CN109307513A - A kind of Real-time Road matching process and system based on driving recording - Google Patents
A kind of Real-time Road matching process and system based on driving recording Download PDFInfo
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- CN109307513A CN109307513A CN201710615448.8A CN201710615448A CN109307513A CN 109307513 A CN109307513 A CN 109307513A CN 201710615448 A CN201710615448 A CN 201710615448A CN 109307513 A CN109307513 A CN 109307513A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The present invention discloses a kind of Real-time Road matching process based on driving recording, including S1: acquisition driving recording and acquisition road data；S2: it determines candidate's anchor point: calculating the localization region of collected driving recording, and positioned according to the road data of acquisition, determine the candidate anchor point of driving recording；S3: it calculates the evaluation index of candidate anchor point and candidate matches road: calculating its evaluation index for determining candidate anchor point, and then calculate the evaluation index of candidate matches road；S4: path adaptation: obtaining optimal candidate according to the evaluation index of candidate matches road and match road, and determines that the optimal candidate matching road of the effective driving recording of the last item is path adaptation result.A kind of system, the control module and program-carried memory module of acquisition module and execution control program including acquisition driving recording and road data, wherein described program executes the Real-time Road matching process based on driving recording.
Description
Technical field
The present invention relates to geographic information system technology field, specifically a kind of Real-time Road match party based on driving recording
Method and system.
Background technique
Map road is matched, common method has: method of geometry, topological method, probabilistic method, other integrated approach
Deng.Wherein, method of geometry is mainly according to driving recording to the distance of neighbouring road circuit node or the projector distance in section to implement
Path adaptation, such as patent of invention CN201310183257.0；Topological method mainly utilizes adjacency, connectivity of road etc.
Topology information carries out path adaptation to driving recording, such as patent of invention CN201610483028.4；Probabilistic method mainly considers
Driving recording map road location probability to completing path adaptation, such as patent of invention CN201410515570.4；And its
His integrated approach is then using Kalman filter, fuzzy logic model, Evidence theory model, hidden Markov model etc. pair
Front several method carries out comprehensive matching.
Either GPS or BEI-DOU position system all have certain positioning accuracy, and the collected longitude and latitude of institute is also inevitable
There is deviations；Furthermore map road data if do not considered the factors such as road width, thus with true road difference again；
In addition, when vehicle drives into such as tunnel region, it there is also positioning signal and lose or the problems such as data do not update.In complexity
In road network, the accuracy of driving recording path adaptation is then difficult to ensure using single method；Although and integrated approach improves
Matched accuracy rate, but but also greatly reduce matching efficiency, cause be easy generate certain lag in time.
Summary of the invention
In order to solve the problems, such as that path adaptation is difficult to take into account to both accuracy and real-time in the prior art, the present invention is mentioned
For a kind of Real-time Road matching process and system based on driving recording, real-time road accurately can be carried out to high frequency driving recording
Road matching.
A kind of Real-time Road matching process based on driving recording of the present invention, includes the following steps:
S1: acquisition driving recording and acquisition road data, into S2 step；
S2: it determines candidate's anchor point: calculating the localization region of collected driving recording in S1 step, and according to S1 step
The road data of middle acquisition is positioned, and determines the candidate anchor point of driving recording, into S3 step；
S3: the evaluation index of candidate anchor point and candidate matches road is calculated: for the candidate positioning determined in S2 step
Point calculates its evaluation index, and then calculates the evaluation index of candidate matches road, into S4 step；
S4: optimal candidate matching path adaptation: is obtained according to the evaluation index of candidate matches road obtained in S3 step
Road, and determine that the optimal candidate matching road of the effective driving recording of the last item is path adaptation result.
Further, further include step S0: setting driving recording at a distance from candidate anchor point as orientation distance l, drive a vehicle
It records course angle and the azimuthal angle of road is angular separation θ, shortest path between the candidate anchor point of adjacent two driving recordings
Distance corresponding to diameter is current distance s, into S1 step.
Further, it in S1 step, obtains road data and includes the following steps:
S11: road data processing: the road data of map vector is handled, including but not limited to road, point, path are obtained
Data；
S12: the processing data in storing data library storage S11 step road data storage: are established.
Further, in S11 step, road data processing includes the following steps:
S111: the road data of map vector is obtained, the road data includes but is not limited to: the longitude and latitude of each node of road
The single-direction and dual-direction of degree, road；
S112: cutting road according to the longitude and latitude of road circuit node, so that intersection point can only be the node end to end of road between road,
And give one unique ID number of every road；
S113: according to the adjacent node spacing and link length of every road of calculation of longitude & latitude of road circuit node；Road
Adjacent node distance computation: calculation formula isWherein Γ=arccos (sin (ΦA)sin(ΦB)+cos(ΦA)
cos(ΦB)cos(ΨA-ΨB)), R is earth mean radius, (ΨA,ΦA) and (ΨB,ΦB) it is respectively circuit node A and road
The longitude and latitude of node B；Calculate the relative bearing of adjacent node on road；
S114:
S1141: the longitude and latitude that point interpolation and calculating obtains interpolation point is carried out etc. to road: with certain step-length h to road
Two nodes point interpolation such as carry out on spherical surface, and calculate the longitude and latitude for obtaining interpolation point；
S1142: by adjacent node spacing divided by the number of equal part obtain between node and interpolation point, between interpolation point away from
From；
S1143: label road circuit node and interpolation point relevant information, relevant information includes but is not limited to: road circuit node and
The longitude and latitude of interpolation point, place road ID, section, neighbour road circuit node and its distance in road；
S1144: by the cumulative value for obtaining the link length of the adjacent node spacing of the road circuit node of the road of required calculating；
S115: the shortest path and its distance of the weighted and directed diagraph of the composition of node end to end of all roads are calculated.
Further, in S1 step, driving recording is acquired specifically: acquisition vehicle, which is in non-idle or course, to be had
The driving recording of effect state, driving recording collected includes but is not limited to: the record moment, longitude and latitude, speed, course angle.
Further, in S2 step, the localization region of collected driving recording in S1 step is calculated specifically: setting
The longitude and latitude of some driving recording is (Ψ0,Φ0), it calculatesIts
Middle r is localization region half width parameter, a is half width adjustment parameter, then extracts all longitudes and latitudes (Ψ, Φ) satisfactionRoad circuit node and interpolation point, composition region be driving recording (Ψ0,Φ0) determine
Position region；
It is positioned according to the road data obtained in S1 step, determines the candidate anchor point of driving recording specifically:
One is chosen in the localization region of driving recording in the road circuit node and interpolation point of same road ID with driving recording apart from recently
Road circuit node or interpolation point, know road azimuth in conjunction with driving recording course according to road ID if the distance is less than ar
Angle calculates angular separation θ, if direction angle is less than threshold value μ0, then using the point as a candidate positioning of the driving recording
Point；All candidate positioning point sets of the driving recording are P, and the corresponding set P of driving recording is not that empty then driving recording is
Effective driving recording.
Further, in S3 step, its evaluation index, Jin Erji are calculated for the candidate anchor point determined in S2 step
Calculate the evaluation index of candidate matches road specifically: the evaluation index calculation formula of candidate anchor point are as follows:F1,jFor j-th of time of the 1st article of effective driving recording
The evaluation index in selected site, Fk-1,i；k,jJ-th candidates anchor point for the effective driving recording of kth item has relative to kth -1
Imitate the evaluation index of i-th of candidate anchor point of driving recording；Wherein,
smaxFor it is current apart from the upper limit, b be upper limit adjustment parameter (b > 1)；lk,jAnd θk,jRespectively kth item is effectively driven a vehicle note
Orientation distance and angular separation, s of the record with its j-th candidates anchor pointk-1,i；k,jIt is i-th of kth -1 effective driving recording
Candidate anchor point to the effective driving recording of kth item j-th candidates anchor point passage distance；Wherein, it passes through apart from upper limit meter
Calculate formula are as follows: smax=vmaxΔ t, wherein vmax=max { vmax,k-1,vmax,k, Δ t=Tk-Tk-1- δ t, vmax,kHave for kth -1
The maximum speed between driving recording and the effective driving recording of kth item is imitated, δ t is the idling duration of period, TkIt is effective for kth item
The record moment of driving recording；The evaluation index of candidate anchor point is calculated according to this calculation formula；
The evaluation index calculation formula of candidate matches road are as follows:
Wherein Gk,jThe evaluation index of candidate matches road is generated for the j-th candidates anchor point of the effective driving recording of kth item, w is candidate
Road is matched for the turnover rate (0 < w < 1) of candidate anchor point；Candidate matches road is obtained according to this calculation formula and its is commented
Valence index, and candidate matches road set H is generated by candidate's positioning point set P.
Further, it in S4 step, is obtained according to the evaluation index of candidate matches road obtained in S3 step best
Candidate matches road, and determine that the optimal candidate matching road of the effective driving recording of the last item is path adaptation as a result, specific
Are as follows: first confirm the corresponding candidate matches road set H of the current effective driving recording of kth itemkIn whether there is candidate matches road
Current distance be less than bsmax, and if it exists, then delete HkMiddle current distance is greater than bsmaxCandidate matches road, after obtaining update
Hk, then by HkThe maximum candidate matches road of the evaluation index value of middle candidate matches road, it is matched as current Real-time Road
As a result, and determining that the optimal candidate matching road of the effective driving recording of the last item is path adaptation result.
The present invention also provides a kind of systems, acquisition module and execution control journey including acquisition driving recording and road data
The control module of sequence and program-carried memory module, wherein described program executes the Real-time Road matching based on driving recording
Method.
The beneficial effects of the present invention are:
A kind of Real-time Road matching process and system based on driving recording of the present invention, the longitude and latitude of conurbation map road
The data such as longitude and latitude, the course angle of degree, single-direction and dual-direction and driving recording, by defining about orientation distance, angular separation and passage
The evaluation function of distance is calculated the evaluation index of driving recording candidate's anchor point, and with exponential smoothing and optimizes plan
Candidate matches road is slightly generated, to accurately and efficiently complete path adaptation task.In order to further increase matching efficiency,
Before executing matching, the present invention is based on common driving region or city maps, calculated according to road data progress such as shortest path,
The bottom layer treatment of road section interpolation etc. realizes the quick positioning of driving recording.It is again quasi- in order to further increase matching
Exactness, the present invention in the matching process, further according to data such as record moment of driving recording, speed, are realized between driving recording
Current being dynamically determined apart from the upper limit.In addition, the present invention, which also fully takes into account, positions dropout or number in the regions such as tunnel
It according to not replacement problem and solves, so that path adaptation process is more reasonable, result is relatively reliable.
Detailed description of the invention
Fig. 1 is the method and system flow chart of the embodiment of the present invention；
Fig. 2 is two embodiments that driving recording of the present invention obtains candidate anchor point；
Fig. 3 is the matched result of one Real-time Road of the embodiment of the present invention；
Fig. 4 is another matched result of one Real-time Road of the embodiment of the present invention；
Fig. 5 is another matched result of one Real-time Road of the embodiment of the present invention.
Specific embodiment
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.In figure
Component be not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
Embodiment one:
Refering to Figure 1, the present invention provides a kind of Real-time Road matching process based on driving recording, including it is as follows
Step:
1 common driving region or the processing of city map road data, particular content are as follows:
11 obtain road (such as longitude and latitude, single-direction and dual-direction) data of map vector；
12 cut road according to the longitude and latitude of road circuit node, so that intersection point can only be the node end to end of road between road,
And give one unique ID number of every road；
13 according to the node spacing and link length of every road of calculation of longitude & latitude of road, and such as known road is two neighboring
The longitude and latitude of node is (ΨA,ΦA)、(ΨB,ΦB) then its distance be
Γ=arccos (sin (Φ in formulaA)sin(ΦB)+cos(ΦA)cos(ΦB)cos(ΨA-ΨB)), R it is flat for the earth
Equal radius (taking 6371.0088 kms) and all calculating intermediate cam functions of the present invention are all made of angle tabulation and show, and combine road
Data calculate the relative bearing of adjacent node on road, that is, calculate
If ΨA< ΨBThen node (ΨB,ΦB) relative to node (ΨA,ΦA) azimuth be α, otherwise relative bearing
For 360 ° of-α；
14 point interpolation such as carry out to the adjacent node of road with certain step-length (being indicated with h) on spherical surface, such as upper
Two nodes are stated to takeFor interpolation isodisperse, utilize
By spherical coordinate transformation corresponding to above-mentioned longitude and latitude at rectangular co-ordinate, i.e. (xA,yA,zA) and (xB,yB,zB), meter
Calculate weight corresponding to the n-th equal part
Carrying out spatial linear interpolation again can obtain
It projects it on spherical surface then
And then it utilizes
R in formula1=Rcos (Φ), by above-mentioned rectangular co-ordinate (xγ,n,yγ,n,zγ,n) it is converted into spherical coordinate (Ψγ,i,
Φγ,i), that is, the longitude and latitude of the n-th equal part interpolation point；And mark the longitude and latitude of circuit node and interpolation point, place road ID,
Section, neighbour road circuit node and its distance in road；
15 calculate the node group end to end of all roads according to shortest path first (such as dijkstra's algorithm, Floyd algorithm)
At weighted and directed diagraph shortest path and its distance.
2 acquisition driving recording (such as record moment, longitude and latitude, speed, course angle) data, and by determining positioning area
Domain obtains candidate anchor point (the road circuit node or interpolation point that are marked in step 14).For example, the longitude and latitude of a certain driving recording
For (Ψ0,Φ0) then calculate
R is localization region half width parameter in formula, a is half width adjustment parameter (generally taking a > 1), for step 14 institute
The point data of label extracts all longitudes and latitudes (Ψ, Φ) satisfaction
Road circuit node, interpolation point, and select in the road circuit node and interpolation point of same road ID one and driving
Recording distance nearest road circuit node or interpolation point, if the distance is less than ar again by road ID number combination step 12, step 13
Road data calculates driving recording course angle and the azimuthal angle of road, if angle is less than threshold value μ0Then using the point as the row
The candidate anchor point of one of vehicle record.
Driving recording is known as orientation distance at a distance from candidate anchor point by 3, and it is nearest to distance to be similar to driving recording
The projector distance of road；Driving recording course angle and the azimuthal angle of road are known as angular separation, wherein course angle and side
Parallactic angle is to rise to be rotated clockwise to angle formed by pointing direction (value range be 0-360 degree) with direct north, therefore side
It is the absolute value of the difference of course angle Yu azimuth to angle；By shortest path institute between the candidate anchor point of adjacent two driving recordings
Corresponding distance is known as current distance.According to orientation distance l, angular separation θ and current distance s, target function is defined respectively
S in formulamaxFor it is current apart from the upper limit, b be upper limit adjustment parameter (b > 1).The evaluation for re-defining candidate anchor point refers to
Mark
L in formulak,jAnd θk,jRespectively indicate the orientation distance between the effective driving recording of kth item and its j-th candidates anchor point
With angular separation, sk-1,i；k,jFor kth -1 effective driving recording i-th of candidate anchor point to the effective driving recording of kth item
The current distance of j-th candidates anchor point, F1,jFor the j-th candidates anchor point of the 1st article of effective driving recording evaluation index,
Fk-1,i；k,jI-th candidate of the j-th candidates anchor point of the effective driving recording of kth item relative to kth -1 effective driving recording
The evaluation index of anchor point.On the basis of candidate anchor point evaluation index, the evaluation index of candidate matches road is defined
G in formulak,jEvaluation for the j-th candidates anchor point generation candidate matches road of the effective driving recording of kth item refers to
Mark, w are turnover rate (0 < w < 1) of the candidate matches road for candidate anchor point.
A kind of 4 Real-time Road matching process based on driving recording carry out the matched specific steps of Real-time Road:
41 initializing set r, a, b, μ0, the parameter values such as w, and start to acquire driving recording；
If 42 vehicles are in idling mode (i.e. speed is less than idling threshold value) and course is invalid, the driving recording is skipped,
It acquires next driving recording and continues to execute step 42, until vehicle is in non-idle or course is effective；
43 enable k=1 and candidate positioning point set P1For sky；
If 44 vehicles are in idling mode, skip the driving recording and step 44 is continued to execute with next line vehicle record,
Otherwise all candidate anchor points are obtained according to step 2 and is assigned to P1If P1Step is then continued to execute with next line vehicle record to be empty
44 until P1Until non-empty, while marking the maximum speed during this is vmax,1, the driving recording be the 1st article effectively driving note
Record and record moment are T1；
45 with road where candidate anchor point be directly candidate matches road, then can be by P1It generates initial candidate and matches road
Set H1, and calculate the evaluation index of each candidate matches road；
The 46 next driving recordings of acquisition enable k from 1 update of increasing and candidate positioning point set PkFor empty set；
If 47 vehicles are in idling mode or longitude and latitude, time alternative one are identical as kth -1 effective driving recording,
It then skips the driving recording and acquires next driving recording and continue to execute step 47, it is all candidate fixed otherwise to be obtained according to step 2
Site is simultaneously assigned to PkIf PkNext driving recording, which is then acquired, for sky continues to execute step 47 until PkUntil non-empty, mark simultaneously
Maximum speed during this is vmax,k, idling when a length of δ t, the driving recording when being the effective driving recording of kth item and recording
Carving is Tk；
48 calculate vmax=max { vmax,k-1,vmax,k, Δ t=Tk-Tk-1- δ t and passage are apart from upper limit smax=vmaxΔ
T calculates P according to step 3kIn each candidate anchor point evaluation index, then in candidate matches road set Hk-1On the basis of, into
One step with optimization strategy obtain each candidate matches road evaluation index and new candidate matches road set HkIf
There are the current distances of candidate matches road to be less than bsmax, then H is deletedkMiddle current distance is greater than bsmaxCandidate matches road,
And it is corresponding to update Hk；
49 display the maximum candidate matches roads of evaluation index value, if it is matched as current Real-time Road as a result, after
Continuous acquisition driving recording, then return to step 46, otherwise export the road of current real-time matching.
Fig. 2 is two embodiments that driving recording of the present invention obtains candidate anchor point, and two boxes are respectively driving recording
Localization region, P1 and P2 are the two candidate anchor points obtained.
Fig. 3, Fig. 4, Fig. 5 are matched three results of one Real-time Road of the embodiment of the present invention, wherein thin lines are road
Road, each point in dotted line are anchor point, and solid line is the result after path adaptation.
Embodiment two:
As shown in Figure 1, the present embodiment proposes a kind of system, acquisition module including acquisition driving recording and road data and
Execute control program control module and program-carried memory module, wherein described program execute embodiment one in based on
The Real-time Road matching process of driving recording.
Specifically, acquisition module includes that driving recording acquisition module and road data obtain module, memory module includes
The memory module of circuit-switched data memory module and program, control module include road data processing module, candidate locating module, index
Computing module and path adaptation module, wherein
Road data processing module respectively obtains road (road ID, node for handling the road data of map vector
Longitude and latitude, length, direction), point (road circuit node and interpolation point longitude and latitude, place road ID, section, neighbour's road section in road
Point and its distance), the data such as path (all roads end to end node between shortest path and its distance)；
Road data memory module stores the processing such as the road, point, path for establishing corresponding storing data library
Data；
Driving recording acquisition module includes the driving recordings such as record moment, longitude and latitude, speed, course angle for acquiring；
Candidate locating module, for calculating the localization region of the collected driving recording of driving recording acquisition module, and root
The road data that module obtains is obtained according to road data to be positioned, and determines the candidate anchor point of driving recording；
Index computing module, the candidate anchor point for determining for candidate locating module calculate its evaluation index, in turn
Calculate the evaluation index of candidate matches road；
Path adaptation module, the evaluation index of the candidate matches road for being obtained according to index computing module obtain best
Candidate matches road, and determine that the optimal candidate matching road of the effective driving recording of the last item is path adaptation result.
A kind of Real-time Road matching process and system based on driving recording of the present invention, the longitude and latitude of conurbation map road
The data such as longitude and latitude, the course angle of degree, single-direction and dual-direction and driving recording, by defining about orientation distance, angular separation and passage
The evaluation function of distance is calculated the evaluation index of driving recording candidate's anchor point, and with exponential smoothing and optimizes plan
Candidate matches road is slightly generated, to accurately and efficiently complete path adaptation task.In order to further increase matching efficiency,
Before executing matching, the present invention is based on common driving region or city maps, calculated according to road data progress such as shortest path,
The bottom layer treatment of road section interpolation etc. realizes the quick positioning of driving recording.It is again quasi- in order to further increase matching
Exactness, the present invention in the matching process, further according to data such as record moment of driving recording, speed, are realized between driving recording
Current being dynamically determined apart from the upper limit.In addition, the present invention, which also fully takes into account, positions dropout or number in the regions such as tunnel
It according to not replacement problem and solves, so that path adaptation process is more reasonable, result is relatively reliable.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (9)
1. a kind of Real-time Road matching process based on driving recording, characterized by the following steps:
S1: acquisition driving recording and acquisition road data, into S2 step；
S2: it determines candidate's anchor point: calculating the localization region of collected driving recording in S1 step, and obtained according in S1 step
The road data taken is positioned, and determines the candidate anchor point of driving recording, into S3 step；
S3: the evaluation index of candidate anchor point and candidate matches road is calculated: for the candidate anchor point meter determined in S2 step
Its evaluation index is calculated, and then calculates the evaluation index of candidate matches road, into S4 step；
S4: path adaptation: obtaining optimal candidate according to the evaluation index of candidate matches road obtained in S3 step and match road,
And determine that the optimal candidate matching road of the effective driving recording of the last item is path adaptation result.
2. the Real-time Road matching process based on driving recording as described in claim 1, it is characterised in that: further include step
S0: setting driving recording at a distance from candidate anchor point as orientation distance l, driving recording course angle and the azimuthal angle of road
For angular separation θ, distance corresponding to shortest path is current distance s between the candidate anchor point of adjacent two driving recordings, into
Enter S1 step.
3. the Real-time Road matching process based on driving recording as claimed in claim 2, it is characterised in that: in S1 step, obtain
Include the following steps: by way of circuit-switched data
S11: road data processing: handling the road data of map vector, obtain including but not limited to road, point, path number
According to；
S12: the processing data in storing data library storage S11 step road data storage: are established.
4. the Real-time Road matching process based on driving recording as claimed in claim 3, it is characterised in that: in S11 step, road
Circuit-switched data processing includes the following steps:
S111: the road data of map vector is obtained, the road data includes but is not limited to: the longitude and latitude of each node of road,
The single-direction and dual-direction of road；
S112: road is cut according to the longitude and latitude of road circuit node, so that intersection point can only be the node end to end of road between road, and is given
One unique ID number of every road；
S113: according to the adjacent node spacing and link length of every road of calculation of longitude & latitude of road circuit node；Road it is adjacent
Node distance computation: calculation formula isWherein Γ=arccos (sin (ΦA)sin(ΦB)+cos(ΦA)cos
(ΦB)cos(ΨA-ΨB)), R is earth mean radius, (ΨA,ΦA) and (ΨB,ΦB) it is respectively circuit node A and road section
The longitude and latitude of point B；And calculate the relative bearing of adjacent node on road；
S114:
S1141: the longitude and latitude for carrying out etc. being divided to interpolation and calculating to obtain interpolation point in road: with certain step-length h to the two of road
A node such as carries out at point interpolation on spherical surface, and calculates the longitude and latitude for obtaining interpolation point；
S1142: adjacent node spacing is obtained between node and interpolation point divided by the number of equal part, the distance between interpolation point；
S1143: the relevant information of label road circuit node and interpolation point, relevant information includes but is not limited to: road circuit node and interpolation point
Longitude and latitude, place road ID, section, neighbour road circuit node and its distance in road；
S1144: by the cumulative value for obtaining the link length of the adjacent node spacing of the road circuit node of the road of required calculating；
S115: the shortest path and its distance of the weighted and directed diagraph of the composition of node end to end of all roads are calculated.
5. the Real-time Road matching process based on driving recording as claimed in claim 4, it is characterised in that: in S1 step, adopt
Collect driving recording specifically: acquisition vehicle is in the driving recording of non-idle or course effective status, driving collected
Record includes but is not limited to: the record moment, longitude and latitude, speed, course angle.
6. the Real-time Road matching process based on driving recording as claimed in claim 5, it is characterised in that: in S2 step, meter
Calculate the localization region of collected driving recording in S1 step specifically: set the longitude and latitude of some driving recording as (Ψ0,
Φ0), it calculatesWherein r be localization region half width parameter,
A is half width adjustment parameter, then extracts all longitudes and latitudes (Ψ, Φ) satisfactionRoad section
The region of point and interpolation point, composition is driving recording (Ψ0,Φ0) localization region；
It is positioned according to the road data obtained in S1 step, determines the candidate anchor point of driving recording specifically: driving a vehicle
One and driving recording are chosen in the localization region of record in the road circuit node and interpolation point of same road ID apart from nearest road
Circuit node or interpolation point know road azimuth in conjunction with driving recording course angle if the distance is less than ar according to road ID
Angular separation θ is calculated, if direction angle is less than threshold value μ0, then using the point as a candidate anchor point of the driving recording；
All candidate positioning point sets of the driving recording are P, and the corresponding set P of driving recording is not that empty then driving recording is effective
Driving recording.
7. the Real-time Road matching process based on driving recording as claimed in claim 6, it is characterised in that: in S3 step, needle
Its evaluation index is calculated to the candidate anchor point determined in S2 step, and then the evaluation index for calculating candidate matches road is specific
Are as follows: the evaluation index calculation formula of candidate anchor point are as follows:
F1,jIt is j-th of the 1st article of effective driving recording
The evaluation index of candidate anchor point, Fk-1,i；k,jFor the effective driving recording of kth item j-th candidates anchor point relative to kth -1
The evaluation index of the candidate anchor point of i-th of effective driving recording；Wherein,
smaxFor it is current apart from the upper limit, b be upper limit adjustment parameter (b > 1)；lk,jAnd θk,jRespectively the effective driving recording of kth item with
The orientation distance of its j-th candidates anchor point and angular separation, sk-1,i；k,jI-th for kth -1 effective driving recording is candidate
Anchor point to the effective driving recording of kth item j-th candidates anchor point passage distance；Wherein, passing through, it is public to calculate apart from the upper limit
Formula are as follows: smax=vmaxΔ t, wherein vmax=max { vmax,k-1,vmax,k, Δ t=Tk-Tk-1- δ t, vmax,kFor kth -1 effective row
Maximum speed between vehicle record and the effective driving recording of kth item, δ t are the idling duration of period, TkIt effectively drives a vehicle for kth item
The record moment of record；The evaluation index of candidate anchor point is calculated according to this calculation formula；
The evaluation index calculation formula of candidate matches road are as follows:
Wherein Gk,jIt is j-th of the effective driving recording of kth item
Candidate anchor point generates the evaluation index of candidate matches road, and w is turnover rate (0 of the candidate matches road for candidate anchor point
< w < 1)；Candidate matches road and its evaluation index are obtained according to this calculation formula, and is generated and is waited by candidate's positioning point set P
Choosing matching road set H.
8. the Real-time Road matching process based on driving recording as claimed in claim 7, it is characterised in that: in S4 step, root
Optimal candidate is obtained according to the evaluation index of candidate matches road obtained in S3 step and matches road, and determines that the last item is effective
Driving recording optimal candidate matching road be path adaptation as a result, specifically: first confirm the current effective driving recording pair of kth item
The candidate matches road set H answeredkIn with the presence or absence of the current distance of candidate matches road be less than bsmax, and if it exists, then delete Hk
Middle current distance is greater than bsmaxCandidate matches road, obtain updated Hk, then by HkThe evaluation index of middle candidate matches road
It is worth maximum candidate matches road, it is matched as current Real-time Road as a result, and determining the effective driving recording of the last item
It is path adaptation result that optimal candidate, which matches road,.
9. a kind of system, acquisition module including acquisition driving recording and road data and execute control program control module and
Program-carried memory module, it is characterised in that: wherein, described program execute the claims 1-8 it is any it is described based on
The Real-time Road matching process of driving recording.
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