CN109307513B - Real-time road matching method and system based on driving record - Google Patents

Real-time road matching method and system based on driving record Download PDF

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CN109307513B
CN109307513B CN201710615448.8A CN201710615448A CN109307513B CN 109307513 B CN109307513 B CN 109307513B CN 201710615448 A CN201710615448 A CN 201710615448A CN 109307513 B CN109307513 B CN 109307513B
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road
driving record
candidate
matching
positioning
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CN109307513A (en
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阮志毅
洪志新
石春晖
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Xiamen Yaxon Networks Co Ltd
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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
    • 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 invention discloses a real-time road matching method based on driving records, which comprises the following steps of S1: collecting driving records and acquiring road data; s2: determining a candidate positioning point: calculating a positioning area of the acquired driving record, positioning according to the acquired road data, and determining candidate positioning points of the driving record; s3: calculating evaluation indexes of the candidate positioning points and the candidate matching roads: calculating the evaluation index of the determined candidate positioning point, and further calculating the evaluation index of the candidate matching road; s4: road matching: and obtaining the best candidate matching road according to the evaluation index of the candidate matching road, and determining the best candidate matching road of the last effective driving record as a road matching result. A system comprises a collection module for collecting driving records and road data, a control module for executing a control program and a storage module loaded with the program, wherein the program executes a real-time road matching method based on the driving records.

Description

Real-time road matching method and system based on driving record
Technical Field
The invention relates to the technical field of geographic information systems, in particular to a real-time road matching method and system based on driving records.
Background
For map road matching, common methods are: geometric methods, topological methods, probabilistic methods, other synthetic methods, and the like. The geometric method mainly implements road matching according to the distance from the driving record to the nearby road node or the projected distance of the road section, as disclosed in patent CN 201310183257.0; the topological method mainly utilizes topological information of road adjacency, connectivity and the like to carry out road matching on the driving record, such as the invention patent CN 201610483028.4; the probability method mainly considers the position probability of the driving record on the map road so as to complete road matching, such as the invention patent CN 201410515570.4; other comprehensive methods are comprehensive matching of the above methods by using a kalman filter, a fuzzy logic model, an evidence theory model, a hidden markov model, and the like.
Whether the GPS or the Beidou positioning system has certain positioning accuracy, the acquired longitude and latitude are necessarily deviated; moreover, the map road data does not consider factors such as road width and the like, so that the map road data is different from a real road; in addition, when a vehicle enters an area such as a tunnel, problems such as loss of a positioning signal or non-update of data may occur. In a complex road network, the accuracy of road matching of the driving record is difficult to ensure by using a single method; the comprehensive method improves the matching accuracy, but greatly reduces the matching efficiency, so that certain delay is easily generated in time.
Disclosure of Invention
In order to solve the problem that the accuracy and the real-time performance of road matching in the prior art are difficult to be considered, the invention provides a real-time road matching method and a real-time road matching system based on driving records, which can accurately carry out real-time road matching on high-frequency driving records.
The invention relates to a real-time road matching method based on driving records, which comprises the following steps:
s1: collecting driving records and acquiring road data, and entering the step S2;
s2: determining a candidate positioning point: calculating a positioning area of the driving record acquired in the step S1, positioning according to the road data acquired in the step S1, determining a candidate positioning point of the driving record, and entering the step S3;
s3: calculating evaluation indexes of the candidate positioning points and the candidate matching roads: calculating the evaluation indexes of the candidate positioning points determined in the step S2, further calculating the evaluation indexes of the candidate matching roads, and entering the step S4;
s4: road matching: and obtaining the best candidate matching road according to the evaluation index of the candidate matching road obtained in the step of S3, and determining the best candidate matching road of the last effective driving record as a road matching result.
Further, the method also includes step S0: setting the distance between the driving record and the candidate positioning point as a positioning distance l, the included angle between the heading angle of the driving record and the road azimuth angle as a direction included angle theta, and the distance corresponding to the shortest path between the candidate positioning points of two adjacent driving records as a passing distance S, and entering the step S1.
Further, in the step S1, the acquiring the road data includes the steps of:
s11: road data processing: processing road data of the vector map to obtain data including but not limited to roads, points and paths;
s12: and (3) road data storage: the storage database is created to store the processing data in step S11.
Further, in step S11, the road data processing includes the steps of:
s111: acquiring road data of a vector map, wherein the road data comprises but is not limited to: longitude and latitude of each node of the road and single and double directions of the road;
s112: cutting roads according to the longitude and latitude of the road nodes, so that intersection points between the roads can only be head and tail nodes of the roads, and each road is provided with a unique ID number;
s113: calculating the distance between adjacent nodes and the road length of each road according to the longitude and latitude of the road nodes; and (3) calculating the distance between adjacent nodes of the road: is calculated by the formula
Figure BDA0001360396270000021
Wherein Γ ═ arccos (sin (Φ)A)sin(ΦB)+cos(ΦA)cos(ΦB)cos(ΨA-ΨB) R is the mean radius of the earth, (Ψ)A,ΦA) And (Ψ)B,ΦB) Respectively the longitude and latitude of a road node A and a road node B; calculating the relative azimuth angle of the adjacent nodes on the road;
S114：
s1141: equally dividing and interpolating the road and calculating to obtain the longitude and latitude of an interpolation point: equally dividing and interpolating two nodes of a road on a spherical surface according to a certain step length h, and calculating to obtain the longitude and latitude of an interpolation point;
s1142: dividing the distance between adjacent nodes by the number of equal parts to obtain the distance between the nodes and the interpolation points and the distance between the interpolation points;
s1143: relevant information for marking road nodes and interpolation points, including but not limited to: longitude and latitude of the road node and the interpolation point, the ID of the road, the road inner section, the adjacent road node and the distance between the adjacent road node and the road inner section;
s1144: accumulating the adjacent node distances of the road nodes of the road to be calculated to obtain the value of the road length;
s115: and calculating the shortest path and the distance of the weighted directed graph formed by the head nodes and the tail nodes of all the roads.
Further, in step S1, the collecting driving record specifically includes: collecting driving records of a vehicle in a non-idle state or a heading effective state, wherein the collected driving records include but are not limited to: and recording the time, longitude and latitude, speed and course angle.
Further, in the step S2, the step of calculating the location area of the driving record collected in the step S1 specifically includes: setting the longitude and latitude of a certain driving record as (psi)0,Φ0) Calculating
Figure BDA0001360396270000031
Wherein r is a half-width parameter of a positioning area, a is a half-width adjusting parameter, and then all longitudes and latitudes (psi, phi) are extracted to meet the requirements
Figure BDA0001360396270000032
The road node and the interpolation point of (b) form a region which is the driving record (psi)0,Φ0) The positioning area of (a);
positioning according to the road data acquired in the step S1, and determining candidate positioning points of the driving record specifically include: selecting a road node or an interpolation point closest to the driving record from the road nodes and the interpolation points of the same road ID in the positioning area of the driving record, if the distance is less than ar, knowing the road azimuth angle according to the road ID and calculating the direction included angle theta by combining the heading angle of the driving record, and if the direction included angle is less than the threshold value mu0Taking the point as a candidate positioning point of the driving record; and if the set P corresponding to the driving record is not empty, the driving record is an effective driving record.
Further, in step S3, the evaluation index of the candidate anchor point determined in step S2 is calculated, and further the evaluation index of the candidate matching road is calculated as follows: the evaluation index calculation formula of the candidate positioning point is as follows:
Figure BDA0001360396270000041
F1,jevaluation index F of jth candidate positioning point for 1 st effective driving recordk-1,i；k,jThe evaluation index of the jth candidate positioning point of the kth effective driving record relative to the ith candidate positioning point of the kth-1 effective driving record is obtained; wherein the content of the first and second substances,
Figure BDA0001360396270000042
smaxthe upper limit of the passing distance and the upper limit adjusting parameter (b is more than 1) are used as b; lk,jAnd thetak,jRespectively the positioning distance and direction included angle s of the kth effective driving record and the jth candidate positioning point thereofk-1,i；k,jThe passing distance from the ith candidate positioning point of the k-1 effective driving record to the jth candidate positioning point of the k effective driving record is calculated; the upper limit calculation formula of the passing distance is as follows: smax＝vmaxΔ t, wherein vmax＝max{vmax,k-1,vmax,k}，Δt＝Tk-Tk-1-δt，vmax,kIs the maximum speed between the k-1 th effective driving record and the k-th effective driving record, delta T is the idle speed duration during the period, TkRecording time of the kth effective driving record; calculating the evaluation index of the candidate positioning point according to the calculation formula;
the evaluation index calculation formula of the candidate matching road is as follows:
Figure BDA0001360396270000043
wherein G isk,jGenerating an evaluation index of a candidate matching road for the jth candidate positioning point of the kth effective driving record, wherein w is the update rate of the candidate matching road to the candidate positioning point (w is more than 0 and less than 1); and obtaining candidate matching roads and evaluation indexes thereof according to the calculation formula, and generating a candidate matching road set H by the candidate positioning point set P.
Further, in the step S4, an optimal candidate matching road is obtained according to the evaluation index of the candidate matching road obtained in the step S3, and the optimal candidate matching road of the last valid driving record is determined as a road matching result, which specifically includes: firstly, determining a candidate matching road set H corresponding to the current k-th effective driving recordkWhether or notThe passing distance of the candidate matching road is less than bsmaxIf yes, delete HkThe middle passing distance is more than bsmaxTo obtain updated HkThen, H is introducedkAnd taking the candidate matching road with the maximum evaluation index value as the current real-time road matching result, and determining the best candidate matching road of the last effective driving record as the road matching result.
The invention also provides a system which comprises an acquisition module for acquiring the driving record and the road data, a control module for executing the control program and a storage module loaded with the program, wherein the program executes the real-time road matching method based on the driving record.
The invention has the beneficial effects that:
the invention relates to a real-time road matching method and a real-time road matching system based on driving records, which integrate longitude and latitude, longitude and latitude of unidirectional and bidirectional map roads, longitude and latitude of driving records, course angles and other data, calculate evaluation indexes of candidate positioning points of the driving records by defining evaluation functions related to positioning distance, direction included angle and passing distance, and generate candidate matching roads by an exponential smoothing method and an optimization strategy, thereby accurately and efficiently completing road matching tasks. In order to further improve the matching efficiency, before the matching is executed, the invention carries out bottom layer processing in the aspects of shortest path calculation, road section interpolation and the like according to road data based on a common driving area or a city map, thereby realizing the quick positioning of driving records. In order to further improve the matching accuracy, the upper limit of the traffic distance between the driving records is dynamically determined according to the data of the recording time, the speed and the like of the driving records in the matching process. In addition, the invention also fully considers the problem of the loss of positioning signals or the non-updating of data in areas such as tunnels and the like and solves the problem, so that the road matching process is more reasonable and the result is more reliable.
Drawings
FIG. 1 is a flow chart of a method and system according to an embodiment of the present invention;
FIG. 2 illustrates two embodiments of obtaining candidate anchor points according to driving records of the present invention;
FIG. 3 is a diagram illustrating a result of a real-time road matching according to an embodiment of the present invention;
FIG. 4 is another result of a real-time road matching according to an embodiment of the present invention;
FIG. 5 shows another result of a real-time road matching according to an embodiment of the invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
referring to fig. 1, the present invention provides a real-time road matching method based on driving records, which includes the following steps:
the method comprises the following steps of 1, common driving area or urban map road data processing, specifically:
11, acquiring road (such as longitude and latitude, single direction and two-way direction and the like) data of a vector map;
12 cutting roads according to the longitude and latitude of the road nodes, so that intersection points between the roads can only be head and tail nodes of the roads, and each road is given a unique ID number;
13 calculating the node distance and the road length of each road according to the longitude and latitude of the road, such as the known longitude and latitude (psi) of two adjacent nodes of the roadA,ΦA)、(ΨB,ΦB) Then its distance is
Figure BDA0001360396270000061
Wherein Γ ═ arccos (sin (Φ)A)sin(ΦB)+cos(ΦA)cos(ΦB)cos(ΨA-ΨB) R is the average radius of the earth (6371.0088 km), and the trigonometric functions in all the calculations of the invention are expressed by an angle system, and the relative azimuth angles of the adjacent nodes on the road are calculated by combining the road data, namely the calculation
Figure BDA0001360396270000062
If t isA＜ΨBThen node (Ψ)B,ΦB) Relative to node (Ψ)A,ΦA) Is alpha, otherwise the relative azimuth is 360-alpha;
14 equally dividing and interpolating the adjacent nodes of the road on the spherical surface by a certain step (indicated by h), for example, taking the two nodes
Figure BDA0001360396270000076
For interpolation equal division, using
Figure BDA0001360396270000071
Converting the spherical coordinates corresponding to the latitude and longitude into rectangular coordinates, i.e. (x)A,yA,zA) And (x)B,yB,zB) Calculating the weight corresponding to the nth partition
Figure BDA0001360396270000072
Then, the spatial linear interpolation is performed to obtain
Figure BDA0001360396270000073
Project it on the sphere
Figure BDA0001360396270000074
And then utilize
Figure BDA0001360396270000075
In the formula R1The rectangular coordinates (x) are represented by Rcos (Φ)γ,n,yγ,n,zγ,n) Conversion into spherical coordinates (Ψ)γ,i,Φγ,i) That is, the nth equally divided interpolation point; marking the longitude and latitude, the road ID, the road inner section, the adjacent road node and the distance between the road node and the interpolation point;
and 15, calculating the shortest paths and the distances of the weighted directed graph formed by the head nodes and the tail nodes of all the roads according to a shortest path algorithm (such as Dijkstra algorithm and Floyd algorithm).
2, collecting data of driving records (such as recording time, longitude and latitude, speed, heading angle and the like), and acquiring candidate positioning points (road nodes or interpolation points marked in step 14) by determining a positioning area. For example, a particular one of the driving records has a latitude and longitude of (Ψ)0,Φ0) Then calculate
Figure BDA0001360396270000081
In the formula, r is a half-width parameter of the positioning area, a is a half-width adjusting parameter (generally, a is more than 1), and for the point data marked in the step 14, all longitudes and latitudes (psi, phi) are extracted to meet the requirement
Figure BDA0001360396270000082
And selecting one road node or interpolation point closest to the driving record from the road nodes and interpolation points of the same road ID, if the distance is less than ar, calculating the included angle between the heading angle of the driving record and the azimuth angle of the road by combining the road ID number with the road data in the step 12 and the step 13, and if the included angle is less than the threshold value mu0Then the point is used as the driving noteA candidate anchor point of the record.
3, the distance between the driving record and the candidate positioning point is called as a positioning distance which is approximate to the projection distance between the driving record and the nearest road; an included angle between a driving recording course angle and a road azimuth angle is called as a direction included angle, wherein the course angle and the azimuth angle are both included angles (the value range is 0-360 degrees) formed by clockwise rotating from a positive north direction to a pointing direction, and therefore the direction included angle is an absolute value of the difference between the course angle and the azimuth angle; and (4) the distance corresponding to the shortest path between the candidate positioning points of two adjacent driving records is called as the passing distance. Respectively defining index functions according to the positioning distance l, the direction included angle theta and the passing distance s
Figure BDA0001360396270000083
Figure BDA0001360396270000084
Figure BDA0001360396270000085
In the formula smaxThe upper limit of the passing distance is defined, and b is an upper limit adjusting parameter (b is more than 1). Then defining the evaluation index of the candidate positioning point
Figure BDA0001360396270000091
In the formula Ik,jAnd thetak,jRespectively representing the positioning distance, the direction included angle and the s between the kth effective driving record and the jth candidate positioning point thereofk-1,i；k,jThe passing distance F from the ith candidate positioning point of the k-1 th effective driving record to the jth candidate positioning point of the k-1 th effective driving record1,jEvaluation index F of jth candidate positioning point for 1 st effective driving recordk-1,i；k,jThe jth candidate positioning point of the kth effective driving record is relative to the ith candidate of the kth-1 effective driving recordAnd (5) evaluating indexes of the positioning points. On the basis of the evaluation indexes of the candidate positioning points, the evaluation indexes of the candidate matching roads are defined
Figure BDA0001360396270000092
In the formula Gk,jAnd generating an evaluation index of the candidate matching road for the jth candidate positioning point of the kth effective driving record, wherein w is the update rate of the candidate matching road to the candidate positioning point (0 < w < 1).
A real-time road matching method based on driving records comprises the following specific steps:
41 initialization setting r, a, b, mu0And w and the like, and starting to collect driving records;
42 if the vehicle is in an idle state (namely the speed is less than the idle threshold value) and the course is invalid, skipping the driving record, collecting the next driving record and continuing to execute the step 42 until the vehicle is in a non-idle state or the course is valid;
43 let k equal to 1 and set of candidate anchor points P1Is empty;
44 if the vehicle is in the idling state, skipping the driving record and continuing to execute the step 44 according to the next driving record, otherwise, acquiring all candidate positioning points according to the step 2 and assigning the candidate positioning points to the P1If P is1If the running record is null, the step 44 is continuously executed until P1Non-null, while marking the maximum velocity v in the processmax,1The driving record is the 1 st effective driving record and the recording time is T1；
45 if the road where the candidate anchor point is located is directly taken as the candidate matching road, then P can be selected1Generating an initial candidate matching road set H1And calculating the evaluation index of each candidate matching road;
46 collecting the next driving record, making k self-increment by 1 and updating and candidate positioning point set PkIs an empty set;
47 if the vehicle is in idle state or one of longitude, latitude and time and the k-1 effective driving recordIf so, skipping the driving record and collecting the next driving record to continue to execute the step 47, otherwise, obtaining all candidate positioning points according to the step 2 and assigning the candidate positioning points to the PkIf P iskIf the vehicle is empty, the next driving record is collected, and the step 47 is continuously executed until PkNon-null, while marking the maximum velocity v in the processmax,kThe idling time length is delta T, the driving record is the kth effective driving record, and the recording time is Tk；
48 calculation of vmax＝max{vmax,k-1,vmax,k}、Δt＝Tk-Tk-1δ t and upper limit of distance traveled smax＝vmaxΔ t, calculating P according to step 3kThe evaluation indexes of the candidate positioning points are selected, and then a candidate matching road set H is formedk-1Based on the obtained data, further obtaining evaluation indexes of each candidate matching road and a new candidate matching road set H by an optimization strategykIf the candidate matching road exists, the passing distance is less than bsmaxThen delete HkThe middle passing distance is more than bsmaxAnd the corresponding update Hk；
And 49, displaying the candidate matching road with the maximum evaluation index value as a current real-time road matching result, if the driving record is continuously collected, returning to the step 46, and otherwise, outputting the current real-time matching road.
Fig. 2 shows two embodiments of obtaining candidate positioning points by driving record according to the present invention, where two boxes are the positioning areas of driving record respectively, and P1 and P2 are the obtained two candidate positioning points.
Fig. 3, 4, and 5 show three results of a real-time road matching according to an embodiment of the present invention, where a thin line is a road, each point in a dotted line is an anchor point, and a solid line is a result after the road matching.
Example two:
as shown in fig. 1, the present embodiment provides a system, which includes a collection module for collecting driving records and road data, a control module for executing a control program, and a storage module loaded with a program, wherein the program executes the real-time road matching method based on the driving records in the first embodiment.
Specifically, the acquisition module comprises a driving record acquisition module and a road data acquisition module, the storage module comprises a road data storage module and a program storage module, the control module comprises a road data processing module, a candidate positioning module, an index calculation module and a road matching module, wherein,
the road data processing module is used for processing road data of the vector map and respectively obtaining data such as roads (road ID, node longitude and latitude, length and direction), points (road nodes and interpolation point longitude and latitude, road ID where the points are located, road sections in the roads, adjacent road nodes and distances between the adjacent road nodes), paths (shortest paths between head nodes and tail nodes of all the roads and distances between the head nodes and the tail nodes of all the roads);
the road data storage module is used for establishing a corresponding storage database and storing the processing data of the roads, the points, the paths and the like;
the driving record acquisition module is used for acquiring driving records including recording time, longitude and latitude, speed, course angle and the like;
the candidate positioning module is used for calculating a positioning area of the driving record acquired by the driving record acquisition module, positioning according to the road data acquired by the road data acquisition module and determining a candidate positioning point of the driving record;
the index calculation module is used for calculating the evaluation index of the candidate positioning point determined by the candidate positioning module so as to calculate the evaluation index of the candidate matching road;
and the road matching module is used for obtaining the best candidate matching road according to the evaluation index of the candidate matching road obtained by the index calculation module and determining the best candidate matching road of the last effective driving record as a road matching result.
The invention relates to a real-time road matching method and a real-time road matching system based on driving records, which integrate longitude and latitude, longitude and latitude of unidirectional and bidirectional map roads, longitude and latitude of driving records, course angles and other data, calculate evaluation indexes of candidate positioning points of the driving records by defining evaluation functions related to positioning distance, direction included angle and passing distance, and generate candidate matching roads by an exponential smoothing method and an optimization strategy, thereby accurately and efficiently completing road matching tasks. In order to further improve the matching efficiency, before the matching is executed, the invention carries out bottom layer processing in the aspects of shortest path calculation, road section interpolation and the like according to road data based on a common driving area or a city map, thereby realizing the quick positioning of driving records. In order to further improve the matching accuracy, the upper limit of the traffic distance between the driving records is dynamically determined according to the data of the recording time, the speed and the like of the driving records in the matching process. In addition, the invention also fully considers the problem of the loss of positioning signals or the non-updating of data in areas such as tunnels and the like and solves the problem, so that the road matching process is more reasonable and the result is more reliable.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A real-time road matching method based on driving records is characterized in that: the method comprises the following steps:
s0: setting the distance between the driving record and the candidate positioning point as a positioning distance l, setting the included angle between the heading angle of the driving record and the azimuth angle of the road as a direction included angle theta, setting the distance corresponding to the shortest path between the candidate positioning points of two adjacent driving records as a passing distance S, and entering the step S1;
s1: collecting driving records and acquiring road data, and entering the step S2;
s2: determining a candidate anchor point: calculating a positioning area of the driving record acquired in the step S1, positioning according to the road data acquired in the step S1, determining a candidate positioning point of the driving record, and entering the step S3;
s3: calculating evaluation indexes of the candidate positioning points and the candidate matching roads: calculating the evaluation index of the candidate positioning point determined in the step S2 by defining an index function related to the positioning distance l, the direction included angle theta and the passing distance S, further calculating the evaluation index of the candidate matching road, and entering the step S4;
the evaluation index calculation formula of the candidate positioning point is as follows:
Figure FDA0003507133420000011
F1,jevaluation index F of jth candidate positioning point for 1 st effective driving recordk-1,i；k,jThe evaluation index of the jth candidate positioning point of the kth effective driving record relative to the ith candidate positioning point of the kth-1 effective driving record is obtained; wherein the content of the first and second substances,
Figure FDA0003507133420000012
smaxfor the upper limit of the passing distance, b is an upper limit regulating parameter, b>1；lk,jAnd thetak,jRespectively the positioning distance and direction included angle s of the kth effective driving record and the jth candidate positioning point thereofk-1,i；k,jThe passing distance from the ith candidate positioning point of the kth-1 effective driving record to the jth candidate positioning point of the kth effective driving record is obtained; the upper limit calculation formula of the passing distance is as follows: smax＝vmaxΔ t, wherein vmax＝max{vmax,k-1,vmax,k}，Δt＝Tk-Tk-1-δt，vmax,kIs the maximum speed between the k-1 th effective driving record and the k-th effective driving record, delta T is the idle speed duration during the period, TkRecording time of the kth effective driving record; calculating the evaluation index of the candidate positioning point according to the calculation formula;
the evaluation index calculation formula of the candidate matching road is as follows:
Figure FDA0003507133420000021
wherein G isk,jGenerating an evaluation index of a candidate matching road for the jth candidate positioning point of the kth effective driving record, wherein w is the candidate matching road for the candidateAnchor point update rate, 0<w<1; acquiring candidate matching roads and evaluation indexes thereof according to the calculation formula, and generating a candidate matching road set H by a candidate positioning point set P;
s4: road matching: and obtaining the best candidate matching road according to the evaluation index of the candidate matching road obtained in the step of S3, and determining the best candidate matching road of the last effective driving record as a road matching result.
2. The real-time road matching method based on driving record as claimed in claim 1, characterized in that: in the step S1, the acquiring the road data includes the steps of:
s11: road data processing: processing road data of the vector map to obtain data including but not limited to roads, points and paths;
s12: and (3) road data storage: the storage database is created to store the processing data in step S11.
3. The real-time road matching method based on driving record as claimed in claim 2, characterized in that: in the step S11, the road data processing includes the steps of:
s111: acquiring road data of a vector map, wherein the road data comprises but is not limited to: longitude and latitude of each node of the road and single and double directions of the road;
s112: cutting roads according to the longitude and latitude of the road nodes, so that intersection points between the roads can only be head and tail nodes of the roads, and each road is provided with a unique ID number;
s113: calculating the distance between adjacent nodes and the road length of each road according to the longitude and latitude of the road nodes; and (3) calculating the distance between adjacent nodes of the road: is calculated by the formula
Figure FDA0003507133420000022
Wherein Γ ═ arccos (sin (Φ)A)sin(ΦB)+cos(ΦA)cos(ΦB)cos(ΨA-ΨB) R is the mean radius of the earth, (Ψ)A,ΦA) And (Ψ)B,ΦB) Are respectively road sectionsLongitude and latitude of the point A and the road node B; calculating the relative azimuth angle of the adjacent nodes on the road;
s1141: equally dividing and interpolating the road and calculating to obtain the longitude and latitude of an interpolation point: equally dividing and interpolating two nodes of a road on a spherical surface according to a certain step length h, and calculating to obtain the longitude and latitude of an interpolation point;
s1142: dividing the distance between adjacent nodes by the number of equal parts to obtain the distance between the nodes and the interpolation points and the distance between the interpolation points; s1143: relevant information for marking road nodes and interpolation points, including but not limited to: longitude and latitude of the road node and the interpolation point, the ID of the road, the road inner section, the adjacent road node and the distance between the adjacent road node and the road inner section;
s1144: accumulating the adjacent node distances of the road nodes of the road to be calculated to obtain the value of the road length;
s115: and calculating the shortest path and the distance of the weighted directed graph formed by the head nodes and the tail nodes of all the roads.
4. The real-time road matching method based on driving record as claimed in claim 3, characterized in that: in the step S1, the collecting driving record specifically includes: collecting driving records of a vehicle in a non-idle state or a heading effective state, wherein the collected driving records include but are not limited to: and recording the time, longitude and latitude, speed and course angle.
5. The real-time road matching method based on driving record as claimed in claim 4, characterized in that: in the step S2, the step of calculating the positioning area of the driving record acquired in the step S1 specifically includes: setting the longitude and latitude of a certain driving record as (psi)0,Φ0) Calculating
Figure FDA0003507133420000031
Wherein r is a half-width parameter of a positioning area, a is a half-width adjusting parameter, and then all longitudes and latitudes (psi, phi) are extracted to meet the requirements
Figure FDA0003507133420000032
Road ofRoad nodes and interpolation points, the area formed by them is the driving record (psi)0,Φ0) The positioning area of (a);
positioning according to the road data acquired in the step S1, and determining candidate positioning points of the driving record specifically include: selecting one road node or interpolation point closest to the driving record from the road nodes and interpolation points of the same road ID in the positioning area of the driving record, obtaining the azimuth angle of the road according to the road ID if the distance is less than ar, then calculating the direction included angle theta by combining the heading angle of the driving record, and if the direction included angle is less than the threshold value mu0Taking the point as a candidate positioning point of the driving record; and if the set P corresponding to the driving record is not empty, the driving record is an effective driving record.
6. The real-time road matching method based on driving record as claimed in claim 5, characterized in that: in the step S4, the best candidate matching road is obtained according to the evaluation index of the candidate matching road obtained in the step S3, and the best candidate matching road of the last valid driving record is determined as the road matching result, which specifically includes: firstly, determining a candidate matching road set H corresponding to the current k-th effective driving recordkThe passing distance of whether the candidate matching road exists is less than bsmaxIf yes, delete HkThe middle passing distance is more than bsmaxTo obtain updated HkThen, H is introducedkAnd taking the candidate matching road with the maximum evaluation index value as the current real-time road matching result, and determining the best candidate matching road of the last effective driving record as the road matching result.
7. The utility model provides a real-time road matching system based on driving record, includes the collection module of gathering driving record and road data and the control module of execution control program and the storage module who carries the procedure, its characterized in that: wherein the program performs the real-time road matching method based on driving record of any one of the above claims 1-6.
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