CN105509753A - Map matching method and system based on floating car satellite positioning data - Google Patents
Map matching method and system based on floating car satellite positioning data Download PDFInfo
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- CN105509753A CN105509753A CN201510999581.9A CN201510999581A CN105509753A CN 105509753 A CN105509753 A CN 105509753A CN 201510999581 A CN201510999581 A CN 201510999581A CN 105509753 A CN105509753 A CN 105509753A
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention discloses a map matching method and system based on floating car satellite positioning data. The method includes the steps that grid division is carried out on a map according to a preset longitude interval and a preset latitude interval, and the floating car satellite positioning data is extracted according to a preset positioning data collecting period nTimeUp; the satellite positioning data comprises the car speed, the longitude and latitude and the course angle of each positioning point of a floating car; grids where the positioning points are located are determined according to the longitudes and latitudes of the positioning points, road segments in the grids where the positioning points are located are used as candidate road segments and added to a candidate road segment RoadSel, and road segments RoadSel IND where the positioning points are located are matched in the candidate road segment RoadSel. By means of the matching method and system, all the positioning points of the floating car are matched to the corresponding road segments to position a travelling path of the car, the problem that the positioned road segments are discontinuous due to large-interval positioning of the floating car is solved, and technical support is provided for urban road jamming analysis.
Description
Technical field
The present invention relates to intelligent transportation vehicle positioning technical field, be specifically related to a kind of map-matching method based on Floating Car satellite location data and system.
Background technology
Urban road traffic congestion analytical technology based on Floating Car satellite location data is considered to the important channel realizing advanced traffic guidance, based on Floating Car satellite location data DETECTION OF TRAFFIC PARAMETERS technology as a kind of new detection mode, how improving its detection perform is current key problem.Urban road congestion analysis mainly comprises the acquisition of Floating Car satellite location data, map match, route searching, road section traffic volume state and road network and to block up the contents such as calculating, communications policy.
Global position system comprises the GPS GPS of the U.S., the big-dipper satellite positioning system of China, GLONASS) and European Galilean satellite positioning system (GLOBALNAVIGATIONSATELLITESYSTEM is called for short: Muscovite GLONASS GPS (Global Position System).Global position system can provide real-time, round-the-clock and global navigation Service, the function such as vehicle location, travel route monitoring can be provided, round-the-clock, the high precision had and the feature automatically measured, incorporated each application of the development of the national economy, national defense construction and social development.Along with the sharply increase of city vehicle recoverable amount, urban road is crowded to capacity, and traffic hazard occurs again and again, and global position system is used for urban road congestion charge, will significantly improve the efficiency of urban road operation and increase the security of driving.
Floating vehicle data acquisition is retrieved as object with transport information, be different from vehicle-mounted end collection per second gps data, owing to considering economic factors, and the consideration of the real-time of background computer data processing, the cycle that the gps data of Floating Car gathers is general all at 20-60s, cause vehicle operating range in the cycle longer, several sections are differed between GPS anchor point, thus need to search for the path that may exist between the road of GPS anchor point place, and how to use the least possible data that the running orbit skin Ei in Floating Car spring is carried out jamming analysis to corresponding road, it is the important topic that road traffic congestion is analyzed, the present invention proposes a kind of urban road congestion computing method based on Floating Car satellite location data and system for this problem just.
Summary of the invention
For the defect existed in prior art, the object of the present invention is to provide a kind of map-matching method based on Floating Car satellite location data and system, by the method and system, the running orbit of Floating Car can be matched on correct section.
For achieving the above object, the technical solution used in the present invention is: a kind of map-matching method based on Floating Car satellite location data, comprises the following steps:
(1) according to the longitude interval of presetting and latitude interval, map is carried out stress and strain model;
(2) satellite location data of Floating Car is extracted according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises the car speed of the anchor point of Floating Car, longitude and latitude and course angle; Described course angle is radian value;
(3) grid at anchor point place is determined according to the longitude and latitude of anchor point, with alternatively section add in candidate road section set RoadSel, the section in the grid of anchor point place, in candidate road section set RoadSel, match the section RoadSelIND at anchor point place.
Further, a kind of map-matching method based on Floating Car satellite location data as above, in step (3), the matching way matching the section RoadSelIND at anchor point place in candidate road section set RoadSel is:
In calculated candidate section set RoadSel, the section weights in each section, are defined as the section RoadSelIND at anchor point place by the section of section maximum weight; The mode calculating section weights is:
A, determine according to the distance in anchor point and section and the distance weight w d in section determine that mode is:
If disti is the distance of anchor point and a certain section i, then the value of distance weight w d is: if disti<5m, then wd=1; If 5m≤disti≤100m, then wd=1-disti/100; If disti>100m, then wd=-1;
B, determine the course weights in section according to the absolute value of the difference of the course angle of anchor point and the road direction in section; Determine that mode is:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of a certain section i, then course weight w a=3*cos (detValAi);
The section weight w t=wa+wd in C, described a certain section.
Further, a kind of map-matching method based on Floating Car satellite location data as above, in step (3), match the section at anchor point place in candidate road section set RoadSel before, also comprise the step of screening the section in candidate road section set RoadSel, screening mode is:
1) according to the section in candidate road section set RoadSel, filter out section set indOnRoad1, the section in section set indOnRoad1 is the section that the line of the terminating point in the line of the starting point in anchor point and this section and the angle of road and anchor point and this section and the angle of road are acute angle;
2) indOnRoad2 is gathered in the section that the distance filtering out anchor point and section in section set indOnRoad1 is less than the section of distance error threshold value dErr_Dist;
3) indOnRoad3 is gathered in the section that the absolute value filtering out the difference of the course angle of anchor point and the road direction in section in section set indOnRoad2 is less than the section of course error threshold value dErr_Azm;
4) gathering indOnRoad3 with section is new candidate road section set, and the section of section being gathered section maximum weight in indOnRoad3 is defined as the section RoadSelIND at anchor point place.
Further, a kind of map-matching method based on Floating Car satellite location data as above, in step (3), the section of section being gathered section maximum weight in indOnRoad3 is defined as the section RoadSelIND at anchor point place, comprising:
1. remember that the section weights set that the section weights in each section in section set indOnRoad3 are formed is TWS, for weights maxTWS maximum in section weights set TWS and secondary large weights maxTWS2, judge whether to meet maxTWS > K × maxTWS2, if, section then corresponding to maxTWS is RoadSelIND, if not, then this section, anchor point place preliminary matches failure, enters step using this anchor point 2. mate again as current anchor point; Wherein, K > 1;
2. whether all the match is successful to judge former and later two anchor points of current anchor point, if not, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is defined as the section at anchor point place; If so, then the section of section maximum weight in the section comprised in the optimal path LnkID between former and later two sites described is defined as the section at anchor point place.
Further, a kind of map-matching method based on Floating Car satellite location data as above, the method also comprises the step arranging locator data analytical cycle nTimeCal, positions a coupling for place road every a locator data cycle to the satellite location data extracted in this cycle;
Step 1. in, in the failure of section, anchor point place preliminary matches, this anchor point is entered before 2. step mate as current anchor point again, also comprises:
Judge that whether this anchor point is first or last anchor point in current position determination data analytical cycle, if so, then determine that 2. it fails to match in this section, anchor point place, if not, then enter step.
Further, as above based on a map-matching method for Floating Car satellite location data, in step (2), after the satellite location data extracting Floating Car, also comprise the step of screening the satellite location data of each anchor point, screening mode is:
According to longitude and latitude and the mistiming of current anchor point anchor point last with it, calculate the vehicle average velocity between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.
Present invention also offers a kind of map match system based on Floating Car satellite location data, comprise map grid and divide module, locator data extraction module and section matching module;
Described map grid divides module, for map being carried out stress and strain model according to the longitude interval of presetting and latitude interval;
Locator data extraction module, for extracting the satellite location data of Floating Car according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises the car speed of each anchor point of Floating Car, longitude and latitude and course angle; Described course angle is radian value;
Section matching module, for determining the grid at anchor point place according to the longitude and latitude of each anchor point, with alternatively section add in candidate road section set RoadSel, the section in the grid of anchor point place, in candidate road section set RoadSel, match the section RoadSelIND at anchor point place.
Further, a kind of map match system based on Floating Car satellite location data as above, the matching way that described section matching module matches the section RoadSelIND at anchor point place in candidate road section set RoadSel is:
In calculated candidate section set RoadSel, the section weights in each section, are defined as the section RoadSelIND at anchor point place by the section of section maximum weight; The mode calculating section weights is:
A, determine according to the distance in anchor point and section and the distance weight w t in section determine that mode is:
If disti is the distance of anchor point and a certain section i, then the value of distance weight w d is: if disti<5m, then wd=1; If 5m≤disti≤100m, then wd=1-disti/100; If disti>100m, then wd=-1;
B, determine the course weights in section according to the absolute value of the difference of the course angle of anchor point and the road direction in section; Determine that mode is:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of a certain section i, then course weight w a=3*cos (detValAi);
The section weight w t=wa+wd in C, described a certain section.
Further, a kind of map match system based on Floating Car satellite location data as above, this system also comprises:
Section screening module, for match the section at anchor point place in candidate road section set RoadSel before, screens the section in candidate road section set RoadSel;
Section matching module positions a coupling in section, place using the section set after screening as new candidate road section set, new candidate road section is concentrated the section of section maximum weight to be defined as the section RoadSelIND at anchor point place;
Described section screening module comprises the first screening unit, the second screening unit and three screening unit,
First screening unit, for according to the section in candidate road section set RoadSel, filter out section set indOnRoad1, the section in section set indOnRoad1 is the section that the line of the terminating point in the line of the starting point in anchor point and this section and the angle of road and anchor point and this section and the angle of road are acute angle;
Second screening unit, indOnRoad2 is gathered in the section that the distance for filtering out anchor point and section in section set indOnRoad1 is less than the section of distance error threshold value dErr_Dist;
Three screening unit, indOnRoad3 is gathered in the section that absolute value for filtering out the difference of the course angle of anchor point and the road direction in section in section set indOnRoad2 is less than the section of course error threshold value dErr_Azm, and section set indOnRoad3 is new candidate road section set.
Further, a kind of map match system based on Floating Car satellite location data as above, the section weights set that in note section set indOnRoad3, the section weights in each section are formed is TWS; Described section matching module comprises:
Preliminary matches unit, for judging whether weights maxTWS maximum in section weights set TWS and time large weights maxTWS2 meets maxTWS > K × maxTWS2, if, section then corresponding to maxTWS is RoadSelIND, if not, then this section, anchor point place preliminary matches failure, enters matching unit again using this anchor point as current anchor point;
Matching unit again, for judging former and later two anchor points of current anchor point, whether all the match is successful, if not, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is defined as the section at anchor point place; If so, then the section of section maximum weight in the section comprised in the optimal path LnkID between former and later two sites described is defined as the section at anchor point place.
Further, a kind of map match system based on Floating Car satellite location data as above, described section matching module also comprises:
First and last anchor point judging unit, for failed at section, anchor point place preliminary matches, using this anchor point as before current anchor point enters again matching unit, judge that whether this anchor point is first or last anchor point in current position determination data analytical cycle, if so, then determine that it fails to match in this section, anchor point place; If not, then matching unit is again entered
Described locator data analytical cycle nTimeCal is preset value, and locator data extraction module positions a coupling for place road every a locator data cycle to the satellite location data extracted in this cycle.
Further, a kind of map match system based on Floating Car satellite location data as above, this system also comprises:
Locator data screening module, for after the satellite location data extracting Floating Car, to the step that the satellite location data of each anchor point screens, screening mode is:
According to longitude and latitude and the mistiming of current anchor point anchor point last with it, calculate the vehicle average velocity between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.
Beneficial effect of the present invention is: the map-matching method based on Floating Car satellite location data provided by the present invention and system, can each anchor point of Floating Car be matched on corresponding section, thus orient the running orbit of vehicle, solve Floating Car large-spacing location and cause the discontinuous problem in section, location, for urban road congestion analysis provides technical support.
Accompanying drawing explanation
A kind of process flow diagram of map-matching method based on Floating Car satellite location data of Fig. 1 for providing in embodiment one;
A kind of process flow diagram of map-matching method based on Floating Car satellite location data of Fig. 2 for providing in embodiment two;
A kind of process flow diagram of map-matching method based on Floating Car satellite location data of Fig. 3 for providing in embodiment three;
A kind of block diagram of map match system based on Floating Car satellite location data of Fig. 4 for providing in embodiment.
Embodiment
Below in conjunction with Figure of description and embodiment, the present invention is described in further detail.
Embodiment one
Fig. 1 shows the process flow diagram of a kind of map-matching method based on Floating Car satellite location data that the present embodiment provides, and as can be seen from Figure, the method can comprise the following steps:
Step S11: map is carried out stress and strain model according to the longitude interval of presetting and latitude interval;
In order to improve positioning precision, first gridding process is carried out to map in the present embodiment, to reduce the scope of position matching, concrete, first the longitude interval of longitudinal and latitudinal latitude interval is preset, according to the longitude interval set and latitude interval by map partitioning grid.
Longitude interval and latitude interval can need setting according to actual location, and longitude interval and latitude interval can be identical, also can be different, and in the present embodiment, described longitude interval and latitude interval can all be set to 100 meters.
Step S12: according to the satellite location data of the position data collecting periodicity extraction Floating Car preset;
Based on the satellite positioning device that Floating Car is installed, extract the satellite location data of Floating Car according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises car speed, the longitude and latitude and course angle etc. of Floating Car anchor point; In the present embodiment, described course angle is radian value.
Step S13: screen the satellite location data of each anchor point, gives up abnormal locator data;
For the satellite location data of each anchor point extracted, the distance of current anchor point and its last anchor point is gone out according to the calculation of longitude & latitude of current anchor point anchor point last with it, with the mistiming of this distance divided by two anchor point satellite location data acquisition times, calculate the vehicle average velocity Sp_Avg between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.Described setting speed can be arranged as required, and in present embodiment, described setting speed is 120km/h.
Step S14: the grid determining anchor point place according to the longitude and latitude of anchor point, is defined as section, anchor point place by the section of section maximum weight in the section in grid.
The grid at anchor point place is determined according to the longitude and latitude of each anchor point, with alternatively section add in candidate road section set RoadSel, the section in the grid of anchor point place, in candidate road section set RoadSel, match the section RoadSelIND at anchor point place.
In the present embodiment, the matching way matching the section RoadSelIND at anchor point place in candidate road section set RoadSel is:
In calculated candidate section set RoadSel, the section weights in each section, are defined as the section RoadSelIND at anchor point place by the section of section maximum weight; The mode calculating section weights is:
A, determine according to the distance in anchor point and section and the distance weight w d in section determine that mode is:
If disti is the distance of anchor point and a certain section i, then the value of distance weight w d is: if disti<5m, then wd=1; If 5m≤disti≤100, then wd=1-disti/100; If disti>100m, then wd=-1;
B, determine the course weights in section according to the absolute value of the difference of the course angle of anchor point and the road direction in section; Determine that mode is:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of a certain section i, then course weight w a=3*cos (detValAi);
The section weight w t=wa+wd in C, described a certain section.
Embodiment two
Fig. 2 shows the process flow diagram of a kind of map-matching method based on Floating Car satellite location data that the present embodiment provides, and as can be seen from Figure, the method can comprise the following steps:
Step S21: map is carried out stress and strain model according to the longitude interval of presetting and latitude interval;
In order to improve positioning precision, first gridding process is carried out to map in the present embodiment, to reduce the scope of position matching, concrete, first the longitude interval of longitudinal and latitudinal latitude interval is preset, according to the longitude interval set and latitude interval by map partitioning grid.
Longitude interval and latitude interval can need setting according to actual location, and longitude interval and latitude interval can be identical, also can be different, and in present embodiment, described longitude interval and latitude interval can all be set to 100 meters.
Step S22: according to the satellite location data of the position data collecting periodicity extraction Floating Car preset;
Based on the satellite positioning device that Floating Car is installed, extract the satellite location data of Floating Car according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises car speed, the longitude and latitude and course angle etc. of each anchor point of Floating Car; In present embodiment, described course angle is radian value.
Step S23: screen the satellite location data of each anchor point, gives up abnormal locator data;
For the satellite location data of each anchor point extracted, the distance of current anchor point and its last anchor point is gone out according to the calculation of longitude & latitude of current anchor point anchor point last with it, with the mistiming of this distance divided by two anchor point satellite location data acquisition times, calculate the vehicle average velocity Sp_Avg between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.Described setting speed can be arranged as required, and in present embodiment, described setting speed is 120km/h.
Step S24: the grid determining anchor point place according to the longitude and latitude of anchor point, by alternatively section add in candidate road section set RoadSel, the section in grid;
Step S25: the section in candidate road section set RoadSel is screened, obtain the new candidate road section set indOnRoad3 after screening, the section of section maximum weight in new candidate road section set indOnRoad3 is defined as the section RoadSelIND at anchor point place.
In the present embodiment, the section in candidate road section set RoadSel is screened, in new candidate road section set, determines that the mode in the section at anchor point place is:
1) according to the section in candidate road section set RoadSel, filter out section set indOnRoad1, the section in section set indOnRoad1 is the section that the line of the terminating point in the line of the starting point in anchor point and this section and the angle of road and anchor point and this section and the angle of road are acute angle;
2) distance filtering out anchor point distance section in section set indOnRoad1 is less than the section set indOnRoad2 in the section of distance error threshold value dErr_Dist;
3) indOnRoad3 is gathered in the section that the absolute value filtering out the difference of the course angle of anchor point and the road direction in section in section set indOnRoad2 is less than the section of course error threshold value dErr_Azm;
4) gathering indOnRoad3 with section is new candidate road section set, and the section of section being gathered section maximum weight in indOnRoad3 is defined as the section RoadSelIND at anchor point place.
Described distance error threshold value dErr_Dist and course error threshold value dErr_Azm can set as required, and in the present embodiment, distance error threshold value dErr_Dist can be set to 30m, and it is π/4 that course error threshold value can be set to 45 degree.
In new candidate road section set indOnRoad3, the account form of the section weights in each section is identical with the account form of a kind of section of above-described embodiment weights.
Embodiment three
Fig. 3 shows the process flow diagram of a kind of map-matching method based on Floating Car satellite location data that the present embodiment provides, and as can be seen from Figure, the method can comprise the following steps:
Step S31: map is carried out stress and strain model according to the longitude interval of presetting and latitude interval;
In order to improve positioning precision, first gridding process is carried out to map in the present embodiment, to reduce the scope of position matching, concrete, first the longitude interval of longitudinal and latitudinal latitude interval is preset, according to the longitude interval set and latitude interval by map partitioning grid.
Longitude interval and latitude interval can need setting according to actual location, and longitude interval and latitude interval can be identical, also can be different, and in present embodiment, described longitude interval and latitude interval can all be set to 100 meters.
Step S32: according to the satellite location data of the position data collecting periodicity extraction Floating Car preset;
Based on the satellite positioning device that Floating Car is installed, extract the satellite location data of Floating Car according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises car speed, the longitude and latitude and course angle etc. of each anchor point of Floating Car; In present embodiment, described course angle is radian value.
Step S33: screen the satellite location data of each anchor point, gives up abnormal locator data;
For the satellite location data of each anchor point extracted, the distance of current anchor point and its last anchor point is gone out according to the calculation of longitude & latitude of current anchor point anchor point last with it, with the mistiming of this distance divided by two anchor point satellite location data acquisition times, calculate the vehicle average velocity Sp_Avg between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.Described setting speed can be arranged as required, and in present embodiment, described setting speed is 120km/h.
Step S34: the grid determining anchor point place according to the longitude and latitude of anchor point, by alternatively section add in candidate road section set RoadSel, the section in grid;
Step S35: screen the section in candidate road section set RoadSel, obtains the new candidate road section set indOnRoad3 after screening, determines the section RoadSelIND at anchor point place in new candidate road section set indOnRoad3.
The screening mode of new candidate road section set indOnRoad3 is identical with the described mode in above-described embodiment two, after completing the screening of new candidate road section set indOnRoad3, calculate the section weights crossing each section comprised in candidate road section set indOnRoad3, account form is identical with the mode of a kind of described calculating section weights of above-described embodiment.
Afterwards, in new candidate road section set indOnRoad3, determine the section RoadSelIND at anchor point place according to the section weights in each section, the concrete mode determined is:
1. remember that the section weights set that the section weights in each section in section set indOnRoad3 are formed is TWS, for weights maxTWS maximum in section weights set TWS and secondary large weights maxTWS2, judge whether to meet maxTWS > K × maxTWS2, if, section then corresponding to maxTWS is RoadSelIND, if not, then this section, anchor point place preliminary matches failure enter step 2.; Wherein, K > 1; In the present embodiment, K=1.01;
2. judge that whether this anchor point is first or last anchor point in current position determination data analytical cycle nTimeCal, if so, then determine that 3. it fails to match in this section, anchor point place, if not, then enter step; Wherein, described locator data analytical cycle nTimeCal refers to one-period anchor point being carried out to section coupling, positions a coupling for place road every a locator data cycle to the satellite location data extracted in this cycle; Locator data analytical cycle nTimeCal is arranged as required, locator data analytical cycle nTimeCal > position data collecting cycle nTimeUp;
3. whether all the match is successful to judge former and later two anchor points of current anchor point, if not, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is defined as the section at anchor point place; If so, then the section of section maximum weight in the section comprised in the optimal path LnkID between former and later two sites described is defined as the section at anchor point place.
Certainly, if to comprising a section in new candidate road section set indOnRoad3, then this section is section, anchor point place.
Additionally provide a kind of map match system based on Floating Car satellite location data in present embodiment, as shown in Figure 4, this system comprises map grid and divides module 100, locator data extraction module 200 and section matching module 300.
Described map grid divides module 100, for map being carried out stress and strain model according to the longitude interval of presetting and latitude interval;
Locator data extraction module 200, for extracting the satellite location data of Floating Car according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises the car speed of each anchor point of Floating Car, longitude and latitude and course angle; Described course angle is radian value;
Section matching module 300, for determining the grid at anchor point place according to the longitude and latitude of each anchor point, with alternatively section add in candidate road section set RoadSel, the section in the grid of anchor point place, in candidate road section set RoadSel, match the section RoadSelIND at anchor point place; Matching way is:
In calculated candidate section set RoadSel, the section weights in each section, are defined as the section RoadSelIND at anchor point place by the section of section maximum weight; The mode calculating section weights is:
A, determine according to the distance in anchor point and section and the distance weight w t in section determine that mode is:
If disti is the distance of anchor point and a certain section i, then the value of distance weight w d is: if disti<5m, then wd=1; If 5m≤disti≤100m, then wd=1-disti/100; If disti>100m, then wd=-1;
B, determine the course weights in section according to the absolute value of the difference of the course angle of anchor point and the road direction in section; Determine that mode is:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of a certain section i, then course weight w a=3*cos (detValAi);
The section weight w t=wa+wd in C, described a certain section.
In present embodiment, this system can also comprise section screening module 400.
Section screening module 400, for match the section at anchor point place in candidate road section set RoadSel before, screens the section in candidate road section set RoadSel;
Section matching module positions a coupling in section, place using the section set after screening as new candidate road section set, new candidate road section is concentrated the section of section maximum weight to be defined as the section RoadSelIND at anchor point place;
Described section screening module 400 comprises the first screening unit, the second screening unit and three screening unit.
First screening unit 401, for according to the section in candidate road section set RoadSel, filter out section set indOnRoad1, the section in section set indOnRoad1 is the section that the line of the terminating point in the line of the starting point in anchor point and this section and the angle of road and anchor point and this section and the angle of road are acute angle;
Second screening unit 402, the distance for filtering out anchor point distance section in section set indOnRoad1 is less than the section set indOnRoad2 in the section of distance error threshold value dErr_Dist;
Three screening unit 403, indOnRoad3 is gathered in the section that absolute value for filtering out the difference of the course angle of anchor point and the road direction in section in section set indOnRoad2 is less than the section of course error threshold value dErr_Azm, and section set indOnRoad3 is new candidate road section set.
In present embodiment, the section weights set that in note section set indOnRoad3, the section weights in each section are formed is TWS; Described section matching module 300 comprises:
Preliminary matches unit 301, for judging whether weights maxTWS maximum in section weights set TWS and time large weights maxTWS2 meets maxTWS > K × maxTWS2, if, section then corresponding to maxTWS is RoadSelIND, if not, then this section, anchor point place preliminary matches failure, enters matching unit again using this anchor point as current anchor point;
Matching unit 303 again, for judging former and later two anchor points of current anchor point, whether all the match is successful, if not, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is defined as the section at anchor point place; If so, then the section of section maximum weight in the section comprised in the optimal path LnkID between former and later two sites described is defined as the section at anchor point place.
Described section matching module 300 can also comprise:
First and last anchor point judging unit 302, for failed at section, anchor point place preliminary matches, using this anchor point as before current anchor point enters again matching unit, judge that whether this anchor point is first or last anchor point in current position determination data analytical cycle, if, then determine that it fails to match in this section, anchor point place, if not, then enters matching unit again;
Described locator data analytical cycle nTimeCal is preset value, and locator data extraction module positions a coupling for place road every a locator data cycle to the satellite location data extracted in this cycle.
In present embodiment, this matching system also comprises:
Locator data screening module 500, for after the satellite location data extracting Floating Car, to the step that the satellite location data of each anchor point screens, screening mode is:
According to longitude and latitude and the mistiming of current anchor point anchor point last with it, calculate the vehicle average velocity between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technology thereof, then the present invention is also intended to comprise these change and modification.
Claims (12)
1., based on a map-matching method for Floating Car satellite location data, comprise the following steps:
(1) according to the longitude interval of presetting and latitude interval, map is carried out stress and strain model;
(2) satellite location data of Floating Car is extracted according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises the car speed of the anchor point of Floating Car, longitude and latitude and course angle; Described course angle is radian value;
(3) grid at anchor point place is determined according to the longitude and latitude of anchor point, with alternatively section add in candidate road section set RoadSel, the section in the grid of anchor point place, in candidate road section set RoadSel, match the section RoadSelIND at anchor point place.
2. a kind of map-matching method based on Floating Car satellite location data according to claim 1, it is characterized in that: in step (3), the matching way matching the section RoadSelIND at anchor point place in candidate road section set RoadSel is:
In calculated candidate section set RoadSel, the section weights in each section, are defined as the section RoadSelIND at anchor point place by the section of section maximum weight; The mode calculating section weights is:
A, determine according to the distance in anchor point and section and the distance weight w d in section determine that mode is:
If disti is the distance of anchor point and a certain section i, then the value of distance weight w d is: if disti<5m, then wd=1; If 5m≤disti≤100m, then wd=1-disti/100; If disti>100m, then wd=-1;
B, determine the course weights in section according to the absolute value of the difference of the course angle of anchor point and the road direction in section; Determine that mode is:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of a certain section i, then course weight w a=3*cos (detValAi);
The section weight w t=wa+wd in C, described a certain section.
3. a kind of map-matching method based on Floating Car satellite location data according to claim 1 and 2, it is characterized in that: in step (3), match the section at anchor point place in candidate road section set RoadSel before, also comprise the step of screening the section in candidate road section set RoadSel, screening mode is:
1) according to the section in candidate road section set RoadSel, filter out section set indOnRoad1, the section in section set indOnRoad1 is the section that the line of the terminating point in the line of the starting point in anchor point and this section and the angle of road and anchor point and this section and the angle of road are acute angle;
2) indOnRoad2 is gathered in the section that the distance filtering out anchor point and section in section set indOnRoad1 is less than the section of distance error threshold value dErr_Dist;
3) indOnRoad3 is gathered in the section that the absolute value filtering out the difference of the course angle of anchor point and the road direction in section in section set indOnRoad2 is less than the section of course error threshold value dErr_Azm;
4) gathering indOnRoad3 with section is new candidate road section set, and the section of section being gathered section maximum weight in indOnRoad3 is defined as the section RoadSelIND at anchor point place.
4. a kind of map-matching method based on Floating Car satellite location data according to claim 3, it is characterized in that: in step (3), the section of section being gathered section maximum weight in indOnRoad3 is defined as the section RoadSelIND at anchor point place, comprising:
1. remember that the section weights set that the section weights in each section in section set indOnRoad3 are formed is TWS, for weights maxTWS maximum in section weights set TWS and secondary large weights maxTWS2, judge whether to meet maxTWS > K × maxTWS2, if, section then corresponding to maxTWS is RoadSelIND, if not, then this section, anchor point place preliminary matches failure, enters step using this anchor point 2. mate again as current anchor point; Wherein, K > 1;
2. whether all the match is successful to judge former and later two anchor points of current anchor point, if not, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is defined as the section at anchor point place; If so, then the section of section maximum weight in the section comprised in the optimal path LnkID between former and later two sites described is defined as the section at anchor point place.
5. a kind of map-matching method based on Floating Car satellite location data according to claim 4, it is characterized in that: the method also comprises the step arranging locator data analytical cycle nTimeCal, every a locator data cycle, a coupling for place road is positioned to the satellite location data extracted in this cycle;
Step 1. in, in the failure of section, anchor point place preliminary matches, this anchor point is entered before 2. step mate as current anchor point again, also comprises:
Judge that whether this anchor point is first or last anchor point in current position determination data analytical cycle, if so, then determine that 2. it fails to match in this section, anchor point place, if not, then enter step.
6. a kind of map-matching method based on Floating Car satellite location data according to claim 1 and 2, it is characterized in that: in step (2), after the satellite location data extracting Floating Car, also comprise the step of screening the satellite location data of each anchor point, screening mode is:
According to longitude and latitude and the mistiming of current anchor point anchor point last with it, calculate the vehicle average velocity between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.
7., based on a map match system for Floating Car satellite location data, comprise map grid and divide module, locator data extraction module and section matching module;
Described map grid divides module, for map being carried out stress and strain model according to the longitude interval of presetting and latitude interval;
Locator data extraction module, for extracting the satellite location data of Floating Car according to the position data collecting cycle nTimeUp preset; Described satellite location data comprises the car speed of each anchor point of Floating Car, longitude and latitude and course angle; Described course angle is radian value;
Section matching module, for determining the grid at anchor point place according to the longitude and latitude of each anchor point, with alternatively section add in candidate road section set RoadSel, the section in the grid of anchor point place, in candidate road section set RoadSel, match the section RoadSelIND at anchor point place.
8. a kind of map match system based on Floating Car satellite location data according to claim 7, is characterized in that: the matching way that described section matching module matches the section RoadSelIND at anchor point place in candidate road section set RoadSel is:
In calculated candidate section set RoadSel, the section weights in each section, are defined as the section RoadSelIND at anchor point place by the section of section maximum weight; The mode calculating section weights is:
A, determine according to the distance in anchor point and section and the distance weight w t in section determine that mode is:
If disti is the distance of anchor point and a certain section i, then the value of distance weight w d is: if disti<5m, then wd=1; If 5m≤disti≤100m, then wd=1-disti/100; If disti>100m, then wd=-1;
B, determine the course weights in section according to the absolute value of the difference of the course angle of anchor point and the road direction in section; Determine that mode is:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of a certain section i, then course weight w a=3*cos (detValAi);
The section weight w t=wa+wd in C, described a certain section.
9. a kind of map match system based on Floating Car satellite location data according to claim 7 or 8, is characterized in that: this system also comprises:
Section screening module, for match the section at anchor point place in candidate road section set RoadSel before, screens the section in candidate road section set RoadSel;
Section matching module positions a coupling in section, place using the section set after screening as new candidate road section set, new candidate road section is concentrated the section of section maximum weight to be defined as the section RoadSelIND at anchor point place;
Described section screening module comprises the first screening unit, the second screening unit and three screening unit,
First screening unit, for according to the section in candidate road section set RoadSel, filter out section set indOnRoad1, the section in section set indOnRoad1 is the section that the line of the terminating point in the line of the starting point in anchor point and this section and the angle of road and anchor point and this section and the angle of road are acute angle;
Second screening unit, indOnRoad2 is gathered in the section that the distance for filtering out anchor point and section in section set indOnRoad1 is less than the section of distance error threshold value dErr_Dist;
Three screening unit, indOnRoad3 is gathered in the section that absolute value for filtering out the difference of the course angle of anchor point and the road direction in section in section set indOnRoad2 is less than the section of course error threshold value dErr_Azm, and section set indOnRoad3 is new candidate road section set.
10. a kind of map match system based on Floating Car satellite location data according to claim 9, is characterized in that: the section weights set that in note section set indOnRoad3, the section weights in each section are formed is TWS; Described section matching module comprises:
Preliminary matches unit, for judging whether weights maxTWS maximum in section weights set TWS and time large weights maxTWS2 meets maxTWS > K × maxTWS2, if, section then corresponding to maxTWS is RoadSelIND, if not, then this section, anchor point place preliminary matches failure, enters matching unit again using this anchor point as current anchor point;
Matching unit again, for judging former and later two anchor points of current anchor point, whether all the match is successful, if not, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is defined as the section at anchor point place; If so, then the section of section maximum weight in the section comprised in the optimal path LnkID between former and later two sites described is defined as the section at anchor point place.
11. a kind of map match systems based on Floating Car satellite location data according to claim 9, is characterized in that: described section matching module also comprises:
First and last anchor point judging unit, for failed at section, anchor point place preliminary matches, using this anchor point as before current anchor point enters again matching unit, judge that whether this anchor point is first or last anchor point in current position determination data analytical cycle, if so, then determine that it fails to match in this section, anchor point place; If not, then matching unit is again entered
Described locator data analytical cycle nTimeCal is preset value, and locator data extraction module positions a coupling for place road every a locator data cycle to the satellite location data extracted in this cycle.
12. a kind of map match systems based on Floating Car satellite location data according to claim 7 or 8, is characterized in that: this system also comprises:
Locator data screening module, for after the satellite location data extracting Floating Car, to the step that the satellite location data of each anchor point screens, screening mode is:
According to longitude and latitude and the mistiming of current anchor point anchor point last with it, calculate the vehicle average velocity between two anchor points, if vehicle average velocity Sp_Avg is greater than setting speed, then give up the satellite location data of current anchor point.
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