CN108399200B - Construction method of time-space buffer zone of road network constrained track - Google Patents

Construction method of time-space buffer zone of road network constrained track Download PDF

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CN108399200B
CN108399200B CN201810092329.3A CN201810092329A CN108399200B CN 108399200 B CN108399200 B CN 108399200B CN 201810092329 A CN201810092329 A CN 201810092329A CN 108399200 B CN108399200 B CN 108399200B
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time
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track
road network
edge
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CN108399200A (en
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陈碧宇
袁辉
李清泉
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Wuhan University WHU
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    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract

The invention relates to a construction method of a time-space buffer zone of a road network constrained track, which comprises the following steps: step 1, loading a road network and constructing a road network topological structure; step 2, acquiring a track section from the space-time track in sequence, and constructing a forward space buffer area and a backward space buffer area of control points on the track section; step 3, respectively constructing forward and backward space buffer areas of the track segment by using the forward and backward space buffer areas of the control point; and 4, combining the forward and backward space-time buffer zones of all the track segments to obtain the space-time buffer zone of the space-time track. The method can provide an efficient track space-time proximity calculation method for analysis such as track clustering, track pattern recognition, abnormal track recognition and the like, is remarkably superior to the existing space-time proximity calculation method in calculation performance, and has service and popularization and application prospects.

Description

Construction method of time-space buffer zone of road network constrained track
Technical Field
The invention relates to the technical field of traffic data processing, in particular to a construction method of a time-space buffer area of a road network constrained track.
Background
With the development of mobile positioning technology and wireless communication technology, various types of positioning devices acquire massive personal activity track data, and typical track data include taxi GPS (global positioning system) positioning data (also called floating car data), bus swiping card data, mobile phone positioning data, social sign-in data and various user original geographic information data. The big data of the space-time trajectory contains much deep knowledge, and the analysis mining and the utilization of the big data of the space-time trajectory bring huge value.
Relevant documents are Chen, B.Y., Yuan, H.H., L i, Q.A., Shaw, S. L, L am, W.H.and Chen, X.2016, spatiomoporal data model for network time geographic analysis in the theory of big data International Journal of geographic Information Science,30, pp.1041-1071.
The research hotspot of the current time-space trajectory data analysis comprises the contents of trajectory clustering and classification, group pattern recognition, abnormal trajectory recognition and the like, wherein the time-space proximity analysis of the trajectory is a key step of analysis and processing of various trajectory data. The spatiotemporal proximity analysis of the trajectory is to obtain other trajectories that are simultaneously adjacent to the target trajectory in time and space. However, the spatiotemporal trajectory data has the characteristics of large data size, high dimensionality and the like, and the difficulty of the proximity analysis of the spatiotemporal trajectory data is increased. Conventional analysis methods typically first analyze using a spatial buffer to obtain spatially adjacent tracks, and then perform temporal filtering, or vice versa. The analysis method of the space-time separation can screen out a lot of wrong tracks, needs a further verification process, has low processing efficiency and cannot meet the requirement of space-time integrated proximity analysis of massive space-time track data.
The relevant documents are:
Long,J.A.and Nelson,T.A.,2013,A Review of Quantitative Methods forMovement Data.International Journal of Geographical Information Science,27,pp.292-318.
Zheng,Y.,2015,Trajectory Data Mining:An Overview.Acm Transactions onIntelligent Systems&Technology,6,pp.1-41.
disclosure of Invention
The invention provides a concept and a generation algorithm of a space-time buffer area of a space-time trajectory, so as to solve the problem of space-time proximity analysis of massive trajectory data.
The technical scheme of the invention is a construction method of a time-space buffer zone of a road network constrained track, which comprises the following steps:
step 1, loading a road network and constructing a road network topological structure;
step 2, acquiring a track section from the space-time track in sequence, and constructing a forward space buffer area and a backward space buffer area of control points on the track section;
step 3, respectively constructing forward and backward space buffer areas of the track segment by using the forward and backward space buffer areas of the control point;
and 4, combining the forward and backward space-time buffer zones of all the track segments to obtain the space-time buffer zone of the space-time track.
Further, the specific implementation manner of step 2 is as follows,
sequentially from track P in time orderqTaking out a track segment
Figure BDA0001564057600000021
Wherein c isi＝(lu,mi,ti)，cj＝(lu,mj,tj) Set track segment
Figure BDA0001564057600000022
At the edge auUpper, luRepresents an edge auID of (1), mi，mj∈[0,1]Respectively represent the location points (l)u,mi) And (l)u,mj) At the edge auRelative position of (a) tiAnd tjRespectively representing time points; respectively generating control points c with distance limit of omega by utilizing Dijkstra algorithmiAnd cjForward spatial buffer of
Figure BDA0001564057600000023
And
Figure BDA0001564057600000024
and a backward spatial buffer
Figure BDA0001564057600000025
And
Figure BDA0001564057600000026
wherein
Figure BDA0001564057600000027
And
Figure BDA0001564057600000028
the following conditions are respectively satisfied:
Figure BDA0001564057600000029
Figure BDA00015640576000000210
Figure BDA00015640576000000211
Figure BDA00015640576000000212
wherein D isSP((lu,mi),(lk,mk) Represents the position (l) from the road networku,mi) To (l)k,mk) The shortest distance of the first and second electrodes,
Figure BDA00015640576000000213
indicating the slave road network location (l)u,mi) To (l)k,mk) The shortest distance of (a) is less than or equal to omega; dSP((lu,mj),(lk,mk) Represents the position (l) from the road networku,mj) To (l)k,mk) The shortest distance of the first and second electrodes,
Figure BDA00015640576000000214
indicating the slave road network location (l)u,mj) To (l)k,mk) The shortest distance of (a) is less than or equal to omega; dSP((lk,mk),(lu,mi) Represents the position (l) from the road networkk,mk) To (l)u,mi) The shortest distance of the first and second electrodes,
Figure BDA00015640576000000215
indicating the slave road network location (l)k,mk) To (l)u,mi) The shortest distance of (a) is less than or equal to omega; dSP((lk,mk),(lu,mj) Represents the position (l) from the road networkk,mk) To (l)u,mj) The shortest distance of the first and second electrodes,
Figure BDA00015640576000000216
indicating the slave road network location (l)k,mk) To (l)u,mj) Is less than or equal to ω.
Further, the specific implementation manner of step 3 is as follows,
first, according to the forward space buffer
Figure BDA00015640576000000217
And
Figure BDA00015640576000000218
generating track segments
Figure BDA00015640576000000219
Forward space-time buffer
Figure BDA00015640576000000220
Wherein
Figure BDA00015640576000000221
Is a track segment
Figure BDA00015640576000000222
Side a ofuThe time-space polygon of (a) above,
Figure BDA00015640576000000223
is an edge auAdjacent edge
Figure BDA00015640576000000224
A spatiotemporal polygon of (a);
using a Linear reference technique L RS, define mω＝ω/duM isωAdding to control point ci＝(lu,mi,ti) And cj＝(lu,mj,tj) Get another 2 space-time points
Figure BDA0001564057600000031
And
Figure BDA0001564057600000032
at the edge auSpatio-temporal polygon of
Figure BDA0001564057600000033
Is formed by
Figure BDA0001564057600000034
Composed parallelogram cutting edge auThe resulting polygon of which side auIs in the range of (l)u,ms0 to (l)u,me＝1)；
Figure BDA0001564057600000035
There are the following 5 cases in the linear reference coordinate system:
(a) when m isi+mω≤me，mj+mω≤meAt this time, the
Figure BDA0001564057600000036
(b) When m isi+mω≤me，mj＜me＜mj+mωAt this time, the
Figure BDA0001564057600000037
Wherein
Figure BDA0001564057600000038
(c) When m isi+mω≤me，mj＝meAt this time, wherein
Figure BDA00015640576000000310
(d) When m isi＜me＜mi+mω，mj＜me＜mj+mωAt this time, wherein
Figure BDA00015640576000000312
(e)When m isi＜me＜mi+mω，mj＝meAt this time, the
Figure BDA00015640576000000313
Wherein
Figure BDA00015640576000000314
In the above 5 cases, the angle α is expressed as,
Figure BDA00015640576000000315
wherein the angle α∈ [0,90) is the angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate system;
forward spatial buffer
Figure BDA00015640576000000316
And
Figure BDA00015640576000000317
not only comprising the edge auAnd may also include auAdjacent edges of (a); for adjacent edge avEdge avIn the range of (l)v,ms0 to (l)v,me1); suppose that
Figure BDA00015640576000000318
Is from (l)v,ms) To
Figure BDA00015640576000000319
Figure BDA00015640576000000320
Is from (l)v,ms) To
Figure BDA00015640576000000321
Correspondingly, the corresponding spatio-temporal location points are respectively
Figure BDA00015640576000000322
And
Figure BDA00015640576000000323
Figure BDA00015640576000000324
there are 4 cases in the linear reference frame:
(a) when in use
Figure BDA00015640576000000325
At this time, the
Figure BDA00015640576000000326
(b) At that time, wherein
Figure BDA00015640576000000329
(c) When in use
Figure BDA0001564057600000041
At this time
Figure BDA0001564057600000042
(d) When in use
Figure BDA0001564057600000043
At this time
Figure BDA0001564057600000044
Wherein
Figure BDA0001564057600000045
In the 4 cases, the angle
Figure BDA0001564057600000046
As indicated by the general representation of the,
Figure BDA0001564057600000047
wherein the angle
Figure BDA0001564057600000048
Is the included angle between the personal motion direction and the time axis, and is an expression of the personal motion speed under a linear reference coordinate system;
(II) buffer according to backward space
Figure BDA0001564057600000049
And
Figure BDA00015640576000000410
generating track segments
Figure BDA00015640576000000411
Backward space-time buffer
Figure BDA00015640576000000412
Wherein
Figure BDA00015640576000000413
Is a track segment
Figure BDA00015640576000000414
Side a ofuThe time-space polygon of (a) above,
Figure BDA00015640576000000415
is an edge auAdjacent edge
Figure BDA00015640576000000416
A spatiotemporal polygon of (a); slave control point ci＝(lu,mi,ti) And cj＝(lu,mj,tj) Up minus mωGet another 2 space-time points
Figure BDA00015640576000000417
And
Figure BDA00015640576000000418
at the edge auSpatio-temporal polygon of
Figure BDA00015640576000000419
Is formed by
Figure BDA00015640576000000420
Composed parallelogram cutting edge auThe resulting polygon of which side auIs in the range of (l)u,ms0 to (l)u,me＝1)；
Figure BDA00015640576000000421
There are the following 5 cases in the linear reference coordinate system:
(a) when m iss≤mi-mω，ms≤mj-mωAt this time, the
Figure BDA00015640576000000422
(b) When m isi-mω＜ms＜mi，ms≤mj-mωAt this time, wherein
Figure BDA00015640576000000424
(c) When m isi＝ms，ms≤mj-mωAt this time, wherein
Figure BDA00015640576000000426
(d) When m isi-mω＜ms＜mi，mj-mω＜ms＜mjAt this time, wherein
Figure BDA00015640576000000428
(e) When m isi＝ms，mj-mω＜ms＜mjAt this time, the
Figure BDA00015640576000000429
Wherein
Figure BDA00015640576000000430
The angle α is shown in the above 5 cases
Figure BDA00015640576000000431
Wherein the angle α∈ [0,90) is the angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate system;
for adjacent edge avEdge avIn the range of (l)v,ms0 to (l)v,me1); suppose that
Figure BDA0001564057600000051
Is from
Figure BDA0001564057600000052
To (l)v,me)，
Figure BDA0001564057600000053
Is from
Figure BDA0001564057600000054
To (l)v,me) (ii) a Correspondingly, the corresponding spatio-temporal location points are respectively
Figure BDA0001564057600000055
And
Figure BDA0001564057600000056
Figure BDA0001564057600000057
there are 4 cases in the linear reference frame:
(a) when in use
Figure BDA0001564057600000058
At this time, the
Figure BDA0001564057600000059
(b) At that time, wherein
Figure BDA00015640576000000512
(c) When in use
Figure BDA00015640576000000513
At this time, the
Figure BDA00015640576000000514
(d) When in use
Figure BDA00015640576000000515
At this time, the
Figure BDA00015640576000000516
Wherein
Figure BDA00015640576000000517
Angle in the 4 cases mentioned above
Figure BDA00015640576000000518
Is shown as
Figure BDA00015640576000000519
Wherein the angle
Figure BDA00015640576000000520
Is the included angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate system.
Aiming at the defect that the existing space-time proximity analysis method processes massive space-time trajectory data, the invention provides the concept of a space-time buffer area, constructs the space-time proximity area of the space-time trajectory in space and time dimensions, and can perform space-time proximity analysis of the trajectory data in a space-time integrated manner; meanwhile, a generation algorithm of the space-time buffer area in the limited road network is provided, the space-time buffer area of the space-time trajectory can be generated efficiently, and the requirements of data processing and analysis in a big data era are met.
Drawings
FIG. 1 is a conceptual diagram of a space-time buffer of a space-time trajectory in a planar space according to the present invention;
FIG. 2 is a conceptual diagram of the spatiotemporal buffer of the spatiotemporal trajectory in the road network space proposed by the present invention;
FIG. 3 is a flow chart of the present invention;
FIG. 4 is a diagram illustrating the generation of a forward space-time buffer on a current edge according to the present invention;
FIG. 5 is a diagram illustrating the generation of forward space-time buffers on adjacent edges according to the present invention;
FIG. 6 is a diagram illustrating the generation of a backward space-time buffer on a current edge according to the present invention;
FIG. 7 is a diagram illustrating the generation of backward space-time buffers on adjacent edges according to the present invention.
Detailed Description
The processing object of the invention is large-scale space-time trajectory data in an urban traffic network; proximity analysis of large-scale spatiotemporal trajectory data can be achieved.
The embodiment of the invention introduces the concept of Space-time buffer of the Space-time trajectory.
When an individual moves in a geographic space, usually, only discrete spatio-temporal location points can be acquired, these discrete trajectory points are called Control points (Control points), and generally these Control points are acquired by positioning devices such as a GPS. Each control point ciFrom spatial coordinates (x)i,yi) And a point in time tiRepresents:
ci＝(xi,yi,ti)
the connection of 2 consecutive control points in the trajectory of an individual constitutes a trajectory Segment (Segment), on which the speed of the individual is normally assumed to be constant, so that the control point c is connectediAnd cjTrack ofSegment of
Figure BDA0001564057600000061
Expressed as a straight line segment in (x, y, t) plane space:
Figure BDA0001564057600000062
the speed of the individual's motion on the trajectory segment is:
Figure BDA0001564057600000063
where D () represents the distance between 2 spatial points. Spatiotemporal trajectory P of person qqConsists of a series of chronological track segments, represented as follows:
Figure BDA0001564057600000064
because of the assumption of track segments
Figure BDA0001564057600000065
Is constant, the person is at an arbitrary point in time tk∈[ti,tj]Is in a spatial position Pq(tk) Can be obtained by linear interpolation calculation, and the calculation method is as follows:
Figure BDA0001564057600000066
based on the above basic definition, the space-time buffer area is defined as follows:
a time-space buffer area: given a spatiotemporal trajectory PqAnd a spatial threshold ω, space buffer STBq(ω) represents a space-time point (x) satisfying the following conditionk,yk,tk) Set of (2):
Figure BDA0001564057600000067
wherein the content of the first and second substances,
Figure BDA0001564057600000068
and
Figure BDA0001564057600000069
are respectively a track PqThe start time and the end time. As shown in FIG. 1, in the (x, y, t) plane space, the space-time buffer area of the track can be regarded as a space-time buffer area with a radius ω and a center always at the track PqThe disk parallel to the geographical plane covers the space-time range by moving along the track. Thus, at any time tkThe center coordinate of the circle of the disc is Pq(tk) From any point on the disc to Pq(tk) Is less than or equal to ω. The Space-time buffer region is a neighboring Space-time region surrounding the Space-time trajectory, and in the planar Space is a three-dimensional body composed of a series of Space-time cylinders (Space-time cylinder), wherein each Space-time cylinder
Figure BDA0001564057600000071
Is a track segment
Figure BDA0001564057600000072
∈PqThe time-space buffer.
The activity of individuals in cities is usually limited by the road network structure and cannot move freely as in (x, y, t) planar space. Defining the road network as a directed graph G ═ N, A, Ψ, wherein N is a node set, A is an edge set, and Ψ is a steering limit set. Side au∈ A has a start node of ns∈ N, the termination node is Ne∈ N, ID is luLength d ofu。ψuv∈ psi indicates that the edge a can be drawn fromuMove to edge avIn addition, the turning or turning around can only be at the node position and can not be at other positions of the edge. If no control point needs to be added at the node position when the track passes through the node position of the road network, a map matching algorithm can be adopted to obtain the (x, y, t) coordinates of the inserted control points, so that 2 continuous control points in the road network are positioned on the same road network side.
Position of spatial points in a road networkNot only the coordinates (x) can be usedi,yi) The spatial location point (x) can also be represented by a linear reference system (L initial reference system, L RS)i,yi) At the edge auThe position of which can also be indicated as (l)u,mi) Wherein m isi∈[0,1]Indicates the location point (l)u,mi) At the edge auRelative position of, e.g. ms＝0、mi0.5 and me1 represents the side auStarting point n of (1)sA midpoint and an end point neThe position of (a). Position point coordinates (x)i,yi) And (l)u,mi) Are in one-to-one correspondence relationship, and the two can be mutually converted.
The distance between two position points in the road network is not Euclidean distance any more, but the shortest path length, and the Dijkstra algorithm can be used for calculating. DSP((lu,mi),(lv,mj) Represents the position (l) from the road networku,mi) To (l)v,mj) The shortest distance in the road network (l) due to the road direction and steering constraintsu,mi) To (l)v,mj) Is a distance of (l) tov,mj) To (l)u,mi) May be different, i.e. DSP((lu,mi),(lv,mj))≠DSP((lv,mj),(lu,mi) Therefore, the distance between two points in the road network is defined as:
DN((lu,mi),(lv,mj))＝min(DSP((lu,mi),(lv,mj)),DSP((lv,mj),(lu,mi)))
correspondingly, the space-time buffer area STB of the space-time trajectory in the road networkq(ω) is a number satisfying the condition DN(Pq(tk),(lu,mk) Time space point (l) less than or equal to omegau,mk,tk) As shown in fig. 2. According to DN(Pq(tk),(lu,mk) Of)Definition of where the condition D is satisfiedSP(Pq(tk),(lu,mk) Omega) is called as a forward space-time buffer area STBf(ω) (grid fill area in fig. 2); satisfies the condition DSP((lu,mk),Pq(tk) Omega) is called a backward space-time buffer area STBb(ω) (light gray filled area in fig. 2). STBf(omega) and STBb(omega) form the space-time buffer STB of the traceq(ω), i.e. STBq(ω)＝STBf(ω)∪STBb(ω). In the road network space, the space-time buffer area is composed of a series of space-time polygons, i.e.
Figure BDA0001564057600000081
Wherein the space-time polygon
Figure BDA0001564057600000082
At the edge auThe above. Likewise, spatio-temporal polygons
Figure BDA0001564057600000083
Also composed of 2 parts, including forward spatio-temporal polygons
Figure BDA0001564057600000084
And backward spatiotemporal polygons
Figure BDA0001564057600000085
The technical scheme of the invention is explained in detail in the following by combining the drawings and the embodiment.
As shown in FIG. 3, the process of generating the spatiotemporal buffer of the spatiotemporal trajectory according to the present invention is as follows:
step 1: and loading the road network and constructing a road network topological structure.
Firstly, road network data is pre-loaded into a main memory to accelerate the speed of path search, and a 2-dimensional R tree index is established for road network road sections while loading, so that the space query can be quickly and efficiently carried out. Meanwhile, a road network topological structure is constructed and is usually recorded as a topological connection table between road sections and nodes. During specific implementation, the method can be pre-constructed, the pre-constructed topological connection table between the road sections and the nodes is loaded into the main memory during matching, and subsequent path analysis operation is performed on the track data on the basis of the constructed road network topology.
Step 2: and sequentially obtaining a track section from the space-time track, and constructing a forward space buffer area and a backward space buffer area of the control points on the track section.
Sequentially from track P in time orderqTaking out a track segment
Figure BDA0001564057600000086
Wherein c isi＝(lu,mi,ti)，cj＝(lu,mj,tj) Set track segment
Figure BDA0001564057600000087
At the edge auUpper, luRepresents an edge auID of (1), mi，mj∈[0,1]Respectively represent the location points (l)u,mi) And (l)u,mj) At the edge auRelative position of (a) tiAnd tjRespectively representing time points; respectively generating control points c with distance limit of omega by utilizing Dijkstra algorithmiAnd cjForward spatial buffer of
Figure BDA0001564057600000088
And
Figure BDA0001564057600000089
and a backward spatial buffer
Figure BDA00015640576000000810
And
Figure BDA00015640576000000811
wherein
Figure BDA00015640576000000812
And
Figure BDA00015640576000000813
the following conditions are satisfied, respectively.
Figure BDA00015640576000000814
Figure BDA00015640576000000815
Figure BDA00015640576000000816
Figure BDA00015640576000000817
Wherein D isSP((lu,mi),(lk,mk) Represents the position (l) from the road networku,mi) To (l)k,mk) The shortest distance of the first and second electrodes,
Figure BDA00015640576000000818
indicating the slave road network location (l)u,mi) To (l)k,mk) The shortest distance of (a) is less than or equal to omega; dSP((lu,mj),(lk,mk) Represents the position (l) from the road networku,mj) To (l)k,mk) The shortest distance of the first and second electrodes,
Figure BDA00015640576000000819
indicating the slave road network location (l)u,mj) To (l)k,mk) The shortest distance of (a) is less than or equal to omega; dSP((lk,mk),(lu,mi) Represents the position (l) from the road networkk,mk) To (l)u,mi) The shortest distance of the first and second electrodes,
Figure BDA0001564057600000091
indicating the slave road network location (l)k,mk) To (l)u,mi) The shortest distance of (a) is less than or equal to omega; dSP((lk,mk),(lu,mj) Represents the position (l) from the road networkk,mk) To (l)u,mj) The shortest distance of the first and second electrodes,
Figure BDA0001564057600000092
indicating the slave road network location (l)k,mk) To (l)u,mj) Is less than or equal to ω.
And step 3: and respectively constructing forward and backward space-time buffer areas of the track segment by utilizing the forward and backward space buffer areas of the control points.
First according to the forward spatial buffer
Figure BDA0001564057600000093
And
Figure BDA0001564057600000094
generating track segments
Figure BDA0001564057600000095
Forward space-time buffer
Figure BDA0001564057600000096
Wherein
Figure BDA0001564057600000097
Is a track segment
Figure BDA0001564057600000098
Side a ofuThe time-space polygon of (a) above,
Figure BDA0001564057600000099
is an edge auAdjacent edge
Figure BDA00015640576000000910
A spatiotemporal polygon of (c).
Using a Linear reference technique L RS, define mω＝ω/duWherein d isuIs an edge auLength of (1), mωAdding to control point ci＝(lu,mi,ti) And cj＝(lu,mj,tj) Get another 2 space-time points
Figure BDA00015640576000000911
And
Figure BDA00015640576000000912
at the edge auSpatio-temporal polygon of
Figure BDA00015640576000000913
Is formed by
Figure BDA00015640576000000914
Composed parallelogram cutting edge auThe resulting polygon, shown in FIG. 4, has side auIs in the range of (l)u,ms0 to (l)u,me＝1)，
Figure BDA00015640576000000915
There are the following 5 cases in the linear reference coordinate system:
(a) the method comprises the following steps When m isi+mω≤me，mj+mω≤meThen, as shown in FIG. 4(a), at this time
Figure BDA00015640576000000916
(b) The method comprises the following steps When m isi+mω≤me，mj＜me＜mj+mωAt this time, as shown in FIG. 4(b)
Figure BDA00015640576000000917
Wherein
Figure BDA00015640576000000918
(c) The method comprises the following steps When m isi+mω≤me，mj＝meAs shown in FIG. 4(c), at this time
Figure BDA00015640576000000920
(d) The method comprises the following steps When m isi＜me＜mi+mω，mj＜me＜mj+mωThen, as shown in FIG. 4(d), at this time
Figure BDA00015640576000000921
Wherein
Figure BDA00015640576000000922
(e) The method comprises the following steps When m isi＜me＜mi+mω，mj＝meAs shown in fig. 4(e), at this time
Figure BDA00015640576000000924
The angle α is shown in the above 5 cases
Figure BDA0001564057600000101
Wherein the angle α∈ [0,90 ] is the angle between the moving direction of the person and the time axis, and is a representation of the moving speed of the person in a linear reference coordinate system, namely
Figure BDA0001564057600000102
Forward spatial buffer
Figure BDA0001564057600000103
And
Figure BDA0001564057600000104
not only comprising the edge auAnd may also include auAdjacent edges of (a). For adjacent edge avEdge avIn the range of (l)v,ms0 to (l)v,me1), suppose that
Figure BDA0001564057600000105
Is from (l)v,ms) To
Figure BDA0001564057600000106
Figure BDA0001564057600000107
Is from (l)v,ms) To
Figure BDA0001564057600000108
Correspondingly, the corresponding spatio-temporal location points are respectively
Figure BDA0001564057600000109
And
Figure BDA00015640576000001010
as shown in figure 5 of the drawings,
Figure BDA00015640576000001011
there are 4 cases in the linear reference frame:
(a) the method comprises the following steps When in use
Figure BDA00015640576000001012
Then, as shown in FIG. 5(a), at this time
Figure BDA00015640576000001013
(b) The method comprises the following steps When in use
Figure BDA00015640576000001014
Then, as shown in FIG. 5(b), at this time
Figure BDA00015640576000001015
Wherein
Figure BDA00015640576000001016
(c) The method comprises the following steps When in use
Figure BDA00015640576000001017
As shown in fig. 5(c), at this time
Figure BDA00015640576000001018
(d) The method comprises the following steps When as shown in FIG. 5(d), at this time
Figure BDA00015640576000001021
Angle in the 4 cases mentioned above
Figure BDA00015640576000001022
Is shown as
Figure BDA00015640576000001023
Wherein the angle
Figure BDA00015640576000001024
Is the included angle between the personal motion direction and the time axis, and is an expression of the personal motion speed under a linear reference coordinate system, namely
Figure BDA00015640576000001025
In a similar manner, according to the backward spatial buffer
Figure BDA00015640576000001026
And
Figure BDA00015640576000001027
generating track segments
Figure BDA00015640576000001028
Backward space-time buffer
Figure BDA00015640576000001029
Wherein
Figure BDA00015640576000001030
Is a track segment
Figure BDA00015640576000001031
Side a ofuThe time-space polygon of (a) above,
Figure BDA00015640576000001032
is an edge auAdjacent edge
Figure BDA00015640576000001033
A spatiotemporal polygon of (c). Slave control point ci＝(lu,mi,ti) And cj＝(lu,mj,tj) Up minus mωGet another 2 space-time points
Figure BDA00015640576000001034
And
Figure BDA00015640576000001035
at the edge auSpatio-temporal polygon of
Figure BDA00015640576000001036
Is formed by
Figure BDA0001564057600000111
Composed parallelogram cutting edge auThe resulting polygon, shown in FIG. 6, has side auIs in the range of (l)u,ms0 to (l)u,me＝1)，
Figure BDA0001564057600000112
There are the following 5 cases in the linear reference coordinate system:
(a) the method comprises the following steps When m iss≤mi-mω，ms≤mj-mωThen, as shown in FIG. 6(a), at this time
Figure BDA0001564057600000113
(b) The method comprises the following steps When m isi-mω＜ms＜mi，ms≤mj-mωAt this time, as shown in FIG. 6(b)
Figure BDA0001564057600000114
Wherein
Figure BDA0001564057600000115
(c) The method comprises the following steps When m isi＝ms，ms≤mj-mωThen, as shown in FIG. 6(c), at this time
Figure BDA0001564057600000116
Wherein
Figure BDA0001564057600000117
(d) The method comprises the following steps When m isi-mω＜ms＜mi，mj-mω＜ms＜mjThen, as shown in FIG. 6(d), at this time
Figure BDA0001564057600000118
Wherein
Figure BDA0001564057600000119
(e) The method comprises the following steps When m isi＝ms，mj-mω＜ms＜mjThen, as shown in FIG. 6(e), at this time
Figure BDA00015640576000001110
Wherein
Figure BDA00015640576000001111
The angle α is shown in the above 5 cases
Figure BDA00015640576000001112
Wherein the angle α∈ [0,90 ] is the angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate systemI.e. by
Figure BDA00015640576000001113
For adjacent edge avEdge avIn the range of (l)v,ms0 to (l)v,me1), suppose that
Figure BDA00015640576000001114
Is from
Figure BDA00015640576000001115
To (l)v,me)，
Figure BDA00015640576000001116
Is from
Figure BDA00015640576000001117
To (l)v,me). Correspondingly, the corresponding spatio-temporal location points are respectively
Figure BDA00015640576000001118
And
Figure BDA00015640576000001119
as shown in figure 7 of the drawings,
Figure BDA00015640576000001120
there are 4 cases in the linear reference frame:
(a) the method comprises the following steps When in use
Figure BDA00015640576000001121
Then, as shown in FIG. 7(a), at this time
Figure BDA00015640576000001122
(b) The method comprises the following steps When in use
Figure BDA00015640576000001123
Then, as shown in FIG. 7(b), at this time
Figure BDA00015640576000001124
Wherein
Figure BDA00015640576000001125
(c) The method comprises the following steps When in use
Figure BDA00015640576000001126
Then, as shown in FIG. 7(c), at this time
Figure BDA00015640576000001127
(d) The method comprises the following steps At that time, as shown in FIG. 7(d), at this time, wherein
Figure BDA0001564057600000123
Angle in the 4 cases mentioned above
Figure BDA0001564057600000124
Is shown as
Figure BDA0001564057600000125
Wherein the angle
Figure BDA0001564057600000126
Is the included angle between the personal motion direction and the time axis, and is an expression of the personal motion speed under a linear reference coordinate system, namely
Figure BDA0001564057600000127
And 4, step 4: and combining the forward and backward space-time buffer areas of all the track segments to obtain a space-time buffer area of the space-time track.
Merging track segments
Figure BDA0001564057600000128
Forward space-time buffer
Figure BDA0001564057600000129
And backward space-time buffer
Figure BDA00015640576000001210
To obtain
Figure BDA00015640576000001211
Time-space buffer area
Figure BDA00015640576000001212
Finally, all track segments are divided
Figure BDA00015640576000001213
Time-space buffer area
Figure BDA00015640576000001214
The space-time trajectory P is obtained by taking the union setqTime space buffer STBq(ω)。
The technical scheme of the invention can adopt a computer software technology to realize an automatic operation process.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (2)

1. The method for constructing the time-space buffer zone of the road network constrained track is characterized by comprising the following steps of:
step 1, loading a road network and constructing a road network topological structure;
step 2, acquiring a track section from the space-time track in sequence, and constructing a forward space buffer area and a backward space buffer area of control points on the track section; the specific implementation of step 2 is as follows,
sequentially from track P in time orderqTaking out a track segment
Figure FDA0002384926770000011
Wherein c isi＝(lu,mi,ti)，cj＝(lu,mj,tj) Set track segment
Figure FDA0002384926770000012
At the edge auUpper, luRepresents an edge auID of (1), mi，mj∈[0,1]Respectively represent the location points (l)u,mi) And (l)u,mj) At the edge auRelative position of (a) tiAnd tjRespectively representing time points; respectively generating control points c with distance limit of omega by utilizing Dijkstra algorithmiAnd cjForward spatial buffer of
Figure FDA0002384926770000013
And
Figure FDA0002384926770000014
and a backward spatial buffer
Figure FDA0002384926770000015
And
Figure FDA0002384926770000016
wherein
Figure FDA0002384926770000017
And
Figure FDA0002384926770000018
the following conditions are respectively satisfied:
Figure FDA0002384926770000019
Figure FDA00023849267700000110
Figure FDA00023849267700000111
Figure FDA00023849267700000112
wherein D isSP((lu,mi),(lk,mk) Represents the position (l) from the road networku,mi) To (l)k,mk) The shortest distance of the first and second electrodes,
Figure FDA00023849267700000113
indicating the slave road network location (l)u,mi) To (l)k,mk) The shortest distance of (a) is less than or equal to omega; dSP((lu,mj),(lk,mk) Represents the position (l) from the road networku,mj) To (l)k,mk) The shortest distance of the first and second electrodes,
Figure FDA00023849267700000114
indicating the slave road network location (l)u,mj) To (l)k,mk) The shortest distance of (a) is less than or equal to omega; dSP((lk,mk),(lu,mi) Represents the position (l) from the road networkk,mk) To (l)u,mi) The shortest distance of the first and second electrodes,
Figure FDA00023849267700000115
indicating the slave road network location (l)k,mk) To (l)u,mi) The shortest distance of (a) is less than or equal to omega;
Figure FDA00023849267700000117
indicating the slave road network location (l)k,mk) To (l)u,mj) The shortest distance of the first and second electrodes,
Figure FDA00023849267700000116
to representFrom road network location (l)k,mk) To (l)u,mj) The shortest distance of (a) is less than or equal to omega;
step 3, respectively constructing forward and backward space buffer areas of the track segment by using the forward and backward space buffer areas of the control point;
and 4, combining the forward and backward space-time buffer zones of all the track segments to obtain the space-time buffer zone of the space-time track.
2. The method of constructing a time-space buffer zone of a road network constrained trajectory according to claim 1, wherein: the specific implementation of step 3 is as follows,
first, according to the forward space buffer
Figure FDA0002384926770000021
And
Figure FDA0002384926770000022
generating track segments
Figure FDA0002384926770000023
Forward space-time buffer
Figure FDA0002384926770000024
Wherein
Figure FDA0002384926770000025
Is a track segment
Figure FDA0002384926770000026
Side a ofuThe time-space polygon of (a) above,
Figure FDA0002384926770000027
is an edge auAdjacent edge
Figure FDA0002384926770000028
A spatiotemporal polygon of (a);
using a Linear reference technique L RS, define mω＝ω/duWherein d isuIs an edge auLength of (1), mωAdding to control point ci＝(lu,mi,ti) And cj＝(lu,mj,tj) Get another 2 space-time points
Figure FDA0002384926770000029
And
Figure FDA00023849267700000210
at the edge auSpatio-temporal polygon of
Figure FDA00023849267700000211
Is formed by
Figure FDA00023849267700000212
Composed parallelogram cutting edge auThe resulting polygon of which side auIs in the range of (l)u,ms0 to (l)u,me＝1)；
Figure FDA00023849267700000213
There are the following 5 cases in the linear reference coordinate system:
(a) when m isi+mω≤me，mj+mω≤meAt this time, the
Figure FDA00023849267700000214
(b) When m isi+mω≤me，mj＜me＜mj+mωAt this time, the
Figure FDA00023849267700000215
Wherein
Figure FDA00023849267700000216
(c) When m isi+mω≤me，mj＝meAt this time, the
Figure FDA00023849267700000217
Wherein
Figure FDA00023849267700000218
(d) When m isi＜me＜mi+mω，mj＜me＜mj+mωAt this time, the
Figure FDA00023849267700000219
Wherein
Figure FDA00023849267700000220
(e) When m isi＜me＜mi+mω，mj＝meAt this time, the
Figure FDA00023849267700000221
Wherein
Figure FDA00023849267700000222
In the above 5 cases, the angle α is expressed as,
Figure FDA00023849267700000223
wherein the angle α∈ [0,90) is the angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate system;
forward spatial buffer
Figure FDA00023849267700000224
And
Figure FDA00023849267700000225
not only comprising the edge auAnd may also include auAdjacent edges of (a); for adjacent edge avEdge avIn the range of (l)v,ms0 to (l)v,me1); suppose that
Figure FDA00023849267700000226
Is from (l)v,ms) To
Figure FDA00023849267700000227
Figure FDA00023849267700000228
Is from (l)v,ms) To
Figure FDA00023849267700000229
Correspondingly, the corresponding spatio-temporal location points are respectively
Figure FDA0002384926770000031
And
Figure FDA0002384926770000032
Figure FDA0002384926770000033
there are 4 cases in the linear reference frame:
(a) when in use
Figure FDA0002384926770000034
At this time, the
Figure FDA0002384926770000035
(b) When in use
Figure FDA0002384926770000036
At this time, the
Figure FDA0002384926770000037
Wherein
Figure FDA0002384926770000038
(c) When in use
Figure FDA0002384926770000039
At this time
Figure FDA00023849267700000310
(d) When in use
Figure FDA00023849267700000311
At this time
Figure FDA00023849267700000312
Wherein
Figure FDA00023849267700000313
In the 4 cases, the angle
Figure FDA00023849267700000314
As indicated by the general representation of the,
Figure FDA00023849267700000315
wherein the angle
Figure FDA00023849267700000316
Is the included angle between the personal motion direction and the time axis, and is an expression of the personal motion speed under a linear reference coordinate system;
(II) buffer according to backward space
Figure FDA00023849267700000317
And
Figure FDA00023849267700000318
generating track segments
Figure FDA00023849267700000319
Backward space-time buffer
Figure FDA00023849267700000320
Wherein
Figure FDA00023849267700000321
Is a track segment
Figure FDA00023849267700000322
Side a ofuThe time-space polygon of (a) above,
Figure FDA00023849267700000323
is an edge auAdjacent edge
Figure FDA00023849267700000324
A spatiotemporal polygon of (a); slave control point ci＝(lu,mi,ti) And cj＝(lu,mj,tj) Up minus mωGet another 2 space-time points
Figure FDA00023849267700000325
And
Figure FDA00023849267700000326
at the edge auSpatio-temporal polygon of
Figure FDA00023849267700000327
Is formed by
Figure FDA00023849267700000328
Composed parallelogram cutting edge auThe resulting polygon of which side auIs in the range of (l)u,ms0 to (l)u,me＝1)；
Figure FDA00023849267700000329
There are the following 5 cases in the linear reference coordinate system:
(a) when m iss≤mi-mω，ms≤mj-mωAt this time, the
Figure FDA00023849267700000330
(b) When m isi-mω＜ms＜mi，ms≤mj-mωAt this time, the
Figure FDA00023849267700000331
Wherein
Figure FDA00023849267700000332
(c) When m isi＝ms，ms≤mj-mωAt this time, the
Figure FDA00023849267700000333
Wherein
Figure FDA00023849267700000334
(d) When m isi-mω＜ms＜mi，mj-mω＜ms＜mjAt this time, the
Figure FDA0002384926770000041
Wherein
Figure FDA0002384926770000042
(e) When m isi＝ms，mj-mω＜ms＜mjAt this time, the
Figure FDA0002384926770000043
Wherein
Figure FDA0002384926770000044
The angle α is shown in the above 5 cases
Figure FDA0002384926770000045
Wherein the angle α∈ [0,90) is the angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate system;
for adjacent edge avEdge avIn the range of (l)v,ms0 to (l)v,me1); suppose that
Figure FDA0002384926770000046
Is from
Figure FDA0002384926770000047
To (l)v,me)，
Figure FDA0002384926770000048
Is from
Figure FDA0002384926770000049
To (l)v,me) (ii) a Correspondingly, the corresponding spatio-temporal location points are respectively
Figure FDA00023849267700000410
And
Figure FDA00023849267700000411
Figure FDA00023849267700000412
there are 4 cases in the linear reference frame:
(a) when in use
Figure FDA00023849267700000413
At this time, the
Figure FDA00023849267700000414
(b) When in use
Figure FDA00023849267700000415
At this time, the
Figure FDA00023849267700000416
Wherein
Figure FDA00023849267700000417
(c) When in use
Figure FDA00023849267700000418
At this time, the
Figure FDA00023849267700000419
(d) When in use
Figure FDA00023849267700000420
At this time, the
Figure FDA00023849267700000421
Wherein
Figure FDA00023849267700000422
Angle in the 4 cases mentioned above
Figure FDA00023849267700000423
Is shown as
Figure FDA00023849267700000424
Wherein the angle
Figure FDA00023849267700000425
Is the included angle between the personal motion direction and the time axis, and is an expression of the personal motion speed in a linear reference coordinate system.
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