CN106568456B - Non-stop charging method based on GPS/ Beidou positioning and cloud computing platform - Google Patents
Non-stop charging method based on GPS/ Beidou positioning and cloud computing platform Download PDFInfo
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Abstract
Non-stop charging method based on the positioning of GPS/ Beidou and cloud computing platform belongs to electronic information field, and the present invention belongs to the section collection of this circle using GPS track point as center of circle circle choosing, as selected path.The present invention is added direction constraint condition and constrains jointly, and proposes how to judge direction.Direction of traffic judgement proposes a kind of uplink and downlink based on route inflection point and judges algorithm, to judge direction.The selection of final coupling path is based on the coefficient locus Similarity Algorithm of Euclidean distance.Automation, the simplification supervised present invention can be implemented in road vehicle under the optimization of wheelpath, alternative path and final coupling path.
Description
Technical field
The invention belongs to electronic information field, be it is a kind of based on the positioning of GPS/ Beidou and cloud computing platform, be applied to highway,
The autoelectrinic charging method in tunnel and large bridge.
Background technique
ETC (Electronic Toll Collection, E-payment system) technology depends on internet as shown in Figure 1
Information of vehicles is uploaded to application database by work station in a manner of image or mobile key in real time.Traditional ETC technology is deposited
The problems such as recognition speed is slow, installation cost is high and operation maintenance is difficult, and some charge station's remote locations, ETC hardware are set
It is standby to be difficult to install and safeguard.Occur in recent years based on GPS, BEI-DOU position system E-payment system of new generation gradually
Development, it records the route and distance of vehicle driving by satellite positioning, automatic to calculate and deduct road expense, effectively solves
Above-mentioned tradition ETC technology of having determined there are the drawbacks of.Meanwhile the development of the technologies such as mobile interchange Network Communication, car networking and GIS,
Corresponding technology place mat is provided for the no-stop charging system based on GPS/ Beidou and cloud computing platform.
Summary of the invention
The present invention for tradition ETC there are the shortcomings that, devise the not parking receipts based on GPS/ Beidou and cloud computing platform
Charge system.System is formed by on-vehicle positioning terminal, based on GIS and cloud platform non-parking charge software.Wherein on-vehicle positioning terminal
The vehicle GPS data acquired in real time are returned into Cloud Server system by 3G/4G wireless network by GPS satellite/Beidou positioning
System.Not parking receipt and payment software includes that system the path determination strategy, vehicle positioning business and the expense clearing operation that are related to carry out
Description, groundwork involved in the present invention are as follows:
(1) as shown in Fig. 2, devising the ETC system frame of integrated mobile Internet, the positioning of GPS/ Beidou, GIS and cloud platform
Structure.
(2) in order to enable the vehicle GPS data with certain error to be accurately corrected to correct travel road in GIS
Lu Zhong is designed and is applied the Path Matching Algorithm based on GPS/ Beidou track.
(3) the vehicle positioning operation flow based on GIS is devised.
(4) it devises cloud and is based on GIS no-stop charging system expense clearance process.
The core algorithm of no-stop charging system based on GPS/ Beidou and cloud computing platform is as follows:
Typical GPS/ Beidou movement car data is a series of orderly GPS track points comprising vehicle latitude and longitude information, main
It is used to determine current vehicle position in real time.The positioning of GPS/ big-dipper satellite is relied solely on, precision easily receives external environment shadow
It rings and generates error.In intersection section shown in Fig. 3, A, B, C, D are respectively section node, the solid line that they are formed by connecting
Line segment represents path locus；GPS1~GPS4It is followed successively by vehicle GPS collection point, the dashed line segment that they are formed by connecting is vehicle row
Sail track.Assuming that GPS track point GPS1~GPS3Due to fork in the road when can uniquely be matched on the AB of section, but pass through B point
Occur and candidate match section is caused to increase, and GPS4Distance to section BC and section BD is almost equal, at this moment general
Matching algorithm is difficult to correctly judge the subsequent running section of vehicle, this problem is known as Y-junction problem.
If occurring the above road misjudgment in the present system, the normal operation of charging system can be seriously affected.So
The present invention improves and combines the alternative path set algorithm based on traffic limitation condition on the basis of former achievements and be based on
The broken line similarity algorithm for editing cost, realizes a kind of Path Matching Algorithm based on GPS track, passes through the GPS that will be acquired
Tracing point is screened and is matched with surrounding path locus, is accurately judged to vehicle actual travel road, finally to ensure
The normal operation of system.
Inventive algorithm is using vehicle GPS sampling point set and path locus point set as master data, by three step realities
The accurate judgement of existing real vehicles travel, it is shown that specific step is as follows:
(1) alternative path collection is searched for
Vehicle driving trace is depicted according to continuous vehicle GPS collection point, with GPSiFor the center of circle, its pre-set radius is searched for
Interior all possible travel forms alternative path collection RCi；
(2) alternative path collection is screened
Based on practical drive a vehicle limitation and road network geometry connectivity, RC is calculatediWith each stage overall path PiIt is subsequent can
Walking along the street section collection PNiIntersection Rinsect(i).And by Rinsect(i) it updates and recombinates alternative overall path collection Pi+1。
(3) final coupling path is chosen
All tracing points are successively traversed, calculate separately path and GPS track path in P using the thought of opposite editor's cost
Similarity r, r value the maximum be then considered as it is closest with real road track, and as final coupling path.
Although wheelpath and the geometry of its travel track are very close, since sampling site method is different, lead
Cause the two that there is obvious characteristic difference.
Firstly, the two sampling site concentration is different.Tracks are drawn by artificial sampling site, acquired road circuit node
It is evenly distributed among track；Wheelpath is to be acquired in real time by on-vehicle positioning terminal and obtained, if vehicle driving is slow or quiet
Only, then the GPS track point in this time will appear the case where aggregation is even overlapped.
Secondly, the two sampled point meaning is different.The sampled point of tracks is road key node, mostly change track
The key node in direction can simply draw out whole tracks although rare；And track of vehicle is in intensive shape,
Multiple GPS gathers points are usually contained in one section of driving trace for tending to straight line, wherein most of sampled points and having not been changed traveling rail
Mark direction, such point have no effect for the selection of path set hereinafter and path locus similarity comparison.
So this algorithm needs to carry out vehicle GPS driving trace to simplify processing, invalid sampled point is removed, energy is only retained
It is substantially change course bearing and equally distributed sampled point, as shown in Figure 4.
Assuming that defining minimum steering angle λ is 30 °, the weight of minimum sampled distance interval η is 3, when the front and back of some node
When section corner is greater than λ and is greater than η away from its front and back nodal distance interval, then key point is referred to as.For track TR=in figure
p1p2p3p4p5p6p7p8, only p3、p4And p5Corner be greater than λ, and away from its front and back sampled point distance weight be greater than η, then by p3、
p4And p5Key node collection is added.Further, since p1And p7Respectively track initial point and end point, so being also required to be added
Enter key node collection.Finally, node collection is sorted by node ID, obtain simplifying vehicle by what key node was formed by connecting in figure
Driving trace TRkey=p1p3p4p5p7。
The value principle of λ and η should be consistent with road inflection point sampling site actual conditions, could make rail of driving a vehicle to the maximum extent in this way
Mark is approximate with tracks.And shown in the calculation method such as formula (1-1) of the direction of motion changing value θ of tracing point p:
WhereinFor pi-1With piVector between point, andWherein
pI, x、pI, yWith pI-1, x、pi-1,yIt is tracing point p respectivelyiAnd pi-1Coordinate.
The determination of alternative path collection
In the case where error occurs in vehicle GPS positioning, the wheelpath that GIS describes is it is possible that deviate, such as Fig. 5 institute
Show.Real segment is section track in figure, and phantom line segments are the driving trace that each vehicle GPS tracing point is connected in sequence.
Each tracing point can cover different sections, such as GPS in a certain range radius1Point is in search_scop
The section covered in radius is a, d, f, and GPS2The covered section of point is a, b, c.It can be said that being scanned in system
GPS1When point, section a, d, f are GPS1The alternative path collection of point.Similarly, section a, b, c GPS2Alternative path collection, section
B, e, g GPS3The alternative path collection of point.For each GPS track point pi, by it, all geometry are connected in position error area
Section collection be denoted as R (pi)。
Wherein, the value of radius Search_scop becomes according to each section load conditions, but should follow following principle: one
It is the worst error value that search radius Search_scop should be greater than GPS device positioning accuracy, in case actual travel road is divided
To except search radius；Second is that search radius, which should cover current GPS point, closes on lane, in case search radius is too small to lead to basic number
According to very few.
The screening of alternative path collection
In the Expressway Road net of reality, in addition to the geometry connectivity of road further includes direction of traffic limitation, hypervelocity
The driving restrictive conditions such as limitation, vehicle limitation.
As GPS track point piAlternative path collection R (pi) after determination, it is necessary to it is driven a vehicle restrictive condition according to the above
From the path that all geometry of vehicle periphery are connected to, current generation possible alternative path is filtered out.And successively traverse each GPS
Positioning track point pi, the selection result of last time is screened and is updated respectively, finally obtains all alternative path collection.
Such as in road conditions shown in Fig. 4, for being in GPS1The vehicle of point, alternative path integrate as R (pi), and at this time
The geometry communication path for this road network recorded in database includes a, d and f, and is limited according to the driving direction in each section,
The actual travel direction of vehicle is only consistent with the limitation of the direction in the section a, i.e. the subsequent path collection in the path only has a, and by R (pi)
The subsequent path collection obtained after driving limitation screening is denoted as NR (pi)。
Use Ti(topo) R (p is indicatedi) section topological constraints condition (topological constraints condition be standardize definition node and road
Road path), use Ti(dirc) R (p is indicatedi) section direction constraint condition, then R (pi) direct later section collection NR
(pi) calculation method such as formula (1-2) shown in:
NR(pi)={ Rj∈R(pi)|Ti(topo)∩Ti(dirc)} (1-2)
If i=0, current point is initial track point, if R (p0) element number be k, initialize k geometry access
Diameter collection, totality alternative path collection R (pathi)；If i ≠ 0, current point is intermediate trace points, calculates R (pi) with R on last stage
(pi-1) direct later section collection R (pi-1) intersection Rinsect(i)；If RinsectIt (i) is sky, current path R (i) is nothing
Path is imitated, it is concentrated from current generation geometry communication path and is deleted；If Rinsect(i) have and an only section, then update and work as
Last stage subsequent path collection R (pi) and R (pathi)；If RinsectIt (i) include m section, then by R (pathi) duplication split into m
Item totality alternative path, Rinsect(j) (j ∈ [1, m]) is used as Rinsect(j) the last item section, at the same update its it is direct after
Continuous feasible path collection.
Finally, final entirety alternative path collection R (path) can be obtained after the completion of the judgement of all GPS track points.
Direction of traffic judgement
It is noted that in all drivings limitation, the restrictive conditions such as geometry connectivity, rate limitation, vehicle limitation
It can be judged according to the nodal community stored in database, and the judgement of direction of traffic restrictive condition is in comparison complex.
The present invention proposes that a kind of uplink and downlink based on route inflection point judges algorithm.Description road shape is stored in database
Section node, will can wherein determine road driving direction point become road inflection point.It can be accurately using road inflection point
Judge driving direction of the vehicle between two inflection points, and the driving direction of road inflection point be it is determining, so as to judge vehicle
Driving direction relative to whole section.
Because it is all route inflection point that algorithm, which takes a little, i.e. line segment is straight-line segment between two inflection points, so can be considered that algorithm makes
It is straight line situation with scene.All possible four kinds of circuit models as shown in Figure 6 are listed, respectively represent vehicle in t1、t2Moment
The relative position situation of four kinds of vehicles on two inflection point routes and inflection point.Wherein, S1、S2For route inflection point, P1、P2For vehicle
In t1And t2Front and back GPS track point in time, and using arrow direction as up direction.
It is seen that situation one is vehicle front-rear position in S1Before point；Situation two, vehicle front-rear position are located at
Between two inflection points；Situation three, vehicle front-rear position is in S2After point；Situation four, although vehicle front-rear position is between two points,
Direction is opposite with situation two.
After determining that vehicle belongs to above-mentioned four kinds of situations, can according to vehicle front-rear position respectively two inflection point of distance away from
Driving direction is judged from variation.By taking situation one as an example, as shown in fig. 7, working as P vehicle from t1Moment drives to t2Moment, for S1It stands
The distance change amount of point are as follows: △ L=p1s1-p2s1, P vehicle is for S2Website distance change amount are as follows: △ L '=p1s2-p2s2。
If △ L<0 and △ L '>0, it may determine that P vehicle is far from S1It stands and close S2It stands, driving direction S1Extremely
S2；It is on the contrary then be proximate to S1It stands and separate S2It stands, driving direction S2To S1.Vehicle can be known relative to this section of section as a result,
Driving direction illustrates that the vehicle meets section direction of traffic limitation item if direction of traffic is consistent with the direction in section in database
Part, and subsequent planning driving path collection NR (p is added in this sectioni) in；It is on the contrary then illustrate direction of traffic violate section direction limitation item
Part, this section should be from alternative path collection R (pi) in delete.
The selection of final coupling path
Final alternative path collection NR (p is obtained after having traversed all GPS track pointsn), NR (pi) may comprising one or
Mulitpath, and they are consistent with the traffic limitation condition of wheelpath, but wherein there was only a paths is that vehicle is practical
Driving path.It needs to be compared according to traffic route track and each alternative path track at this time, to obtain similarity most
High path is as final coupling path.
For track similitude comparison method, a kind of existing similarity of paths judgment method based on curve similarity,
But the method requires coordinate system unified, and the variation of the distance between curve will affect the big of final similarity value ScoreSim
It is small.But real road is mostly the sparse track that short straight line section is formed by connecting, rather than the curve of curvature even variation, so document
Used method is not particularly suited for the comparison of the path locus in the actual road conditions that this project is studied.
Another existing algorithm considers the sparse features of wheelpath, proposes a kind of based on Euclidean distance
Sparse track Similarity measures answer a kind of editing distance (at least editing number needed for becoming another track from track) thought
It uses among the Similarity measures of track, that is, calculates from track P and be edited into editor's cost that track Q is spent, cost value is smaller, then
The similarity of two sparse tracks is higher.But the method only accounts for the absolute Euclidean distance between two tracks, not by two tracks
The coordinate system of corresponding points is mutually unified, and has ignored opposite editor's cost between two track corresponding points.If such as between two tracks
There are another interference tracks, the cost that cost will be less than desired trajectory forever are edited, to cause to judge incorrectly.
So this algorithm improves existing algorithm, the opposite Euclidean distance calculation method of unified coordinate system is proposed,
By calculating the coordinate shift amount of the front and back track Q tracing point, track P is subjected to corresponding trajectory displacement, to realize track line segment
Coordinate unification, Euclidean distance calculated in this way be exactly it is opposite, avoid the error in existing calculation method.
And the calculation method of Euclidean distance is to indicate the coordinate vector of the track of mobile object identical dimensional, then calculate
Each when engrave Euclidean distance between corresponding two tracing points, then these distances are integrated, track can be obtained
Between Euclidean distance.For example, the Euclidean distance calculation method between two tracks R, S is shown in formula (1-3) in two-dimensional space:
In formula,K is the sampling number of track R, S, and E (R, S) is
Euclidean distance between them；ri、siRespectively represent i-th of locus of points point, ri,x、ri,yWith si,x、si,yRespectively represent respective x,
Y-coordinate, distance indicate tracing point riAnd siEuclidean distance.
The track of vehicle of processing is simplified for track, first by its each key point coordinate sequence, constitutes sequence P；It will go
The trajectory coordinates serializing for sailing route, constitutes sequence Q.If m, n is respectively the length of P, Q, piFor i-th of element of P, qiFor sequence
Arrange i-th of element of Q, qi' it is i-th of element being transformed into sequence Q under P coordinate system.Sequence Q is converted in sequence of calculation P
Opposite Euclidean distance during, on the basis of sequence Q, make P to Q operational transformation.P, Q track schematic diagram is as shown in Figure 8.
Steps are as follows for calculating in detail:
(1) transition deviation amount is calculated
Want opposite editor's cost of calculating B to E, it is necessary to which E point is updated in the coordinate system of track P.Firstly the need of
The X, Y coordinates offset of starting point D to E is calculated separately, wherein O is origin system, as shown in formula (1-4), (1-5):
(2) coordinate is replaced
A is moved into E ' according to the offset that the first step calculates, as position of the track Q under the P coordinate system of track, E ' coordinate
Calculation method is shown in formula (1-6), (1-7):
substitute(pi,x,qi,x)=pi-1,x+der(qi,x) (1-6)
substitute(pi,y,qi,y)=pi-1,y+der(qi,y) (1-7)
(3) Euclidean distance is calculated
The E point in the Q of track has been converted into the coordinate system of track P at this time, and the geometric distance of B to E ', which can be regarded as, edits B
To opposite editor's cost of E ', formula (1-8) is seen:
Wherein, | pi-qi' | (Euclidean distance in two and three dimensions space is exactly for Euclidean distance between two coordinate points
Actual range between two o'clock).And editor's cost between two tracks is then the sum of each point editor's cost, sees formula (1-9):
When editor's cost between two sparse tracks is bigger, then represents and more edit operations is needed just to be able to achieve two
Conversion between track, that is to say, the similarity between bright two tracks is smaller；On the contrary then between two tracks of explanation similarities are bigger.
Successively by vehicle driving trace A, and final alternative path collection NR (pn) in tracing point coordinate corresponding to the B of path substitute into formula
(1-9) and the similarity value Similartiy (A, B) for obtaining each path locusi, finally select its intermediate value the maximum as final
Coupling path.
(4) the vehicle positioning operation flow based on GIS is devised:
The GPS data acquisition and storage process towards on-vehicle positioning terminal is mainly watched by on-vehicle positioning terminal as shown in Figure 9
Module completion is taken, GPS data is transmitted to GPS data module and GIS servo by the terminal that it is transmitted as GPS data respectively
Module.Cloud server system can send control message to on-vehicle positioning terminal by servo module according to user demand first.When
On-vehicle positioning terminal carries out corresponding control operation after receiving control message.Secondly, the vehicle GPS data acquired in real time are passed through
3G/4G wireless network returns to cloud server system.In this transmit process, server is constantly in listening state, waits vehicle
Carry the data-message of positioning terminal.After receiving data-message, GPS message can be sent to GPS data simultaneously by Cloud Server
Module and GIS servo module.Matching process towards GIS serializes real-time GPS data, and is supplied to GIS load and emulation.
GIS servo module waits the GPS data by parsing of on-vehicle positioning terminal servo module transmission.Server is according to vehicle coordinate
Vehicle periphery road net data is searched in Traffic network database, it is serialized together with vehicle driving trace GPS data, is then subsequently loaded into
Screening and editor's cost in GIS, and by the Path Matching Algorithm based on GPS track described above calculate, and obtain road
Diameter matching result.Last GIS servo module also needs for matching result to be forwarded to clearance module, and last charging knot is carried out for it
Calculate work.
(5) block process is cleared:
Matching result is read by clearance module first as shown in Figure 10, and is inquired in road net data table according to road section ID
" whether charging " attribute illustrates that vehicle does not sail out of charging section also if toll road, continues to subsequent match result.Such as
Fruit is non-charging section, and clearance module needs to pay button record sheet according to vehicle ID enquiring vehicle, and at this moment vehicle is likely to be at two kinds
Among situation: if driving into record without recording vehicle in last time record, represents vehicle and do not enter the toll road also, this
When should by vehicle ID, road section ID and drive into the time record；If having recorded the vehicle in last time record drives into record, vehicle is represented
It has already passed through toll road and sails out of, vehicle time of departure information should be placed on record by this moment clearing module, and according to vehicle
Type and corresponding section charging standard carry out corresponding charging to driver personal account and pay button work.It is realized with this
Account settlement business of the system for driving vehicle.
Invention effect
By mobile Internet mechanics of communication support building based on GPS/ Beidou and cloud computing platform, this system can be realized
Automation, the simplification of the road vehicle supervision under the optimization of wheelpath, alternative path and final coupling path.Institute of the present invention
The no-stop charging system based on GPS/ Beidou and cloud computing platform of research provides one for the information system management of public transport
Cover total solution, improve the intelligent level and working efficiency of road supervision, the design method of this system and
Technology used by during realizing also provides certain new thinking for the development of intelligent transportation system.
1. the determination of selected path set: the prior art: directly with GPS positioning, then GIS describes wheelpath
Innovatory algorithm: belong to the section collection of this circle using GPS track point as center of circle circle choosing, as selected path.
2. the screening of selected path set: the prior art: reducing selected path set according only to topological constraints condition.
Innovatory algorithm: direction constraint condition is added and constrains jointly, and proposes how to judge direction.
3. direction of traffic judges: proposing a kind of uplink and downlink based on route inflection point and judge algorithm, to judge direction.
4. the selection of final coupling path: the prior art: (1) the similarity of paths judgment method based on curve similarity.
(2) the coefficient locus Similarity Algorithm based on Euclidean distance.
Innovatory algorithm: it is improved after being combined based on existing two technologies: the opposite Euclidean distance algorithm of unified coordinate system.
Detailed description of the invention
Fig. 1 tradition ETC technological frame figure.
System architecture diagram Fig. 2 of the invention.
Fig. 3 intersection Y-junction schematic diagram of the present invention.
Fig. 4 simplifies schematic diagram in track of the present invention.
Fig. 5 route matching schematic diagram of the present invention.
Several relative position situations of Fig. 6 present invention.
Fig. 7 linear road driving direction of the present invention judges schematic diagram.
Fig. 8 P, Q track schematic diagram of the present invention.
The present invention is based on the vehicle positioning business process maps of GIS by Fig. 9.
Figure 10 clearing operation flow chart of the present invention.
Specific embodiment
1. the non-stop charging method based on GPS/ Beidou positioning and cloud computing platform, it is characterised in that:
System includes the ETC of integrated mobile Internet, the positioning of GPS/ Beidou, GIS and cloud platform；
Shown in specific step is as follows:
(4) alternative path collection is searched for
Vehicle driving trace is depicted according to continuous vehicle GPS collection point, with GPSiFor the center of circle, its pre-set radius is searched for
Interior all possible travel forms alternative path collection RCi；
(5) alternative path collection is screened
Based on practical drive a vehicle limitation and road network geometry connectivity, RC is calculatediWith each stage overall path PiIt is subsequent can
Walking along the street section collection PNiIntersection Rinsect(i)；And by Rinsect(i) it updates and recombinates alternative overall path collection Pi+1；
(6) final coupling path is chosen
All tracing points are successively traversed, calculate separately path and GPS track path in P using the thought of opposite editor's cost
Similarity r, r value the maximum be then considered as it is closest with real road track, and as final coupling path；Specifically such as
Under:
By calculating the coordinate shift amount of the front and back track Q tracing point, track P is subjected to corresponding trajectory displacement, to realize
The coordinate unification of track line segment；And the calculation method of Euclidean distance is by the coordinate vector of the track identical dimensional of mobile object
It indicates, then while calculating each engraves the Euclidean distance between corresponding two tracing points, then to engraving corresponding two when each
Euclidean distance between a tracing point is integrated, and Euclidean distance between track is obtained；
The track of vehicle of processing is simplified for track, first by its each key point coordinate sequence, constitutes sequence P；It will go
The trajectory coordinates serializing for sailing route, constitutes sequence Q；piFor i-th of element of P, qiFor i-th of element of sequence Q, qi' it is sequence
I-th of element being transformed into column Q under P coordinate system；During sequence of calculation P is converted to the opposite Euclidean distance of sequence Q,
On the basis of sequence Q, make P to Q operational transformation；
Steps are as follows for calculating in detail:
(4) transition deviation amount is calculated
Want opposite editor's cost of calculating B to E, it is necessary to which E point is updated in the coordinate system of track P；Firstly the need of
The X, Y coordinates offset of starting point D to E is calculated separately, wherein O is origin system, as shown in formula (1-4), (1-5):
(5) coordinate is replaced
A is moved into E ' according to the offset that the first step calculates, as position of the track Q under the P coordinate system of track, E ' coordinate
Calculation method is shown in formula (1-6), (1-7):
substitute(pi,x,qi,x)=pi-1,x+der(qi,x) (1-6)
substitute(pi,y,qi,y)=pi-1,y+der(qi,y) (1-7)
(6) Euclidean distance is calculated
The E point in the Q of track has been converted into the coordinate system of track P at this time, and the geometric distance of B to E ', which is regarded as, edits B to E '
Opposite editor's cost, see formula (1-8):
Wherein, | pi-qi' | the Euclidean distance between two coordinate points；And editor's cost between two tracks is then each point
The sum of cost is edited, sees formula (1-9):
By vehicle driving trace A, and final alternative path collection NR (pn) in tracing point coordinate corresponding to the B of path substitute into it is public
Formula (1-9) and the similarity value Similartiy (A, B) for obtaining each path locusi, finally select its intermediate value the maximum as most
Whole coupling path.
Assuming that defining minimum steering angle λ is 30 °, when the front and back section corner of some node is greater than λ, by p3、p4And p5It is added
Key node collection；Track initial point and end point are also required to be added into key node collection；Finally, node collection is pressed node ID
Sequence, obtain being formed by connecting by key node simplifies vehicle driving trace.
For each GPS track point pi, the section collection of its all geometry connection in position error area is denoted as R (pi)；
The value of the search radius Search_scop of alternative path should follow following principle: first is that search radius Search_
Scop should be greater than the worst error value of GPS device positioning accuracy；Second is that search radius, which should cover current GPS point, closes on lane；
As GPS track point piAlternative path collection R (pi) after determination, it is necessary to according to driving restrictive condition from vehicle week
In the path for enclosing all geometry connections, the alternative path of current generation is filtered out；And successively traverse each GPS positioning tracing point
pi, the selection result of last time is screened and is updated respectively, finally obtains all alternative path collection.
The section node that description road shape is stored in database, the point that can wherein determine road driving direction is become
Road inflection point；Driving direction of the vehicle between two inflection points is judged using road inflection point, to judge vehicle relative to whole road
The driving direction of section.
The present invention uses and scheme is implemented as follows:
As shown in Fig. 2 system architecture diagram, the realization process of system mainly includes four acquisition, transmission, matching and clearing ranks
Section corresponds respectively to the acquisition of GPS/ Beidou data, data transmission and parsing, route matching and driver of on-vehicle positioning terminal
The charge of account is settled accounts.
(1) acquire: the on-vehicle positioning terminal being deployed on actual travel vehicle is the data acquisition platform of system, mainly
It is responsible for acquisition vehicle real time GPS/Beidou data.
(2) transmit: the transmission of data relies primarily on the 3G/4G module completion of on-vehicle positioning terminal, and the module is by acquisition
Data and vehicle identification information are packaged into the message with certain format, and it is taken by 3G/4G network transmission to cloud platform
Business device system.
(3) match: when server system receive on-vehicle positioning terminal acquisition vehicle GPS data after, need by its with
The pre-loaded road net data in GIS is matched, and passage path matching algorithm corrects track of vehicle, to find vehicle reality
Border driving path.
(4) settle accounts: according to the matching result of GIS, server system starts to call settlement module, in conjunction with information of vehicles and road
Section charging standard carries out corresponding charge accounting work to vehicle driver's personal account.
Claims (4)
1. the non-stop charging method based on GPS/ Beidou positioning and cloud computing platform, it is characterised in that:
System includes the ETC of integrated mobile Internet, the positioning of GPS/ Beidou, GIS and cloud platform；Shown in specific step is as follows:
(1) alternative path collection is searched for
Vehicle driving trace is depicted according to continuous vehicle GPS collection point, with GPSiFor the center of circle, search in its pre-set radius
All possible travel forms alternative path collection RCi；
(2) alternative path collection is screened
Based on practical drive a vehicle limitation and road network geometry connectivity, RC is calculatediWith each stage overall path PiLater road
Section collection PNiIntersection Rinsect(i)；And by Rinsect(i) it updates and recombinates alternative overall path collection Pi+1；
(3) final coupling path is chosen
All tracing points are successively traversed, the phase in path and GPS track path in P is calculated separately using the thought of opposite editor's cost
Like degree r, r value the maximum be then considered as it is closest with real road track, and as final coupling path；It is specific as follows:
By calculating the coordinate shift amount of the front and back track Q tracing point, track P is subjected to corresponding trajectory displacement, to realize track
The coordinate unification of line segment；And the calculation method of Euclidean distance is by the coordinate vector table of the track identical dimensional of mobile object
The Euclidean distance between corresponding two tracing points is engraved when showing, then calculating each, it is then two corresponding to being engraved when each
Euclidean distance between tracing point is integrated, and Euclidean distance between track is obtained；
The track of vehicle of processing is simplified for track, first by its each key point coordinate sequence, constitutes sequence P；By driving line
The trajectory coordinates on road serialize, and constitute sequence Q；piFor i-th of element of P, qiFor i-th of element of sequence Q, qi' it is sequence Q
In be transformed into i-th of element under P coordinate system；During sequence of calculation P is converted to the opposite Euclidean distance of sequence Q, with
On the basis of sequence Q, make P to Q operational transformation；
Steps are as follows for calculating in detail:
(1) transition deviation amount is calculated
Want opposite editor's cost of calculating B to E, it is necessary to which E point is updated in the coordinate system of track P；Firstly the need of respectively
The X, Y coordinates offset of starting point D to E is calculated, wherein O is origin system, as shown in formula (1-4), (1-5):
(2) coordinate is replaced
A is moved into E ' according to the offset that the first step calculates, as position of the track Q under the P coordinate system of track, E ' coordinate is calculated
Method is shown in formula (1-6), (1-7):
substitute(pi,x,qi,x)=pi-1,x+der(qi,x) (1-6)
substitute(pi,y,qi,y)=pi-1,y+der(qi,y)
(1-7)
(3) Euclidean distance is calculated
The E point in the Q of track has been converted into the coordinate system of track P at this time, and the geometric distance of B to E ', which is regarded as, edits B to the phase of E '
To editor's cost, formula (1-8) is seen:
Wherein, | pi-qi' | the Euclidean distance between two coordinate points；And editor's cost between two tracks is then each point editor
The sum of cost is shown in formula (1-9):
By vehicle driving trace A, and final alternative path collection NR (pn) in tracing point coordinate corresponding to the B of path substitute into formula (1-
9) and the similarity value Similartiy (A, B) of each path locus is obtainedi, finally select its intermediate value the maximum as final matching
Path；
(4) the vehicle positioning operation flow based on GIS is devised:
GPS data acquisition and storage process on-vehicle positioning terminal servo module towards on-vehicle positioning terminal is completed, it is as GPS
GPS data, is transmitted to GPS data module and GIS servo module by the terminal of data transmission respectively；Cloud server system first
Control message can be sent to on-vehicle positioning terminal by servo module according to user demand；Disappear when on-vehicle positioning terminal receives control
Corresponding control operation is carried out after breath；Secondly, the vehicle GPS data acquired in real time are returned to cloud clothes by 3G/4G wireless network
Business device system；In this transmit process, server is constantly in listening state, waits the data-message of on-vehicle positioning terminal；When
After receiving data-message, GPS message can be sent to GPS data module and GIS servo module simultaneously by Cloud Server；Towards
The matching process of GIS serializes real-time GPS data, and is supplied to GIS load and emulation；It is vehicle-mounted fixed that GIS servo module waits
The GPS data by parsing of position terminal servo module transmission；Server searches vehicle according to vehicle coordinate in Traffic network database
It is serialized together with vehicle driving trace GPS data, is then subsequently loaded into GIS, and by being based on by surrounding road net data
The screening of the Path Matching Algorithm of GPS track and editor's cost calculate, and obtain route matching result；Last GIS servo module is also
It needs for matching result to be forwarded to clearance module, last charge accounting work is carried out for it；
(5) block process is cleared:
Matching result is read by clearance module first, and " whether charging " attribute in road net data table is inquired according to road section ID,
If toll road, illustrate that vehicle does not sail out of charging section also, continues to subsequent match result；If it is non-charging section,
Clearance module needs to pay button record sheet according to vehicle ID enquiring vehicle, and at this moment vehicle is likely to be among two kinds of situations: if last
Record is driven into without recording vehicle in primary record, then represents vehicle and does not enter the toll road also, it at this time should be by vehicle ID, road
Section ID is recorded with the time is driven into；If having recorded the vehicle in last time record drives into record, represents vehicle and have already passed through charge
It road and sails out of, vehicle time of departure information should be placed on record by this moment clearing module, and according to type of vehicle and corresponding
Section charging standard corresponding charging carried out to driver personal account pay button work；Realize the system for Travel vehicle with this
Account settlement business.
2. method according to claim 1, it is characterised in that:
Assuming that defining minimum steering angle λ is 30 °, when the front and back section corner of some node is greater than λ, by p3、p4And p5It is added crucial
Node collection；Track initial point and end point are also required to be added into key node collection；Finally, node collection is arranged by node ID
Sequence, obtain being formed by connecting by key node simplifies vehicle driving trace.
3. method according to claim 1, it is characterised in that:
For each GPS track point pi, the section collection of its all geometry connection in position error area is denoted as R (pi)；
The value of the search radius Search_scop of alternative path should follow following principle: first is that search radius Search_scop is answered
Greater than the worst error value of GPS device positioning accuracy；Second is that search radius, which should cover current GPS point, closes on lane；
As GPS track point piAlternative path collection R (pi) after determination, it is necessary to according to driving restrictive condition from vehicle periphery institute
In the path for thering is geometry to be connected to, the alternative path of current generation is filtered out；And successively traverse each GPS positioning tracing point pi, point
The other the selection result to last time is screened and is updated, and all alternative path collection are finally obtained.
4. method according to claim 1, it is characterised in that:
The point that can wherein determine road driving direction is become road by the section node that description road shape is stored in database
Inflection point；Driving direction of the vehicle between two inflection points is judged using road inflection point, to judge vehicle relative to whole section
Driving direction.
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| CN109102129A (en) * | 2018-09-10 | 2018-12-28 | 电子科技大学 | A kind of similarity of paths calculation method based on improvement circle-based algorithm |
| CN109697221B (en) * | 2018-11-22 | 2021-07-09 | 东软集团股份有限公司 | Track law mining method and device, storage medium and electronic equipment |
| CN109827581B (en) * | 2019-03-28 | 2020-03-13 | 北京三快在线科技有限公司 | Map matching method and device |
| CN110147973A (en) * | 2019-05-22 | 2019-08-20 | 上海云粟数据技术服务有限公司 | Freight charges accounting method and device based on internet of things equipment |
| CN111192039B (en) * | 2019-12-27 | 2021-08-03 | 北京中交创新投资发展有限公司 | High-precision map service system for Beidou highway free flow charging |
| CN111324601A (en) * | 2020-02-09 | 2020-06-23 | 北京工业大学 | Method for acquiring and generating road data on mountain of electronic geographic information system |
| CN113720341B (en) * | 2021-07-29 | 2024-09-13 | 深圳市跨越新科技有限公司 | Vehicle travel route generation method, system, computer device, and storage medium |
| CN113837442A (en) * | 2021-08-26 | 2021-12-24 | 深圳市跨越新科技有限公司 | Method and system for generating correction track oscillation route, terminal device and storage medium |
| CN114529348B (en) * | 2022-02-22 | 2024-07-09 | 携程旅游网络技术（上海）有限公司 | Vehicle driving path charging method, system, equipment and storage medium |
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