repeats said process.

In described traffic information generation methods based on public transport GPS track data, step (2) is especially by procedure below Realize: step 1. from the i-th-1 tracing point at corresponding 1st candidate matches section Q_{(i-1), 1}On candidate matches point P_{(i-1), 1}’ Start, one by one all candidate matches points of the i-th-1 tracing point are carried out calculated below: calculate current candidate match point P_{(i-1), d}' section, place R_{(i-1), d}The first order follow-up section set R_{(i-1), d}' and the candidate matches section collection of i-th tracing point Close Q_iCommon factor, wherein, d represents the numbering of candidate matches point, as occur simultaneously in exist 1 element q, then this element is retained in time Choosing coupling section set Q_{I, j}, the next candidate matches point of the i-th-1 tracing point is calculated；S unit is there is in occuring simultaneously Element q, then start to carry out this s element one by one following judgement from the 1st element: calculate currentElement q_tThe follow-up road of the first order Duan Jihe R_{(i-1), t}' and the candidate matches section set Q of i+1 tracing point_i+1Common factor, be empty as occured simultaneously, then will be currently Element q_tIt is retained in the candidate matches section set of i-th tracing point, calculates the candidate matches point of first tracing point one by one P₁' and i+1 tracing point P_i+1All candidate matches point P_(i+1)The first operating range between ', and it is designated as S_e, wherein, e Representing the numbering of the candidate matches point of i+1 tracing point, i+1 tracing point is to there being E candidate matches point, and e is 1 to E Integer, as occur simultaneously for sky, then continue calculate currentElement q_tFollow-up section, the second level set R_{(i-1), t}" and i+1 track The candidate matches section set Q of point_i+1Common factor, as occur simultaneously for sky, the most one by one calculate first tracing point candidate matches point P₁' gather R with follow-up section, the second level_{(i-1), t}All elements r in "_{(i-1), t}" terminal between the second operating range, and be designated as S_f, wherein, f represents follow-up section, second level set R_{(i-1), t}Element r in "_{(i-1), t}" numbering, follow-up section, the second level gather R_{(i-1), t}Element r in "_{(i-1), t}" number be F, when as currentElement q_tAll of S_fValue is more than all candidate matches sections All of S_e, then currentElement q_tQ is gathered from the candidate matches section of i-th tracing point_iMiddle rejecting, when all calculating s element Complete, the next candidate matches point of i-th tracing point is calculated；As occured simultaneously for empty, select the first order follow-up the most one by one Section set R_{(i-1), d}All elements r in '_{(i-1), d}', carry out calculated below: calculate currentElement r_{(i-1), d}' the second level after Continue section set R_{(i-1), d}" mate, with the candidate of i-th tracing point, the common factor that Qi is gathered in section, as occured simultaneously for empty, then abandon working as Front element, and the next candidate matches point of i-th tracing point is calculated；Step (3) is according to sequence, by all of track The match point of point connects into a plurality of candidate row wheel paths, and wherein, the Different matching point of same tracing point belongs to different candidates Wheelpath, is judged to wheelpath by candidate row wheel paths most for match point number；Step (4) described wheelpath is passed through Some sections, so that it is determined that coupling has k tracing point on each section.

In described traffic information generation methods based on public transport GPS track data, in described step (3), as existed extremely The candidate row wheel paths that few two match point numbers are most, candidate row tracks most at least two match point numbers the most respectively Mark carries out calculated below: for any bar candidate row wheel paths, and its coupling has L tracing point, for azimuth difference absolute value α_{I, j}, projector distance d_{I, j}And the operating range S of this candidate row wheel paths is respectively allocated weight λ₁、λ₂And λ₃, wherein, this candidate The operating range S of wheelpath mated by this candidate row wheel paths the 1st is between tracing point and last tracing point Operating range, then calculate cumulative errors θ,Wherein, by minimum for θ one Bar candidate row wheel paths is judged to wheelpath, the azimuth difference α of a tracing point_{I, j}For the matched section of this tracing point The absolute value of azimuth difference.

In described traffic information generation methods based on public transport GPS track data, in described step one, by a road The speed limit of section is as the relating attribute of corresponding line segment；In described step (1), the candidate matches section collection of any one tracing point Pi The judge process closed comprises the following steps: in step the most described transit network data structure, with this tracing point for the center of circle with GPS number According to the relief area that precision is radial design one circle, if intersecting with this relief area or tangent trunk section constitutes candidate matches section Set；Step is 2. when the instantaneous velocity of described tracing point is more than the speed limit in a candidate matches section, then by this candidate matches Section, from the set rejecting of candidate matches section, when being such as less than equal to the speed limit in this candidate matches section, then retains；Step is 3. such as institute State the absolute value α of the azimuth difference in tracing point and a candidate matches section_{I, j}＞ 90 °, then by this candidate matches section from time The section set of choosing coupling is rejected, such as 0≤α_{I, j}≤ 90 °, then retain.

Specifically, in order to the impact of this section of road conditions is taken into account by each track data under complicated multi-thread overlapping cases Come, in addition to public bus network wheelpath is fixed and waited general characteristic, focus more on transit network and the operation of reality here During following characteristics, as shown in Figure 2:

(1) up-down bidirectional.Most of public bus networks are all divided into two travel directions up, descending, and the two has relatively Strong symmetry.Minority public bus network presents ring-type or unidirectional.

(2) overlay segment between circuit and non-overlapped section.The travel route of different public bus networks there will be some overlaps Section and non-overlapped section, the most also comprise and independent travel the situation on the different special lines in same section.

(3) up-downgoing website non-fully correspondence.During part public bus network up-downgoing, the position of website of the same name is not It it is the part up-downgoing website also non-paired appearance of the full symmetric both sides being distributed in same path, even minority public bus network (up have certain website and descending do not have, vice versa).

(4) same erect-position point comprises the website of a plurality of circuit.The most same bus platform includes and is separated by several meters to tens The website of a plurality of circuit of rice.

(5) region of interest is many presents with interval form.Public transit system pays special attention to certain district of circuit in running scheduling Between or the traffic information of whole piece circuit (first and last station formed interval).

(6) local train of dynamically change.Public bus network or vehicle are when running into traffic control or temporary scheduling etc. and needing, often Often needing interim increase and decrease or adjustment vehicle to travel interval, usual this provisional change is many with bus station for first and last point.

In conjunction with the construction features of above-mentioned transit network, ordinary road web frame is adjusted, specifically includes that refinement is all kinds of Functional node, to qualified bus station by erect-position point merging treatment, make public bus network disconnect at each node, overlapping Section circuit normalization, and set up spatial index relation and attribute coding.As it is shown on figure 3, the transit network after Chu Liing, totally Present a kind of two-way, single line, the road network structure being similar to section chain pattern that separates by each category node in the same direction, spatially show The figure etale topology relation of " node-line segment-interval-circuit ".Pass between transit network midpoint key element and line feature and its attribute System is transformed to 1:N by traditional N:1, and the most whole road network presents the single line of two different directions on map representation, any Section does not all have the situation that multiple line feature is overlapping in the same direction；On attribute is expressed, Points And lines key element record or be associated with by it All websites and circuit number.

In described transit network data structure, shown in Fig. 3:

(1) node (Node)

Erect-position point: multiple bus stations with same erect-position number are merged into an erect-position point, the attribute list meeting of this point Associate the attribute information of all websites under this erect-position number.

Bus station: a series of vehicle parking websites that every public bus network up-downlink direction is respectively provided with, website attribute I.e. comprise the name of station of self, site number, circuit number, also comprise the information such as stand position number of correspondence.The present invention remains Standoff distance website of the same name farther out on public bus network in the same direction, in like manner incorporates standoff distance website of the same name closely.This One standoff distance is farther out or nearer judgement is made based on experience, usually 5 meters.

Circuit bifurcation: entered the node of non-overlapped section between a plurality of public bus network by overlay segment, be frequently located in crossing or The starting point of track change.

Circuit point: between a plurality of public bus network by non-overlapped section enter overlay segment node, be frequently located in crossing or The point in different tracks.Circuit bifurcation and circuit point are regarded as a kind of circuit intersection point.

Junction node: be distributed in road cross or at node that category of roads changes.

(2) section (Segment)

Track segment in the same direction and between adjacent two nodes, it is also Linear element in this transit network structure Minimum unit.One section is for representing the road segment segment of a unidirectional reality, and the travel direction of this road segment segment is (with being somebody's turn to do The azimuth of road segment segment is to represent) as the relating attribute in this section.

(3) interval (Interzone)

On certain public bus network a series of in the same direction and the section set that formed of end to end section, wherein interval Beginning and end need not be positioned at initial station and the terminal of public bus network.

(4) circuit (Busline)

Certain complete public bus network, the most corresponding one of uplink and downlink.In this transit network structure, it can also be seen Work is starting point corresponding line initial station, the special interval of terminal corresponding line terminal.

It should be noted that in the present invention, an actual two-way road is regarded as two parallel in opposite direction Road process.

Public transport gps data, can be by GPS location and message transmitting procedure, map vector as a kind of floating car data , there are deviation public affairs in change process, the choosing and the mutually common effect of many factors in transformation process of different spaces coordinate reference system The situation on intersection road, it is therefore desirable to carry out the road network between public transport GPS discrete point and transit network and process, determine and obtain The space-time position that bus is relatively accurate.As shown in Figure 4, it is the text data format of public transport GPS track.There it can be seen that Public transport gps data has circuit ownership, the public bus network that i.e. every record is corresponding；Not having up-downgoing to identify, up-downgoing ownership needs Want follow-up judgement；There is date-time, longitude and latitude, instantaneous velocity and azimuth information, can depend on as map match logic discrimination According to.

In addition to scheduling in short-term and circuit change, bus travel circuit is relatively fixed, and can simplify coupling to a certain extent and calculate Some steps of method, but still be faced with such as local train, temporary traffic control, circuit bifurcation and the surrounding of point, special line row Sail the complicated cases such as section.In one embodiment of the invention, use and be attributed to master with circuit, utilize four parameters (speed phase Symbol, direction is similar, projector distance and operating range minimum) carry out the logic matching process of comprehensive distinguishing, process and generate public transport The road network result of gps data, main coupling flow process is as shown in Figure 5.Except go out given in employing the present embodiment Coupling flow process, the present invention can also use the additive method of prior art to mate, such as stress and strain model method etc..

In conjunction with Fig. 5, the matching process of the present embodiment will be specifically described below, matching process is being described Time, only illustrate with the GPS track data instance gathered in a period of time T (a time period T in other words), main Step to be realized is as follows:

Step 1. reads the Floating Car GPS track data record of a period of time T, is designated as G, and divides according to car number Group.

Step 2. obtains all gps data records of a packet (i.e. one car), and arranges according to time order and function order, Read Article 1 record, be designated as g.

Step 3. generates the maximum effectively threshold value relief area of anchor point g (i.e. tracing point), is designated as P_g, and utilize space upper thread Relation judges P_gIn whether there is section.If it is, section to be added the set of candidate matches section, it is designated as M；If it does not, read Next record of this packet is designated as g, and forwards step 3 to.

Step 4. judges travel speed and the travel direction of anchor point g, if at least with candidate matches section set M in one The Maximum speed limit in bar section is consistent, and with the angular separation of section first and last knot vector less than 90 degree.If it is, generate g's Matching result is also added interim matching result table by candidate matches point；If it does not, next record reading this packet is designated as g, And forward step 3 to.

Step 5. judges whether there is also the data record not mated in current group.If it is, read under this packet Article one, record is designated as g, and forwards step 3 to；If it does not, the candidate matches point of anchor points all to this packet and candidate matches section Carry out the differentiation of projector distance and running distance.

Step 6. determines the final line wheel paths of this packet vehicle, and by the unique match point of each anchor point and coupling section Add matching result table.

Step 7. judges whether there is also the Floating Car GPS grouped record do not mated in G.If it is, it is floating to read the next one The gps data record of motor-car packet, and forward step 2 to；If it does not, stop coupling flow process, road network terminates.

Illustrate and above-mentioned steps 3 generates anchor point and utilizes space upper thread relation to judge whether the process in section (see Fig. 6).P₁、P₂、P₃、P₄It is the relief area polygon (actually one border circular areas) of GPS anchor point generation respectively, its Radius is set as the maximum effectively threshold value (i.e. the precision of GPS track data) of floating car data, it is possible to gather according to each batch The data collected are identified and classify assignment by the required precision of device, form different size of relief area polygon； Seg1, Seg2 ..., Seg11 are respectively the section that each category node is formed.Consider the space upper thread relation of the two, closed In P₁Intersection leg Seg2, P₂Tangent section Seg5, P₃Intersection leg Seg7 and Seg9.Wherein, P₁、P₂、P₃With section Tangent or crossing, corresponding anchor point and section distance, less than or equal to maximum effectively threshold value, belong to Introgression point；P₄With section Seg3 and Seg11 phase from, corresponding anchor point is the Null Spot that drift is serious；Seg2 is P₁The candidate matches road of corresponding anchor point Section, Seg5 are P₂The candidate matches section of corresponding anchor point；Seg7 and Seg9 is P₃Two candidate matches roads of corresponding anchor point Section.Based on said method, it may be determined that go out the candidate matches section set of each tracing point.

Floating car data type multiple for bus and taxi etc., the overall table in geographical space or city road network Now the point set on a temporal meaning, i.e. one group of GPS track data can be defined as one have azimuth, instantaneous velocity, One tracing point of the attributes such as bus numbering, the coordinate of this tracing point is determined by the longitude and latitude of these group GPS track data.Different Vehicle has different information record strip numbers and different driving paths within a period of time, and each car time sequence Row are likely to be occurred because drift is excessively serious or occurs loss of data to be broken into the situation of some subsequences, as Fig. 7 shows.Fig. 7 In, in whole time series, the loss of data that Position (2) and Position (5) is corresponding, cause in subsequent analysis real The tracing point sequence that border processes only has Position (1), Position (3), Position (4), (6) four tracks of Position Point, accordingly, it would be desirable to the effective information of comprehensive this driving vehicle every pair surrounding time point, analyzes and deduces vehicle in this period Interior travel route.

Can be that each tracing point judges a candidate matches section set, in order to determine each track based on relief area The section of the final coupling of point, then also need to proceed screening and judge.Track discriminant analysis is the another important of road network Content, its purpose is exactly the most quickly and truly to determine that within a period of time or a traffic information updates driving vehicle Road network wheelpath in cycle.For above-mentioned partial traces point, the features such as skew can occur, the present invention is in one embodiment Design and propose a kind of four parameter line wheel paths method of discrimination, i.e. from the travel speed of vehicle, travel direction, circuit projection away from Overall merit, and the candidate to each Floating Car anchor point is carried out from setting criterion with four aspects of maximum row spacing Coupling section collection is correctly accepted or rejected, thus finally draws each vehicle of the same name overall wheelpath within certain time cycle.

(1) utilize travel speed that candidate matches section is judged

Every floating vehicle data record is owned by the corresponding vehicle instantaneous velocity gathering the moment, and comes for urban road Say, on the one hand have road type and category of roads point, different grades of road has different maximum travel speeds；Another Aspect, the maximum travelling speed of different road sections also can according to traffic speed(-)limit sign or graticule, also exist geographical distribution and time Between diversity on section.Therefore, when a plurality of candidate matches section being carried out follow-up differentiation, first speed can be travelled with vehicle The magnitude relationship of degree and different road Maximum speed limit value carries out just sentencing.

For example, as shown in Figure 8, it is Time respectively₁And Time₂Two moment (wherein, Time₁And Time₂Belong to Two different periods) situation in candidate matches section is differentiated according to the relation of travel speed and road speed limit.1)Time₁Time Carve: the candidate matches section of known locations point P is that the road Maximum speed limit of Seg1 and Seg2, Seg1 section at this moment is respectively Vmax₁, the road Maximum speed limit of Seg2 section at this moment is Vmax₂, the instantaneous velocity of anchor point P is V_p, V_pMore than Vmax₂And be less than Vmax₁, thus in the case of normal vehicle operation, can deduce anchor point P may coupling section be Seg2, the most now may be used To be rejected from the candidate matches section of anchor point P is gathered by Seg1, and retain Seg2；2)Time₂Moment: known locations point P ' Candidate matches section be also the road Maximum speed limit of Seg1 and Seg2, Seg1 section at this moment be still Vmax₁, but Seg2 is at this moment The road Maximum speed limit of section becomes V ' max₂, corresponding speed relation becomes V_p′It is more thanAnd less than Vmax₁, thus general feelings Under condition, it can be deduced that anchor point P's may coupling section be Seg1, the most now can be by Seg2 from the candidate matches of anchor point P Section set is rejected, and retains Seg1.

(2) utilize travel direction that candidate matches section is judged

Through the principium identification of travel speed parameter, the candidate matches section of a part of GPS anchor point is determined, but Still there is quite a few data identical due to the speed limit in its section, place, or travel speed is in a broad numerical value model Enclosing, and only just cannot can draw with the length velocity relation of the two and uniquely mate section, this is accomplished by introducing second parameter, at once Sail direction to carry out follow-up judgement.

Here travel direction is an instantaneous concept, and its value the most always keeps consistent with road or direction, section, Actual driving conditions can occur bigger deviation along with driving situation (keep straight on, turn left, right-hand rotation etc.) at that time.But, just Often on the premise of transport condition emergency situations such as (do not drive in the wrong direction) reversings, the value of vehicle heading can be maintained at In certain constant interval, and with the direction of place road segment segment, there is bigger similarity.Vehicle heading is by azimuth Represent, when comparing, give transit network data structure using the azimuth of actual road segment segment as relating attribute In respective stretch, the azimuth of a road segment segment be exactly its travel direction with direct north formed by angle.

As it is shown in figure 9, be to accept or reject candidate matches according to travel direction under the conditions of linear road and curved road respectively The process rule in section.In Fig. 9 (1): known Node_iAnd Node_jBeing two adjacent nodes of certain road, Floating Car P travels at it The section Seg that generates_i,jIn, the numerous direction dir under its normal transport condition₁、dir₂、dir₃All the time with road segment segment direction Dir_roadRemain a range of concordance, i.e. angular separation not over 90 degree.In this example, so-called Floating Car Normal transport condition under numerous directions be that the azimuth from GPS track data determines.In Fig. 9 (2): Floating Car positions Point P is positioned at certain section Seg of curved road Road_i,jIn, the candidate matches point P ' of P inherits the direction attribute of P and is designated as Dir_p’, Dir is easily drawn according to geometrical relationship_p’Be i.e. candidate matches point P ' and with section Seg_i,jTangent tangential direction, And now represent due to road direction is the direction of entire road, it is impossible to accurate expression Floating Car P is positioned at walking of certain interval To, therefore, by connecting section node at whole story Node_iAnd Node_jThus form a directed line segment, and using its direction as Road direction carries out follow-up angular separation multilevel iudge.It practice, Floating Car P is now placed in a curve road of curved road Section Seg_i,jOn, the travel direction of this curve section is then indicated by the directed line segment between whole story node.

Based on above-mentioned travel direction, ineligible candidate matches section is rejected from candidate matches section is gathered, The one side meeting criterion continues to participate in subsequent parameter differentiation, on the other hand records azimuth difference respectively, participates in final Weight analysis.

(3) utilize projector distance that candidate matches section is judged

Projector distance method of discrimination refers to Floating Car anchor point and to each candidate matches section mapping projections respectively and generates Candidate matches point, by judging minimum projection's distance of anchor point and candidate matches point, screens the mistake in each candidate matches section Journey.

Generally, Con1 state as shown in Figure 10, two anchor point P of the Floating Car of the same name of certain period T₁And P₂, After the differentiation through travel speed and travel direction, P₁Determine its candidate matches point P₁' and coupling section Seg1, Seg2 and Seg3 is two follow-up sections of Seg1, by P₂Respectively to its two candidate matches section Seg2 and Seg3 mapping projections, and To candidate matches point P₂' and P₂" and projector distance r₁And r₂, due to r₁Less than r₂, on the premise of other parameters are the most similar, can To judge that Seg2 is as P₂Coupling section, and { Seg1, Seg2} are this Floating Car wheelpath at period T.Here it is not Say and want directly the candidate matches section of P2 be made a choice, projector distance only as the final parameter judged, if two Other parameters in bar candidate matches section are the most close, just can consider the candidate matches section that projector distance is relatively small.Concrete knot Close azimuth difference above, projector distance makes the process of comprehensive descision, will illustrate below.

(4) utilize operating range that candidate matches section is judged

On the basis of running distance differentiates the decision rule referred in terms of above three, based on each Floating Car of the same name in the some time Between in sequence before and after anchor point candidate matches section between connectedness, and the accumulative operating range shown as on section is in Certain threshold value also minimizes.

For wherein n-th tracing point, it is divided into following two situation:

(1) any one candidate matches point place of N-1 tracing point is belonged to when it only has this candidate matches section During the follow-up section of M level in section, then n-th tracing point candidate matches point on this candidate matches section is judged to coupling Point.Here M be value be the positive integer more than or equal to 1, usually 1；But there is also be not 1 situation, be divided in section Time thinner, it may appear that have passed through the section of more than a section between two tracing points.

(2) when one of them section, candidate matches point place having multiple candidate matches section to belong to N-1 tracing point M level follow-up section time, each candidate matches section is carried out following judgement the most again: if in a candidate matches section The follow-up section of Z level be the candidate matches section of N+1 tracing point, then by n-th tracing point in this candidate matches section On candidate matches point be judged to match point, and calculate match point the owning to N+1 tracing point of the 1st tracing point successively First operating range of candidate matches point, if the Z level in a candidate matches section to the follow-up section of Z+a level is not the most The candidate matches section of N+1 tracing point, then calculate the match point Z+a level to this candidate matches section of the 1st tracing point Multiple candidate matches sections are compared, when a candidate matches section by the second operating range of the terminal in follow-up section Second operating range is all higher than first operating range in remaining candidate matches section, then by this candidate matches section from candidate Joining in the set of section and reject, wherein, M is the positive integer that value is more than or equal to 1, and Z, a are the positive integer that value is more than or equal to 1.With Sample ground, Z is usually 1；But there is also be not 1 situation, when being divided thinner in section, it may appear that warp between two tracing points Cross the section of more than a section.And the general value of a is 2.When M is not 1, reality i.e. the candidate matches of later tracing point Section set integrates the situation as empty set with the first order follow-up section intersection of sets of previous tracing point.If can not be according to above-mentioned A certain candidate matches section is rejected by condition, be just retained on candidate matches section set in, eventually through match point number, Wheelpath is judged by cumulative errors.

Above-mentioned " follow-up section " refer to that be positioned on rear side of a certain section A and previous section in the same direction, can be with previous section The section of connection, the section directly connected with section A is the follow-up section of the first order, and what section follow-up with the first order directly connected is The follow-up section, the second level of section A, by that analogy, directly connect with M-1 follow-up section for the follow-up section of M level.Lift For example, Tu11Zhong, there are section 2, section 3 and section 4 in the follow-up section of the first order in section 1, the follow-up section, the second level in section 1 Having section 5, section 6, section 7, section 8, section 9, there are section 10, section 12, section 11 and in the follow-up section of the third level in section 1 Section 13.Follow-up for the second level in section 1 section can be become the follow-up section in the follow-up section in section 1.

Above-mentioned " the first operating range " is, between two candidate matches points, from the beginning of first candidate matches point, passes through Some middle sections, the distance advanced to the second candidate matches point.From Figure 11, the operating range between P1 ' and P2 ' is just It is that the terminal of P1 ' to its section, place adds the starting point distance to P2 ' in section 3；Distance between P1 ' and P3 ' is exactly, P1 ' Terminal to its section, place adds that the length in the section 3 of approach adds the starting point distance to P3 ' in section 6.

When concrete execution said process, this method of discrimination is first suppose certain vehicle time tract of the same name first The match point of anchor point is it has been determined that whether the candidate matches section then proceeding to follow the trail of later anchor point gathers with previous The candidate matches section, some place of point or the follow-up section set in section, place exist occurs simultaneously, and the most substantially can be divided into three kinds of feelings Condition: 1) occur simultaneously for sky, the then follow-up section set in continuation tracking each follow-up section, section, previous anchor point candidate matches point place (reality is also that the follow-up section, the second level in section, previous anchor point candidate matches point place is gathered)；2) one is only existed in occuring simultaneously Element, then the candidate matches point into this point is fixed tentatively in this candidate matches section, and continues according to said method to follow the trail of next anchor point；3) There is multiple element in common factor, record section starting point is to the distance of candidate matches point the most respectively, and continues under according to said method tracking One anchor point.

After this each anchor point of vehicle time series of the same name has considered, each anchor point successful match to section Join that a little the most paths and be the driving trace in this car a certain period, (namely wait if there is a plurality of alternative path Select wheelpath), now need to consider and take each point at above-mentioned azimuth difference, projector distance, and whole piece driving Record numerical value in three parameters of the operating range of track is minimum, i.e. takes cumulative error less (having higher logical similarity) That group.The concrete formula of cumulative errors is:

$\mathrm{\θ}={\mathrm{\λ}}_1\underset{i}{\overset{L}{\Σ}}{\mathrm{\α}}_{i,j}+{\mathrm{\λ}}_2\underset{i}{\overset{L}{\Σ}}{d}_{i,j}+{\mathrm{\λ}}_{3}S$

Where it is assumed that a candidate row wheel paths coupling has L tracing point, for azimuth difference α_{I, j}, projector distance d_{I, j} And the operating range S of this candidate row wheel paths is respectively allocated weight λ₁、λ₂And λ₃.It should be noted that the power of above-mentioned parameter It is equal for reassigning acquiescence, can be compared with legitimate reading by long-term matching result, according to concrete in concrete application Statistical result carries out the adjustment of weight.

For example, as shown in figure 11, it is known that certain Floating Car is distributed respectively P at the anchor point of a period of time T₁、P₂、 P₃、P₄；P₁Candidate matches section 1 and candidate matches point P₁’；P₂Candidate matches section 3,4 and candidate matches point P₂’、P₂”；P₃ Candidate matches section 6,7 and candidate matches point P₃’、P₃”；The candidate matches section 11 of P4 and candidate matches point P₄’；And P₁、P₂、 P₃、P₄Owing to the diversity on differentiating at travel speed, travel direction and projector distance is less, unique coupling also cannot be determined Section.When determining P₁Coupling section 1, introduce running distance decision rule and be analyzed: 1) the connection section in the same direction in section 1 Being 2,3,4, section 3,4 is in the candidate matches section set of P2, adds up as Dis by the distance of section 3,4 driving₁₃、Dis₁₄； Section 2 is not at the set of candidate matches section and its Bu Shi section, the section of connection in the same direction 3,4 of P2, and now by section 2 Running distance adds up as Dis₁₂, the computational methods of the running distance in section 2 are P₁' to the distance of terminal in section 1 plus section 2 Length, already more than Dis₁₃Or Dis₁₄, say, that vehicle can not drive to P2 ' or P2 " go back to again section 2 afterwards Follow-up section up, this has run counter to general knowledge in most cases, thus gets rid of section 2.2) section 3 being in like manner discussed, it is same To connection section 5,6,7, (method for removing in section 5 is the same with the process in eliminating section 2, simply exists easily to get rid of section 5 Calculate running distance time, the running distance in section 5 should be P1 ' to the terminal in section 1 distance add section 3 length add The length in section 5), and accumulative roadway { 1,3,6} and { distance Dis of 1,3,7}₁₃₆、Dis₁₃₇.3) section 4 is discussed, its Connection section 8,9 is not gathered in the candidate matches section of P3 in the same direction, then continue the section of connection in the same direction 10,12 of tracking 8,9, sends out Existing section 10,12 is not gathered in the candidate matches section of P3, and now approach section total length beyond Dis₁₃₆Or Dis₁₃₇, stopping following the trail of and also get rid of section 4, approach section total length refers to P1 ' and adds to the distance of the terminal in section 1 here The length in section 4 adds that the length in section 9 adds the length in section 10 or 12.Arrive this, by match point P₁' follow-up road Elementary analysis in Duan Jihe completes, and determines the coupling section 3 of P2, carries out the follow-up section set in section 3 afterwards Analyze, section 5 and section 6 and section 7 in the set of this follow-up section, and determine in the candidate matches section set of P3 have time Choosing coupling section 6 and candidate matches section section 7.4) based on can determine that wheelpath 1,3}, and according to identical tracking differentiation side Method obtains through P₃And P₄Two candidate row wheel paths { 1,3,7,10,11} and { 1,3,6,11} in candidate matches section.Build and wait When selecting wheelpath, it is that match point is connected in turn, and the Different matching point of each tracing point must distribute in difference Candidate row wheel paths on.

The set of follow-up section and the later track of the candidate matches point being a previous tracing point illustrated in fig. 11 The candidate matches section intersection of sets collection of point is not empty example, if the common factor of the two is empty, such as assumes P in Figure 11₂No Exist, only P₁、P₃、P₄, P₁' follow-up section 2,3,4 all do not have at P₃Candidate matches section on, judge section 2 the most respectively The set of follow-up section whether with P₃Candidate matches section intersect, as non-intersect, then basic it is believed that follow-up section 2 does not belongs to In any bar candidate row wheel paths, abandoned；The follow-up section in section 3 is gathered section 5, section 6 and section 7, and section 6 P is belonged to section 7₃The set of candidate matches section, and calculate Dis₁₃₆、Dis₁₃₇, the most respectively with section 6 and section 7 The set of follow-up section, respectively the candidate matches section set of the set of two follow-up sections with P4 is compared；And section 4 The set of follow-up section there are section 9, section 8, section 8 and section 9 to be also not belonging to P₃Candidate matches section set, by this section 4 abandon.

These two candidate row wheel paths are all mated and has 4 tracing points, and other parameter azimuth difference and projections Distance the most relatively, and two tracks be in each section by maximum travelling speed traveling under setting temporal frequency away from From threshold range, then the most comprehensively analyze four parameter values of two track each points, and finally take that cumulative error is less (i.e. to be had Higher logical similarity or matching degree) that group, i.e. { 1,3,6,11}.

After determining a wheelpath, tracing point and match point thereof that this wheelpath is mated all determine that , it is possible to carry out the calculating of traffic information again.

In the matching process of above-described embodiment, first have employed travel speed, candidate matches section is entered by azimuth difference Go screening, but can also there is no both screening processes or only with one of them, only carried out by operating range Differentiate it is also feasible, use the most parameters to screen during whole, efficiency and the standard of coupling can be effectively improved Exactness；It addition, when being differentiated by operating range, only wheelpath can be determined by match point number, in coupling When point number is consistent, just need to take cumulative error to differentiate.

In the present invention, traffic information is that the average speed by section characterizes.Owning all of bus After tracing point all matches in transit network data structure, each bar section is dispersed with quantity and does not waits, number different vehicles Joining a little, each section coupling has h bus, and same bus mates on same section k group GPS track data. In a traffic information update cycle T, (the usual update cycle is 5min, and frequency acquisition is 30s, and a vehicle of the same name has 10 Individual tracing point), both there is vehicle of the same name (so-called vehicle of the same name is exactly same bus) and have more than one in same section The situation of individual match point, there is also different vehicle match point and belongs to the situation in this section simultaneously.In order to provide real-time road Condition information, it is necessary to regular update GPS track data, and utilize the GPS track data of renewal to recalculate the average speed in section Degree, in the present invention, the update cycle is set as 5min.Therefore, the calculating process of Road average-speed is broadly divided into two steps:

(1) average speed of vehicle match point of the same name on section is calculated.The road-section average speed of each Floating Car of the same name in section Degree is Floating Car instantaneous velocity V on this interval, section in period of time T_m,1、V_m,2、…、V_m,kArithmetic mean of instantaneous value, it calculates public affairs Formula is

$\stackrel{\‾}{V_m}=\frac{1}{k}\underset{n=1}{\overset{k}{\Σ}}{V}_{m,n}---(3-1)$

In formula,The average instantaneous row vehicle speed of the Floating Car match point of numbered m, the average instantaneous row of match point The instantaneous velocity of vehicle speed namely corresponding tracing point；

In k road condition updating cycle T, coupling match point number on this section, is also the tracing point on this section Number；

V_m,nThe instantaneous row vehicle speed of the n-th match point of the Floating Car of numbered m.

(2) average speed in section is calculated.On the basis of the vehicle match of the same name some average speed value of each section, calculate road The Road average-speed of all match points in section, as the average speeds of this section unit.Computing formula is

$\stackrel{\‾}{V}=\frac{I}{h}\underset{m=1}{\overset{h}{\Σ}}\stackrel{\‾}{V_m}---(3-2)$

In formula,The average speed in this section；

The number of Floating Car match point the most of the same name on this section of h, is also the number of different Floating Car tracing point；

V_mThe average speeds in this section of Floating Car match point of numbered m.

Through the calculating of each Road average-speed, it is basically completed by " information of car " turning to " information on road " Change.

Said process gives the computational methods of the traffic information in a certain section, interval for interest, it is also possible to calculate certain The traffic information in one interval, is really made up of several continuous print sections due to an interval, therefore, as long as by these roads The tracing point that section is mated is determined, still uses formula (3-1) and formula (3-2) to calculate, the interval that now k represents Interior match point number.

After completing the calculating of above-mentioned traffic information, traffic information be reflected in transit network data structure. First road each in road network or section are layered according to its category of roads, more respectively to each figure layer according to jam level with average Road speed relation (as shown in table 3-1), it is intended that in figure layer, the map of each key element renders rule and preserves, finally unified loading institute Have have road conditions render rule figure layer, issue help road network map service.Along with Road average-speed periodically changes, grind The road conditions thematic map studying carefully district's system-wide net updates the most therewith.

Table 3-1 road type, jam level and length velocity relation table

Additionally, respectively to bus according to the conversion of equivalent car conversion coefficient the friendship of Calculation and Study region entirety road network Logical congestion index (Traffic Performance Index, TPI), generates system-wide networking condition data target.

In order to the application effect of the present invention is described, it is provided that following example.

As shown in figure 12, have chosen part public bus network in the range of Xicheng District of Beijing, 387 altogether, according to public transport road Network data structure carries out vectorized process and generates virtual Xicheng District transit network in a computer, is then based on these circuits Public transport gps data perform above-mentioned traffic information process and computational methods, ultimately form the public transport road for different business demand Condition thematic map.

387 public bus networks chosen are generated virtual transit network, as shown in figure 12.Wherein, node layer can be divided into Bus station, junction node, circuit bifurcation and point three layers, illustrate only bus station layer here；Section layer is this The track segment that two-way, single line transit network disconnects through these nodes；Interval layer can be divided into interval, the station layer of every circuit, and The interval, station set (temporary layers) of certain circuit；Line layer i.e. up-downgoing separate whole piece public bus network.

Inquire about the public transport gps data that 387 public bus networks of composition system-wide net are corresponding, and read the note of a update cycle Record.Choose all public transport gps datas of 2012 certain day 09:30:00 to 09:35:00, perform the road network in above-described embodiment Joining algorithm and add up generation system-wide networking condition figure according to the Road average-speed divided rank of each grade road, wherein Lycoperdon polymorphum Vitt represents No data, result is as shown in figure 13.The thickest then jam situation of lines is the most serious.

Although embodiment of the present invention are disclosed as above, but it is not restricted in description and embodiment listed Using, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily Realizing other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention does not limit In specific details with shown here as the legend with description.

Claims (9)

1. traffic informations based on public transport GPS track data generate method, it is characterised in that including:

Step one, actual transit network comprise some the public bus networks being formed on road network, by identical for having of reality Multiple bus stations of erect-position number merge and referred to as erect-position point, and the point intersected each other by different public bus networks is referred to as circuit and hands over Point, some road cross or category of roads changed is referred to as junction node；Transit network data are built with node and line segment Structure, in transit network data structure, all uses joint by actual bus station, erect-position point, circuit intersection point and junction node Point represents, in the same direction and being connected by a line segment between adjacent two nodes on a road, this line segment is defined as road Section, for representing the road segment segment of a unidirectional reality, and using the azimuth of this road segment segment as the pass affiliation in this section Property；

Step 2, all GPS track data obtained in certain period of time T of n bus in described transit network, often Bus in described time period T to there being many group GPS track data；

Step 3, by all GPS track Data Matching of n bus in described transit network data structure, so that it is determined that Go out each section h bus of coupling, and same bus mates on a section and have k group GPS track data；

Step 4, road segment segment for any one reality, with the average speed of h the bus that corresponding section is matedMake Traffic information for this real road section；

In described step 2, one group of GPS track data is defined as the tracing point that coordinate is determined by longitude and latitude；

Described step 3 specifically includes following steps:

One by one n bus is carried out process calculated below, for any of which bus:

Step (1) is for any one tracing point P in multiple tracing points_i, in described transit network data structure, determine this track Multiple candidate matches sections of point, and form a candidate matches section set, calculate tracing point P_iTo each candidate matches road Section Q_{I, j}Subpoint and projector distance d_{I, j}, above-mentioned subpoint is referred to as candidate matches point P '_{I, j}；

In two candidate matches points, advance along its section, place for starting point with first candidate matches point, sequentially pass through some Middle section, march to second candidate matches point, and with the second candidate matches point as terminal always, the distance advanced is fixed Justice is the operating range between two candidate matches points；

Step (2) is that first tracing point determines a unique coupling section and a match point, one by one to except first rail The candidate matches section set of the residual track point outside mark point judges: for n-th tracing point,

(2-1) any one candidate matches point place road of N-1 tracing point is belonged to when it only has this candidate matches section During the follow-up section of M level of section, then n-th tracing point candidate matches point on this candidate matches section is judged to coupling Point,

(2-2) when one of them section, candidate matches point place having multiple candidate matches section to belong to N-1 tracing point During the follow-up section of M level, each candidate matches section is carried out following judgement the most again: if in a candidate matches section The follow-up section of Z level is the candidate matches section of N+1 tracing point, then by n-th tracing point on this candidate matches section Candidate matches point be judged to match point, and calculate the match point all times to N+1 tracing point of the 1st tracing point successively Select the first operating range of match point, if the Z level in a candidate matches section is not the most N+ to the follow-up section of Z+a level The candidate matches section of 1 tracing point, then calculate the match point of the 1st tracing point to after the Z+a level in this candidate matches section Continue second operating range of terminal in section, is compared in multiple candidate matches sections, when the of a candidate matches section Two operating ranges are all higher than first operating range in remaining candidate matches section, then by this candidate matches section from candidate matches Rejecting in the set of section, wherein, M is the positive integer that value is more than or equal to 1, and Z, a are the positive integer that value is more than or equal to 1,

Wherein, N is the positive integer that value is more than 1, has often carried out the judgement of the candidate matches section set of a tracing point, and N takes Value adds 1, repeats said process.

2. traffic informations based on public transport GPS track data as claimed in claim 1 generate method, it is characterised in that

In described step 2, one group of GPS track data includes time value and instantaneous velocity；

In described step 4, the average speed of h the bus that section is matedConcrete calculating process be:

Calculating the average speed of each bus of this section coupling, wherein, the average speed of the bus of numbered m is V_m,nFor the instantaneous velocity of n-th group GPS track data of the bus of numbered m,

Calculate the average speed of h bus of this section coupling

3. traffic informations based on public transport GPS track data as claimed in claim 1 generate method, it is characterised in that described In step one, will be located on a road in the same direction and there is the standoff distance public transport less than 5m in the bus station of identical name of station Website merges, and is represented by a node in described transit network data structure, described circuit intersection point be circuit bifurcation or Circuit point, wherein, circuit bifurcation is to be entered the point of non-overlapped section between different public bus networks by overlay segment, and circuit converges Chalaza is the point between different public bus networks by non-overlapped section of entrance overlay segment.

4. traffic informations based on public transport GPS track data as claimed in claim 2 generate method, it is characterised in that

In described step one, in described transit network data structure, a of same public bus network will be belonged in the same direction and head and the tail The section set that the section being connected is formed is defined as interval；

In described step 3, b bus of described interval coupling, and same bus mate in this interval and have c group GPS Track data；

In described step 4, for the road segment segment of arbitrary group of actual continuous distribution, with corresponding interval b the public transport mated The average speed of car is as the traffic information of the road segment segment of this group reality.

5. the traffic informations based on public transport GPS track data as according to any one of Claims 1-4 generate method, and it is special Levy and be, also include:

Step 5, the average speed of h the bus mated according to each section and the road type associated by this section, for Each section distribution jam level, each jam level correspondence is represented by a color, updates electronic chart, on electronic chart Corresponding color is used to represent the jam level in each section.

6. traffic informations based on public transport GPS track data as claimed in claim 5 generate method, it is characterised in that described Step 2, step 3, step 4 and step 5 constitute a circulation, perform step 2, step 3, step 4 successively every 30s And step 5.

7. traffic informations based on public transport GPS track data as claimed in claim 6 generate method, it is characterised in that step (2) realize especially by procedure below:

Step is 1.

From the i-th-1 tracing point at corresponding 1st candidate matches section Q_{(i-1), 1}On candidate matches point P_{(i-1), 1}' start, by Individual all candidate matches points to the i-th-1 tracing point carry out calculated below:

Calculate current candidate match point P_{(i-1), d}' section, place R_{(i-1), d}The first order follow-up section set R_{(i-1), d}' and i-th The candidate matches section set Q of tracing point_iCommon factor, wherein, d represents the numbering of candidate matches point,

In occuring simultaneously, there is 1 element q, then this element is retained in candidate matches section set Q_{I, j}, to the i-th-1 tracing point Next candidate matches point calculate；

In occuring simultaneously, there is s element q, then start one by one this s element to be carried out following judgement from the 1st element: calculate and work as Front element q_tThe first order follow-up section set R_{(i-1), t}' and the candidate matches section set Q of i+1 tracing point_i+1Common factor, It is not empty, then by currentElement q as occured simultaneously_tIt is retained in the candidate matches section set of i-th tracing point, calculates first one by one The candidate matches point P of individual tracing point₁' and i+1 tracing point P_i+1All candidate matches point P_(i+1)The first traveling between ' Distance, and it is designated as S_e, wherein, e represents the numbering of the candidate matches point of i+1 tracing point, and i+1 tracing point is to there being E Individual candidate matches point, e is the integer of 1 to E, as occured simultaneously for empty, then continues to calculate currentElement q_tFollow-up section, second level collection Close R_{(i-1), t}" and the candidate matches section set Q of i+1 tracing point_i+1Common factor, as occur simultaneously for sky, calculate first the most one by one The candidate matches point P of individual tracing point₁' gather R with follow-up section, the second level_{(i-1), t}All elements r in "_{(i-1), t}" terminal between The second operating range, and be designated as S_f, wherein, f represents follow-up section, second level set R_{(i-1), t}Element r in "_{(i-1), t}" volume Number, follow-up section, second level set R_{(i-1), t}Element r in "_{(i-1), t}" number be F, as currentElement q_tAll of S_fValue is big All of S in all candidate matches sections_e, then currentElement q_tQ is gathered from the candidate matches section of i-th tracing point_iIn pick Remove, when s element has all been calculated, the next candidate matches point of the i-th-1 tracing point is calculated；

As occured simultaneously for sky, the most one by one the selection first order follow-up section set R_{(i-1), d}All elements r in '_{(i-1), d}', carry out following Calculate: calculate currentElement r_{(i-1), d}' follow-up section, the second level set R_{(i-1), d}" mate section with the candidate of i-th tracing point Set Q_iCommon factor, as occur simultaneously for sky, then abandon currentElement, and the next candidate matches of the i-th-1 tracing point clicked on Row calculates；

Step is 2. when all candidate matches points of the i-th-1 tracing point are carried out above-mentioned calculating process, then to i-th tracing point 1. all candidate matches points perform step, repeat step 1., until selecting at least one coupling section, phase for each tracing point The candidate matches point answered is judged as match point；

Described step 3 also specifically includes following steps:

The match point of all of tracing point, according to sequence, is connected into a plurality of candidate row wheel paths by step (3), wherein, same The Different matching point of tracing point belongs to different candidate row wheel paths, candidate row wheel paths most for match point number is judged to Wheelpath；

Step (4) described wheelpath is through some sections, so that it is determined that coupling has k tracing point on each section.

8. traffic informations based on public transport GPS track data as claimed in claim 7 generate method, it is characterised in that

In described step (3), candidate row wheel paths as most in there is at least two match point numbers, the most respectively at least two The most candidate row wheel paths of match point number carries out calculated below:

For any bar candidate row wheel paths, its coupling has L tracing point, for azimuth difference absolute value α_{I, j}, projector distance d_{I, j}And the operating range S of this candidate row wheel paths is respectively allocated weight λ₁、λ₂And λ₃, wherein, the row of this candidate row wheel paths Sail the 1st operating range between tracing point and last tracing point that distance S is mated by this candidate row wheel paths, then count Calculate cumulative errors θ,

$\mathrm{\θ}={\mathrm{\λ}}_1\underset{i}{\overset{L}{\Σ}}{\mathrm{\α}}_{i,j}+{\mathrm{\λ}}_2\underset{i}{\overset{L}{\Σ}}{d}_{i,j}+{\mathrm{\λ}}_{3}s$

Wherein, the candidate row wheel paths that θ is minimum is judged to wheelpath, the azimuth difference absolute value of a tracing point α_{I, j}Absolute value for the azimuth difference in the matched section of this tracing point.

9. traffic informations based on public transport GPS track data as claimed in claim 8 generate method, it is characterised in that

In described step one, using the speed limit of a road segment segment as the relating attribute of corresponding line segment；

In described step (1), any one tracing point P_iCandidate matches section set judge process comprise the following steps:

In step the most described transit network data structure, with this tracing point for the center of circle with gps data precision for radial design one circle The relief area of shape, if intersecting with this relief area or tangent trunk section constitutes the set of candidate matches section；

Step is 2. when the instantaneous velocity of described tracing point is more than the speed limit in a candidate matches section, then by this candidate matches road Section, from the set rejecting of candidate matches section, when being such as less than equal to the speed limit in this candidate matches section, then retains；

Step is 3. such as the absolute value α of described tracing point and the azimuth difference in a candidate matches section_{I, j}＞ 90 °, then by this time Choosing coupling section is from the set rejecting of candidate matches section, such as 0≤α_{I, j}≤ 90 °, then retain.