CN114783214A - Road network dynamic data acquisition method and road network dynamic data acquisition system - Google Patents
Road network dynamic data acquisition method and road network dynamic data acquisition system Download PDFInfo
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Abstract
The invention provides a road network dynamic data acquisition method and a road network dynamic data acquisition system, belonging to the technical field of aviation, wherein the road network dynamic data acquisition method comprises the steps of acquiring road network data and aircraft road network data of an airport flight area; taking the position of a vehicle position sensor as the origin of a coordinate system, and taking the vehicle running direction as an x axis; establishing a dynamic coordinate system according to the real-time position relation between the basic coordinate system and the lane line; collecting vehicle position data and vehicle surrounding object position data, and converting the data into a basic coordinate system; converting the vehicle position data and the position data of objects around the vehicle into a dynamic coordinate system; and converting the vehicle position data and the position data of the objects around the vehicle in the dynamic coordinate system into the specified coordinate system, and correcting the data to obtain corresponding road network data. The method can dynamically update the road network data in real time under the condition of outburst of tasks in the airport flight area, and can avoid potential safety hazards caused by lagging road network data acquisition.
Description
The application is a divisional application of a patent application named road network dynamic data acquisition method and road network dynamic data acquisition system, wherein the application date of the original application is 28/04 in 2020, and the application number is 202010349778.9.
Technical Field
The invention relates to the field of aviation, in particular to a road network dynamic data acquisition method and system for an airport flight area.
Background
Airport flight area road network dynamics is a special traffic application scenario. The road network data is usually obtained by CAD data conversion or field measurement collection. The open road network dynamic data may be acquired by technologies such as OD survey, floating car (floating car), probe car (probe car), and the like. The particularity of the airport flight area is that two sets of road networks of vehicles and aircrafts exist, and dynamic information of the road networks covers the aircrafts, the vehicles, tools, pedestrians, foreign objects (fallen objects) and the like. Therefore, airport task scheduling and even monitoring systems are not enough to support real-time acquisition of required road network dynamic information, on one hand, the existing systems do not cover all dynamic information, and on the other hand, the acquired time frequency ranges are different (the acquisition period of monitoring data is usually tens of seconds, and the requirements of traffic safety management on the second level or the sub-second level cannot be met). The vehicle-mounted sensor is used for collecting road network dynamic data to perform subsequent tasks and traffic management of airplanes and vehicles, and is a new technical means for achieving the purpose.
The path of travel of the aircraft in the ground area of the tarmac is usually transmitted to the aircraft or the lead vehicle via a digital data transmission connection, for example by means of radio communication or other means. The routes traveled on the ground by a vehicle are usually determined by its job tasks and road network dynamic data and traffic rules, sometimes designated routes and sometimes dynamically selected routes. The traditional road network data acquisition in airport flight areas is made by manual acquisition based on vehicle roads, glide paths and runways in the airport apron (when CAD data conversion is adopted, the acquisition and calibration are also needed on site). When the vehicle road in the airport is updated or a new airport is expanded, the manual collection of road network data is limited by the normal work in the airport, the geographic information in the airport flight area is inconvenient to manually collect due to the factors of the working environment, and the conventional collection vehicle is also limited when entering the airport flight area.
Disclosure of Invention
The invention aims to provide a road network dynamic data acquisition method and a road network dynamic data acquisition system, which can dynamically update road network data in real time aiming at emergencies outside tasks in an airport flight area.
In order to achieve the purpose, the invention provides the following scheme:
a road network dynamic data acquisition method comprises the following steps:
s1, acquiring road network data and aircraft network data of an airport flight area;
s2, establishing a basic coordinate system by taking the position of the vehicle position sensor as the origin of the coordinate system, the vehicle running direction as an x axis and a counterclockwise 90-degree extension line as a y axis;
s3, establishing a dynamic coordinate system according to the real-time position relation between the basic coordinate system and the lane line; the dynamic coordinate system takes a vertical intersection point of an origin of the basic coordinate system and a lane central line as an origin of coordinates, an extension line consistent with the driving direction of the vehicle is an x-axis, and an extension line of 90 degrees anticlockwise of the x-axis is a y-axis;
when the vehicle moves straight, the original point of the dynamic coordinate system is kept unchanged on the center line of the lane, and the x axis and the y axis are also kept unchanged;
when the vehicle turns, the origin of the dynamic coordinate system is kept unchanged on the central line of the lane, the x axis is the direction which is tangent to the central line of the road and is consistent with the direction of the vehicle, and the y axis is the extension line of the x axis which is 90 degrees anticlockwise;
s4, acquiring vehicle position data and vehicle surrounding object position data, and converting the vehicle position data and the vehicle surrounding object position data into a basic coordinate system;
s5, converting the vehicle position data and the object position data around the vehicle in the basic coordinate system into a dynamic coordinate system;
and S6, converting the vehicle position data and the vehicle surrounding object position data in the dynamic coordinate system into a specified coordinate system, and correcting the data to obtain corresponding road network data.
Optionally, the road network data comprises vehicle road data and vehicle traffic identification data within an area;
optionally, the aircraft road network data comprises aircraft path data within a region, aircraft traffic identification data, and aircraft road data and vehicle road data common data.
Optionally, the road network data comprises basic elements and extended elements; the basic elements of the road network data comprise point, line and surface data; the extended elements of the road network data comprise road borders, lane lines, stop lines, deceleration lines, road junctions, road and aircraft road junction data.
Optionally, the aircraft road network data comprises basic elements and extended elements;
the basic elements of the aircraft road network data comprise point, line and surface data; the extended elements of the road network data include road and aircraft network intersection points, entry points, airplane points, runways, stop lines, and taxiway closure zone data.
Optionally, the specified coordinate system is WGS84 coordinates.
Optionally, the vehicle surrounding object position data includes moving object position data and fixed object position data;
the method for converting the vehicle position data and the vehicle surrounding object position data in the dynamic coordinate system to the specified coordinate system and performing data correction to obtain the corresponding road network data specifically comprises the following steps:
when the fixed object position data are converted into an appointed coordinate system, increasing a preset offset to obtain corresponding road network data;
when the position data of the moving object is converted into a specified coordinate system, the sensor determines the distance of the front object and the relative positions of the object and the sensor, and determines the offset from the position of the vehicle body and the vertical distance from the position of the vehicle body to obtain corresponding road network data.
Optionally, the transformation relationship between the basic coordinate system and the dynamic coordinate system is:
wherein (v)x,vy) Is the coordinate of any point under the dynamic coordinate system, (x, y) is the coordinate of any point under the basic coordinate system, and theta is the included angle between the x axis of the dynamic coordinate system and the x axis of the basic coordinate system.
In order to achieve the above purpose, the invention also provides the following scheme:
a system for dynamic data acquisition of a road network for an airport flight area, comprising:
the data acquisition module is used for acquiring road network data and aircraft road network data of an airport flight area;
the coordinate system establishing module is used for establishing a basic coordinate system by taking the position of the vehicle position sensor as an origin of the coordinate system, the vehicle running direction as an x axis and a counterclockwise 90-degree extension line as a y axis; establishing a dynamic coordinate system according to the real-time position relation between the basic coordinate system and the lane line; the dynamic coordinate system takes a vertical intersection point of an origin of the basic coordinate system and a lane central line as an origin of coordinates, an extension line consistent with the vehicle running direction is an x-axis, and an extension line of 90 degrees anticlockwise of the x-axis is a y-axis; when the vehicle moves straight, the original point of the dynamic coordinate system is kept unchanged on the center line of the lane, and the x axis and the y axis are also kept unchanged; when the vehicle turns, the origin of the dynamic coordinate system is kept unchanged on the center line of the lane, the x axis is the direction which is tangent to the center line of the road and is consistent with the direction of the vehicle, and the y axis is the extension line of the x axis at 90 degrees anticlockwise;
the vehicle position sensor is used for acquiring current position data of the vehicle and position data of objects around the vehicle in real time under a basic coordinate system;
the position acquisition module is used for converting the vehicle position data and the position data of objects around the vehicle into a basic coordinate system and then into a dynamic coordinate system;
and the road network data construction module is used for converting the vehicle position data and the position data of the objects around the vehicle in the dynamic coordinate system into the specified coordinate system, and correcting the data to obtain the corresponding road network data.
Optionally, the road network data comprises basic elements and extended elements;
the basic elements of the road network data comprise point, line and surface data;
the extended elements of the road network data comprise road borders, lane lines, stop lines, deceleration lines, road junctions, road and aircraft road junction data.
Optionally, the aircraft road network data comprises basic elements and extended elements;
the basic elements of the aircraft road network data comprise point, line and surface data;
the extended elements of the aircraft road network data include road to aircraft road network intersection points, entry points, flight points, runways, stop lines, taxiway closure zone data.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention utilizes the working vehicles in the airport to update and collect data in flight guarantee work in the airport flight area by installing the sensor. By collecting and updating road network data in real time, the route changes of aircrafts and vehicles caused by non-task changes can be found in time. Compared with the prior art, the technical scheme that the paths of the aircraft and the vehicles can be updated only when the task change is found, the road network data acquisition is more timely, and the road network data acquisition delay caused by the paths of the aircraft and the vehicles due to emergencies (such as vehicle anchor dropping) and non-task changes (delayed landing caused by short-term severe weather) and potential safety hazards caused by the road network data acquisition delay can be avoided. The invention can also be used for recognizing moving objects and objects left on roads (any object is strictly forbidden on the ground in an airport flight area) by vehicles, and participate in the work of vehicle anti-collision calculation, ground foreign body alarm and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic diagram of a basic coordinate system and a dynamic coordinate system.
Fig. 2 is a schematic diagram of a basic coordinate system and a dynamic coordinate system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a road network dynamic data acquisition method and a road network dynamic data acquisition system, which can dynamically update road network data in real time under the condition of outburst of tasks in an airport flight area and avoid potential safety hazards caused by lagging road network data acquisition.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention selects the tasks of the airplanes and the vehicles in the region as the leading part, even if the tasks and the paths form a corresponding relation, the corresponding path data is formed by the tasks, and then the road network data is formed by the paths of all the airplanes and the vehicles in the airport region, and the road network data acquisition scheme is real-time and dynamic.
The airport flight area includes: the region of aircraft activity such as takeoff, landing, ground service, maintenance, loading and unloading, and unloading.
The paths, i.e. the routes followed by the aircraft, the vehicle, in the area of the airport (from one point or area of the airport area to another point or area of the area) include in particular the take-off and landing runways, taxiways, turning zones, waiting belts, parking lines, stopping or parking positions, maneuvering zones and parking zones, road borders, lane lines, stop lines, deceleration lines, road junctions, road and aircraft road junctions and the like.
The invention relates to a road network dynamic data acquisition method for an airport flight area, which comprises the following steps:
and S1, acquiring airport flight area road network data and aircraft road network data through a global positioning system, a cloud database and/or a local database. The road network data and the aircraft network data may be network data formed based on the paths of the aircraft and the vehicles in the airport flight area formed by the mission.
Optionally, the road network data comprises vehicle road data and vehicle traffic identification data within an area. The basic elements of the road network data include point, line and plane data. The extended elements of the road network data comprise road borders, lane lines, stop lines, deceleration lines, road junctions, road and aircraft road junction data.
The road network data has the precision of centimeter-level GPS plus differential positioning, and the error is plus or minus 5 centimeters.
Optionally, the aircraft road network data comprises aircraft path data within a region, aircraft traffic identification data, and aircraft road data and vehicle road data common data. The basic elements of the aircraft road network data comprise point, line and surface data; an extension element. The extended elements of the aircraft road network data include road to aircraft road network intersection points, entry points, flight points, runways, stop lines, taxiway closure zone data.
The precision of the aircraft road network data is centimeter-level GPS plus differential positioning, and the error is plus or minus 5 centimeters.
S2, referring to fig. 1 and 2, a basic coordinate system is established with the position of the vehicle position sensor as the origin of the coordinate system, the vehicle traveling direction as the x-axis, and the counterclockwise 90 ° extension as the y-axis.
And S3, continuing to refer to the images in the figures 1 and 2, and establishing a dynamic coordinate system by using the real-time position relation between the basic coordinate system and the lane line. The dynamic coordinate system takes a vertical intersection point of an origin of the basic coordinate system and a center line of the lane as an origin of coordinates, an extension line consistent with the driving direction of the vehicle is an x axis, and an extension line 90 degrees anticlockwise is a y axis. Specifically, the base coordinate system is a vehicle coordinate system.
When the vehicle runs straight, the original point of the dynamic coordinate system is kept unchanged on the central line of the lane (the vertical intersection point of the original point of the vehicle body coordinate system and the central line of the lane is the coordinate original point); the x and y axes remain unchanged.
When the vehicle turns, the original point of the dynamic coordinate system is kept unchanged on the central line of the lane (the vertical intersection point of the original point of the vehicle body coordinate system and the central line of the lane is the coordinate original point); the direction which is consistent with the tangent line of the center line of the road and the direction of the vehicle is the x axis, and the extension line of 90 degrees anticlockwise is the y axis.
x＝r cos α (1)
y＝r sin α (2)
And
vx＝rcos(α-θ)＝rcosαcosθ+rsinαsinθ (3)
vy＝rsin(α-θ)-rsinαcosθ+rcosαsinθ (4)
by permutation, one can derive:
vx＝xcosθ+ysinθ (5)
vy＝-xsinθ+ycosθ (6)
and (3) obtaining a two-dimensional rotating shaft standard matrix formula by matrix representation:
wherein (v)x,vy) The coordinate of any point under the dynamic coordinate system is shown, wherein (x, y) is any point of the vehicle coordinate system, r is the distance from the origin point to the (x, y), α is the included angle between the (x, y) and the x-axis, and θ is the included angle between the x-axis of the dynamic coordinate system and the x-axis of the vehicle coordinate system, and the conversion relationship is shown in formula (7).
And S4, collecting the vehicle position data and the vehicle surrounding object position data, and converting the vehicle position data and the vehicle surrounding object position data into a basic coordinate system.
Wherein the object position data includes moving object position data and fixed object position data.
The dynamic elements of the moving object position data include pedestrians, objects traveling at low speed, vehicles, and objects left on roads.
Fixed object location data includes wayside equipment, and the like.
And S5, converting the vehicle position data and the vehicle surrounding object position data in the basic coordinate system into the dynamic coordinate system.
And S6, converting the vehicle position data and the vehicle surrounding object position data in the dynamic coordinate system into a specified coordinate system, and correcting the data to obtain corresponding road network data. Specifically, vehicle position data and vehicle surrounding object position data in the dynamic coordinate system are converted into latitude and longitude coordinates.
Alternatively, the specified coordinate system is the WGS84 coordinates, or other data coordinate system consistent with the collection of geographic information.
Dynamic coordinate system coordinate (v)x，vy) The conversion formula between any point (x, y) of the vehicle coordinate system, the distance R from the origin of the coordinate system, the earth radius R, and the dynamic coordinate system and the vehicle coordinate system is as follows:
the longitude difference is the longitude difference between the point (x, y) and the origin, the latitude difference is the latitude difference between the point (x, y) and the origin, and gamma is the included angle between the axial direction (longitude and latitude direction) of the local city coordinate system and the vehicle coordinate system. Let R be 6371004m (average radius), longitude be origin longitude + difference in longitude, and latitude be origin latitude + difference in latitude.
The output format is
| Longitude (longitude) | Dimension (d) of | Difference in longitude | Difference in latitude | vx | vy | x | y | Velocity V |
| Degree minute second | Degree minute second | Degree minute second | Degree minute second | Rice made of glutinous rice | Rice and its production process | Rice made of glutinous rice | Rice made of glutinous rice | Meters per second |
Speed units are typically meters per second or kilometers per hour.
Optionally, when the position data of the fixed object is converted into the designated coordinate system, the position data is added with a preset offset to be used as road network data.
When the position data of the moving object is converted into a specified coordinate system, the vehicle mounted with the sensor determines the distance of the object in front and the relative positions of the object and the sensor within the sensing range of the sensor (according to the performance of components of the sensor), and calculates the offset from the vehicle body position and the vertical distance from the vehicle body position.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention is used for the airport flight area road network dynamic data acquisition system, including:
and the data acquisition module is suitable for acquiring the road network data of the airport flight area and the road network data of the aircraft.
Optionally, the data obtaining module obtains the road network data through a cloud database and/or a local database.
The road network data comprises vehicle road data and vehicle traffic identification data in the region.
The basic elements comprise point, line and plane data; the extended elements include road borders, lane lines, stop lines, speed reduction lines, road intersections, road-to-aircraft road intersection data.
The road network data has the precision of centimeter-level GPS plus differential positioning, and the error is plus or minus 5 centimeters.
The aircraft road network data comprises aircraft path data in the region, aircraft traffic identification data and common data of aircraft road data and vehicle road data.
The basic elements comprise point, line and plane data; an extension element; the extended elements include road to aircraft road network intersection, approach point, runway, stop line, taxiway closure zone data.
The precision of the aircraft road network data is centimeter-level GPS plus differential positioning, and the error is plus or minus 5 centimeters.
The coordinate system establishing module is suitable for establishing a basic coordinate system by taking the position of the vehicle position sensor as an origin of the coordinate system, the vehicle running direction as an x axis and a counterclockwise 90-degree extension line as a y axis; and establishing a dynamic coordinate system by utilizing the real-time position relation between the basic coordinate system and the lane line.
And the vehicle position sensor is suitable for acquiring the current position data of the vehicle and the position data of objects around the vehicle in real time under the basic coordinate system.
Optionally, the distance of the object around the vehicle is obtained by technical means such as millimeter wave radar and infrared, and then the distance is converted into corresponding position data under a coordinate system.
And the position acquisition module is suitable for acquiring vehicle position data and vehicle surrounding object position data in real time, converting the vehicle position data and the vehicle surrounding object position data into a basic coordinate system, and converting the vehicle position data and the vehicle surrounding object position data into a dynamic coordinate system.
Optionally, the dynamic coordinate system uses a perpendicular intersection point of an origin of the basic coordinate system and a center line of the lane as an origin of coordinates, an extension line consistent with a vehicle driving direction is an x-axis, and an extension line 90 degrees counterclockwise is a y-axis.
Alternatively, the specified coordinate system is the WGS84 coordinates, or other data coordinate system consistent with the collection of geographic information.
And the road network data construction module is suitable for compensating and correcting the vehicle position data and the vehicle surrounding object position data in the specified coordinate system to form road network data.
The object position data includes moving object position data and fixed object position data.
Further improving the above embodiment of the road network dynamic data acquisition system, the road network data construction module performs compensation and correction as follows:
and when the position data of the fixed object is converted into the specified coordinate system, the preset offset is added to be used as road network data.
When the position data of the moving object is converted into a specified coordinate system, the vehicle mounted with the sensor determines the distance of the object in front and the relative positions of the object and the sensor within the sensing range of the sensor (according to the performance of components of the sensor), and calculates the offset from the vehicle body position and the vertical distance from the vehicle body position.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A road network dynamic data acquisition method is used for acquiring road network data of airport flight areas, and is characterized by comprising the following steps:
s1, acquiring road network data and aircraft network data of an airport flight area;
s2, establishing a basic coordinate system by taking the position of the vehicle position sensor as the origin of the coordinate system, the vehicle running direction as an x axis and a counterclockwise 90-degree extension line as a y axis;
s3, establishing a dynamic coordinate system according to the real-time position relation between the basic coordinate system and the lane line; the dynamic coordinate system takes a vertical intersection point of an origin of the basic coordinate system and a lane central line as an origin of coordinates, an extension line consistent with the driving direction of the vehicle is an x-axis, and an extension line of 90 degrees anticlockwise of the x-axis is a y-axis;
when the vehicle moves straight, the origin of the dynamic coordinate system is kept unchanged on the central line of the lane, and the x axis and the y axis are also kept unchanged;
when the vehicle turns, the origin of the dynamic coordinate system is kept unchanged on the center line of the lane, the x axis is the direction which is tangent to the center line of the road and is consistent with the direction of the vehicle, and the y axis is the extension line of the x axis at 90 degrees anticlockwise;
s4, acquiring vehicle position data and vehicle surrounding object position data, and converting the vehicle position data and the vehicle surrounding object position data into a basic coordinate system;
s5, converting the vehicle position data and the vehicle surrounding object position data in the basic coordinate system to the dynamic coordinate system;
and S6, converting the vehicle position data and the vehicle surrounding object position data in the dynamic coordinate system into a specified coordinate system, and correcting the data to obtain corresponding road network data.
2. The road network dynamic data collection method according to claim 1, wherein said road network data comprises vehicle road data and vehicle traffic identification data within an area;
the aircraft road network data comprises aircraft path data, aircraft traffic identification data and common data of the aircraft road data and vehicle road data in the region.
3. The road network dynamic data acquisition method according to claim 1, characterized in that said road network data comprises basic elements and extended elements;
the basic elements of the road network data comprise point, line and surface data;
the extended elements of the road network data comprise road borders, lane lines, stop lines, deceleration lines, road junctions, road and aircraft road junction data.
4. The road network dynamic data acquisition method according to claim 1, wherein said aircraft road network data comprises basic elements and extended elements;
the basic elements of the aircraft road network data comprise point, line and surface data;
the extended elements of the aircraft road network data include road to aircraft road network intersection points, entry points, flight points, runways, stop lines, taxiway closure zone data.
5. The road network dynamic data acquisition method according to claim 1, wherein said designated coordinate system is WGS84 coordinate.
6. The road network dynamic data acquisition method according to claim 1, wherein said vehicle surrounding object position data comprises moving object position data and fixed object position data;
the method for converting the vehicle position data and the vehicle peripheral object position data in the dynamic coordinate system to the specified coordinate system and performing data correction to obtain the corresponding road network data specifically comprises the following steps:
when the fixed object position data are converted into the designated coordinate system, increasing a preset offset to obtain corresponding road network data;
when the position data of the moving object is converted into a specified coordinate system, the sensor determines the distance of the front object and the relative positions of the object and the sensor, and determines the offset from the position of the vehicle body and the vertical distance from the position of the vehicle body to obtain corresponding road network data.
7. The road network dynamic data acquisition method according to claim 1, wherein the transformation relationship between the basic coordinate system and the dynamic coordinate system is:
wherein (v)x,vy) The coordinate of any point under the dynamic coordinate system is shown, (x, y) the coordinate of any point under the basic coordinate system, and theta is the included angle between the x axis of the dynamic coordinate system and the x axis of the basic coordinate system.
8. A road network dynamic data collection system for collecting road network data in an airport flight area, said road network dynamic data collection system comprising:
the data acquisition module is used for acquiring road network data and aircraft road network data of an airport flight area;
the coordinate system establishing module is used for establishing a basic coordinate system by taking the position of the vehicle position sensor as an origin of the coordinate system, the vehicle running direction as an x axis and a counterclockwise 90-degree extension line as a y axis; establishing a dynamic coordinate system according to the real-time position relation between the basic coordinate system and the lane line; the dynamic coordinate system takes a vertical intersection point of an origin of the basic coordinate system and a lane central line as an origin of coordinates, an extension line consistent with the driving direction of the vehicle is an x-axis, and an extension line of 90 degrees anticlockwise of the x-axis is a y-axis; when the vehicle moves straight, the origin of the dynamic coordinate system is kept unchanged on the central line of the lane, and the x axis and the y axis are also kept unchanged; when the vehicle turns, the origin of the dynamic coordinate system is kept unchanged on the center line of the lane, the x axis is the direction which is tangent to the center line of the road and is consistent with the direction of the vehicle, and the y axis is the extension line of the x axis at 90 degrees anticlockwise;
the vehicle position sensor is used for acquiring current position data of the vehicle and position data of objects around the vehicle in real time under a basic coordinate system;
the position acquisition module is used for converting the vehicle position data and the position data of objects around the vehicle into a basic coordinate system and then into a dynamic coordinate system;
and the road network data construction module is used for converting the vehicle position data and the position data of the objects around the vehicle in the dynamic coordinate system into the specified coordinate system, and correcting the data to obtain the corresponding road network data.
9. The road network dynamic data collection system of claim 8, wherein said road network data comprises basic elements and extended elements;
the basic elements of the road network data comprise point, line and surface data;
the extended elements of the road network data include road borders, lane lines, stop lines, speed reduction lines, road intersections, road and aircraft road intersection data.
10. The road network dynamic data collection system of claim 8, wherein said aircraft road network data comprises base elements and extension elements;
the basic elements of the aircraft road network data comprise point, line and surface data;
the extended elements of the aircraft road network data include road to aircraft road network intersection points, entry points, flight points, runways, stop lines, taxiway closure zone data.
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