CN108571973B - Road matching method and device - Google Patents
Road matching method and device Download PDFInfo
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- CN108571973B CN108571973B CN201710133803.8A CN201710133803A CN108571973B CN 108571973 B CN108571973 B CN 108571973B CN 201710133803 A CN201710133803 A CN 201710133803A CN 108571973 B CN108571973 B CN 108571973B
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- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The application calculates a first average distance between a driving track point and a current matching road of a vehicle given by a road matching module and a second average distance between the driving track point and a parallel road of the current matching road of the vehicle, calculates a difference value between the first average distance and the second average distance, and determines that the driving track of the vehicle is closer to the parallel road when the difference value is greater than a first set distance threshold value, so that the current matching road of the vehicle is switched to the parallel road, and the road matching is more accurate.
Description
Technical Field
The application relates to the technical field of navigation and positioning, in particular to a road matching method and device.
Background
And the road matching is to determine the road where the vehicle is located according to the determined vehicle running track in the vehicle navigation process. The determined vehicle travel track may not be completely on the road due to calculation errors and the like, and therefore the vehicle travel track needs to be matched to the adjacent road.
The traffic network has some parallel roads, and the distance between a plurality of parallel roads is very close. When a vehicle is driven out from a fork, the map matching module cannot accurately provide a road matched with the vehicle from a plurality of parallel roads, and the condition that the vehicle matching road determined by the map matching module is not consistent with the road where the vehicle is actually located often occurs, so that the convenience of traveling of a user is greatly influenced.
Disclosure of Invention
In view of this, the present application provides a road matching method and apparatus, so as to solve the problem that the matching road of vehicles cannot be accurately determined when facing multiple similar and parallel roads in the prior art.
In order to achieve the above object, the following solutions are proposed:
a road matching method, comprising:
acquiring a plurality of driving track points after a vehicle leaves a fork;
calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
when the switching condition is determined to be met, switching the current matching road of the vehicle to the parallel road, wherein the switching condition comprises the following steps: the difference is greater than the first set distance threshold.
Further, the acquiring of the plurality of travel track points after the vehicle leaves the intersection includes:
obtaining a plurality of latest determined driving track points after a vehicle leaves a fork;
the plurality of travel track points are continuous travel track points with a set number, or a route distance formed by the plurality of travel track points reaches a set route distance threshold value.
Furthermore, the number of parallel roads of the current matching road of the vehicle is multiple, and the number of second average distances obtained through calculation is multiple;
the determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold value comprises:
determining a minimum second average distance in each second average distance, and determining the magnitude relation between the difference value obtained by subtracting the minimum second average distance from the first average distance and a first set distance threshold;
when the switching condition is determined to be met, switching the current matching road of the vehicle to the parallel road comprises the following steps:
and when the condition that the switching is met is determined, switching the current matched road of the vehicle to the parallel road corresponding to the minimum second average distance.
Further, the method also comprises the following steps:
determining a connection relationship between the parallel road and a matching road of the vehicle before driving away from the intersection;
the handover condition further includes: the connection relation indicates that the parallel road is directly connected with or separated from a matching road of the vehicle before driving away from the intersection.
Further, the method also comprises the following steps:
determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
the handover condition further includes: and the distance from the matching point of the vehicle on the current matching road to the fork road does not exceed the second set distance threshold.
Further, the calculating a first average distance from the travel track point to the road currently matched with the vehicle and a second average distance from the travel track point to the parallel road of the road currently matched with the vehicle includes:
calculating a first average vertical line distance from the driving track point to the current road matched with the vehicle;
subtracting half of the width of the current matching road of the vehicle from the first average perpendicular distance, and taking the result as a first average distance from the driving track point to the current matching road of the vehicle;
calculating a second average perpendicular distance from the running track point to a parallel road of the current matching road of the vehicle;
subtracting half of the width of the parallel road from the second average perpendicular distance, the result being a second average distance from the travel track point to the parallel road.
Further, the method also comprises the following steps:
when the vehicle is determined to drive away from the intersection, recording the identification of a matching road before the vehicle drives away from the intersection and the identification of each exit road of the intersection;
the determining of the connection relationship of the parallel road and the matching road of the vehicle before driving away from the intersection includes:
and inquiring the corresponding relation between a preset road identification combination and the road connection relation, and determining the road connection relation corresponding to the combination of the identification of the parallel road and the identification of the matched road before the vehicle leaves the fork.
Further, the method also comprises the following steps:
recording coordinate values of the fork when the vehicle is determined to drive away from the fork;
the determining the magnitude relation between the distance from the matching point of the vehicle on the current matching road to the intersection and a second set distance threshold value comprises:
and calculating the distance between the matching point of the vehicle on the current matching road and the fork according to the coordinate value of the matching point of the vehicle on the current matching road and the coordinate value of the fork, and determining the size relation between the distance and a second set distance threshold.
A road matching device, comprising:
a travel track point acquisition unit for acquiring a plurality of travel track points after the vehicle has left the intersection;
the average distance calculation unit is used for calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
the first threshold comparison unit is used for determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
a matching road switching unit, configured to switch a current matching road of a vehicle to the parallel road when it is determined that a switching condition is satisfied, where the switching condition includes: the difference is greater than the first set distance threshold.
Further, the process of acquiring the plurality of travel track points after the vehicle leaves the intersection by the travel track point acquisition unit specifically includes:
obtaining a plurality of latest determined driving track points after a vehicle leaves a fork;
the plurality of travel track points are continuous travel track points with a set number, or a route distance formed by the plurality of travel track points reaches a set route distance threshold value.
Furthermore, the number of parallel roads of the current matching road of the vehicle is multiple, and the number of second average distances obtained through calculation is multiple;
the process of determining a magnitude relation between a difference obtained by subtracting the second average distance from the first average distance and a first set distance threshold by the first threshold comparing unit specifically includes:
determining a minimum second average distance in each second average distance, and determining the magnitude relation between the difference value obtained by subtracting the minimum second average distance from the first average distance and a first set distance threshold;
the process of switching the current matching road of the vehicle to the parallel road by the matching road switching unit when the switching condition is determined to be met specifically comprises the following steps:
and when the condition that the switching is met is determined, switching the current matched road of the vehicle to the parallel road corresponding to the minimum second average distance.
Further, the method also comprises the following steps:
a road connection relationship determination unit for determining a connection relationship between the parallel road and a matching road of the vehicle before driving away from the intersection;
the handover condition further includes: the connection relation indicates that the parallel road is directly connected with or separated from a matching road of the vehicle before driving away from the intersection.
Further, the method also comprises the following steps:
the second threshold comparison unit is used for determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
the handover condition further includes: and the distance from the matching point of the vehicle on the current matching road to the fork road does not exceed the second set distance threshold.
Further, the process of calculating the first average distance from the travel track point to the current road matched with the vehicle and the second average distance from the travel track point to the parallel road of the current road matched with the vehicle by the average distance calculating unit specifically includes:
calculating a first average vertical line distance from the driving track point to the current road matched with the vehicle;
subtracting half of the width of the current matching road of the vehicle from the first average perpendicular distance, and taking the result as a first average distance from the driving track point to the current matching road of the vehicle;
calculating a second average perpendicular distance from the running track point to a parallel road of the current matching road of the vehicle;
subtracting half of the width of the parallel road from the second average perpendicular distance, the result being a second average distance from the travel track point to the parallel road.
Further, the method also comprises the following steps:
a first intersection information recording unit configured to record, when it is determined that the vehicle has driven away from the intersection, an identification of a matching road before the vehicle has driven away from the intersection and identifications of respective exit roads of the intersection;
the process of determining the connection relationship between the parallel road and the matching road before the vehicle leaves the intersection by the road connection relationship determination unit specifically includes:
and inquiring the corresponding relation between a preset road identification combination and the road connection relation, and determining the road connection relation corresponding to the combination of the identification of the parallel road and the identification of the matched road before the vehicle leaves the fork.
Further, the method also comprises the following steps:
a second intersection information recording unit for recording coordinate values of the intersection when it is determined that the vehicle is driven away from the intersection;
the process of determining the relationship between the distance from the matching point of the vehicle on the current matching road to the intersection and the second set distance threshold by the second threshold comparison unit specifically includes:
and calculating the distance between the matching point of the vehicle on the current matching road and the fork according to the coordinate value of the matching point of the vehicle on the current matching road and the coordinate value of the fork, and determining the size relation between the distance and a second set distance threshold.
According to the technical scheme, the road matching method obtains a plurality of running track points after the vehicle leaves the fork; calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle; determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold; when the switching condition is determined to be met, switching the current matching road of the vehicle to the parallel road, wherein the switching condition comprises the following steps: the difference is greater than the first set distance threshold. According to the method and the device, the first average distance between the driving track point and the current matching road of the vehicle given by the road matching module and the second average distance between the driving track point and the parallel road of the current matching road of the vehicle are calculated, the difference value between the first average distance and the second average distance is calculated, and when the difference value is larger than a first set distance threshold value, the driving track of the vehicle is determined to be closer to the parallel road, so that the current matching road of the vehicle is switched to the parallel road, and the road matching is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a road matching method disclosed in an embodiment of the present application;
FIG. 2 is a flow chart of another road matching method disclosed in the embodiments of the present application;
FIG. 3 is a schematic illustration of an intersection according to an example of the present application;
FIG. 4 is a flowchart of another road matching method disclosed in the embodiments of the present application;
FIG. 5 is a flowchart of another road matching method disclosed in the embodiments of the present application;
FIG. 6 is a schematic diagram illustrating a current matching road switching process for a vehicle according to an example of the present application;
fig. 7 is a schematic structural diagram of a road matching device disclosed in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application discloses a road matching scheme, which is introduced with reference to fig. 1, and aims to determine a road matched with a vehicle currently in a parallel road with a close distance.
As shown in fig. 1, the method includes:
s100, acquiring a plurality of running track points after the vehicle leaves the fork;
the fork road has at least two exit roads, and after the vehicle enters the fork road, the vehicle can select one exit road from the multiple exit roads to exit. The at least two exit roads include a current matching road for the vehicle.
The method and the device start the road matching process after determining that the vehicle drives away from the fork. The road matching module can determine a real-time matching road of the vehicle according to information such as the driving track of the vehicle. However, when facing a plurality of roads which are parallel and closely adjacent, the vehicle matching road determined by the road matching module may not be accurate, so the scheme of the application determines whether to switch the vehicle matching road.
The method and the device can obtain a plurality of newly determined driving track points after the vehicle leaves the fork, and the plurality of driving track points can be continuous driving track points with a set number, such as 6-20 continuous driving track points. In addition, the plurality of travel track points can be determined according to the route distance, for example, the route distance formed by the plurality of travel track points reaches the set route distance threshold value.
The driving track of the vehicle can be determined from DR track information (Dead Reckoning), and the driving track of the vehicle can be determined by the vehicle end comprehensively according to the GPS positioning information and the vehicle driving information, so that the actual driving track of the vehicle can be reflected more accurately.
Further, the process of determining that the vehicle leaves the intersection may be that whether the vehicle matching road at the current moment and the vehicle matching road at the previous moment are the same road is compared in real time, if the vehicle matching road at the current moment and the vehicle matching road at the previous moment are not the same road and at least two exit roads of the junction connecting the two different roads exist, it is determined that the vehicle leaves the intersection, and then the road matching process of the present application may be started.
Step S110, calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
the method comprises the steps of obtaining a plurality of running track points, calculating the perpendicular distance between each running track point and the current road matched with the vehicle, calculating the average value of the perpendicular distances of all the running track points, and taking the result as the first average distance.
Similarly, for the parallel road of the current matching road of the vehicle, the distance between the running track point and the perpendicular line of the parallel road is calculated according to the calculation mode, and the average value is obtained, and the result is used as the second average distance. It will be appreciated that if the vehicle currently matches only one of the parallel roads of the road, then only a second average distance from the point of travel track to the only one parallel road need be determined. And if more than one parallel road of the current matching road of the vehicle is provided, each parallel road corresponds to a second average distance.
Step S120, determining the size relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
it is understood that if there is only one parallel road, it is sufficient to directly calculate the difference value of the first average distance minus only one second average distance, and compare the magnitude relationship of the difference value with the first set distance threshold. If more than one parallel road exists, the minimum second average distance is determined from the plurality of second average distances, and then the size relation between the difference value obtained by subtracting the minimum second average distance from the first average distance and the first set distance threshold is determined.
Wherein the first set distance threshold is set by a user, such as 1 meter or other values.
Step S130, when the switching condition is determined to be met, switching the current matched road of the vehicle to the parallel road, wherein the switching condition comprises: the difference is greater than the first set distance threshold.
The method for switching the vehicle between the first set distance threshold and the second set distance threshold comprises the steps that the difference value is larger than the first set distance threshold, namely when the difference value between the first average distance and the second average distance is larger than the first set distance threshold, the running track of the vehicle is determined to be closer to the parallel road, and therefore the current matching road of the vehicle is switched to the parallel road.
It can be understood that, if there is more than one parallel road, the current matching road of the vehicle is switched to the parallel road corresponding to the minimum second average distance in this step.
According to the method and the device, the first average distance between the driving track point and the current matching road of the vehicle given by the road matching module is calculated, the second average distance between the driving track point and the parallel road of the current matching road of the vehicle is calculated, the difference value between the first average distance and the second average distance is calculated, and when the difference value is larger than a first set distance threshold value, the driving track of the vehicle is determined to be closer to the parallel road, so that the current matching road of the vehicle is switched to the parallel road, and the road matching is more accurate.
According to the method and the device, the average distance between the plurality of running track points and each road is fully considered, and the running track points reflect the running track of the vehicle more truly, so that the running track of the vehicle is determined to be closer to the parallel road when the difference value is determined to be larger than the first set distance threshold value, and then the current matched road of the vehicle is switched to the parallel road.
In another embodiment of the present application, another road matching method is disclosed, which is described in conjunction with fig. 2.
As shown in fig. 2, the method includes:
s200, acquiring a plurality of running track points after the vehicle leaves the fork;
step S210, calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
step S220, determining the size relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
the steps S200 to S220 correspond to the steps S100 to S120 in the previous embodiment one by one, and are not described herein again.
Step S230, when it is determined that the difference is greater than the first set distance threshold, determining a connection relationship between the parallel road and a matching road before the vehicle leaves the intersection;
the connection relationship of the roads can be various, such as two roads are directly connected, another road is arranged between the two roads, and more than one other road is arranged between the two roads.
The description is made with reference to fig. 3:
at point O, the road L1 has an intersection, two exit roads of which are L2 and L3, respectively, and the end of L3 connects the roads L4 and L5. The driving direction of each road is shown by the arrow in the figure.
When the wheels are driven out from the fork point O, the L2 and the L3 have small angles, so that the vehicle cannot be accurately matched to drive into the L2 or the L3. The road matching the vehicle with the road matching module matching result is L2. Then there are L4 and L5 for the road parallel to the road L2. Obviously, it can be determined through the topological relation that the connection relation of the L4 and the matching road L1 before the vehicle leaves the intersection O point is one road apart, and the connection relation of the L5 and the L1 is more than one road apart. According to the road passing direction, when the vehicle passes through the point O of the fork, the vehicle can directly drive into the road L2 or drive into the road L4 through the road L3, but cannot drive into the road L5.
The method and the device can store the connection relation among all roads in the road network in advance. And then the connection relation of the two roads can be inquired in the stored connection relation only by determining the identifications of the two roads.
And step S240, if the connection relation meets the set connection relation, determining to switch the current matching road of the vehicle to the parallel road.
The set connection relationship may be a connection relationship indicating that the parallel road and a matching road of the vehicle before the vehicle leaves the intersection are directly connected or separated by one road.
Still using fig. 3 as an example for illustration:
after the vehicle has left the point O of the intersection, the vehicle may directly enter the road L2, or may enter the road L4 parallel to the road L2 after passing through the road L3.
Compared with the previous embodiment, the road matching method provided by the embodiment further increases the switching conditions: the connection relation indicates that the parallel road is directly connected with or separated from a matching road of the vehicle before driving away from the intersection.
According to the embodiment, the switching condition of the vehicle matching road is increased by combining the road topological relation, and the accuracy of the finally determined current vehicle matching road is ensured.
In the prior art, when two parallel roads are close to each other, the vehicle matching road given by the road matching module may be switched back and forth between the two parallel roads as the vehicle advances, which seriously affects the traveling experience of the user. In view of this problem, the present application further discloses another road matching method, which is described with reference to fig. 4.
As shown in fig. 4, the method includes:
s400, acquiring a plurality of running track points after the vehicle leaves the fork;
step S410, calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
step S420, determining the size relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
the steps S400 to S420 correspond to the steps S100 to S120 in the previous embodiment one to one, and are not described herein again.
Step S430, when the difference value is determined to be larger than the first set distance threshold, determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
here, the matching point of the vehicle on the currently matching road may be determined by the road matching module. In this step, the distance from the matching point to the fork is calculated. The distance may be a straight line distance from the matching point to the intersection, or a route distance.
The method further comprises the step of setting a second set distance threshold value, such as 120 meters, and further determining the size relation between the distance from the matching point on the current matching road to the fork road and the second set distance threshold value.
The second set distance threshold is not limited to 120 meters, and may be any value between 100 and 150 meters, or set by the user.
Step S440, if the distance from the matching point of the vehicle on the current matching road to the intersection does not exceed the second set distance threshold, determining to switch the current matching road of the vehicle to the parallel road.
In this step, if it is determined that the distance from the matching point of the vehicle on the current matching road to the intersection does not exceed the second set distance threshold, it indicates that the distance is within the range of the distance that allows switching, and therefore the current matching road of the vehicle can be switched to the parallel road.
It can be understood that if the distance from the matching point of the vehicle on the current matching road to the intersection is judged to exceed the second set distance threshold, the distance exceeds the set switching distance, and the application can prohibit switching the current matching road of the vehicle during the period from the current moment to the time when the vehicle reaches the next intersection, so as to prevent the user from being troubled by repeatedly switching the current matching road of the vehicle.
Of course, when the automobile reaches the next fork and drives through the next fork, the road matching process of the application is restarted.
Compared with the scheme illustrated in fig. 1, the scheme of the present application further increases the handover condition, i.e. the allowed handover distance condition: and the distance from the matching point of the vehicle on the current matching road to the fork road does not exceed the second set distance threshold. By increasing the condition of the allowable switching distance, the problem that inconvenience is brought to users due to the fact that the current matched road is switched back and forth between parallel roads in the driving process of the vehicle is solved.
Further, the road matching scheme of the present application may also combine the three switching conditions disclosed in the above embodiments, and referring to the example of fig. 5, the method includes:
s500, acquiring a plurality of running track points after the vehicle leaves the fork;
step S510, calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
step S520, determining the size relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
the steps S500 to S520 correspond to the steps S100 to S120 in the previous embodiment one by one, and are not described herein again.
Step S530, when it is determined that the difference is greater than the first set distance threshold, determining a connection relationship between the parallel road and a matching road of the vehicle before driving away from the intersection;
step S540, if the connection relation meets the set connection relation, determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
the set connection relationship may be a connection relationship indicating that the parallel road and a matching road of the vehicle before the vehicle leaves the intersection are directly connected or separated by one road.
And step S550, if the distance from the matching point of the vehicle on the current matching road to the intersection does not exceed the second set distance threshold, determining to switch the current matching road of the vehicle to the parallel road.
The road matching method provided by the embodiment considers the distance condition from the driving track point to the road, the road connection relation condition and the switching distance condition, limits the switching distance of the matched road under the condition of accurately determining the current matched road of the vehicle, and prevents the current matched road from being switched back and forth between parallel roads in the driving process of the vehicle, so that inconvenience is brought to a user.
In another embodiment of the present application, the above process of calculating a first average distance from the driving track point to the road currently matched by the vehicle and a second average distance from the driving track point to the parallel road currently matched by the vehicle is described, and the process may include:
s1, calculating a first average perpendicular distance from the driving track point to the current matching road of the vehicle;
s2, subtracting half of the width of the current matching road of the vehicle from the first average perpendicular distance, and taking the result as a first average distance from the driving track point to the current matching road of the vehicle;
s3, calculating a second average perpendicular distance from the driving track point to a parallel road of the current matching road of the vehicle;
and S4, subtracting half of the width of the parallel road from the second average perpendicular distance, and taking the result as the second average distance from the driving track point to the parallel road.
Therefore, when the distance from the driving track point to the road is calculated, the width of the road is further considered, and the distance calculation result is more accurate.
It should be further noted that, considering that the road signs may be used in determining the road connection relationship in the foregoing embodiments, after determining that the vehicle has driven through the intersection, the present application may record information of the intersection, where the information may include the signs of the matching roads before the vehicle has driven away from the intersection, and the signs of the exit roads of the intersection.
On this basis, the process of determining the connection relationship between the parallel road and the matching road before the vehicle leaves the intersection in the above steps may specifically include:
and inquiring the corresponding relation between a preset road identification combination and the road connection relation, and determining the road connection relation corresponding to the combination of the identification of the parallel road and the identification of the matched road before the vehicle leaves the fork.
Further, since the switching distance condition is added in the foregoing embodiment, it is necessary to calculate the distance from the matching point of the vehicle on the current matching road to the intersection, and therefore, the coordinate value of the intersection may also be recorded in the intersection information. The method is convenient for direct reading during calculation and accelerates the calculation speed.
On this basis, the process of determining the magnitude relation between the distance from the matching point of the vehicle on the current matching road to the intersection and the second set distance threshold in the above steps may specifically include:
and calculating the distance between the matching point of the vehicle on the current matching road and the fork according to the coordinate value of the matching point of the vehicle on the current matching road and the coordinate value of the fork, and determining the size relation between the distance and a second set distance threshold.
The following describes the present application with reference to a specific example, see fig. 6.
At point O, the road L1 has an intersection, two exit roads of which are L2 and L3, respectively, and the end of L3 connects the roads L4 and L5.
The obtained vehicle running track is Q, the real-time matching point of the vehicle is P, and the road where P is located is the real-time matching road of the vehicle. As can be seen from the figure, the vehicle matching road at a distance from the start after the vehicle has traveled through the intersection is L2, and then the vehicle matching road is switched to L4 because the vehicle travel locus Q is closer to the parallel road L4.
In the vehicle navigation process, when it is determined that the vehicle has driven through the intersection O, the intersection information is recorded: the vehicle before driving off the branch point O matches the road L1, exit roads L2 and L3 of the branch point, and the branch point coordinate value X.
And at each moment after the vehicle passes through the O point, acquiring 10 continuous driving track points before the current moment. And calculates a first average distance L1 between the 10 travel track points and the current matching road L2 of the vehicle, and a second average distance L2 between the 10 travel track points and the parallel road L4. Taking the example of the vehicle matching point being at point R of road L2, assume that the calculation determines that L1-L2>1 meter, and the distance from point R to point O does not exceed 120 meters.
Further, it is determined that the connection relationship between the road L4 and the road L1 is a connection at an interval of one road, and the connection relationship conforms to the set connection relationship. Therefore, the vehicle current matching road may be switched to the road L4.
And after the distance between the matching point of the subsequent vehicle on the L4 and the point O exceeds 120 meters, the current matching road of the vehicle is not allowed to be switched before the vehicle reaches the next fork.
The following describes a road matching device provided in an embodiment of the present application, and the road matching device described below and the road matching method described above may be referred to correspondingly.
Referring to fig. 7, fig. 7 is a schematic structural view of a road matching device disclosed in the embodiment of the present application. As shown in fig. 7, the apparatus includes:
a travel track point acquisition unit 11 configured to acquire a plurality of travel track points after the vehicle has left the intersection;
the average distance calculating unit 12 is configured to calculate a first average distance from the travel track point to a current road matched with the vehicle, and a second average distance from the travel track point to a parallel road of the current road matched with the vehicle;
a first threshold comparing unit 13, configured to determine a magnitude relationship between a difference obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
a matching-road switching unit 14 configured to switch a current matching road of the vehicle to the parallel road when it is determined that a switching condition is satisfied, the switching condition including: the difference is greater than the first set distance threshold.
According to the method and the device, the first average distance between the driving track point and the current matching road of the vehicle given by the road matching module and the second average distance between the driving track point and the parallel road of the current matching road of the vehicle are calculated, the difference value between the first average distance and the second average distance is calculated, and when the difference value is larger than a first set distance threshold value, the driving track of the vehicle is determined to be closer to the parallel road, so that the current matching road of the vehicle is switched to the parallel road, and the road matching is more accurate.
Further, the process of acquiring the plurality of travel track points after the vehicle leaves the intersection by the travel track point acquiring unit may specifically include:
obtaining a plurality of latest determined driving track points after a vehicle leaves a fork;
the plurality of travel track points are continuous travel track points with a set number, or a route distance formed by the plurality of travel track points reaches a set route distance threshold value.
Further, if the vehicle currently matches the road with a plurality of parallel roads, the calculated second average distance is a plurality of parallel roads, on the basis of which,
the process of determining a magnitude relation between a difference obtained by subtracting the second average distance from the first average distance and a first set distance threshold by the first threshold comparing unit may specifically include:
determining a minimum second average distance in each second average distance, and determining the magnitude relation between the difference value obtained by subtracting the minimum second average distance from the first average distance and a first set distance threshold;
the process of switching the current matching road of the vehicle to the parallel road by the matching road switching unit when it is determined that the switching condition is satisfied may specifically include:
and when the condition that the switching is met is determined, switching the current matched road of the vehicle to the parallel road corresponding to the minimum second average distance.
Further, the apparatus of the present application may further include:
a road connection relationship determination unit for determining a connection relationship between the parallel road and a matching road of the vehicle before driving away from the intersection;
the handover condition further includes: the connection relation indicates that the parallel road is directly connected with or separated from a matching road of the vehicle before driving away from the intersection.
Optionally, the apparatus of the present application may further include:
the second threshold comparison unit is used for determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
the handover condition further includes: and the distance from the matching point of the vehicle on the current matching road to the fork road does not exceed the second set distance threshold.
Optionally, the process of calculating, by the average distance calculating unit, a first average distance from the travel track point to the current road matched with the vehicle, and a second average distance from the travel track point to each parallel road of the current road matched with the vehicle may specifically include:
calculating a first average vertical line distance from the driving track point to the current road matched with the vehicle;
subtracting half of the width of the current matching road of the vehicle from the first average perpendicular distance, and taking the result as a first average distance from the driving track point to the current matching road of the vehicle;
calculating a second average perpendicular distance from the running track point to a parallel road of the current matching road of the vehicle;
subtracting half of the width of the parallel road from the second average perpendicular distance, the result being a second average distance from the travel track point to the parallel road.
Further, the apparatus of the present application may further include:
the first intersection information recording unit is used for recording the identification of a matching road of the vehicle before the vehicle leaves the intersection and the identification of each exit road of the intersection when the vehicle is determined to leave the intersection. On the basis of the above-mentioned technical scheme,
the process of determining the connection relationship between the parallel road and the matching road before the vehicle leaves the intersection by the road connection relationship determination unit specifically includes:
and inquiring the corresponding relation between a preset road identification combination and the road connection relation, and determining the road connection relation corresponding to the combination of the identification of the parallel road and the identification of the matched road before the vehicle leaves the fork.
Further, the apparatus of the present application may further include:
and the second intersection information recording unit is used for recording the coordinate value of the intersection when the vehicle is determined to drive away from the intersection. On the basis of the above-mentioned technical scheme,
the process of determining the relationship between the distance from the matching point of the vehicle on the current matching road to the intersection and the second set distance threshold by the second threshold comparison unit specifically includes:
and calculating the distance between the matching point of the vehicle on the current matching road and the fork according to the coordinate value of the matching point of the vehicle on the current matching road and the coordinate value of the fork, and determining the size relation between the distance and a second set distance threshold.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A road matching method, comprising:
acquiring a plurality of driving track points after a vehicle leaves a fork;
calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
determining a connection relationship between the parallel road and a matching road of the vehicle before driving away from the intersection;
determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
when the switching condition is determined to be met, switching the current matching road of the vehicle to the parallel road, wherein the switching condition comprises the following steps: the difference is greater than the first set distance threshold;
the handover condition further includes: the connection relation represents that the parallel road is directly connected with or separated from a matching road of the vehicle before driving away from the fork;
the handover condition further includes: and the distance from the matching point of the vehicle on the current matching road to the fork road does not exceed the second set distance threshold.
2. The method of claim 1, wherein the obtaining a plurality of travel track points from the vehicle after the vehicle has exited the intersection comprises:
obtaining a plurality of latest determined driving track points after a vehicle leaves a fork;
the plurality of travel track points are continuous travel track points with a set number, or a route distance formed by the plurality of travel track points reaches a set route distance threshold value.
3. The method according to claim 1, wherein the vehicle currently matches the road with a plurality of parallel roads, and the calculated second average distance is a plurality of parallel roads;
the determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold value comprises:
determining a minimum second average distance in each second average distance, and determining the magnitude relation between the difference value obtained by subtracting the minimum second average distance from the first average distance and a first set distance threshold;
when the switching condition is determined to be met, switching the current matching road of the vehicle to the parallel road comprises the following steps:
and when the condition that the switching is met is determined, switching the current matched road of the vehicle to the parallel road corresponding to the minimum second average distance.
4. The method of claim 1, wherein calculating a first average distance of the travel track point to a road currently matched by the vehicle and a second average distance of the travel track point to a road parallel to the road currently matched by the vehicle comprises:
calculating a first average vertical line distance from the driving track point to the current road matched with the vehicle;
subtracting half of the width of the current matching road of the vehicle from the first average perpendicular distance, and taking the result as a first average distance from the driving track point to the current matching road of the vehicle;
calculating a second average perpendicular distance from the running track point to a parallel road of the current matching road of the vehicle;
subtracting half of the width of the parallel road from the second average perpendicular distance, the result being a second average distance from the travel track point to the parallel road.
5. The method of claim 1, further comprising:
when the vehicle is determined to drive away from the intersection, recording the identification of a matching road before the vehicle drives away from the intersection and the identification of each exit road of the intersection;
the determining of the connection relationship of the parallel road and the matching road of the vehicle before driving away from the intersection includes:
and inquiring the corresponding relation between a preset road identification combination and the road connection relation, and determining the road connection relation corresponding to the combination of the identification of the parallel road and the identification of the matched road before the vehicle leaves the fork.
6. The method of claim 1, further comprising:
recording coordinate values of the fork when the vehicle is determined to drive away from the fork;
the determining the magnitude relation between the distance from the matching point of the vehicle on the current matching road to the intersection and a second set distance threshold value comprises:
and calculating the distance between the matching point of the vehicle on the current matching road and the fork according to the coordinate value of the matching point of the vehicle on the current matching road and the coordinate value of the fork, and determining the size relation between the distance and a second set distance threshold.
7. A road matching device, comprising:
a travel track point acquisition unit for acquiring a plurality of travel track points after the vehicle has left the intersection;
the average distance calculation unit is used for calculating a first average distance from the driving track point to a current matching road of the vehicle and a second average distance from the driving track point to a parallel road of the current matching road of the vehicle;
the first threshold comparison unit is used for determining the magnitude relation between the difference value obtained by subtracting the second average distance from the first average distance and a first set distance threshold;
a road connection relationship determination unit for determining a connection relationship between the parallel road and a matching road of the vehicle before driving away from the intersection;
the second threshold comparison unit is used for determining the size relation between the distance from the matching point of the vehicle on the current matching road to the fork road and a second set distance threshold;
a matching road switching unit, configured to switch a current matching road of a vehicle to the parallel road when it is determined that a switching condition is satisfied, where the switching condition includes: the difference is greater than the first set distance threshold;
the handover condition further includes: and the distance from the matching point of the vehicle on the current matching road to the fork road does not exceed the second set distance threshold.
8. The apparatus according to claim 7, wherein the process of calculating the first average distance from the travel track point to the road currently matched with the vehicle and the second average distance from the travel track point to the road parallel to the road currently matched with the vehicle includes:
calculating a first average vertical line distance from the driving track point to the current road matched with the vehicle;
subtracting half of the width of the current matching road of the vehicle from the first average perpendicular distance, and taking the result as a first average distance from the driving track point to the current matching road of the vehicle;
calculating a second average perpendicular distance from the running track point to a parallel road of the current matching road of the vehicle;
subtracting half of the width of the parallel road from the second average perpendicular distance, the result being a second average distance from the travel track point to the parallel road.
9. The apparatus of claim 7, further comprising:
a first intersection information recording unit configured to record, when it is determined that the vehicle has driven away from the intersection, an identification of a matching road before the vehicle has driven away from the intersection and identifications of respective exit roads of the intersection;
the process of determining the connection relationship between the parallel road and the matching road before the vehicle leaves the intersection by the road connection relationship determination unit specifically includes:
and inquiring the corresponding relation between a preset road identification combination and the road connection relation, and determining the road connection relation corresponding to the combination of the identification of the parallel road and the identification of the matched road before the vehicle leaves the fork.
10. The apparatus of claim 7, further comprising:
a second intersection information recording unit for recording coordinate values of the intersection when it is determined that the vehicle is driven away from the intersection;
the process of determining the relationship between the distance from the matching point of the vehicle on the current matching road to the intersection and the second set distance threshold by the second threshold comparison unit specifically includes:
and calculating the distance between the matching point of the vehicle on the current matching road and the fork according to the coordinate value of the matching point of the vehicle on the current matching road and the coordinate value of the fork, and determining the size relation between the distance and a second set distance threshold.
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| CN110631594B (en) * | 2019-10-24 | 2021-03-26 | 成都大成均图科技有限公司 | Offline map matching method and system based on complex trajectory network partitioning model |
| CN115127562A (en) * | 2021-03-26 | 2022-09-30 | 深圳联友科技有限公司 | Road matching method and device |
| CN113514860A (en) * | 2021-04-23 | 2021-10-19 | 交通运输部公路科学研究所 | Road matching method and device |
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