CN109827582A - A kind of method and system of quick determining road network disease relative position - Google Patents
A kind of method and system of quick determining road network disease relative position Download PDFInfo
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- CN109827582A CN109827582A CN201910248436.5A CN201910248436A CN109827582A CN 109827582 A CN109827582 A CN 109827582A CN 201910248436 A CN201910248436 A CN 201910248436A CN 109827582 A CN109827582 A CN 109827582A
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Abstract
The present invention provides a kind of method and system of quick determining road network disease relative position, belongs to field of road maintenance.The method of the present invention is comprising steps of road data pre-processes: carrying out dynamic segmentation to road, forms roadway element information, while constructing road network map service；The correction of inspection track: when inspection, inspection terminal rectifies a deviation to its GPS track information according to road network map service；Match road: there are when disease, route matching method matches the road where current disease to inspection terminal according to the map；Information uploads: inspection terminal uploads disease location information and Disease Characters information；Determine disease relative position: according to the relative position for the current disease of disease positional information calculation that inspection terminal uploads.The invention has the benefit that improving the working efficiency of road inspection, patrol time cost has been saved.
Description
Technical field
The present invention relates to field of road maintenance more particularly to a kind of methods of quick determining road network disease relative position
And system.
Background technique
The smart city construction range advocated with country constantly expands, the continuous depth that smart city theory and practice is explored
Enter, smart city construction application has significantly speeded up the speed of data generation, and data-driven Urban Operation managerial ability promotes step
Enter the new stage, the precision service based on acquiring by data, storage, sharing, is open supplies to give Urban Operation mode by blueness
It looks at；As the field of traffic of smart city construction, road maintenance inspection intelligence should be counted and be given birth to.
Currently, road maintenance inspection is mainly that patrolman relies on laser, survey to the determination of road disease relative position
The instrument and equipments such as distance meter (gear hobbing instrument) measure and record its distance to found road disease from the off, so that it is determined that disease
Position is unable to satisfy patrolman to demands such as the rapidity of road disease relative position and accuracies, leads to patrolman's
Working efficiency is low, time cost is high, while continuously can not carry out inspection to a plurality of road and conserve inspection troop to supervise in real time
Pipe ability is inadequate.
Summary of the invention
For solve disease position during present road maintenance inspection in the prior art or road conditions inspection determine it is time-consuming at
This height, can not continuously to a plurality of road carry out inspection the problem of, it is opposite that the present invention provides a kind of quick determining road network disease
The method and system of position.
The present invention quickly determines that the method for road network disease relative position includes the following steps:
S1: road data pretreatment: dynamic segmentation is carried out to road, forms roadway element information, while with constructing road network
Figure service；
S2: the correction of inspection track: when inspection, type patrol terminal entangles its GPS track information according to road network map service
Partially；
S3: matching road: there are when disease, type patrol terminal is where route matching method matches current disease according to the map
Road；
S4: information uploads: type patrol terminal uploads disease location information and Disease Characters information；
S5: disease relative position is determined: according to the relative position for the current disease of positional information calculation that type patrol terminal uploads.
The present invention is further improved, in step sl, the construction method of the road network map service are as follows:
S101: acquiring the road net data R0 got, carries out free-air correction to road net data, obtains and real site of road
Identical road net data R1；
S102: network topology is constructed to road net data R1, obtains road net data R2；
S103: constructing Network data set to road net data R2, including be arranged the title of Network data set, connectivity and away from
Off-network network data set attribute obtains the Network data set NT1 of road network；
S104: to Network data set NT1 build path query analysis, judge whether the Network data set NT1 meets and want
It asks, if so, step S105 is executed, if conditions are not met, then returning to step S102；
S105: the Network data set NT1 building road network map based on road services RS, the calling for type patrol terminal.
The present invention is further improved, in step sl, to city road network data R2 with interval set distance for a list
The dynamic that member carries out road to it divides, and obtains the road net data R3 with roadway element information, the specific process is as follows:
S111: segment processing is carried out with interval set distance to road net data R2, obtains road data segmentation table T1；
S112: creation obtains the path figure layer of road net data R2 with the path for the road net data R2 that road name is mark
LR2；
S113: the path events and figure layer of creation road net data R2 obtain path events figure layer LR3；
S114: being saved as shp file, the as obtained road net data R3 with roadway element property.
The present invention is further improved, the processing method of inspection track correction are as follows:
S201: when type patrol terminal is patrolled, a series of initial tracing point information collection D of GPS is obtained in real timeJust；
S202: to tracing point information collection DJustConstruct path locus Route；
S203: it calls road network map service to be overlapped with path locus Route and matches；If mismatching, to mismatch
GPS location point rejected, the tracing point information collection D after being rectified a deviationIt entangles, otherwise it does not need to handle.
The present invention is further improved, in step S3, the processing step of the map path matching process are as follows:
S301: the latitude and longitude information C of acquisition current vehicle present position, current vehicle place is determined according to road net data R3
Road；
S302: acquisition vehicle steering angle α judges whether vehicle just drives into intersection region, if not, executing step
S301, if so, executing step S303；
S303: obtaining acquisition a moment speed V1 and time T1, speed V2 and time T2 in next collection point on vehicle,
The range ability and linear distance between two, vehicle acquisition moment are calculated, the difference S of range ability and linear distance is obtainedDifference；
S304: construction vector and being connected to all road vectors of current junction node, calculate constructed vector and
The angle theta of four road vectors；
S305: difference S is assigned respectivelyDifferenceWith angle theta weighted value, weighted value is calculated, road is matched according to weighted value.
The present invention also provides a kind of system of the method for the quick determining road network disease relative position described in realize, packets
It includes web services end and inspection terminal, wherein the web services end is used to pre-process road data: dynamic point is carried out to road
Section forms roadway element information, while constructing road network map service, and current according to the positional information calculation that inspection terminal reports
The relative position of disease, the type patrol terminal include:
Patrol track rectify a deviation module: when for patrolling, type patrol terminal according to road network map service to its GPS track information into
Row correction；
Path adaptation module: for when there are disease, the matching of route matching method to be current sick according to the map for inspection terminal
Road where evil；
Information uploading module: for uploading disease location information and Disease Characters information.
The present invention is further improved, and the type patrol terminal is GPS tracker.
Compared with prior art, the beneficial effects of the present invention are: can be effectively solved patrolman to a plurality of road
During progress inspection the problems such as the relative position of automatic fast recording road disease, the work effect of road inspection is improved
Rate has saved patrol time cost, improves the real-time monitoring ability of maintenance inspection troop, realizes road maintenance inspection well
Intelligence has very strong generalization and market prospects.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is an embodiment method flow diagram；
Fig. 3 is path adaptation schematic diagram.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.
As shown in Figure 1, invention relies on road network big data, network topology building is carried out simultaneously to road data
Road network map service and dynamic segmentation processing are issued into, roadway element is formed；According to GPS Track terminal, (GPS is tracked simultaneously
Device) inspection track information, rectify a deviation in conjunction with road network map service to GPS track information；Then route matching according to the map
Road where the current disease of algorithmic match, the road disease location information combination road finally uploaded using GPS Track terminal
Road cell data calculates the relative position of road disease automatically, to quickly determine during realizing road network maintenance inspection
The work such as road maintenance inspection are efficiently served in the relative position of road disease.
The present invention can be effectively solved patrolman and automatically record road during carrying out inspection to a plurality of road
The problems such as relative position of disease, improves the working efficiency of road inspection, has saved patrol time cost, improves maintenance and patrols
The real-time monitoring ability of troop is looked into, realizes that road maintenance inspection is intelligent well, there are very strong generalization and market prospects.
As shown in Fig. 2, concrete methods of realizing of the invention is as follows:
Step S1: road data pretreatment: web services end carries out dynamic segmentation to road, forms roadway element information, together
When construct road network map service.
The present invention in the way of internet combine third party's map in the way of acquire city road network map datum, it is right
Collected road net data R0 obtains being actually available to the road net data of the invention practiced, tool by following data processing step
Body realizes that steps are as follows:
S101: it is based on data processing software (by taking ArcGIS software as an example), according to acquiring the road net data got in advance
R0 carries out free-air correction to road net data using ArcGIS, obtains the road net data R1 identical with real site of road；
S102: network topology is constructed to it using ArcGIS, and checks the Topology Error of road net data R1, if wrong
Accidentally, then Topology Error processing is carried out to it based on ArcGIS, obtains road net data R2；
S103: constructing Network data set to it using ArcGIS, including be arranged the title of Network data set, connectivity and
Distance network data set attribute obtains the Network data set NT1 of road network；
S104: to Network data set NT1 build path query analysis, judge whether the Network data set NT1 meets and want
It asks, if so, step S105 is executed, if conditions are not met, then returning to step S102；
S105: Network data set NT1 building road network map service RS (Road Service) based on road is used for GPS
The calling of Track terminal.
In step sl, dynamic segmental technology is used to carry out city road network data R2 to it for a unit with every 10 meters
The dynamic of road divides, and obtains the road net data R3 with roadway element information, the specific process is as follows:
S111: to road net data R2 with every 10 meters of progress segment processing, road data segmentation table T1 is obtained；
S112: creation obtains the path figure layer of road net data R2 with the path for the road net data R2 that road name is mark
LR2；
S113: the path events and figure layer of creation road net data R2 obtain path events figure layer LR3；
It: being exported as shp file by S114, is named as R3, the as obtained road with roadway element property
Network data R3.
Step S2: in view of the tracing point for causing GPS during road inspection because of the interference of the outside environmental elements such as GPS signal
There is jump point phenomenon, can use GPS Track terminal and realize to current GPS track point correction processing, implement step
It is as follows:
S201: when type patrol terminal is patrolled, it is initial to obtain a series of GPS in real time for the inspection tracking based on GPS Track terminal
Tracing point information collection DJust；
S202: to tracing point information collection DJustConstruct path locus Route；
S203: it calls road network map service to be overlapped with path locus Route and matches；If mismatching, to mismatch
GPS location point rejected, the tracing point information collection D after being rectified a deviationIt entangles, otherwise it does not need to handle.
S204: during inspection, the GPS position information C of road disease is obtained by GPS Track terminalDisease。
Step S3: the matched road of disease position institute is realized automatically using GPS Track terminal.If vehicle is in inspection piece
Area patrols to a plurality of road, which road at vehicle needed to solve between the intersection of a plurality of road for especially traveling
Road is a critical issue for realizing vehicle inspection on a plurality of road.Therefore, the present invention passes through a kind of map-matching method, will
It is applied to GPS Track terminal, realizes the matched road of current disease position institute.
(1) it acquires information: passing through the GPS location data D in S12It entanglesObtain the latitude and longitude information of current vehicle present position
C, azimuth information, that is, vehicle turns to the speed V1 and time T1 of a, vehicle in a upper collection point, speed of the vehicle in next collection point
Several factors such as the vector angle variable quantity θ of V2 and time T2, track of vehicle and road direction are spent to judge current vehicle place
Road.
(2) in the initial stage, the latitude and longitude information C based on road net data R3 and collected current vehicle present position,
The road where current vehicle is determined according to road net data R3；
(3) judge whether vehicle enters intersection based on steering angle α, the present invention is when the value of α is in [0,20], judgement vehicle
Just drive into intersection region；
(4) according to range formula S=V*T, the range difference Δ S=S2-S1 of current two o'clock is calculated；According to latitude and longitude information meter
Calculate the linear distance between two o'clock P1 (x1, y1), P2 (x2, y2)Then it calculates
Difference S between the twoDifference；
(5) under the weight factor of evaluation track of vehicle and the vector angle variable quantity of road direction, such as vehicle is one
A right-angled intersection region is turned round, wherein 0, A, B, C, D are road circuit node, P1, P2, P3, P4 are 0th area of junction node
GPS track point near domain, as shown in figure 3, by construction vector and be connected to all roads of current junction node to
Amount, then calculates the angle of constructed vector and four road vectors by inner product of vectors calculation formula, in related vector
Product mathematical formulae is as follows:
Wherein, vector a indicates the direction of road, and vector b indicates vehicle
Forward direction, the corner dimension that angle theta both indicates；
(6) respectively to SDifferenceWith θ value weighting weight values 0.4 and 0.6, A (Q)=0.4*S difference+0.6*180/ π * θ is enabled；If this
The value of road A (Q) is minimum, then the matching accuracy of position and this road that vehicle is presently in is exactly high, then just
Determine that current vehicle is on this road.
(7) road network map service RS and map-matching method based on calling, and the inspection real-time GPS track point of vehicle
To identify the road where vehicle；
Step S4: information uploads: GPS Track terminal is taken pictures to the information and defect information of disease position and is uploaded.
Step S5: determine disease relative position: being combined using the location information that GPS Track terminal uploads has road network list
The data of first property, rapidly calculate the relative position of current disease, to realize the current disease relative position of road really
Recognize.
The present invention is mainly used for patrolling using GPS Track terminal binding inspection vehicle application in road network disease position
Automatic identification and the quick relative position for calculating disease during looking into, to road where road disease.To patrolling at present
Looking into vehicle continuously to a plurality of road inspection and can not record the mode of disease position and carry out upgrading optimization, improve road and patrol people
The working efficiency of member, saves patrol time cost, realizes that road maintenance inspection is intelligent well.
The specific embodiment of the above is better embodiment of the invention, is not limited with this of the invention specific
Practical range, the scope of the present invention includes being not limited to present embodiment, all equal according to equivalence changes made by the present invention
Within the scope of the present invention.
Claims (7)
1. a kind of method of quick determining road network disease relative position, which comprises the steps of:
S1: road data pretreatment: carrying out dynamic segmentation to road, form roadway element information, while constructing road network map clothes
Business；
S2: the correction of inspection track: when inspection, inspection terminal rectifies a deviation to its GPS track information according to road network map service；
S3: matching road: there are when disease, route matching method matches the road where current disease to inspection terminal according to the map
Road；
S4: information uploads: inspection terminal uploads disease location information and Disease Characters information；
S5: disease relative position is determined: according to the relative position for the current disease of positional information calculation that inspection terminal uploads.
2. the method for quick determining road network disease relative position according to claim 1, it is characterised in that: in step
In S1, the construction method of the road network map service are as follows:
S101: acquiring the road net data RO got, carries out free-air correction to road net data, obtains coincideing with real site of road
Road net data R1；
S102: network topology is constructed to road net data R1, obtains road net data R2；
S103: constructing Network data set to road net data R2, title, connectivity and distance webs including Network data set is arranged
Network data set attribute obtains the Network data set NT1 of road network；
S104: to Network data set NT1 build path query analysis, judge whether the Network data set NT1 meets the requirements, such as
Fruit is step S105 to be executed, if conditions are not met, then returning to step S102；
S105: the Network data set NT1 building road network map based on road services RS, the calling for type patrol terminal.
3. the method for quick determining road network disease relative position according to claim 3, it is characterised in that: in step
In S1, city road network data R2 is divided with the dynamic that interval set distance carries out road to it for a unit, is had
The road net data R3 of roadway element information, the specific process is as follows:
S111: segment processing is carried out with interval set distance to road net data R2, obtains road data segmentation table T1；
S112: creation obtains the path figure layer LR2 of road net data R2 with the path for the road net data R2 that road name is mark；
S113: the path events and figure layer of creation road net data R2 obtain path events figure layer LR3；
S114: being saved as shp file, the as obtained road net data R3 with roadway element property.
4. the method for quick determining road network disease relative position according to claim 1, it is characterised in that: inspection rail
The processing method of mark correction are as follows:
S201: when inspection terminal is patrolled, a series of initial tracing point information collection D of GPS is obtained in real timeJust；
S202: to tracing point information collection DPlaceConstruct path locus Route；
S203: it calls road network map service to be overlapped with path locus Route and matches；If mismatching, to unmatched GPS
Location point is rejected, the tracing point information collection D after being rectified a deviationIt entangles, otherwise it does not need to handle.
5. the method for quick determining road network disease relative position according to claim 4, it is characterised in that: step S3
In, the processing step of the map path matching process are as follows:
S301: the latitude and longitude information C of acquisition current vehicle present position determines the road where current vehicle according to road net data R3
Road；
S302: acquisition vehicle steering angle α judges whether vehicle just drives into intersection region, if not, executing step S301, such as
Fruit is to execute step S303；
S303: acquisition a moment speed V1 and time T1, speed V2 and time T2 in next collection point on vehicle is obtained, is calculated
Range ability and linear distance between two, vehicle acquisition moment, obtain the difference S of range ability and linear distanceDifference；
S304: construction vector and all road vectors for being connected to current junction node calculate constructed vector and four
The angle theta of road vectors；
S305: difference S is assigned respectivelyDifferenceWith angle theta weighted value, weighted value is calculated, road is matched according to weighted value.
6. a kind of method for realizing the described in any item quick determining road network disease relative positions claim 1-5 is
System, it is characterised in that: including web services end and inspection terminal, wherein the web services end is used to pre-process road data:
Dynamic segmentation is carried out to road, forms roadway element information, while constructing road network map service, and reported according to inspection terminal
The relative position of the current disease of positional information calculation,
The inspection terminal includes:
Inspection track correction module: when for patrolling, inspection terminal entangles its GPS track information according to road network map service
Partially；
Path adaptation module: for when there are disease, route matching method to match current disease institute to inspection terminal according to the map
Road；
Information uploading module: for uploading disease location information and Disease Characters information.
7. the method for quick determining road network disease relative position according to claim 6, it is characterised in that: described to patrol
Looking into terminal is GPS tracker.
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| CN110427911A (en) * | 2019-08-12 | 2019-11-08 | 清华大学苏州汽车研究院（吴江） | A kind of Approach for road detection, device, equipment and storage medium |
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| CN115480275A (en) * | 2022-09-15 | 2022-12-16 | 中华人民共和国广东海事局 | Motion state acquisition method and device, computer equipment and storage medium |
| CN115480275B (en) * | 2022-09-15 | 2023-08-08 | 中华人民共和国广东海事局 | Motion state acquisition method and device, computer equipment and storage medium |
| CN115630056A (en) * | 2022-10-20 | 2023-01-20 | 中远海运科技股份有限公司 | Road patrol quantitative assessment system and method based on GPS track positioning |
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| CN116503027A (en) * | 2023-06-27 | 2023-07-28 | 成都智达万应科技有限公司 | Intelligent management system for highway assets |
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