CN105509753B - A kind of map-matching method and system based on Floating Car satellite location data - Google Patents
A kind of map-matching method and system based on Floating Car satellite location data Download PDFInfo
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- CN105509753B CN105509753B CN201510999581.9A CN201510999581A CN105509753B CN 105509753 B CN105509753 B CN 105509753B CN 201510999581 A CN201510999581 A CN 201510999581A CN 105509753 B CN105509753 B CN 105509753B
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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 kind of map-matching method and system based on Floating Car satellite location data, this method comprises: map is carried out grid dividing according to preset longitude interval and latitude interval, the satellite location data of Floating Car is extracted according to preset position data collecting period nTimeUp；The satellite location data includes the car speed, longitude and latitude and course angle of each anchor point of Floating Car；The grid where anchor point is determined according to the longitude and latitude of anchor point, section where using anchor point in grid as candidate road section and is added in candidate road section set RoadSel, and the section RoadSel IND where anchor point is matched in candidate road section set RoadSel.The matching process and system, each anchor point of Floating Car can be matched on corresponding section, it to orient the running track of vehicle, solves the problems, such as that the positioning of Floating Car large-spacing causes positioning section discontinuous, provides technical support for urban road congestion analysis.
Description
Technical field
The present invention relates to intelligent transportation vehicle positioning technical fields, and in particular to one kind is based on Floating Car satellite digit
According to map-matching method and system.
Background technique
Urban road traffic congestion analytical technology based on Floating Car satellite location data is considered as realizing advanced friendship
The important channel of logical induction, based on the Floating Car satellite location data DETECTION OF TRAFFIC PARAMETERS technology detection mode new as one kind,
How to improve its detection performance is current key problem.Urban road congestion analysis mainly includes Floating Car satellite digit
According to the contents such as acquisition, map match, route searching, road section traffic volume state and road network congestion calculating, communications policy.
Global position system includes the Beidou satellite alignment system of the GPS geo-location system in the U.S., China, Russia
GLONASS Global Satellite Navigation System (GLOBAL NAVIGATION SATELLITE SYSTEM, referred to as: GLONASS) and
The Galilean satellite positioning system in Europe.Global position system is capable of providing real-time, round-the-clock and global navigation Service,
The functions such as vehicle location, travel route monitoring can be provided, the characteristics of the round-the-clock, high-precision and automatic measurement that have,
Each application field of the development of the national economy, national defense construction and social development is incorporated.Sharply with city vehicle ownership
Increasing, urban road is crowded to capacity, and traffic accident occurs again and again, global position system is charged for urban road congestion,
The efficiency of urban road operation will be significantly improved and increase the safety of driving.
Floating vehicle data acquisition is for the purpose of obtaining by traffic information, to be different from GPS number of vehicle-mounted end acquisition per second
The considerations of according to, real-time due to considering economic factor and background computer data processing, the GPS data acquisition of Floating Car
Period generally all in 20-60s, cause in the period vehicle driving distance longer, differ several sections between GPS positioning point,
To need to search for path that may be present between the road of GPS positioning point place, and how will be floated using data as few as possible
The running track of motor-car is matched on corresponding road and carries out jamming analysis, is that one of road traffic congestion analysis is important
Project, the present invention exactly propose a kind of based on the urban road congestion of Floating Car satellite location data for this problem
Calculate method and system.
Summary of the invention
In view of the deficiencies in the prior art, the purpose of the present invention is to provide one kind to be based on Floating Car satellite positioning
The running track of Floating Car can be matched to correctly by the map-matching method and system of data by this method and system
On section.
To achieve the above object, a kind of the technical solution adopted by the present invention are as follows: ground based on Floating Car satellite location data
Figure matching process, comprising the following steps:
(1) map is carried out by grid dividing according to preset longitude interval and latitude interval；
(2) satellite location data of Floating Car is extracted according to preset position data collecting period nTimeUp；It is described to defend
Star location data includes the car speed, longitude and latitude and course angle of the anchor point of Floating Car；The course angle is radian value；
(3) grid where anchor point is determined, according to the longitude and latitude of anchor point with the section in grid where anchor point
As candidate road section and it is added in candidate road section set RoadSel, matches positioning in candidate road section set RoadSel
Section RoadSelIND where point.
Further, a kind of map-matching method based on Floating Car satellite location data as described above, in step (3),
The matching way of the section RoadSelIND where anchor point is matched in candidate road section set RoadSel are as follows:
The section weight for calculating each section in candidate road section set RoadSel, the section of section maximum weight is determined as
Section RoadSelIND where anchor point；Calculate the mode of section weight are as follows:
A, determined at a distance from section according to anchor point section apart from weight w d, method of determination are as follows:
If disti is anchor point at a distance from certain a road section i, then apart from the value of weight w d are as follows: if disti < 5m,
Wd=1；If 5m≤disti≤100m, wd=1-disti/100；If disti > 100m, wd=-1；
B, determine that the course in section is weighed according to the absolute value of the course angle of anchor point and the difference of the road direction in section
Value；Method of determination are as follows:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of certain a road section i, then course
Weight w a=3*cos (detValAi)；
C, the section weight w t=wa+wd of certain described a road section.
Further, a kind of map-matching method based on Floating Car satellite location data as described above, in step (3),
It further include to candidate road section set before matching the section where anchor point in candidate road section set RoadSel
The step of section in RoadSel is screened, screening mode are as follows:
1) according to the section in candidate road section set RoadSel, section set indOnRoad1, section set are filtered out
Section in indOnRoad1 is the line of starting point and the angle of road and anchor point in anchor point and the section and the section
The line of terminating point and the angle of road be acute angle section；
2) anchor point is filtered out in the set indOnRoad1 of section is less than range error threshold value at a distance from section
The section set indOnRoad2 in the section of dErr_Dist；
3) difference of the course angle of anchor point and the road direction in section is filtered out in the set indOnRoad2 of section
The section set indOnRoad3 in section of the absolute value less than course error threshold value dErr_Azm；
4) with section set indOnRoad3 for new candidate road section set, by section in the set indOnRoad3 of section
The section of maximum weight is determined as the section RoadSelIND where anchor point.
Further, a kind of map-matching method based on Floating Car satellite location data as described above, in step (3),
The section RoadSelIND section of section maximum weight in the set indOnRoad3 of section being determined as where anchor point, packet
It includes:
1. the section weight collection that the section weight in each section is constituted in note section set indOnRoad3 is combined into TWS, for
Maximum weight maxTWS and time big weight maxTWS2 in the weight set TWS of section, judge whether to meet maxTWS > K ×
MaxTWS2, if so, section corresponding to maxTWS is RoadSelIND, if it is not, then preliminary of section where the anchor point
With failure, 2. matched again using the anchor point as current anchor point and entering step；Wherein, K > 1；
2. the whether equal successful match of former and later two anchor points of current anchor point is judged, if it is not, then by current anchor point
The section of section maximum weight is determined as the section where anchor point in candidate road section set RoadSel；If so, will be described
The section of section maximum weight is determined as fixed in section included in optimal path LnkID between former and later two sites
Section where site.
Further, a kind of map-matching method based on Floating Car satellite location data as described above, this method are also wrapped
The step of including setting location data analytical cycle nTimeCal, defends every a location data period to what is extracted in the period
The matching of road where star location data carries out anchor point；
Step 1. in, where anchor point section preliminary matches fail, which as current anchor point and is entered
2. step is matched again before, further includes:
Judge whether the anchor point is first or the last one anchor point in current position determination data analytical cycle, if
It is, it is determined that it fails to match in section where the anchor point, if it is not, then entering step 2..
Further, a kind of map-matching method based on Floating Car satellite location data as described above, in step (2),
After the satellite location data for extracting Floating Car, further include the steps that the satellite location data to each anchor point screens,
Screening mode are as follows:
According to the longitude and latitude and time difference of current anchor point and its previous anchor point, calculate between two anchor points
Average vehicle speed gives up the satellite digit of current anchor point if average vehicle speed Sp_Avg is greater than setting speed
According to.
The present invention also provides a kind of map match systems based on Floating Car satellite location data, including map grid
Division module, location data extraction module and section matching module；
The map grid division module, for map to be carried out grid according to preset longitude interval and latitude interval
It divides；
Location data extraction module, for extracting defending for Floating Car according to preset position data collecting period nTimeUp
Star location data；The satellite location data includes the car speed, longitude and latitude and course angle of each anchor point of Floating Car；Institute
Stating course angle is radian value；
Section matching module, for determining the grid where anchor point according to the longitude and latitude of each anchor point, with positioning
Section where point in grid as candidate road section and is added in candidate road section set RoadSel, in candidate road section set
The section RoadSelIND where anchor point is matched in RoadSel.
Further, a kind of map match system based on Floating Car satellite location data as described above, the section
The matching way of the section RoadSelIND where anchor point is matched in candidate road section set RoadSel with module are as follows:
The section weight for calculating each section in candidate road section set RoadSel, the section of section maximum weight is determined as
Section RoadSelIND where anchor point；Calculate the mode of section weight are as follows:
A, determined at a distance from section according to anchor point section apart from weight w t, method of determination are as follows:
If disti is anchor point at a distance from certain a road section i, then apart from the value of weight w d are as follows: if disti < 5m,
Wd=1；If 5m≤disti≤100m, wd=1-disti/100；If disti > 100m, wd=-1；
B, determine that the course in section is weighed according to the absolute value of the course angle of anchor point and the difference of the road direction in section
Value；Method of determination are as follows:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of certain a road section i, then course
Weight w a=3*cos (detValAi)；
C, the section weight w t=wa+wd of certain described a road section.
Further, a kind of map match system based on Floating Car satellite location data as described above, the system are also wrapped
It includes:
Section screening module, for before matching the section where anchor point in candidate road section set RoadSel,
Section in candidate road section set RoadSel is screened；
Section where section matching module carries out anchor point as new candidate road section set using the section set after screening
Matching, concentrate the section of section maximum weight to be determined as section RoadSelIND where anchor point new candidate road section；
The section screening module includes the first screening unit, the second screening unit and third filtering unit,
First screening unit, for filtering out section set according to the section in candidate road section set RoadSel
Section in indOnRoad1, section set indOnRoad1 is the line and road of anchor point and the starting point in the section
The line of terminating point and the angle of road in angle and anchor point and the section are the section of acute angle；
Second screening unit is less than at a distance from section for filtering out anchor point in the set indOnRoad1 of section
The section set indOnRoad2 in the section of range error threshold value dErr_Dist；
Third filtering unit, for filtering out in the set indOnRoad2 of section course angle and the section of anchor point
The section set indOnRoad3 in section of the absolute value of the difference of road direction less than course error threshold value dErr_Azm, road
Duan Jihe indOnRoad3 is new candidate road section set.
Further, a kind of map match system based on Floating Car satellite location data as described above, note section set
The section weight collection that the section weight in each section is constituted in indOnRoad3 is combined into TWS；The section matching module includes:
Preliminary matches unit, for judging maximum weight maxTWS and secondary big weight in the weight set TWS of section
Whether maxTWS2 meets maxTWS > K × maxTWS2, if so, section corresponding to maxTWS is RoadSelIND, if
No, then the anchor point is entered matching unit again by preliminary matches failure in section where the anchor point；
Matching unit again, the whether equal successful match of former and later two anchor points for judging current anchor point, if it is not,
The section of section maximum weight in the candidate road section set RoadSel of current anchor point is then determined as to the road where anchor point
Section；If so, most by section weight in section included in the optimal path LnkID between former and later two sites
Big section is determined as the section where anchor point.
Further, a kind of map match system based on Floating Car satellite location data as described above, the section
With module further include:
First and last anchor point judging unit fails for the section preliminary matches where anchor point, using the anchor point as working as
Prelocalization point enters again before matching unit, judge the anchor point whether be in current position determination data analytical cycle first
A or the last one anchor point, if so, it fails to match in section where determining the anchor point；If it is not, it is single then to enter matching again
Member
The location data analytical cycle nTimeCal is preset value, and location data extraction module is every a positioning number
The matching of road where carrying out anchor point to the satellite location data extracted in the period according to the period.
Further, a kind of map match system based on Floating Car satellite location data as described above, the system are also wrapped
It includes:
Location data screening module, for extract Floating Car satellite location data after, to the satellite of each anchor point
The step of location data is screened, screening mode are as follows:
According to the longitude and latitude and time difference of current anchor point and its previous anchor point, calculate between two anchor points
Average vehicle speed gives up the satellite digit of current anchor point if average vehicle speed Sp_Avg is greater than setting speed
According to.
The beneficial effects of the present invention are: the map match side provided by the present invention based on Floating Car satellite location data
Each anchor point of Floating Car can be matched on corresponding section by method and system, to orient the operation rail of vehicle
Mark, solves the problems, such as that the positioning of Floating Car large-spacing causes positioning section discontinuous, provides skill for urban road congestion analysis
Art is supported.
Detailed description of the invention
Fig. 1 is a kind of process of the map-matching method based on Floating Car satellite location data provided in embodiment one
Figure；
Fig. 2 is a kind of process of the map-matching method based on Floating Car satellite location data provided in embodiment two
Figure；
Fig. 3 is a kind of process of the map-matching method based on Floating Car satellite location data provided in embodiment three
Figure；
Fig. 4 is a kind of map match system based on Floating Car satellite location data provided in specific embodiment
Block diagram.
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawings of the specification.
Embodiment one
Fig. 1 shows a kind of stream of map-matching method based on Floating Car satellite location data provided in this embodiment
Cheng Tu, as can be seen from Figure, this method may comprise steps of:
Step S11: map is carried out by grid dividing according to preset longitude interval and latitude interval；
In order to improve positioning accuracy, to map first carries out gridding processing in the present embodiment, to reduce position matching
Range, specifically, the longitude interval and latitudinal latitude interval of longitudinal default first, according to the longitude set
Interval and latitude interval are by map partitioning grid.
Longitude interval and latitude interval can need to set according to actual location, and longitude interval and latitude interval can phases
Together, it can also be different, in the present embodiment, the longitude interval and latitude interval can be disposed as 100 meters.
Step S12: according to the satellite location data of preset position data collecting periodicity extraction Floating Car；
Based on the satellite positioning device installed in Floating Car, extracted according to preset position data collecting period nTimeUp
The satellite location data of Floating Car；The satellite location data includes the car speed, longitude and latitude and course of Floating Car anchor point
Angle etc.；In the present embodiment, the course angle is radian value.
Step S13: screening the satellite location data of each anchor point, gives up abnormal location data；
For the satellite location data of each anchor point extracted, according to current anchor point and its previous anchor point
Calculation of longitude & latitude goes out the distance of current anchor point He its previous anchor point, with the distance divided by two anchor point satellite digits
According to the time difference of acquisition time, the average vehicle speed Sp_Avg between two anchor points is calculated, if average vehicle speed
Sp_Avg is greater than setting speed, then gives up the satellite location data of current anchor point.The setting speed can according to need into
Row is arranged, and in present embodiment, the setting speed is 120km/h.
Step S14: determining the grid where anchor point according to the longitude and latitude of anchor point, by the section Road in grid
The section of section maximum weight is determined as section where anchor point.
Determine the grid where anchor point, according to the longitude and latitude of each anchor point with the road in grid where anchor point
Duan Zuowei candidate road section is simultaneously added in candidate road section set RoadSel, and it is fixed to match in candidate road section set RoadSel
Section RoadSelIND where site.
In the present embodiment, match the section RoadSelIND's where anchor point in candidate road section set RoadSel
Matching way are as follows:
The section weight for calculating each section in candidate road section set RoadSel, the section of section maximum weight is determined as
Section RoadSelIND where anchor point；Calculate the mode of section weight are as follows:
A, determined at a distance from section according to anchor point section apart from weight w d, method of determination are as follows:
If disti is anchor point at a distance from certain a road section i, then apart from the value of weight w d are as follows: if disti < 5m,
Wd=1；If 5m≤disti≤100, wd=1-disti/100；If disti > 100m, wd=-1；
B, determine that the course in section is weighed according to the absolute value of the course angle of anchor point and the difference of the road direction in section
Value；Method of determination are as follows:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of certain a road section i, then course
Weight w a=3*cos (detValAi)；
C, the section weight w t=wa+wd of certain described a road section.
Embodiment two
Fig. 2 shows a kind of streams of the map-matching method based on Floating Car satellite location data provided in this embodiment
Cheng Tu, as can be seen from Figure, this method may comprise steps of:
Step S21: map is carried out by grid dividing according to preset longitude interval and latitude interval；
In order to improve positioning accuracy, to map first carries out gridding processing in the present embodiment, to reduce position matching
Range, specifically, the longitude interval and latitudinal latitude interval of longitudinal default first, according to the longitude set
Interval and latitude interval are by map partitioning grid.
Longitude interval and latitude interval can need to set according to actual location, and longitude interval and latitude interval can phases
Together, it can also be different, in present embodiment, the longitude interval and latitude interval can be disposed as 100 meters.
Step S22: according to the satellite location data of preset position data collecting periodicity extraction Floating Car；
Based on the satellite positioning device installed in Floating Car, extracted according to preset position data collecting period nTimeUp
The satellite location data of Floating Car；The satellite location data include the car speed of each anchor point of Floating Car, longitude and latitude and
Course angle etc.；In present embodiment, the course angle is radian value.
Step S23: screening the satellite location data of each anchor point, gives up abnormal location data；
For the satellite location data of each anchor point extracted, according to current anchor point and its previous anchor point
Calculation of longitude & latitude goes out the distance of current anchor point He its previous anchor point, with the distance divided by two anchor point satellite digits
According to the time difference of acquisition time, the average vehicle speed Sp_Avg between two anchor points is calculated, if average vehicle speed
Sp_Avg is greater than setting speed, then gives up the satellite location data of current anchor point.The setting speed can according to need into
Row is arranged, and in present embodiment, the setting speed is 120km/h.
Step S24: determining the grid where anchor point according to the longitude and latitude of anchor point, using the section in grid as
Candidate road section is simultaneously added in candidate road section set RoadSel；
Step S25: screening the section in candidate road section set RoadSel, the new candidate road after being screened
The section of section maximum weight in new candidate road section set indOnRoad3 is determined as positioning by Duan Jihe indOnRoad3
Section RoadSel IND where point.
In the present embodiment, the section in candidate road section set RoadSel is screened, in new candidate road section set
The mode in the section where middle determining anchor point are as follows:
1) according to the section in candidate road section set RoadSel, section set indOnRoad1, section set are filtered out
Section in indOnRoad1 is the line of starting point and the angle of road and anchor point in anchor point and the section and the section
The line of terminating point and the angle of road be acute angle section；
2) distance of the anchor point apart from section is filtered out in the set indOnRoad1 of section less than range error threshold value
The section set indOnRoad2 in the section of dErr_Dist；
3) difference of the course angle of anchor point and the road direction in section is filtered out in the set indOnRoad2 of section
The section set indOnRoad3 in section of the absolute value less than course error threshold value dErr_Azm；
4) with section set indOnRoad3 for new candidate road section set, by section in the set indOnRoad3 of section
The section of maximum weight is determined as the section RoadSelIND where anchor point.
The range error threshold value dErr_Dist and course error threshold value dErr_Azm can according to need and set,
In the present embodiment, range error threshold value dErr_Dist can be set to 30m, course error threshold value can be set to 45 degree i.e. π/
4。
The calculation of the section weight in each section and above-described embodiment one in new candidate road section set indOnRoad3
The calculation of kind section weight is identical.
Embodiment three
Fig. 3 shows a kind of stream of map-matching method based on Floating Car satellite location data provided in this embodiment
Cheng Tu, as can be seen from Figure, this method may comprise steps of:
Step S31: map is carried out by grid dividing according to preset longitude interval and latitude interval；
In order to improve positioning accuracy, to map first carries out gridding processing in the present embodiment, to reduce position matching
Range, specifically, the longitude interval and latitudinal latitude interval of longitudinal default first, according to the longitude set
Interval and latitude interval are by map partitioning grid.
Longitude interval and latitude interval can need to set according to actual location, and longitude interval and latitude interval can phases
Together, it can also be different, in present embodiment, the longitude interval and latitude interval can be disposed as 100 meters.
Step S32: according to the satellite location data of preset position data collecting periodicity extraction Floating Car；
Based on the satellite positioning device installed in Floating Car, extracted according to preset position data collecting period nTimeUp
The satellite location data of Floating Car；The satellite location data include the car speed of each anchor point of Floating Car, longitude and latitude and
Course angle etc.；In present embodiment, the course angle is radian value.
Step S33: screening the satellite location data of each anchor point, gives up abnormal location data；
For the satellite location data of each anchor point extracted, according to current anchor point and its previous anchor point
Calculation of longitude & latitude goes out the distance of current anchor point He its previous anchor point, with the distance divided by two anchor point satellite digits
According to the time difference of acquisition time, the average vehicle speed Sp_Avg between two anchor points is calculated, if average vehicle speed
Sp_Avg is greater than setting speed, then gives up the satellite location data of current anchor point.The setting speed can according to need into
Row is arranged, and in present embodiment, the setting speed is 120km/h.
Step S34: determining the grid where anchor point according to the longitude and latitude of anchor point, using the section in grid as
Candidate road section is simultaneously added in candidate road section set RoadSel；
Step S35: screening the section in candidate road section set RoadSel, the new candidate road after being screened
Duan Jihe indOnRoad3, the section RoadSel where determining anchor point in new candidate road section set indOnRoad3
IND。
The screening mode of new candidate road section set indOnRoad3 and the documented mode phase in above-described embodiment two
Together, it after the screening for completing new candidate road section set indOnRoad3, calculates to cross in candidate road section set indOnRoad3 and wrap
The section weight in each section contained, calculation are identical as a kind of documented calculating mode of section weight of above-described embodiment.
Later, anchor point is determined in new candidate road section set indOnRoad3 according to the section weight in each section
The section RoadSel IND at place, determining concrete mode are as follows:
1. the section weight collection that the section weight in each section is constituted in note section set indOnRoad3 is combined into TWS, for
Maximum weight maxTWS and time big weight maxTWS2 in the weight set TWS of section, judge whether to meet maxTWS > K ×
MaxTWS2, if so, section corresponding to maxTWS is RoadSelIND, if it is not, then preliminary of section where the anchor point
With failure and enter step 2.；Wherein, K > 1；In the present embodiment, K=1.01；
2. judge the anchor point whether be first in current position determination data analytical cycle nTimeCal or the last one
Anchor point, if so, it fails to match in section where determining the anchor point, if it is not, then entering step 3.；Wherein, the positioning number
It refers to carrying out the matched a cycle in section to anchor point according to analytical cycle nTimeCal, every a location data period
The matching of road where carrying out anchor point to the satellite location data extracted in the period；Location data analytical cycle
NTimeCal is configured as needed, location data analytical cycle nTimeCal > position data collecting period nTimeUp；
3. the whether equal successful match of former and later two anchor points of current anchor point is judged, if it is not, then by current anchor point
The section of section maximum weight is determined as the section where anchor point in candidate road section set RoadSel；If so, will be described
The section of section maximum weight is determined as fixed in section included in optimal path LnkID between former and later two sites
Section where site.
Certainly, if the section is to position to comprising a section in new candidate road section set indOnRoad3
Section where point.
A kind of map match system based on Floating Car satellite location data is additionally provided in present embodiment, such as Fig. 4 institute
Show, which includes map grid division module 100, location data extraction module 200 and section matching module 300.
The map grid division module 100, for map to be carried out net according to preset longitude interval and latitude interval
Lattice divide；
Location data extraction module 200, for extracting Floating Car according to preset position data collecting period nTimeUp
Satellite location data；The satellite location data includes the car speed, longitude and latitude and course of each anchor point of Floating Car
Angle；The course angle is radian value；
Section matching module 300, for determining the grid where anchor point according to the longitude and latitude of each anchor point, with
Section where anchor point in grid as candidate road section and is added in candidate road section set RoadSel, in candidate road section collection
Close the section RoadSelIND matched where anchor point in RoadSel；Matching way are as follows:
The section weight for calculating each section in candidate road section set RoadSel, the section of section maximum weight is determined as
Section RoadSelIND where anchor point；Calculate the mode of section weight are as follows:
A, determined at a distance from section according to anchor point section apart from weight w t, method of determination are as follows:
If disti is anchor point at a distance from certain a road section i, then apart from the value of weight w d are as follows: if disti < 5m,
Wd=1；If 5m≤disti≤100m, wd=1-disti/100；If disti > 100m, wd=-1；
B, determine that the course in section is weighed according to the absolute value of the course angle of anchor point and the difference of the road direction in section
Value；Method of determination are as follows:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of certain a road section i, then course
Weight w a=3*cos (detValAi)；
C, the section weight w t=wa+wd of certain described a road section.
In present embodiment, which can also include section screening module 400.
Section screening module 400, for matched in candidate road section set RoadSel section where anchor point it
Before, the section in candidate road section set RoadSel is screened；
Section where section matching module carries out anchor point as new candidate road section set using the section set after screening
Matching, concentrate the section of section maximum weight to be determined as section RoadSelIND where anchor point new candidate road section；
The section screening module 400 includes the first screening unit, the second screening unit and third filtering unit.
First screening unit 401, for filtering out section set according to the section in candidate road section set RoadSel
Section in indOnRoad1, section set indOnRoad1 is the line and road of anchor point and the starting point in the section
The line of terminating point and the angle of road in angle and anchor point and the section are the section of acute angle；
Second screening unit 402, for filtering out distance of the anchor point apart from section in the set indOnRoad1 of section
The section set indOnRoad2 in the section less than range error threshold value dErr_Dist；
Third filtering unit 403, for filtering out course angle and the section of anchor point in the set indOnRoad2 of section
Road direction difference absolute value less than course error threshold value dErr_Azm section section set indOnRoad3,
Section set indOnRoad3 is new candidate road section set.
In present embodiment, the section weight collection that the section weight in each section in section set indOnRoad3 is constituted is remembered
It is combined into TWS；The section matching module 300 includes:
Preliminary matches unit 301, for judging maximum weight maxTWS and secondary big power in the weight set TWS of section
Whether value maxTWS2 meets maxTWS > K × maxTWS2, if so, section corresponding to maxTWS is RoadSelIND, if
No, then the anchor point is entered matching unit again by preliminary matches failure in section where the anchor point；
Matching unit 303 again, the whether equal successful match of former and later two anchor points for judging current anchor point, if
It is no, then the section of section maximum weight in the candidate road section set RoadSel of current anchor point is determined as where anchor point
Section；If so, by section weight in section included in the optimal path LnkID between former and later two sites
Maximum section is determined as the section where anchor point.
The section matching module 300 can also include:
First and last anchor point judging unit 302 fails for the section preliminary matches where anchor point, which is made
Before entering matching unit again for current anchor point, judge whether the anchor point is in current position determination data analytical cycle
First or the last one anchor point match if so, it fails to match in section where determining the anchor point if it is not, then entering again
Unit；
The location data analytical cycle nTimeCal is preset value, and location data extraction module is every a positioning number
The matching of road where carrying out anchor point to the satellite location data extracted in the period according to the period.
In present embodiment, the matching system further include:
Location data screening module 500, for extract Floating Car satellite location data after, to each anchor point
The step of satellite location data is screened, screening mode are as follows:
According to the longitude and latitude and time difference of current anchor point and its previous anchor point, calculate between two anchor points
Average vehicle speed gives up the satellite digit of current anchor point if average vehicle speed Sp_Avg is greater than setting speed
According to.
Obviously, various changes and modifications can be made to the invention without departing from of the invention by those skilled in the art
Spirit and scope.In this way, if these modifications and changes of the present invention belongs to the model of the claims in the present invention and its equivalent technology
Within enclosing, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of map-matching method based on Floating Car satellite location data, comprising the following steps:
(1) map is carried out by grid dividing according to preset longitude interval and latitude interval；
(2) satellite location data of Floating Car is extracted according to preset position data collecting period nTimeUp；The satellite positioning
Data include the car speed, longitude and latitude and course angle of the anchor point of Floating Car；The course angle is radian value；
(3) grid where anchor point is determined according to the longitude and latitude of anchor point, using the section in grid where anchor point as
Candidate road section is simultaneously added in candidate road section set RoadSel, filters out section from the section in candidate road section set RoadSel
Set indOnRoad3, and using section set indOnRoad3 as new candidate road section set, calculate section set
The section of section maximum weight, is determined as the section where anchor point by the section weight in each section in indOnRoad3
RoadSelIND is specifically included:
1. the section weight collection that the section weight in each section is constituted in note section set indOnRoad3 is combined into TWS, for section
Maximum weight maxTWS and time big weight maxTWS2 in weight set TWS, judge whether to meet maxTWS > K ×
MaxTWS2, if so, section corresponding to maxTWS is RoadSelIND, if it is not, then section preliminary matches where the anchor point
2. failure is matched again using the anchor point as current anchor point and entering step；Wherein, K > 1；
2. the whether equal successful match of former and later two anchor points of current anchor point is judged, if it is not, then by the candidate of current anchor point
The section of section maximum weight is determined as the section where anchor point in the set RoadSel of section；If so, by the front and back two
The section of section maximum weight is determined as where anchor point in section included in optimal path LnkID between a site
Section；
Wherein, the mode of section weight is calculated are as follows:
A, determined at a distance from section according to anchor point section apart from weight w d；
B, the course weight w a in section is determined according to the absolute value of the course angle of anchor point and the difference of the road direction in section；
C, the section weight w t=wa+wd of certain a road section.
2. a kind of map-matching method based on Floating Car satellite location data according to claim 1, it is characterised in that:
In step (3), the matching way of the section RoadSelIND where anchor point is matched in the set indOnRoad3 of section are as follows:
The section weight for calculating each section in section set indOnRoad3, is determined as anchor point for the section of section maximum weight
The section RoadSelIND at place；Calculate the mode of section weight are as follows:
A, determined at a distance from section according to anchor point section apart from weight w d, method of determination are as follows:
If disti is anchor point at a distance from certain a road section i, then apart from the value of weight w d are as follows: if disti < 5m, wd=1；
If 5m≤disti≤100m, wd=1-disti/100；If disti > 100m, wd=-1；
B, the course weight in section is determined according to the absolute value of the course angle of anchor point and the difference of the road direction in section；Really
Determine mode are as follows:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of certain a road section i, then course weight
Wa=3*cos (detValAi)；
C, the section weight w t=wa+wd of certain described a road section.
3. a kind of map-matching method based on Floating Car satellite location data according to claim 1 or 2, feature exist
In: in step (3), the screening mode of section set indOnRoad3 is filtered out from the section in candidate road section set RoadSel
Are as follows:
1) according to the section in candidate road section set RoadSel, section set indOnRoad1, section set are filtered out
Section in indOnRoad1 is the line of starting point and the angle of road and anchor point in anchor point and the section and the section
The line of terminating point and the angle of road be acute angle section；
2) anchor point is filtered out in the set indOnRoad1 of section is less than range error threshold value dErr_Dist at a distance from section
Section section set indOnRoad2；
3) the absolute of the difference of the course angle of anchor point and the road direction in section is filtered out in the set indOnRoad2 of section
The section set indOnRoad3 in section of the value less than course error threshold value dErr_Azm；
4) with section set indOnRoad3 for new candidate road section set, most by section weight in the set indOnRoad3 of section
Big section is determined as the section RoadSelIND where anchor point.
4. a kind of map-matching method based on Floating Car satellite location data according to claim 1, it is characterised in that:
This method further includes the steps that location data analytical cycle nTimeCal is arranged, every a location data period in the period
The matching of road where the satellite location data of extraction carries out anchor point；
Step 1. in, where anchor point section preliminary matches fail, which as current anchor point and is entered step
2. before being matched again, further includes:
Judge whether the anchor point is first or the last one anchor point in current position determination data analytical cycle, if so,
It fails to match in section where determining the anchor point, if it is not, then entering step 2..
5. a kind of map-matching method based on Floating Car satellite location data according to claim 1 or 2, feature exist
In: in step (2), after the satellite location data for extracting Floating Car, further include to the satellite location data of each anchor point into
The step of row screening, screening mode are as follows:
According to the longitude and latitude and time difference of current anchor point and its previous anchor point, the vehicle calculated between two anchor points is flat
Equal speed gives up the satellite location data of current anchor point if average vehicle speed Sp_Avg is greater than setting speed.
6. a kind of map match system based on Floating Car satellite location data, including map grid division module, location data
Extraction module and section matching module；
The map grid division module, for map to be carried out grid dividing according to preset longitude interval and latitude interval；
Location data extraction module, for extracting the satellite of Floating Car according to preset position data collecting period nTimeUp
Position data；The satellite location data includes the car speed, longitude and latitude and course angle of each anchor point of Floating Car；The course
Angle is radian value；
Section matching module, for determining the grid where anchor point according to the longitude and latitude of each anchor point, with anchor point institute
Section in grid as candidate road section and is added in candidate road section set RoadSel, from candidate road section set RoadSel
In section filter out section set indOnRoad3, and using section set indOnRoad3 as new candidate road section set,
The section of section maximum weight is determined as where anchor point by the section weight for calculating each section in section set indOnRoad3
Section RoadSelIND, specifically include:
1. the section weight collection that the section weight in each section is constituted in note section set indOnRoad3 is combined into TWS, for section
Maximum weight maxTWS and time big weight maxTWS2 in weight set TWS, judge whether to meet maxTWS > K ×
MaxTWS2, if so, section corresponding to maxTWS is RoadSelIND, if it is not, then section preliminary matches where the anchor point
2. failure is matched again using the anchor point as current anchor point and entering step；Wherein, K > 1；
2. the whether equal successful match of former and later two anchor points of current anchor point is judged, if it is not, then by the candidate of current anchor point
The section of section maximum weight is determined as the section where anchor point in the set RoadSel of section；If so, by the front and back two
The section of section maximum weight is determined as where anchor point in section included in optimal path LnkID between a site
Section；
Wherein, the mode of section weight is calculated are as follows:
A, determined at a distance from section according to anchor point section apart from weight w d；
B, the course weight w a in section is determined according to the absolute value of the course angle of anchor point and the difference of the road direction in section；
C, the section weight w t=wa+wd of certain a road section.
7. a kind of map match system based on Floating Car satellite location data according to claim 6, it is characterised in that:
The section matching module matches the matching of the section RoadSelIND where anchor point in the set indOnRoad3 of section
Mode are as follows:
The section weight for calculating each section in section set indOnRoad3, is determined as anchor point for the section of section maximum weight
The section RoadSelIND at place；Calculate the mode of section weight are as follows:
A, determined at a distance from section according to anchor point section apart from weight w t, method of determination are as follows:
If disti is anchor point at a distance from certain a road section i, then apart from the value of weight w d are as follows: if disti < 5m, wd=1；
If 5m≤disti≤100m, wd=1-disti/100；If disti > 100m, wd=-1；
B, the course weight in section is determined according to the absolute value of the course angle of anchor point and the difference of the road direction in section；Really
Determine mode are as follows:
If detValAi is the absolute value of the difference of the course angle of anchor point and the road direction of certain a road section i, then course weight
Wa=3*cos (detValAi)；
C, the section weight w t=wa+wd of certain described a road section.
8. a kind of map match system based on Floating Car satellite location data according to claim 6 or 7, feature exist
In: the system further include:
Section screening module, for filtering out section set indOnRoad3 from the section in candidate road section set RoadSel；
In section where section matching module carries out anchor point as new candidate road section set using the section set after screening
Match, the section RoadSelIND section of new candidate road section concentration section maximum weight being determined as where anchor point；
The section screening module includes the first screening unit, the second screening unit and third filtering unit,
First screening unit, for filtering out section set according to the section in candidate road section set RoadSel
Section in indOnRoad1, section set indOnRoad1 is the line of anchor point and the starting point in the section and the folder of road
The line of terminating point and the angle of road in angle and anchor point and the section are the section of acute angle；
Second screening unit is less than distance accidentally at a distance from section for filtering out anchor point in the set indOnRoad1 of section
The section set indOnRoad2 in the section of poor threshold value dErr_Dist；
Third filtering unit, for filtering out the course angle of anchor point and the road side in section in the set indOnRoad2 of section
To difference absolute value less than course error threshold value dErr_Azm section section set indOnRoad3, section gather
IndOnRoad3 is new candidate road section set.
9. a kind of map match system based on Floating Car satellite location data according to claim 6, it is characterised in that:
The section matching module further include:
First and last anchor point judging unit fails for the section preliminary matches where anchor point, using the anchor point as current fixed
Site enters again before matching unit, judges whether the anchor point is first in current position determination data analytical cycle or most
The latter anchor point, if so, it fails to match in section where determining the anchor point；If it is not, then entering matching unit again；
The location data analytical cycle nTimeCal is preset value, and location data extraction module is every a location data period
The matching of road where carrying out anchor point to the satellite location data extracted in the period.
10. a kind of map match system based on Floating Car satellite location data according to claim 6 or 7, feature
It is: the system further include:
Location data screening module, for extract Floating Car satellite location data after, to the satellite positioning of each anchor point
The step of data are screened, screening mode are as follows:
According to the longitude and latitude and time difference of current anchor point and its previous anchor point, the vehicle calculated between two anchor points is flat
Equal speed gives up the satellite location data of current anchor point if average vehicle speed Sp_Avg is greater than setting speed.
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| CN108120991A (en) * | 2017-12-06 | 2018-06-05 | 上海评驾科技有限公司 | A kind of wheelpath optimization method |
| CN108253974B (en) * | 2017-12-29 | 2019-09-10 | 深圳市城市交通规划设计研究中心有限公司 | Floating Car location data automatic adaptation cushion route matching system and method |
| CN109163730B (en) * | 2018-08-02 | 2020-10-27 | 武汉中海庭数据技术有限公司 | High-precision map data gridding management method and device for automatic driving |
| CN109345838B (en) * | 2018-10-21 | 2020-11-17 | 浙江浙大中控信息技术有限公司 | Method for calculating travel speed of sub-road section based on complete map information |
| CN111121797B (en) * | 2018-11-01 | 2021-11-12 | 百度在线网络技术（北京）有限公司 | Road screening method, device, server and storage medium |
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