KR102371984B1 - Method for detecting the changing point of road - Google Patents

Abstract

The present invention relates to a method for detecting a road change point, and when detecting a road change point by comparing collected GPS track data with existing navigation map data, a device mounted on a vehicle when comparing GPS track data and a navigation map It relates to a method of detecting a road change point that can improve the performance of map matching by using the map matching data provided by .
A method for detecting a road change point according to the present invention, comprising: a track generating step of generating a track based on GPS track data according to the movement of a vehicle and device map matching track data for a time longer than a reception period of the GPS track data; a moving line generation step of generating a moving line of the vehicle based on the trajectory data; a connection link presence determination step of determining whether a connection link exists based on the moving line and navigation data; a map matching result storage step of performing map matching according to the presence or absence of the connection link and storing the map matching result; and detecting a change point based on the stored map matching result and updating the navigation data.

Description

Method for detecting the changing point of road}

The present invention relates to a method for detecting a road change point, and when detecting a road change point by comparing collected GPS track data and existing navigation map data, a device mounted on a vehicle when comparing GPS track data and a navigation map It relates to a method of detecting a road change point that can improve the performance of map matching by using the map matching data provided by .

In general, a technique for generating new road information that does not exist in map information based on the driving history of a vehicle is known, and the location of the vehicle and the geographic database are collated, from the location in the case where the first comparison was not performed. A configuration is disclosed for determining a division position of a link and creating a new link using the divided point as an end point. In addition, it is possible to estimate the position on the road so that the starting point and the end point of the state where the position on the road cannot be estimated match the point immediately before the state where the position on the road cannot be estimated and the point immediately after the state where the position on the road cannot be estimated. A configuration for translating, rotating, and enlarging a trajectory in an impossible state is disclosed.

However, even in this case, there is a case where the location of the new road is different from the exact location of the vehicle. As a prior art for solving this problem, the 'map information generating system, method and program' of Korean Patent Laid-Open No. 10-2016-0119164 has been proposed. . 1 , the map information generation system 10 includes a control unit 20 including a CPU, RAM, ROM, and the like, and a recording medium 30 , and is stored in the recording medium 30 or the ROM. program can be executed in the control unit 20, and the navigation program performs map matching processing based on the self-navigation information to specify the location of a vehicle (moving object) on the road, and has a function of displaying the current location of the vehicle on a map. are being prepared

In addition, the control unit 20 based on the self-navigation trajectory, which is a trajectory of a position estimated based on signals output from the vehicle speed sensor 41 and the gyro sensor 42 by processing of the navigation program, and the map information 30a Thus, a plurality of comparison target roads in which the current location of the vehicle may exist is set, and the comparison target road is narrowed based on the error source of the GPS signal acquired by the GPS receiving unit 43 . Then, with reference to the map information 30a, the control unit 20 performs map matching processing of estimating the road that most closely matches the self-navigation trajectory and shape among the narrowed comparison target roads as the driving road that the vehicle is traveling on. , to estimate the current location of the vehicle on the driving road estimated by the map matching process.

However, in this prior art, the current location of the vehicle is estimated based on the self-navigation information using the sensor system information, and the road that most matches the self-navigation trajectory and shape as the driving road, which is the road the vehicle is traveling on, is map matching. There is a disadvantage in that a sensor system for acquiring self-navigation information must be necessarily provided by performing the processing.

The present invention, which has been devised to solve the problems of the prior art as described above, compares GPS trajectory data with existing navigation map data to detect a road change point when comparing GPS trajectory data with a navigation map. The purpose is to obtain a more accurate trajectory location of the vehicle by using the map matching data provided by the device and the altitude data of the GPS trajectory.

The above object of the present invention is, in a method for detecting a road change point, a track generation step of generating a track using GPS track data according to the movement of a vehicle and device map matching track data for a time longer than a reception period of the GPS track data ; a moving line generation step of generating a moving line of the vehicle based on the trajectory data; a connection link presence determination step of determining whether a connection link exists based on the moving line and navigation data; a map matching result storage step of performing map matching according to the presence or absence of the connection link and storing the map matching result; It is achieved by a road change point detection method, characterized in that it comprises the step of updating the navigation data by detecting the change point according to the stored map matching result.

Therefore, the road change point detection method of the present invention does not depend on the acquisition of location information of location information by an independent navigation system using a separate sensor system, but compares GPS trajectory data with existing navigation map data to determine the road change point In the case of detecting , when comparing GPS trajectory data and navigation maps, map matching data provided by a device mounted on a vehicle and altitude data of the GPS trajectory are utilized to improve the map matching performance.

1 is a block diagram showing a map information generation system according to the prior art;
2 is a block diagram for implementing a road change point detection method according to the present invention;
3 is a flowchart of a method for detecting a road change point according to the present invention;
4 is a flowchart for generating a moving line according to the present invention.

The terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor may properly define the concept of the term in order to best describe his invention. Based on the principle that there is, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Accordingly, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention and do not represent all the technical spirit of the present invention, so at the time of the present application, various It should be understood that there may be equivalents and variations.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram for implementing a method for detecting a road change point according to the present invention. As shown in Figure 2, the GPS receiver collects GPS track data and device map matching data and transmits it to the map matching processing unit, and the map matching processing unit generates a moving line using the GPS track data and the device map matching track data. , compares the generated moving line with navigation data, which is map data for navigation.

Here, the device is a communication-enabled device, and the device map matching trajectory may be a trajectory generated and stored by the device itself, but it is more preferable to receive it from the traffic information server through communication in order to reduce the burden of hardware related to computation.

The map matching processing unit performs a map matching process using the generated moving line and navigation data. During the map matching process, the map matching process is performed using not only the distance and angle of the GPS trajectory but also the altitude and device map matching information.

Thereafter, according to the map matching processing result, when the previous link and the current link exist in the non-matching link and non-rotatable link list, when a pattern of Link A → Link B → Link A exists, the direction of the trajectory is one of the links. A change point such as opposite to traffic is detected by the change point detection unit, and the detected change point is stored in the data storage unit to update the navigation data.

3 is a flowchart of a method for detecting a road change point according to the present invention. As shown in FIG. 3, the road change point detection method of the present invention generates a trajectory by GPS trajectory data according to the movement of the vehicle and device map matching trajectory data for a time longer than the receiving period of the GPS trajectory data, , The device map matching trajectory data has previously exemplified the use of map matching trajectory data with an interval of 3 seconds.

Here, the use of GPS track data and device map matching track data together means that when map matching for change point detection is performed using only GPS track data, an error may be induced in the user's track due to an error caused by the GPS signal. there is.

However, when the GPS track data and the device map matching sign data are used together for map matching, the error part of the GPS sign data can be corrected by the device map matching sign data, so that it is possible to obtain a more accurate user sign.

Thereafter, a moving line of the vehicle is generated by the GPS track data and the device map matching track data, and the moving line corrects the position error by the device map matching track data as there is a possibility that the GPS track data is not accurate due to the location error. , a moving line is created by weighting and reflecting the trajectory of the device map matching trajectory data to the GPS trajectory data.

Here, the moving line refers to a line that connects the trajectories the vehicle has traveled once, and is generated by arranging and comparing unprocessed GPS trajectory data and device map matching data, which is trajectory information processed by map matching in the device installed in the vehicle. .

The generated moving line determines whether or not a connection link exists based on the navigation data, performs map matching according to the presence or absence of the connection link, and stores the map matching result.

As a result of determining whether or not there is a connection link, if a connection link exists, the connection link is determined, and if the connection link does not exist, the nearby link is checked, and the suitability is determined using the device map matching trajectory data, distance, angle, and altitude information. Then, map matching is performed.

This connection link determination is performed by selecting the link closest to the point of the GPS trajectory data, comparing the angle difference between the linking link and the GPS trajectory data when there is connection link information with the GPS travel angle, and comparing the front and rear coordinates of the device map matching trajectory data. judge

Here, the connection link determination is determined using the moving distance of the vehicle after comparing the angle difference between the link and the GPS trajectory data with the GPS travel angle.

If there is no connection link, it determines the outlier of the point in the GPS trajectory data, configures the connected link list through the R-tree to select a nearby link, sets the link closest to the GPS trajectory point, and sets the connection link As in the case where , the difference between the angle of the closest link and the GPS trajectory data is compared with the GPS travel angle, and the front and rear coordinates of the device map matching trajectory data are compared to determine the connection link.

In the connection link determination process, if a connection link exists or does not exist, the outlier determination of the GPS trajectory data is preceded, and then the connection link or nearby links are checked. It reduces the error in judgment and confirmation of the connected link or a nearby link due to an error in the GPS trajectory data caused when a normal GPS signal cannot be received.

Here, the determination of an outlier of the GPS track data is performed when map matching is performed to determine the quality of the GPS track point. If there is a GPS trajectory point error, it may cause a map matching error, so trajectory point exception processing is performed by determining an outlier in the GPS trajectory data.

Such outlier determination is determined based on the speed and movement distance of the GPS point. For example, when the speed that can be calculated by the GPS track points is low speed (for example, 10 km/h or less) or the movement distance of the GPS track point is large ( For example: 200m or more), it is judged as an error and an exception is handled.

By detecting a change point based on the stored map matching result and updating the navigation data, it is possible to secure the up-to-dateness of the navigation data.

Here, the change point is any one of a new linear point, a rotation control point, a U-turn point, and a one-way point. and the current link exist, the U-turn point is when link A is detected overlapping as in the pattern of link A → link B → link A, and the one-way point is when the trajectory is opposite to the one-way flow After determining each change point and saving it, the navigation data is updated.

4 is a flowchart illustrating a moving line generation according to the present invention. As shown in FIG. 4 , the moving line generation step collects the traces of devices installed in the vehicle, aligns the device traces based on the ID of the device, and then arranges the device traces sorted by the ID in chronological order in chronological order. A time difference between the aligned device trajectories is calculated.

Thereafter, after setting the starting point at which the movement of the device installed in the vehicle starts (index=0), the movement of the device is continuously accumulated (index++), so that the accumulated value of the device trajectory is less than or equal to the preset number of points of the device trajectory (index) <length), a moving line is created.

Here, if the accumulated value (index++) of the device trajectory is less than or equal to the preset number of points (length) of the device trajectory, the difference between the current time and the previous time of the device trajectory is greater than the reference time that is the time reference for separating the moving lines. A line is created, and in a small case, the movement of the device installed in the vehicle is continuously accumulated.

In addition, if the difference between the current time and the previous time of the device trajectory is greater than the reference time, the process of generating the moving line is repeated by creating a moving line and resetting the starting point of the trajectory of the device (index=0).

In addition, if the accumulated value of the device trajectory is equal to or greater than the number of points of the preset device trajectory, a moving line is generated when the difference between the current time of the device and the final trajectory time is greater than the reference time, and if it is small, the device trajectory is set to the device trajectory. Repeat the steps to sort by ID.

Here, the reference time is exemplified as 5 minutes in FIG. 4, but when the reference time is exceeded, it is considered that the movement of the vehicle is stopped and can be used as a reference for stopping the generation of the moving line.

Although the present invention has been illustrated and described with reference to preferred embodiments as described above, it is not limited to the above-described embodiments, and those of ordinary skill in the art to which the present invention pertains within the scope not departing from the spirit of the present invention Various changes and modifications will be possible.

Claims (10)

In the road change point detection method,
a trajectory generating step of generating a trajectory using GPS trajectory data according to the movement of the vehicle and device map matching trajectory data for a time longer than a reception period of the GPS trajectory data;
a moving line generation step of generating a moving line of the vehicle according to the generated trajectory;
a connection link presence determination step of determining whether a connection link exists based on the moving line and navigation data;
a map matching result storage step of performing map matching according to the presence or absence of the connection link and storing the map matching result; and
updating navigation data by detecting a change point based on the stored map matching result; including,
The change point includes any one or more of a new linear point, a rotation control point, a U-turn point, and a one-way point,
The new linear point is determined as the change point when it is determined as a mismatched link as a result of map matching, and the rotation control point is determined as the change point when the previous link and the current link exist in the non-rotatable link list, and the U-turn The point is determined as the change point when link A is detected as overlapping as in the pattern of link A → link B → link A. A method of detecting a road change point, characterized in that it is determined as a point.
According to claim 1,
The moving line creation step is
collecting traces of devices installed in the vehicle;
aligning the trajectory of the device based on the ID of the device;
arranging the trajectories of the devices sorted based on the ID in chronological order; and
Calculating a time difference between the trajectories of the devices arranged in chronological order; further comprising,
After setting a starting point at which the movement of the device starts, points according to the movement of the device are accumulated to generate a moving line when the accumulated value of the device trajectory is less than or equal to the preset number of points of the device trajectory Road change point, characterized in that detection method.
3. The method of claim 2,
When the accumulated value of the device trajectory is less than or equal to the preset number of points of the device trajectory,
When the difference between the current time and the previous time of the device trace is greater than the reference time, a moving line is generated,
When the difference between the current time and the previous time of the device trajectory is smaller than a reference time, the device continues to move and accumulates.
4. The method of claim 3,
When the difference between the current time and the previous time of the device trajectory is greater than the reference time, after generating a moving line, the process of generating the moving line by resetting the starting point of the device trajectory is repeated. detection method.
3. The method of claim 2,
When the accumulated value of the device trajectory is equal to or greater than the preset number of points of the device trajectory, a moving line is generated when the difference between the current time of the device trajectory and the final time of the device trajectory is greater than a reference time, and If the difference between the current time and the final time of the device trajectory is less than the reference time, the step of arranging the device trajectory based on the ID of the device is repeated.
According to claim 1,
As a result of determining whether or not the connection link exists, if the connection link exists, a connection link is determined, and when the connection link does not exist, a nearby link is selected, and the map matching trajectory data, distance, angle and altitude information are used to determine A method of detecting a road change point, characterized in that map matching is performed after checking the nearby link.
7. The method of claim 6,
When the connection link exists, the connection link is determined by comparing the angle difference between the connection link and the GPS trajectory data with the GPS travel angle and comparing the front and rear coordinates of the device map matching trajectory data. detection method.
7. The method of claim 6,
Before performing map matching according to the presence or absence of the connecting link, the method for detecting an outlier in the GPS trajectory data is performed prior to determining the outlier, and then the connecting link or the nearby link is checked.
delete 7. The method of claim 6,
When the connection link exists, a difference in angle between the connection link and the GPS trajectory data is compared with a GPS travel angle, and the connection link is determined using the moving distance of the vehicle.

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