CN107121115A - The method for determining road circular curve radius and driving sight distance based on GPS motion cameras data - Google Patents
The method for determining road circular curve radius and driving sight distance based on GPS motion cameras data Download PDFInfo
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- CN107121115A CN107121115A CN201710343266.XA CN201710343266A CN107121115A CN 107121115 A CN107121115 A CN 107121115A CN 201710343266 A CN201710343266 A CN 201710343266A CN 107121115 A CN107121115 A CN 107121115A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/255—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring radius of curvature
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/24—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with fixed angles and a base of variable length in the observation station, e.g. in the instrument
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/19—Sporting applications
Abstract
The present invention relates to a kind of method for determining road circular curve radius and driving sight distance based on GPS motion cameras data, it is converted to corresponding two-dimensional quadrature coordinate via the gps coordinate point of driving trace, gradually path radius is calculated using three coordinate points as one group according to geometrical principle, the mode of gained multistage path radius is the circular curve radius in corresponding track, then tries to achieve road circular curve radius by corresponding position relationship；The trajectory of the road axis distance of right translation width of subgrade 1/2nd to the left again is will move to, the tracing point after translation is all fallen within the edge line on road surface, and calculates sighting distance by general measuring method.Present invention tool advance and exploitativeness, it does not influence the normal traffic of road in force, and can greatly shorten the field operation time, the human and material resources for significantly lifting measurement efficiency and being used required for reducing.
Description
Technical field
The present invention relates to highway safety protection technology field, and in particular to one kind is determined based on GPS motion cameras data
The method of road circular curve radius and driving sight distance.
Background technology
, it is necessary to measure the circular curve radius and driving sight distance of real road during research highway safety issues.In the Chinese people
The issue of Department of Transportation of republic《Highway safety life protection works implement technical manual》And《Road event safety evaluatio
Specification》In (JTG B05-2015), have bright to the road circular curve least radius and sighting distance under different designs speed conditions
Really require.
But in engineering practice, lack the measuring method of fast and effectively road circular curve radius and driving sight distance.
In existing highway technology index simple measurement method, the method for measurement turning radius be it is artificial measured at the scene by tape measure into
Repeatedly measurement is compared row；Sighting distance is then along lane center to take multiple measurements comparison using wheeled type distance measuring apparatus, and two ways is all
It is less efficient.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind road circular curve half is determined based on GPS motion cameras data
Footpath and the method for driving sight distance, this method do not influence the normal traffic of road in force, and can greatly shorten field operation
Time, the human and material resources for significantly lifting measurement efficiency and being used required for reducing.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
A kind of method for determining road circular curve radius and driving sight distance based on GPS motion cameras data of design, including
Following steps：
(1) data acquisition
Drive lane center traveling of the vehicle for being loaded with GPS motion cameras along road circular curve to be measured, driving procedure
In as far as possible at the uniform velocity steadily go slowly, with reach increase sample size purpose, with GPS motion cameras record driving trace GPS
Coordinate points information, coordinate points position updates and recorded once for every 1 second；
(2) data processing
Because in latitude and longitude coordinates system, the meridian total length of the earth is about 40008km, thus on longitude it is per second about
30.9m, latitude about 30.9*cos (latitude) m per second, by conversion, you can latitude and longitude coordinates obtained by upper step are converted into X and Y
The two-dimensional quadrature coordinate system of axle；
(3) central coordinate of circle is determined
Using three coordinate points being recorded as one group, according to formula (a), (b) fit respectively two neighboring coordinate points it
Between straight line where line segment straight line equation, then mutually bear theorem reciprocal according to the slope of perpendicular two lines, be fitted respectively
Went out the center vertical line equation at two line segment midpoints；
B=ym-kxm (b)
In formula, (x1,y1)、(x2,y2) it is two adjacent coordinate points, (xm,ym) for the midpoint of two point institute lines sections, k is
The slope of line segment, b is the intercept of line segment, and design parameter refers to Fig. 2.
The intersection point of two center vertical lines is the center of circle, and the coordinate points (x in the center of circle is drawn by formula (c), (d)0,y0)：
(4) path radius is determined
Centre point (x is obtained by formula (e)0,y0) as selected three with the distance between any point in selected set of coordinates
Coordinate points form the radius of path：
(5) track circular curve radius is determined
To the n section paths on the circular curve of track, (3) to (4) calculation procedure is repeated, that is, obtains n sections of path radiuses；Work as calculating
When the hop count of path meets the requirement of (f), the statistics of path radius is carried out, gained mode is the circular curve for being considered corresponding track
Radius；
In formula, n is sample number,For the coefficient being associated under the conditions of normal distribution with confidence level, σ is 0.5, and Δ is to take out
Sample error.
(6) road circular curve radius is determined
Road axis is moved to by the tracing point of the lane center recorded is corresponding, and judges displacement
Positive and negative values, then by the algebraical sum of translation distance and track circular curve radius, try to achieve road circular curve radius；
(7) driving sight distance is determined
1. confirm after known road width, the trajectory that will move to road axis translates road to the left and right sides respectively again
The distance of sound stage width degree 1/2nd, the range coordinate based on the gained X of GPS point in road circular curve radius, Y-axis, by formula
(g), (h) calculates the coordinate of the corresponding points on road edge line after translation：
In formula, (x ', y ') is the corresponding coordinate on road edge line；R is the half of width of subgrade；When road circular curve
When being convex curve, a=1 when k is positive number, a=-1 when k is negative, when road circular curve is sag vertical curve, situation is opposite；
2. lane center track point data is carried out curve fitting, draws the trinomial curve of corresponding road axis
Formula；
3. along road driving direction, sighting distance starting point and the line of the point on road edge line behind are extended into circle
On the road axis of curve opposite side, the intersecting point coordinate of the extension line and the polynomial curve is solved, formula (e) is recycled
Calculate intersection point and original GPS point coordinate distance, as horizontal sighting distance；
4. consider that vertical distance is poor, last formula (i) calculates final sighting distance：
In formula, h is horizontal sighting distance, and v is that vertical distance is poor.
The present invention is actively beneficial to be had technical effect that：
1. the inventive method only needs to drive the vehicle for being loaded with vehicular motion camera, disposably by the section of required measurement,
Driving trace gps coordinate point is recorded, then road circular curve radius and sighting distance are obtained by step corresponding to the inventive method.
2. the inventive method does not influence the normal traffic of road in force, and can greatly shorten the field operation time,
The human and material resources for significantly lifting measurement efficiency and being used required for reducing.
3. the inventive method compared with《Highway safety life protection works implement technical manual》Deng the measuring method provided more
Tool advance and exploitativeness.
Brief description of the drawings
Fig. 1 is the interval frequency distribution diagram of different radii；
Fig. 2 is the solution schematic diagram of track circular curve radius；
Fig. 3 is road circular curve and gps coordinate locus of points figure, and it is recorded by Garmin VIRB video cameras
The round dot being distributed on the trajectory diagram that coordinate points information is imported obtained by google earth, curve is each coordinate points；
Fig. 4 is polynomial fitting curve and the solution schematic diagram of horizontal sight distance.
Embodiment
Illustrate the embodiment of the present invention with reference to the accompanying drawings and examples, but following examples are used only in detail
Describe the bright present invention in detail, the scope of the present invention is not limited in any way.Involved GPS Flying Cameras in the examples below
Machine is the shooting of Garmin VIRB series, and involved Other Instruments or equipment are routine instrument device unless otherwise instructed；
Involved step method, is conventional method unless otherwise instructed.
Embodiment one：The method for determining road circular curve radius based on GPS motion cameras data, comprises the following steps：
1. data acquisition
Driving is loaded with the vehicle of Garmin video cameras (model VIRB), along road to be measured (Luoshan County Y060 township roads) circle
The lane center traveling (travel speed is 30km/h) of curve, the gps coordinate point of driving trace is recorded with GPS motion cameras
Information, coordinate points position updates and recorded once for every 1 second；
2. data processing
It is that directly export form is the coordinate record file of fit forms from GPS motion cameras in this example, uses data lattice
The file of fit forms is converted into kml forms by formula switching software GPSbabel, and is directed into google earth and is checked related letter
Breath；Kml files are converted into txt file with GPS TrackMaker softwares again；Finally txt file is imported in Excel.By
Contain unnecessary information in the txt file formed, with " MID and FIND " formulas Extractions go out longitude and latitude in excel
Coordinate (=MID (form, FIND (" Longitude where target:", form where target) and+11, FIND ("</td></tr><
tr><td>Form where Latitude ", target)-FIND (" Longitude:", form where target) and -10)).
What this Garmin VIRB used series video cameras were used is the coordinate of WGS84 series, due to " degree " and " dividing "
The radix of level is excessive, thus use " ROUNDDOWN " formulas Extraction go out coordinate " second " level coefficient (=((form where target-
ROUNDDOWN (form, 0 where target)) * 60-ROUNDDOWN ((form-ROUNDDOWN where target (form where target,
0))*60,0))*60).Because in longitude and latitude, per second on longitude is about 30.9m, latitude about 30.9*cos (latitude) per second
M, can be converted to latitude and longitude coordinates by conversion the range coordinate of X and Y-axis, as shown in table 1.
This example of table 1 calculates resulting specific coordinate set data
3. central coordinate of circle is determined
Using three coordinate points being recorded as one group, according to formula (a), (b) fit respectively two neighboring coordinate points it
Between straight line where line segment straight line equation, then mutually bear theorem reciprocal according to the slope of perpendicular two lines, be fitted respectively
Went out the center vertical line equation at two line segment midpoints；
B=ym-kxm (b)
The intersection point of two center vertical lines is the center of circle, and the coordinate points (x in the center of circle is drawn by formula (c), (d)0,y0), ginseng
As shown in Figure 2：
4. path radius is determined
Centre point (x is obtained by formula (e)0,y0) as selected three with the distance between any point in selected set of coordinates
Coordinate points form the radius of path：
5. track circular curve radius is determined
To 22 sections of paths on the circular curve of track, (3) to (4) calculation procedure is repeated, that is, obtains 22 sections of path radiuses；Calculate
Go out the radius of all path sections, and then count the frequency number of times in each radius interval, as shown in Figure 1.As shown in Figure 1, count bent
Line has significant aggregation characteristic, and mode is 92.09m, therefore pick-up road radius is 92.09m.
6. this example is single-lane road, therefore lane center is road axis；Track radius is road radius.
Embodiment two：The method for determining road travel sighting distance based on GPS motion cameras data, comprises the following steps：
(1) according to road width, the trajectory that will move to road axis translates width of subgrade to the left and right sides respectively again
/ 2nd distance (i.e. 3m), calculates the X of gained GPS point in road circular curve radius, the distance of Y-axis based on embodiment one and sits
Mark, the coordinate of the corresponding points after translation on road edge line is calculated by formula (g), (h)：
In formula, (x ', y ') is the corresponding coordinate on road edge line；R is the half of width of subgrade；When road circular curve
When being convex curve, a=1 when k is positive number, a=-1 when k is negative, when road circular curve is sag vertical curve, situation is opposite；
(2) sufficiently large (R of the goodness of fit is fitted using matlab2>0.9) polynomial equation of road axis
(effective digital for the coefficient that the fitting formula that Excel is carried is provided is very few, can cause larger error, so use matlab
It is fitted), specific method is as follows：
By the X tried to achieve according to gps coordinate, the range coordinate of Y-axis, matlab is imported in the matrix form, and be named as square
Battle array A, writing commands：
X=A (1,:)；Y=A (2,:)；
A=polyfit (x, y, 3)；
X1=linspace (min (x (:)),max(x(:)))；Y1=polyval (a, x1)；
figure；hold on；
plot(x,y,'r^',x1,y1,'k:')；
Tit=char (vpa (poly2sym (a), 5))；
title(tit)；
Y0=polyval (a, x)；
Err=abs (y-y0)；
stem(x,err)；
Pressing enter key can obtain being fitted the trinomial curve and formula of GPS point, referring to Fig. 4.
(3) line of the point on GPS point (sighting distance starting point) and road edge line is made and the road axis that fits
Polynomial curve intersects, and the intersection point of extension line and trinomial curve is solved by matlab；Formula is changed into ax3+bx2+ cx+d=
0 form, and the order of the coefficients such as a, b, c, d is arranged in excel, matlab is imported with a matrix type, and is named as
Matrix B.
Input order：
X=solve (' ax^3+b*x^2+c*x+d=0', ' x')；
X=inline (X)；
A=B (1,:)；B=B (2,:)；C=B (3,:)；D=B (4,:)；
Root=feval (X, a, b, c, d)
Root=
Press the road axis that enter key can obtain the extended line of point on GPS point and road edge line and fit
Polynomial curve intersection point coordinate, judge which kind of solution is required answer according to actual conditions, substitute into GPS point (sighting distance originate
Point) with road edge line on point line formula, obtain the coordinate of sight and road axis intersection point, reuse formula (e)
Calculate intersection point and original GPS point coordinate distance, as horizontal sighting distance.
(4) vertical height of people's sight is 1.2m when driving, and the target to 0.1 meter of identity distance pavement-height is seen during observation
Point, so the vertical distance that 1.1m is also contemplated that when calculating sighting distance is poor, is finally calculated final sighting distance by formula (h)：
The point recorded to GPS is calculated successively according to the method described above successively as sighting distance starting point, obtains table
2 result.
The horizontal sight distance of all GPS points in the Fig. 3 of table 2
| The starting point numbering of driving sight distance | Sighting distance (m) |
| 78 | 144.7829622 |
| 79 | 132.9169692 |
| 80 | 121.6133202 |
| 81 | 108.9710437 |
| 82 | 95.59193072 |
| 83 | 83.93547032 |
| 84 | 75.13043792 |
| 85 | 69.81586134 |
| 86 | 61.24958845 |
| 87 | 55.67227603 |
| 88 | 48.36892517 |
| 89 | 42.59601955 |
| 90 | 41.4398249 |
| 91 | 40.88299056 |
| 92 | 37.77497573 |
| 93 | 48.74059291 |
| 94 | 57.88642972 |
| 95 | 131.1225861 |
| 96 | 2048.867289 |
| 97 | 3692.789104 |
| 98 | 3295.02503 |
| 99 | 20899.18895 |
As shown in Table 2, driving sight distance during turning is descending ascending again, and minimum value is 37.77m, that is, thinks this
The driving sight distance of bar road circular curve is 37.77m.The coordinate that numbering is 96 in the GPS example points of exhibition information as table 2 in Fig. 3
Point.
The present invention is on the basis of existing measurement road circular curve and driving sight distance method, it is proposed that more accurate fast
Prompt measuring method, with important practical significance.
The present invention is described in detail above in conjunction with drawings and examples, still, those of skill in the art
Member to the design parameter of each in above-described embodiment it is understood that on the premise of present inventive concept is not departed from, can also carry out
Change, forms multiple specific embodiments, is the common excursion of the present invention, is no longer described in detail one by one herein.
Claims (3)
1. a kind of method for determining road circular curve radius and driving sight distance based on GPS motion cameras data, including following step
Suddenly：
（1）Data acquisition
Lane center traveling of the vehicle for being loaded with GPS motion cameras along road circular curve to be measured is driven, with GPS Flying Cameras
Machine records the gps coordinate point information of driving trace；
（2）Data processing
The coordinate in corresponding two-dimensional quadrature coordinate system is converted to by each point gps coordinate obtained by upper step；
（3）Central coordinate of circle is determined
Using three coordinate points being recorded as one group, according to formula（a）、（b）The top-stitching of two neighboring coordinate points is fitted respectively
The straight line equation of straight line where section, then theorem reciprocal is mutually born according to the slope of perpendicular two lines, fitted respectively
The center vertical line equation at two line segment midpoints；
（a）
（b）
In formula,（x1, y1）、(x2, y2) it is two adjacent coordinate points, (xm, ym) for the midpoint of two point institute lines sections, k is line
The slope of section, b is the intercept of line segment；
The intersection point of two center vertical lines of gained is the center of circle of circular curve where three coordinate points, by formula（c）、（d）Draw circle
The coordinate points of the heart（x0, y0）：
（c）
（d）；
（4）Path radius is determined
By formula（e）Obtain centre point（x0, y0）It is selected three with the distance between any one coordinate points in selected set of coordinates
Individual coordinate points form the radius of path：
（e）；
（5）Track circular curve radius is determined
To the n section paths on road track circular curve to be measured, repeat（3）Extremely（4）Calculation procedure, that is, obtain n sections of path radiuses；When
When the hop count for calculating path meets statistical requirements, the statistics of path radius is carried out, gained mode is the circular curve in corresponding track
Radius；
（6）Road circular curve radius is determined
Move to road axis by the tracing point of the lane center recorded is corresponding, and based on general knowledge judge it is mobile away from
From positive and negative values, then by the algebraical sum of translation distance and track circular curve radius, try to achieve road circular curve radius；
（7）Driving sight distance is determined
1. confirm after known road width, will move to the trajectory of road axis, translation roadbed is wide to the left and right sides respectively again
The distance of degree 1/2nd, the range coordinate based on the gained X of GPS point in road circular curve radius, Y-axis, by formula（g）、（h）
Calculate the coordinate of the corresponding points after translating on road edge line：
（g）
（h）
In formula, (x ', y ') is the corresponding coordinate on road edge line；R is the half of width of subgrade；When road circular curve is
During convex curve, a=- 1 when a=1, k is negative when k is positive number, when road circular curve is sag vertical curve, situation is opposite；
2. lane center track point data is carried out curve fitting, show that the trinomial curve of corresponding road axis is public
Formula；
3. along road driving direction, sighting distance starting point and the line of the point on road edge line behind are extended into circular curve
On the road axis of opposite side, the intersecting point coordinate of the extension line and the polynomial curve is solved, formula is recycled（e）Calculate
Go out intersection point and original GPS point coordinate distance, as horizontal sighting distance；
4. consider that vertical distance is poor, last formula（i）Calculate final sighting distance：
（i）
In formula, h is horizontal sighting distance, and v is that vertical distance is poor.
2. according to claim 1 determine road circular curve radius and driving sight distance based on GPS motion cameras data
Method, it is characterised in that in the step（1）In, GPS motion cameras updates and coordinate points position of record at least every 1 second
Confidence ceases.
3. according to claim 1 determine road circular curve radius and driving sight distance based on GPS motion cameras data
Method, it is characterised in that in the step（5）In, when the hop count for calculating path meets following（f）During the requirement of formula, rail is carried out
The statistics of line radius：
（f）
In formula, n is sample number,For the coefficient being associated under the conditions of normal distribution with confidence level,For 0.5,For
Sampling error.
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