CN107588778A - Map-matching method and device - Google Patents
Map-matching method and device Download PDFInfo
- Publication number
- CN107588778A CN107588778A CN201710868556.6A CN201710868556A CN107588778A CN 107588778 A CN107588778 A CN 107588778A CN 201710868556 A CN201710868556 A CN 201710868556A CN 107588778 A CN107588778 A CN 107588778A
- Authority
- CN
- China
- Prior art keywords
- section
- vehicle
- map
- subpoint
- road network
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Navigation (AREA)
Abstract
The present invention provides a kind of map-matching method and device.Methods described includes：Road network map data are obtained, and section division is carried out to road network map according to default section distance interval, obtain distribution situation of each section in road network map；The location data that location equipment is sent is received, Primary Location is carried out to vehicle in road network map according to location data, obtains anchor point corresponding to vehicle；According to the distribution situation in each section around the anchor point, generate subpoint of the anchor point on each section, and projector distance, section direction and distribution trajectory and map match point of the vehicle match degree highest subpoint as the vehicle in road network map are chosen from the subpoint of generation, to complete map match.The map match efficiency high of the map-matching method, anti-deviations interference performance is strong, and matching accuracy rate is high, can carry out matching rate highland map match to vehicle within the extremely short ground time.
Description
Technical field
The present invention relates to intelligent travel technical field, in particular to a kind of map-matching method and device.
Background technology
With the continuous development of scientific technology, people are increasingly strong for the demand of intelligent travel, route guidance and road conditions
The intelligent travel services such as inquiry are arisen at the historic moment.Wherein, map matching technology is to be used to realize above-mentioned clothes in intelligent travel technology
The important technology of business.Map matching technology is a kind of location point (such as GPS point) sequence that can be returned according to user, with reference to reality
Road network determines position of each location point on road network, so as to obtain the special skill of movement locus of the user in road network map
Art.
But for now, existing map matching technology is mostly using point-to-point, point to segmental arc, segmental arc to the several of segmental arc
What matching process, matching positioning is carried out come the travel direction to user's ride-on vehicles and movement locus.But this geometric match side
Method is directly to carry out map match according to mapping position of the vehicle location on road network so that the matching of whole map match
Rate is not high, is vulnerable to the interference of deviations, overall calculation amount is huge, and matching efficiency is not high.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the invention to provide a kind of map-matching method and dress
Put.The map match efficiency high of the map-matching method, anti-deviations interference performance is strong, and matching accuracy rate is high, Neng Gou
Matching rate highland map match is carried out in the extremely short ground time to vehicle.
For map-matching method, preferred embodiments of the present invention provide a kind of map-matching method, applied to determining
The server of position equipment communication connection, the location equipment are used to position the traveling-position of vehicle.Methods described includes：
Road network map data are obtained, and section division is carried out to road network map according to default section distance interval, are obtained each
Distribution situation of the section in the road network map；
The location data that location equipment is sent is received, and vehicle is carried out just in road network map according to the location data
Step positioning, obtain anchor point corresponding to the vehicle, wherein the location data be the location equipment according between preset time
The position data gathered when being positioned to vehicle；
According to the distribution situation in each section around the anchor point, projection of the anchor point on each section is generated
Point, and choose projector distance, section direction and distribution trajectory from the subpoint of generation and thrown with the vehicle match degree highest
Map match point of the shadow point as the vehicle in road network map, to complete map match.
For map matching means, preferred embodiments of the present invention provide a kind of map matching means, applied to determining
The server of position equipment communication connection, the location equipment are used to position the traveling-position of vehicle.Described device includes：
Section division module, road network map is entered for obtaining road network map data, and according to default section distance interval
Walking along the street section divides, and obtains distribution situation of each section in the road network map；
Labeling module is positioned, for receiving the location data of location equipment transmission, and according to the location data in road network
Primary Location is carried out to vehicle on map, anchor point corresponding to the vehicle is obtained, wherein the location data is the positioning
The position data gathered when equipment positions according to prefixed time interval to vehicle；
Map-matching module, for the distribution situation according to each section around the anchor point, generate the anchor point and exist
Subpoint on each section, and choose from the subpoint of generation projector distance, section direction and distribution trajectory with it is described
Map match point of the vehicle match degree highest subpoint as the vehicle in road network map, to complete map match.
In terms of existing technologies, the map-matching method and device that preferred embodiments of the present invention provide have following
Beneficial effect：The map match efficiency high of the map-matching method, anti-deviations interference performance is strong, and matching accuracy rate is high,
Matching rate highland map match can be carried out to vehicle within the extremely short ground time.Specifically, methods described passes through with obtaining road network
Diagram data, and section division is carried out to road network map according to default section distance interval, each section is obtained in the road network map
On distribution situation；By receive location equipment send location data, and according to the location data in road network map it is right
Vehicle carries out Primary Location, obtains anchor point corresponding to the vehicle；According to the distribution situation in each section around the anchor point,
Subpoint of the anchor point on each section is generated, and projector distance, section direction are chosen from the subpoint of generation
And distribution trajectory and map match point of the vehicle match degree highest subpoint as the vehicle in road network map, from
And matching rate highland map match is carried out in the extremely short ground time to vehicle, wherein the location data be the location equipment according to
The position data gathered when prefixed time interval positions to vehicle.
To enable the above objects, features and advantages of the present invention to become apparent, present pre-ferred embodiments cited below particularly,
And accompanying drawing appended by coordinating, it is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of the claims in the present invention protection domain, for those of ordinary skill in the art, do not paying creative work
Under the premise of, other related accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is that the server that preferred embodiments of the present invention provide interacts schematic diagram with what location equipment communicated to connect.
Fig. 2 is a kind of block diagram of the server shown in Fig. 1 that preferred embodiments of the present invention provide.
Fig. 3 is a kind of schematic flow sheet for the map-matching method that preferred embodiments of the present invention provide.
Fig. 4 is a kind of schematic flow sheet for the sub-step that the step S310 shown in Fig. 3 includes.
Fig. 5 is a kind of schematic flow sheet for the sub-step that the step S330 shown in Fig. 3 includes.
Fig. 6 is another schematic flow sheet for the map-matching method that preferred embodiments of the present invention provide.
Fig. 7 is a kind of schematic flow sheet for the sub-step that the step S340 shown in Fig. 6 includes.
Fig. 8 is a kind of block diagram of the map matching means shown in Fig. 2 that preferred embodiments of the present invention provide.
Fig. 9 is another square frame signal of the map matching means shown in Fig. 2 that preferred embodiments of the present invention provide
Figure.
Icon：10- servers；20- location equipments；100- map matching means；11- databases；12- processors；13- leads to
Believe unit；110- sections division module；120- positions labeling module；130- map-matching modules；140- speed calculation modules.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is necessary to which explanation, unless otherwise clearly defined and limited, term " setting ", " pacifies
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
How a kind of map match efficiency high is provided, and anti-deviations interference performance is strong, can be right within the extremely short ground time
Vehicle carries out the map-matching method and device of matching rate highland map match, is to be badly in need of solution to those skilled in the art
Technical problem certainly.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Fig. 1 is refer to, is server 10 and the friendship of the communication connection of location equipment 20 that preferred embodiments of the present invention provide
Mutual schematic diagram.In embodiments of the present invention, the server 10 is communicated to connect by network and location equipment 20, with from described fixed
The location data of vehicle is got at the equipment 20 of position, and matching rate highland is carried out to the vehicle according to the location data of the vehicle
Map match.In the present embodiment, the location equipment 20 is used to position the traveling-position of vehicle, the location equipment
20 can be positioned by GPS positioning system to vehicle, and the position letter when the vehicle travels default driving distance interval
Breath is sent to the server 10.The network may be, but not limited to, cable network or wireless network.
Fig. 2 is refer to, is a kind of square frame signal of the server 10 shown in Fig. 1 of preferred embodiments of the present invention offer
Figure.In embodiments of the present invention, the server 10 includes map matching means 100, database 11, processor 12 and communication unit
Member 13.The database 11, processor 12 and 13 each element of communication unit are directly or indirectly electrically connected between each other, with
Realize the transmission or interaction of data.For example, these elements between each other can be real by one or more communication bus or signal wire
Now it is electrically connected with.
Wherein, the database 11 can be used for storing the positioning number that the location equipment 20 is sent to the server 10
According to, and for carrying out the road network map data of map match to vehicle.Wherein, the database 11 includes memory, the number
Various data are stored by the memory according to storehouse 11, the memory may be, but not limited to, random access memory
Device, read-only storage, programmable read only memory, Erasable Programmable Read Only Memory EPROM, the read-only storage of electrically erasable
Device etc..In the present embodiment, the database 11 can with storage program, the processor 12 after execute instruction is received,
Described program can correspondingly be performed.
The processor 12 can be a kind of IC chip of the disposal ability with signal.The processor 12 can
To be general processor, including central processing unit, network processing unit etc.；It can also be digital signal processor, special integrated electricity
Road, ready-made programmable gate array either other PLDs, discrete gate or transistor logic, discrete hardware group
Part.Wherein, general processor can be microprocessor or the processor can also be any conventional processor etc..
The communication unit 13 is used for the communication established by network between the server 10 and the location equipment 20
Connection, and pass through network transceiving data.
The map matching means 100 can be stored in the database including at least one in the form of software or firmware
In 11 or the software function module that is solidificated in the operating system of the server 10.The processor 12 can be used for described in execution
The executable module that database 11 stores, such as software function module and computer included by the map matching means 100
Program etc..In the present embodiment, the map match efficiency high of map matching means 100, anti-deviations interference performance is strong, can
By around anchor point on section, searched corresponding to the vehicle in road network map projector distance, section direction and distribution trajectory with
The subpoint of the vehicle match, as map match point of the vehicle in road network map, so as within the extremely short ground time
Matching rate highland map match is carried out to vehicle.Specific map-matching method is described in detail below.
Fig. 3 is refer to, is a kind of schematic flow sheet for the map-matching method that preferred embodiments of the present invention provide.At this
In inventive embodiments, the map-matching method is applied to the server 10 communicated to connect with location equipment 20, described fixed
Position equipment 20 is used to position the traveling-position of vehicle.Below to the idiographic flow of the map-matching method shown in Fig. 3 and
Step is described in detail.
In embodiments of the present invention, the map-matching method comprises the following steps：
Step S310, road network map data are obtained, and section is carried out to road network map according to default section distance interval and drawn
Point, obtain distribution situation of each section in the road network map.
In the present embodiment, the server 10 can get road network map data from database 11, according to the road
Entoilage diagram data sets up corresponding road network map.The server 10 can be after the completion of road network map foundation, according to default road
Segment distance interval carries out section division to road network map, obtains distribution situation of each section in the road network map.Wherein, institute
It can be 500m, 800m or 1000m to state default section distance interval, and specifically presetting section distance interval can be carried out according to demand
Different settings.In an embodiment of the present embodiment, the default section distance is preferably spaced 500m.
Specifically, Fig. 4 is refer to, is a kind of schematic flow sheet for the sub-step that the step S310 shown in Fig. 3 includes.
In the present embodiment, the step of carrying out section division to road network map according to default section distance interval in the step S310, can be with
Including sub-step S311, sub-step S312 and sub-step S313.Wherein, the sub-step S311, sub-step S312 and sub-step
S313 is as follows：
Sub-step S311, by the length of each route in road network map compared with the distance interval of default section.
In the present embodiment, the server 10 can be by the way that the length of each route and default section distance interval be compared
Compared with mode, the dividing condition in each section is judged.
Sub-step S312, if length is more than the default section distance interval, according to default section distance interval to phase
The route answered is split, and obtains corresponding section.
In the present embodiment, if path length is more than the default section distance interval, the server 10 will be according to
Default section distance interval carries out dividing processing to corresponding route, to mark off corresponding section.
Sub-step S313, if length is less than the default section distance interval, according to default section distance interval to more
Bar route merges, and obtains corresponding section.
In the present embodiment, if path length is less than the default section distance interval, the server 10 will be according to
The route that default section distance interval is less than the default section distance interval to a plurality of path length merges processing, to draw
Separate corresponding section.
Step S320, the location data that location equipment 20 is sent is received, and according to the location data in road network map
Primary Location is carried out to vehicle, obtains anchor point corresponding to the vehicle.
In the present embodiment, the location data is that the location equipment 20 is determined vehicle according to prefixed time interval
The position data gathered during position, wherein the prefixed time interval can be 25S, 30S or 45S etc., the one of the present embodiment
In kind embodiment, the prefixed time interval is preferably 27S.In the present embodiment, the position data is that the vehicle exists
Latitude and longitude information in real world coordinate.The server 10 is receiving the location data that is sent by the location equipment 20
Afterwards, Primary Location will be carried out to the position of the vehicle in road network map according to the location data, obtains the vehicle pair
The anchor point answered.
Step S330, according to the distribution situation in each section around the anchor point, the anchor point is generated on each road
Subpoint in section, and projector distance, section direction and distribution trajectory and the vehicle match are chosen from the subpoint of generation
Map match point of the highest subpoint as the vehicle in road network map is spent, to complete map match.
In the present embodiment, the server 10, will be according to institute when getting vehicle in the anchor point in road network map
Each section distribution situation around anchor point is stated, subpoint corresponding with the anchor point is generated on each section, then from life
Into subpoint in choose projector distance, section direction and distribution trajectory and the vehicle match degree highest subpoint, as
Map match point of the vehicle in road network map, by the vehicle location to corresponding road section, it is high to complete matching rate
Map match.
Specifically, Fig. 5 is refer to, is a kind of schematic flow sheet for the sub-step that the step S330 shown in Fig. 3 includes.
In the present embodiment, projector distance, section direction and distribution trajectory and institute are chosen in the step S330 from the subpoint of generation
Son can be included as the vehicle in the step of map match point in road network map by stating vehicle match degree highest subpoint
Step S331, sub-step S332 and sub-step S333.Wherein, the sub-step S331, sub-step S332 and sub-step S333 be such as
Shown in lower：
Sub-step S331, the subpoint that projector distance is less than pre-determined distance threshold value is chosen from the subpoint of generation.
In the present embodiment, the projector distance the distance between is subpoint to anchor point, and the server 10 passes through
The mode that projector distance is less than the subpoint of pre-determined distance threshold value is chosen from the subpoint of generation, filters out the anchor point week
Enclose distance closer to each section.
Sub-step S332, it is small with angle that vehicle headstock direction is formed that section direction is filtered out from the subpoint chosen
In the subpoint of predetermined angle threshold value.
In the present embodiment, the section direction is the bearing of trend of subpoint corresponding road section, and the server 10 can lead to
Cross from the subpoint chosen and filter out section direction with the angle that vehicle headstock direction is formed less than predetermined angle threshold value
Mode, filter out the section matched with the travel direction of vehicle.
Sub-step S333, chooses distribution trajectory from the subpoint filtered out and the movement locus of the vehicle is most like
Subpoint, and the current map match point of the vehicle is used as using the subpoint.
In the present embodiment, the distribution trajectory is subpoint and the vehicle map that history is retained in road network map
Match point connects the track to be formed, and the server 10 can be by selecting distribution trajectory and vehicle from the subpoint filtered out
Movement locus most like i.e. matching degree highest subpoint mode, it is current as the vehicle to select the subpoint
Map match point, by the vehicle location to corresponding road section, wherein the subpoint finally selected is and the vehicle
With degree highest subpoint.
Fig. 6 is refer to, is another schematic flow sheet for the map-matching method that preferred embodiments of the present invention provide.
In the embodiment of the present invention, the map-matching method can also include：
Step S340, according to corresponding operating range between adjacent map match point on each section, obtain each section and get on the bus
Traveling average speed.
In the present embodiment, vehicle is included according to prefixed time interval in the location data that the server 10 receives
The operating range of traveling, the server 10 can obtain the vehicle each according to the operating range and corresponding driving time
The average speed that vehicle travels on the average speed travelled on section, and each section.
Specifically, Fig. 7 is refer to, is a kind of schematic flow sheet for the sub-step that the step S340 shown in Fig. 6 includes.
In the present embodiment, the step S340 can include sub-step S341 and sub-step S342.Wherein, the sub-step S341 and son
Step S342 is as follows：
Sub-step S341, according to the operating range and driving time between adjacent map match point on each section, obtain car
Average speed when driving between corresponding adjacent map match point.
In the present embodiment, the server 10 can according to the operating range between adjacent map match point on each section with
Ratio relation between driving time, obtain average speed of the vehicle when driving between corresponding adjacent map match point
Degree, so as to obtain the average speed that the vehicle travels on each section.Wherein, the driving between the adjacent map match point
Time is the prefixed time interval.
Sub-step S342, average computation is weighted to the average speed of all vehicles on each section, obtained on each section
The average speed of vehicle traveling.
In the present embodiment, the server 10 can be by entering to each self-corresponding average speed of all vehicles on each section
The mode of row weighted average calculation, obtain average speed during all vehicle travelings on each section.Wherein whole weighted average meter
Weight during calculation is operating range of all vehicle synchronizations in same road segment.
Fig. 8 is refer to, is one kind of the map matching means 100 shown in Fig. 2 of preferred embodiments of the present invention offer
Block diagram.In embodiments of the present invention, the map matching means 100 are used to carry out map match to vehicle, describedly
Figure coalignment 100 can include section division module 110, positioning labeling module 120 and map-matching module 130.
The section division module 110, for obtaining road network map data, and according to default section distance interval to road network
Map carries out section division, obtains distribution situation of each section in the road network map.
In the present embodiment, the section division module 110 can perform the sub-step in Fig. 3 in step S310, and Fig. 4
S311, sub-step S312, sub-step S313, specific description can refer to above to step S310, sub-step S311, sub-step
S312 and sub-step S313 detailed description.
The positioning labeling module 120, for receiving the location data of the transmission of location equipment 20, and according to the positioning number
Primary Location is carried out to vehicle according in road network map, obtains anchor point corresponding to the vehicle.
In the present embodiment, the location data is that the location equipment 20 is determined vehicle according to prefixed time interval
The position data gathered during position, the positioning labeling module 120 can perform step S320 in Fig. 3, and specific description can be joined
According to above to step S320 detailed description.
The map-matching module 130, it is described fixed for the distribution situation according to each section around the anchor point, generation
Subpoint of the site on each section, and projector distance, section direction and distribution trajectory are chosen from the subpoint of generation
With map match point of the vehicle match degree highest subpoint as the vehicle in road network map, to complete map
Match somebody with somebody.
In the present embodiment, the map-matching module 130 can perform the sub-step in Fig. 3 in step S330, and Fig. 5
S331, sub-step S332, sub-step S333, specific description can refer to above to step S330, sub-step S331, sub-step
S332 and sub-step S333 detailed description.
Refer to Fig. 9, be preferred embodiments of the present invention provide Fig. 2 shown in map matching means 100 it is another
Kind block diagram.In embodiments of the present invention, the map matching means 100 can also include speed calculation module 140.
The speed calculation module 140, for according to corresponding operating range between adjacent map match point on each section,
Obtain the average speed that vehicle travels on each section.
In the present embodiment, the speed calculation module 140 can perform the sub-step in Fig. 6 in step S340, and Fig. 7
S341, sub-step S342, specific description can refer to above to the detailed of step S340, sub-step S341 and sub-step S342
Description.
In summary, in the map-matching method and device that preferred embodiments of the present invention provide, the map match
The map match efficiency high of method, anti-deviations interference performance is strong, and matching accuracy rate is high, can be within the extremely short ground time to car
Carry out matching rate highland map match.Specifically, methods described is by obtaining road network map data, and according to default section away from
Sow discord every carrying out section division to road network map, obtain distribution situation of each section in the road network map；It is fixed by receiving
The location data that position equipment is sent, and Primary Location is carried out to vehicle in road network map according to the location data, obtain institute
State anchor point corresponding to vehicle；According to the distribution situation in each section around the anchor point, the anchor point is generated described each
Subpoint on section, and projector distance, section direction and distribution trajectory and the vehicle are chosen from the subpoint of generation
Map match point with degree highest subpoint as the vehicle in road network map, so as to enter in the extremely short ground time to vehicle
Row matching rate highland map match, vehicle is carried out according to prefixed time interval wherein the location data is the location equipment
The position data gathered during positioning.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of map-matching method, applied to the server communicated to connect with location equipment, the location equipment is used for car
Traveling-position positioned, it is characterised in that methods described includes：
Road network map data are obtained, and section division is carried out to road network map according to default section distance interval, obtain each section
Distribution situation in the road network map；
Receive location equipment send location data, and according to the location data in road network map to vehicle carry out it is tentatively fixed
Position, obtain anchor point corresponding to the vehicle, wherein the location data be the location equipment according to prefixed time interval pair
The position data gathered when vehicle is positioned；
According to the distribution situation in each section around the anchor point, subpoint of the anchor point on each section is generated,
And projector distance, section direction and distribution trajectory and the vehicle match degree highest subpoint are chosen from the subpoint of generation
As map match point of the vehicle in road network map, to complete map match.
2. according to the method for claim 1, it is characterised in that described that road network map is entered according to default section distance interval
The step of walking along the street section divides includes：
By the length of each route in road network map compared with the distance interval of default section；
If length is more than the default section distance interval, corresponding route is divided according to default section distance interval
Cut, obtain corresponding section；
If length is less than the default section distance interval, a plurality of route is merged according to default section distance interval,
Obtain corresponding section.
3. according to the method for claim 1, it is characterised in that projector distance, road are chosen in the subpoint from generation
Duan Fangxiang and distribution trajectory and map of the vehicle match degree highest subpoint as the vehicle in road network map
With the step of include：
The subpoint that projector distance is less than pre-determined distance threshold value is chosen from the subpoint of generation, wherein the projector distance is to throw
Shadow point is the distance between to anchor point；
The angle that section direction is formed with vehicle headstock direction is filtered out from the subpoint chosen and is less than predetermined angle threshold value
Subpoint, wherein the section direction be subpoint corresponding road section bearing of trend；
The distribution trajectory subpoint most like with the movement locus of the vehicle is chosen from the subpoint filtered out, and with described
The subpoint map match point current as the vehicle, wherein the distribution trajectory be subpoint and the vehicle in road network
The map match point that history is retained on figure connects the track to be formed.
4. according to the method for claim 1, it is characterised in that the location data includes vehicle according to prefixed time interval
The operating range of traveling, methods described also include：
According to corresponding operating range between adjacent map match point on each section, the average speed that vehicle travels on each section is obtained
Degree.
5. according to the method for claim 4, it is characterised in that described according to adjacent map match point in the road network map
Between corresponding operating range, the step of obtaining the average speed that vehicle on each section travels includes：
According to the operating range and driving time between adjacent map match point on each section, obtain vehicle and driving to corresponding phase
Average speed when between adjacent map match point；
Average computation is weighted to the average speed of all vehicles on each section, obtains the average speed that vehicle travels on each section
Degree.
6. a kind of map matching means, applied to the server communicated to connect with location equipment, the location equipment is used for car
Traveling-position positioned, it is characterised in that described device includes：
Section division module, walking along the street is entered to road network map for obtaining road network map data, and according to default section distance interval
Section division, obtains distribution situation of each section in the road network map；
Labeling module is positioned, for receiving the location data of location equipment transmission, and according to the location data in road network map
On to vehicle carry out Primary Location, anchor point corresponding to the vehicle is obtained, wherein the location data is the location equipment
The position data gathered when being positioned according to prefixed time interval to vehicle；
Map-matching module, for the distribution situation according to each section around the anchor point, the anchor point is generated described
Subpoint on each section, and projector distance, section direction and distribution trajectory and the vehicle are chosen from the subpoint of generation
Map match point of the matching degree highest subpoint as the vehicle in road network map, to complete map match.
7. device according to claim 6, it is characterised in that the section division module is spaced according to default section distance
The mode of section division is carried out to road network map to be included：
By the length of each route in road network map compared with the distance interval of default section；
If length is more than the default section distance interval, corresponding route is divided according to default section distance interval
Cut, obtain corresponding section；
If length is less than the default section distance interval, a plurality of route is merged according to default section distance interval,
Obtain corresponding section.
8. device according to claim 6, it is characterised in that the map-matching module is chosen from the subpoint of generation
Projector distance, section direction and distribution trajectory are with the vehicle match degree highest subpoint as the vehicle in road network map
On the mode of map match point include：
The subpoint that projector distance is less than pre-determined distance threshold value is chosen from the subpoint of generation, wherein the projector distance is to throw
Shadow point is the distance between to anchor point；
The angle that section direction is formed with vehicle headstock direction is filtered out from the subpoint chosen and is less than predetermined angle threshold value
Subpoint, wherein the section direction be subpoint corresponding road section bearing of trend；
The distribution trajectory subpoint most like with the movement locus of the vehicle is chosen from the subpoint filtered out, and with described
The subpoint map match point current as the vehicle, wherein the distribution trajectory be subpoint and the vehicle in road network
The map match point that history is retained on figure connects the track to be formed.
9. device according to claim 6, it is characterised in that the location data includes vehicle according to prefixed time interval
The operating range of traveling, described device also include：
Speed calculation module, for according to corresponding operating range between adjacent map match point on each section, obtaining each section
The average speed of upper vehicle traveling.
10. device according to claim 9, it is characterised in that the speed calculation module is according in the road network map
Corresponding operating range between adjacent map match point, obtaining the mode of the average speed that vehicle travels on each section includes：
According to the operating range and driving time between adjacent map match point on each section, obtain vehicle and driving to corresponding phase
Average speed when between adjacent map match point；
Average computation is weighted to the average speed of all vehicles on each section, obtains the average speed that vehicle travels on each section
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710868556.6A CN107588778A (en) | 2017-09-22 | 2017-09-22 | Map-matching method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710868556.6A CN107588778A (en) | 2017-09-22 | 2017-09-22 | Map-matching method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107588778A true CN107588778A (en) | 2018-01-16 |
Family
ID=61047756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710868556.6A Pending CN107588778A (en) | 2017-09-22 | 2017-09-22 | Map-matching method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107588778A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109163732A (en) * | 2018-08-07 | 2019-01-08 | 武汉中海庭数据技术有限公司 | A kind of high-precision road calculating matching process and system based on intersection |
| CN109612474A (en) * | 2018-12-26 | 2019-04-12 | 腾讯科技（深圳）有限公司 | A kind of map road matching process, device, server and storage medium |
| CN110515382A (en) * | 2019-08-28 | 2019-11-29 | 锐捷网络股份有限公司 | A kind of smart machine and its localization method |
| CN110570680A (en) * | 2018-05-17 | 2019-12-13 | 通用汽车环球科技运作有限责任公司 | Method and system for determining position of object using map information |
| CN110619031A (en) * | 2019-08-30 | 2019-12-27 | 上海钧正网络科技有限公司 | Trajectory reconstruction method and apparatus, computer device and storage medium |
| CN111060119A (en) * | 2019-12-27 | 2020-04-24 | 中电海康集团有限公司 | City slow-travel navigation method and system based on street view visual element scoring |
| WO2020173188A1 (en) * | 2019-02-26 | 2020-09-03 | 文远知行有限公司 | Method and device for locating obstacle in semantic map, computer apparatus, and storage medium |
| CN112162304A (en) * | 2020-09-24 | 2021-01-01 | 北京市生态环境监测中心 | Road network matching method, device, electronic equipment and medium |
| CN112584316A (en) * | 2019-09-30 | 2021-03-30 | 沈阳美行科技有限公司 | Indoor driving positioning method, device, equipment and storage medium |
| CN113129461A (en) * | 2021-04-06 | 2021-07-16 | 深圳市沃特沃德信息有限公司 | Automatic charging method and device for highway section and computer equipment |
| CN114061597A (en) * | 2021-10-15 | 2022-02-18 | 中国科学院空天信息创新研究院 | Vehicle map matching autonomous positioning method |
| CN114543820A (en) * | 2020-11-24 | 2022-05-27 | 博泰车联网科技(上海)股份有限公司 | Road matching method and related device |
| CN117706478A (en) * | 2024-02-02 | 2024-03-15 | 腾讯科技（深圳）有限公司 | Positioning drift identification method, device, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102102992A (en) * | 2009-12-22 | 2011-06-22 | 山东省计算中心 | Multistage network division-based preliminary screening method for matched roads and map matching system |
| CN103927873A (en) * | 2014-04-28 | 2014-07-16 | 中国航天系统工程有限公司 | Matching method for probe car and road section and method for obtaining real-time traffic status in parallel |
| CN104778274A (en) * | 2015-04-23 | 2015-07-15 | 山东大学 | Wide-range urban road network travel time estimation method based on sparse taxi GPS (Global Positioning System) data |
| CN105021202A (en) * | 2014-04-29 | 2015-11-04 | 高德软件有限公司 | Map matching method and device |
| CN106855415A (en) * | 2017-01-09 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Map-matching method and system |
-
2017
- 2017-09-22 CN CN201710868556.6A patent/CN107588778A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102102992A (en) * | 2009-12-22 | 2011-06-22 | 山东省计算中心 | Multistage network division-based preliminary screening method for matched roads and map matching system |
| CN103927873A (en) * | 2014-04-28 | 2014-07-16 | 中国航天系统工程有限公司 | Matching method for probe car and road section and method for obtaining real-time traffic status in parallel |
| CN105021202A (en) * | 2014-04-29 | 2015-11-04 | 高德软件有限公司 | Map matching method and device |
| CN104778274A (en) * | 2015-04-23 | 2015-07-15 | 山东大学 | Wide-range urban road network travel time estimation method based on sparse taxi GPS (Global Positioning System) data |
| CN106855415A (en) * | 2017-01-09 | 2017-06-16 | 北京京东尚科信息技术有限公司 | Map-matching method and system |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110570680A (en) * | 2018-05-17 | 2019-12-13 | 通用汽车环球科技运作有限责任公司 | Method and system for determining position of object using map information |
| CN109163732A (en) * | 2018-08-07 | 2019-01-08 | 武汉中海庭数据技术有限公司 | A kind of high-precision road calculating matching process and system based on intersection |
| CN109163732B (en) * | 2018-08-07 | 2020-12-11 | 武汉中海庭数据技术有限公司 | High-precision road calculation matching method and system based on intersection |
| CN109612474A (en) * | 2018-12-26 | 2019-04-12 | 腾讯科技（深圳）有限公司 | A kind of map road matching process, device, server and storage medium |
| CN109612474B (en) * | 2018-12-26 | 2022-02-15 | 腾讯科技（深圳）有限公司 | Map road matching method, map road matching device, map road matching server and storage medium |
| WO2020173188A1 (en) * | 2019-02-26 | 2020-09-03 | 文远知行有限公司 | Method and device for locating obstacle in semantic map, computer apparatus, and storage medium |
| US12025451B2 (en) | 2019-02-26 | 2024-07-02 | Weride Corp | Method and device for locating obstacle in semantic map, computer apparatus, and storage medium |
| CN110515382A (en) * | 2019-08-28 | 2019-11-29 | 锐捷网络股份有限公司 | A kind of smart machine and its localization method |
| CN110619031A (en) * | 2019-08-30 | 2019-12-27 | 上海钧正网络科技有限公司 | Trajectory reconstruction method and apparatus, computer device and storage medium |
| CN112584316A (en) * | 2019-09-30 | 2021-03-30 | 沈阳美行科技有限公司 | Indoor driving positioning method, device, equipment and storage medium |
| CN112584316B (en) * | 2019-09-30 | 2024-02-06 | 沈阳美行科技股份有限公司 | Indoor driving positioning method, device, equipment and storage medium |
| CN111060119A (en) * | 2019-12-27 | 2020-04-24 | 中电海康集团有限公司 | City slow-travel navigation method and system based on street view visual element scoring |
| CN111060119B (en) * | 2019-12-27 | 2021-08-10 | 中电海康集团有限公司 | City slow-travel navigation method and system based on street view visual element scoring |
| CN112162304A (en) * | 2020-09-24 | 2021-01-01 | 北京市生态环境监测中心 | Road network matching method, device, electronic equipment and medium |
| CN114543820B (en) * | 2020-11-24 | 2023-09-22 | 博泰车联网科技(上海)股份有限公司 | Road matching method and related device |
| CN114543820A (en) * | 2020-11-24 | 2022-05-27 | 博泰车联网科技(上海)股份有限公司 | Road matching method and related device |
| CN113129461A (en) * | 2021-04-06 | 2021-07-16 | 深圳市沃特沃德信息有限公司 | Automatic charging method and device for highway section and computer equipment |
| CN114061597B (en) * | 2021-10-15 | 2023-11-03 | 中国科学院空天信息创新研究院 | Autonomous positioning method for vehicle map matching |
| CN114061597A (en) * | 2021-10-15 | 2022-02-18 | 中国科学院空天信息创新研究院 | Vehicle map matching autonomous positioning method |
| CN117706478A (en) * | 2024-02-02 | 2024-03-15 | 腾讯科技（深圳）有限公司 | Positioning drift identification method, device, equipment and storage medium |
| CN117706478B (en) * | 2024-02-02 | 2024-05-03 | 腾讯科技（深圳）有限公司 | Positioning drift identification method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107588778A (en) | Map-matching method and device | |
| CN110909096B (en) | Method and device for determining recommended boarding point, storage medium and electronic equipment | |
| CN105788335B (en) | A kind of method and terminal of navigation | |
| CN108253973B (en) | Method and device for associating high-precision map with standard map | |
| CN103620345B (en) | Route is provided by information gathering and retrieval | |
| CN102102992B (en) | Multistage network division-based preliminary screening method for matched roads and map matching system | |
| CN106855415A (en) | Map-matching method and system | |
| CN101469992B (en) | Processing method and apparatus for vehicle navigation and vehicle navigation system | |
| CN106062846B (en) | Collection method, collection device, recording medium and the hourage calculating apparatus of detection information | |
| CN103376117B (en) | A kind of information search method, system and GPS navigation server | |
| CN106595683A (en) | Navigation method and device | |
| CN111735466B (en) | Multi-vehicle collaborative trajectory planning method, device, equipment and storage medium | |
| CN104864879A (en) | Navigation path planning method and device | |
| CN108055301A (en) | Vehicle dispatching method, server, client and system | |
| CN103076020A (en) | Navigation device | |
| CN105893577B (en) | Road net data processing method and processing device | |
| CN108168566B (en) | Road determination method and device and electronic equipment | |
| CN109341709A (en) | Route recommendation method, electronic equipment and computer readable storage medium | |
| CN110081892A (en) | A kind of high-precision electronic digital map navigation method and device | |
| CN106441323A (en) | Route navigation prompting method and device | |
| CN107543555A (en) | A kind of route planning method and device | |
| CN108351220A (en) | The polymerization of lane information for numerical map service | |
| CN106485924A (en) | The acquisition methods of dynamic traffic road network figure and device | |
| CN109102712A (en) | The data processing method and device smoothly moved for realizing vehicle | |
| CN110060424A (en) | A kind of shared automobile returning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180116 |
|
| RJ01 | Rejection of invention patent application after publication |