CN104200042B - A kind of location data trace tracking method - Google Patents
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Abstract
The present invention relates to soft project studying technological domain, a kind of location data trace tracking method is disclosed.In the present invention, comprise the steps of：A. adjacent anchor point P1 and P2 is obtained；B. the road data matched with P1 is obtained, the road key element point set in road data is obtained；C. when the P1 roads matched are curves, along vehicle traveling direction, obtain be located at before P2 successively, and progress point is used as in the point that road key element point is concentrated；D. according to P1, progress point and P2 coordinate track drafting line；Wherein, if the quantity of progress point is more than one, track drafting line is arranged according to acquisition order.Utilize the analysis to adjacent positioned point; choosing road key element point concentrates suitable point to be used as vehicle progress point; the excessively sparse trajectory caused draws untrue between improving adjacent positioned point, and carries out track drafting according to each point, obtains accurate true smooth trajectory.
Description
Technical Field
The invention relates to the technical field of software engineering research, in particular to a post-inspection type positioning data track tracking method.
Background
With the rapid development of the economy of China, an automobile as a convenient vehicle enters thousands of households, the accompanying traffic problem is increasingly serious, the urbanized road construction is rapidly and violently developed in cities at all levels, viaducts, underpass tunnels, mountain tunnels and the like, and various traffic problems in the environment are solved.
However, tracking of special vehicles and management of emergency vehicles require a post-inspection type trajectory tracking method, and along with complexity and diversification of roads, the method of simply connecting positioning points as trajectory lines in the prior art often causes inaccuracy. The vehicle track has many possibilities, different tracks may exist on the same road, and how to analyze the tracks to determine the correct track of the vehicle is a part where the tracking of the vehicle track is more complicated at present and is also a place where error statistics and analysis easily occur.
Disclosure of Invention
The invention aims to provide a positioning data track tracking method, which can accurately utilize positioning data to realize post-test vehicle historical track tracking and obtain accurate, real and smooth track lines.
In order to solve the above technical problem, an embodiment of the present invention provides a method for tracking a location data track, including the following steps:
A. acquiring adjacent positioning points P1 and P2;
B. acquiring road data matched with the P1, and acquiring a road element point set in the road data;
C. when the road matched with the P1 is a curve, sequentially acquiring points which are positioned in front of the P2 and are concentrated on the road element points as traveling points along the traveling direction of the vehicle;
D. drawing a trajectory line according to the coordinates of P1, the travel point and P2; and if the number of the travel points is more than one, arranging and drawing the track lines according to the obtaining sequence.
Compared with the prior art, the implementation mode of the invention has the main differences and the effects that: by analyzing adjacent positioning points, selecting a point with proper concentration of road element points as a vehicle traveling point, improving the unreal trajectory line caused by over-sparse adjacent positioning points, and drawing the trajectory according to each point to obtain the accurate, real and smooth trajectory line. The vehicle management tracking system realizes the historical track of a post-inspection vehicle, and can be widely applied to various emergency treatment and monitoring management vehicle management tracking systems in enterprises and public institutions needing fine management.
As a further improvement, in the step C, the following substeps are included:
if the P1 and the adjacent positioning point are on the same road, acquiring a travel point, and acquiring from a starting point in a road element point set;
if the P1 is not on the same road as its neighboring anchor point, the acquisition starts from the P1 when the travel point is acquired.
By judging the relation between the P1 and the last adjacent positioning point, the initial position of the travel point is determined, so that the position of the travel point is closer to the real travel track.
As a further improvement, after the step B, the following steps are included: judging whether the road matched with the P1 is a straight line or not according to the road element point set; if the road matched with the P1 is judged to be a straight line, calculating the interval point between the P1 and the P2 and the coordinates thereof according to the average vehicle speed and the straight line direction; drawing a track line according to the coordinates of P1, the interval points and P2;
and if the road matched with the P1 is not a straight line, executing the steps C to D.
And C, further judging whether the road where the vehicle runs is a straight line or not, executing the methods described in the steps C to D when the road is not a straight line, namely when the road is confirmed to be a curve, and drawing the insertion points of the calculated interval points when the road is a straight line. When the vehicle traveling route is a straight line, no intermediate point which can be used for interpolation exists in the road element point set, so that interpolation drawing needs to be carried out through the calculated interval points; when the vehicle traveling route is a curve, enough points in the road element point set can be used as traveling points in the middle of the vehicle traveling process, so that the route drawing is more accurate. The travelling route is distinguished, so that the drawing speed is increased on the premise of ensuring the accuracy of the route drawing.
As a further improvement, after the step of determining that the road matched with the P1 is a straight line, judging whether the distance between the P1 and the P2 is greater than a preset distance; when the distance is judged to be larger than the preset distance, the step of calculating the spacing point between the P1 and the P2 and the coordinates thereof according to the average vehicle speed and the straight line direction is executed; when it is determined that the pitch is less than or equal to the preset distance, the trajectory lines are plotted in accordance with the coordinates of P1 and P2.
When the vehicle traveling road is a straight line, further distinguishing whether the distance between the positioning points is too long, if the time is too long, inserting the interval points to perform smooth track, and calculating the interval points according to the average vehicle speed and the straight line direction, so that the method is quick and accurate; if the pitch is not too long, the direct connection between P1 and P2 is also guaranteed to be accurate and faster.
As a further improvement, the number of the spaced points is more than one; obtaining each interval point at a first preset time interval; in the step of drawing a trajectory line in terms of coordinates of P1, spaced points, and P2, the spaced points are arranged in order of acquisition. The interval points are calculated by utilizing the fixed time, so that the calculation is simple, and the route is smoother.
As a further improvement, in the step of determining whether the road matched with the P1 is a straight line, the method for determining includes: judging according to the quantity of the road element point sets; or judging whether the starting point, the middle point and the end point of the road element point set are on the same straight line.
The method for judging whether the road is a straight line is further refined, so that the judgment is quick and accurate.
As a further improvement, after the step B, the following steps are included: judging whether the P2 is on the same road as the P1 according to the road data; if yes, the steps C to D are executed.
By judging whether the P2 is matched with the road data, whether the vehicle is still on the original road after the vehicle travels from the point P1 to the point P2 can be known, and corresponding operation is executed, so that the trajectory drawing is more real and accurate.
As a further improvement, after the step of determining whether the P2 is on the same road as the P1 according to the road data, the method further comprises the following steps: if the judgment result is negative, judging whether the acquisition time interval of the P1 and the P2 is larger than a second preset time; when it is determined that the acquisition time is less than or equal to the second preset time, acquiring an end point P3 in the road element point set in the vehicle traveling direction, and drawing a trajectory line according to the coordinates of P1, P3, and P2.
On the premise that the P2 is not on the road matched with the P1, the terminal point P3 of the road matched with the P1 is acquired as an inflection point of the vehicle traveling, so that the route drawing is more accurate.
As a further improvement, in the step of drawing the trajectory line according to the coordinates of P1, P3 and P2, the following substeps are also included:
judging whether the distance between the P1 and the P2 is larger than a preset distance or not;
when the distance is judged to be larger than the preset distance, respectively calculating a first spacing point and a coordinate thereof between P1 and P3, and a second spacing point and a coordinate thereof between P2 and P3 according to the average vehicle speed and the straight line direction;
the trajectory line is plotted according to the coordinates of P1, the first spaced point, P3, the second spaced point, and P2.
And further judging the distance between P1 and P2, if the distance is too long, the distance points between P1 and P3 and between P2 and P3 still need to be obtained to be inserted into the drawing, and if the distance is not long, the drawing can be performed in a straight line, so that the drawing speed is accelerated and the real-time performance is improved on the premise of accurately drawing the track.
Drawings
FIG. 1 is a flow chart of a method for tracking a trajectory of positioning data according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a method for tracking a trajectory of positioning data according to a second embodiment of the present invention;
fig. 3a is a flowchart of a road straight line judging method according to a second embodiment of the present invention;
FIG. 3b is a flowchart of another road straight line judging method according to the second embodiment of the present invention;
FIG. 4 is a flow chart of a method for tracking a trajectory of positioning data according to a third embodiment of the present invention;
FIG. 5 is a flowchart of a curve tracking method in a positioning data track tracking method according to a fourth embodiment of the present invention;
fig. 6a and 6b are positional relationship diagrams of positioning points P0 and P1, respectively, according to the fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a method for tracking a positioning data track, and the flow of the method is shown in fig. 1, which specifically includes the following steps:
in step 101, adjacent positioning points P1 and P2 are obtained.
Specifically, in the present embodiment, two adjacent positioning points P1 and P2 may be sequentially acquired from GPS positioning data received from a vehicle. That is, the vehicle starts from point P1 to point P2, that is, the subsequent drawing is started with P1 as the starting point of the vehicle.
And 102, acquiring the road data matched with the P1, and acquiring a road element point set in the road data.
Specifically, the road on which the vehicle is traveling has a GIS (geographic information system) data map, and the GIS data is a set of road element points that are set by using points on the center line of the road.
In the present embodiment, a road centerline, i.e., road data, is obtained by matching P1 with a road centerline in GIS data, and a set of road element points of the road, i.e., a set of point coordinates is obtained directly from the centerline, is obtained from the road data. It should be further noted that the matching method of the positioning points and the road center lines is specifically obtained according to a GIS spatial topology algorithm, that is, the spatial proximity relation between the points and the lines is obtained, and the points and the lines are spatially matched within a certain error range to obtain the road data.
It should be noted that, in the present embodiment, the default point P2 is the same as the point P1, that is, the vehicle travels on the same road line from P1 to P2. In addition, if the vehicle is turned to another road line while traveling, the case of turning to another road line is not considered in the present embodiment.
And step 103, sequentially acquiring points which are positioned in front of the P2 and are concentrated in the road element points as the traveling points along the traveling direction of the vehicle.
Specifically, when the road matched with the P1 is a curve, the required point is taken from the road element point set and inserted into the position before the P2, and the track distortion caused by too sparse positioning points is effectively improved. Meanwhile, the points which are acquired in sequence and are concentrated in the road element points are used as the traveling points, so that the speed is high, the accuracy is high, the traveling points are equivalent to the middle process points of vehicle traveling, and the real route of the vehicle traveling between P1 and P2 is fully expressed.
It should be noted that one or more travel points may be taken, and because the road condition is complex, especially when the curve is obtained, there is not only one inflection point, and the more the number of the travel points is taken, the more accurate and smooth the trajectory drawing can be made, but too many points are taken, which also affects the speed of the trajectory drawing. Specifically, the embodiment takes the travel points at fixed time intervals (e.g., 5 seconds), and ensures the accuracy of the trajectory line and the drawing speed.
Step 104, drawing with P1, travel point and P2.
Specifically, the trajectory line is plotted in terms of coordinates of P1, the travel point, and P2.
It should be noted that, if the number of the travel points is greater than one, the trajectory lines are drawn in the order of acquisition.
Compared with the prior art, the main differences and effects of the present embodiment are as follows: by analyzing adjacent positioning points, selecting a point with proper road element point concentration as a vehicle traveling point, improving the unreal trajectory line caused by over-sparse adjacent positioning points, realizing vehicle trajectory road matching identification under the condition of a complex road, and drawing a trajectory according to each point to obtain an accurate, real and smooth trajectory line. The vehicle monitoring system can quickly and accurately realize the historical track of a post-test vehicle, and can be widely applied to various emergency treatment, monitoring and management vehicle management tracking systems in enterprises and public institutions needing fine management.
It should be noted that the positioning data track following method in this embodiment is only based on the trace line drawing performed after analyzing a set of adjacent positioning points (corresponding to "data pairs") and road data, and after completing the drawing between P1 and P2, the method of inter-travel iteration is used, and the process returns to step 101, where P2 is changed to the first positioning point P1 in this embodiment, and then the next positioning point P' is acquired as the second positioning point P2 in this embodiment, and the positioning data track following method in this embodiment is repeated. In other words, in practical applications, the trajectory of the vehicle traveling can be continuously drawn according to the positioning data of the vehicle traveling by only using a method of inter-traveling iteration, namely by repeating the flow.
In addition, the embodiment can be further optimized, before the process enters the next cycle, whether other vehicle positioning triggering conditions exist can be additionally judged, and if so, other triggering events can be processed firstly. The triggering event may include: 1. and triggering the peripheral display (for example, within 1 kilometer of the radius) of the heating station according to the set conditions of the user, and inquiring whether to perform optimal path calculation by using a display button. 2. And when the electric quantity is insufficient, triggering a display button to inquire whether to calculate the optimal path. 3. Other expansion processes may be performed as desired. Of course, the trigger event here may be set by default not to perform the trigger function, since the trigger condition may take up resources.
The second embodiment of the invention also relates to a method for locating the tracking of a data track. The second embodiment is a further improvement on the first embodiment, and the main improvement is that: in the first embodiment, the appropriate points are selected from the set of road element points and inserted between adjacent anchor points. In the second embodiment of the invention, a method for selecting a proper intermediate point when the vehicle runs on a straight road is added. When the straight line trajectory is drawn, more interpolation methods are provided, so that the positioning data trajectory tracking method in the embodiment is faster.
Specifically, a flowchart of the positioning data track tracking method in this embodiment is shown in fig. 2, which is specifically as follows:
steps 201 to 202 are similar to steps 101 to 102 in the first embodiment, and are not described herein again.
Similarly, if the vehicle turns to another road during traveling from P1 to P2, etc., none of them fall within the scope of the present embodiment.
Step 203, judging whether the road matched with the P1 is a straight line; if yes, go to step 106; if not, go to step 104.
In particular, since the traveling route of the vehicle may be a straight line and may be a curved line, it is analyzed and distinguished to implement different trajectory drawing methods, so that the trajectory line is drawn not only accurately but also more rapidly.
In the present embodiment, it is determined whether a road is a straight line according to the number of road element point sets, and the determination flow is as shown in fig. 3a, specifically as follows:
step 301, judging whether the number of point concentration points exceeds two; if yes, judging that the road is a curve; if not, the road is judged to be a straight line.
The inventors of the present invention have found that, in general, when a road is a straight line, only two points of a start point and an end point are collected in a road element point set. That is, when the number of the decision point sets is not more than two, i.e., regarded as a straight line, and more than two, i.e., regarded as a curve. The method is simple and practical and is quick to judge.
In addition, in practical applications, the actual road may often be similar to a straight line, that is, although there is an inflection point, the direction change is small, and the overall road may be similar to a straight line for tracing. In this case, the determination may be made according to whether the starting point, the intermediate point and the end point of the road element point set are on the same straight line, and the determination flow is as shown in fig. 3b, that is, the determination is made by using the determination function on the point line, where the coordinates of the starting point Pa are (X1, Y1), the coordinates of the end point Pc are (X2, Y2), the coordinates of the intermediate point Pb are (X, Y), and the determination function on the point line is as follows:
specifically, the calculated minimum distance from the point Pb to the straight line formed by the points Pa and Pc in the function is smaller than a preset value, and the route can be judged to be a straight line.
It should be noted that, on the premise of determining that the road line matched with P1 is not a straight line, it can be known that the route is a curve, and P1 and P2 may be respectively at two ends of the curve transition, and if the direct line drawing tends to cause distortion of the trajectory line, then the intermediate interpolation method from step 204 to step 205 is used to greatly improve the distortion of the trajectory line. In practical application, even if the road matched with P1 is a straight line, the method for obtaining the travel point mentioned in step 204 may be used to interpolate between P1 and P2, but considering that the requirement for real-time performance of trajectory tracking is high, on the premise of ensuring accuracy, the speed of drawing also needs to be ensured, so the speed of drawing is greatly increased by using the method in this step.
Steps 204 to 205 are similar to steps 103 to 104 in the first embodiment, and are not described herein again.
Step 206, judging whether the distance between P1 and P2 is greater than a preset distance; if yes, go to step 208; if not, go to step 207.
According to the straight line characteristic, two points can confirm the route, but in the embodiment, in order to avoid the route distortion caused by too far distance between adjacent positioning points, the distance between P1 and P2 is further judged, namely whether the distance between P1 and P2 exceeds the preset distance is judged, when the distance exceeds the preset distance, the distance is judged to be too far, when the distance does not exceed the preset distance, the distance is judged to be closer, and according to different judgment results, the subsequent steps are respectively processed, so that the drawing efficiency is effectively improved.
Step 207, plot with P1 and P2.
Specifically, on the premise that the P1 and the P2 are on a straight line and are closely spaced, the accurate track line can be drawn by directly connecting two points, namely drawing the track line by using the coordinates of P1 and P2.
And step 208, calculating the interval point between the P1 and the P2 and the coordinates thereof according to the average vehicle speed and the straight line direction.
Specifically, by inserting the spaced points into the points P1 and P2, the points can be more densely drawn, and the distortion of the track line caused by too sparse positioning points can be improved.
It should be noted that the average vehicle speed here may be the average speed of the vehicle between P1 and P2, or may be the vehicle running speed obtained last time, and generally does not generate a large error, or may be determined at the time of design according to actual needs.
It should be noted that there may be a plurality of interval points, interval calculation is performed in the first preset time, and the interval points calculated by using the fixed time are not only simple in calculation, but also make the route smoother. For example, 5 seconds may be set as the time interval.
Step 209, plot with P1, space point and P2.
Specifically, the trajectory line is drawn according to the coordinates of P1, the interval point and P2.
In this case, if there are a plurality of interval points, it is necessary to arrange the interval points in the order of acquisition in the drawing.
A third embodiment of the invention relates to a method of locating a data track following. The third embodiment is a further improvement on the basis of the second embodiment, and the main improvement is that: in the second embodiment, adjacent anchor points can only be on the same road line. In the second embodiment of the present invention, the adjacent positioning points may not be located on the same road line, so that more interpolation methods are provided when the trajectory line is drawn, and the positioning data trajectory tracking method in the embodiment more conforms to the variable conditions encountered in practice, thereby drawing a more real and accurate route trajectory.
The flowchart in the present embodiment is shown in fig. 4, and specifically includes the following steps:
steps 401 to 402 are similar to steps 101 to 102 in the first embodiment, and are not described again.
Step 403, judging whether the P2 is on the road matched with the P1; if yes, go to step 404; if not, go to step 411.
Specifically, it is determined whether P2 matches the road data matched with P1, that is, it is determined whether the anchor point P2 is on the same line as the current road element, that is, it is determined whether P2 and P1 are on the same road, by matching P2 with the road center line in the GIS data.
More specifically, if the determination is yes, that is, it is determined that P2 is on the road matched by P1, that is, P2 and P1 are on the same straight line, it is determined that P2 is a continuation point of P1 instead of a new point; if the determination is negative, that is, if the determination is that P2 is not on the road matched with P1, that is, it is determined that the anchor point P2 is not on the same straight line as P1, but P1 is a new point, a further determination is needed in the subsequent step 411.
Steps 404 to 410 are similar to steps 103 to 109 in the first embodiment, and are not described herein again.
Step 411, judging whether the obtaining time interval of P1 and P2 is greater than a second preset time; if yes, go to step 412; if not, the flow is ended.
Specifically, the P1 and the P2 are not on the same road line, and two situations can occur, namely the corner of the road is met, and the vehicle can travel to the other road line. By judging the acquisition time intervals of P1 and P2, if the acquisition time intervals of P1 and P2 are too long, which indicates that the vehicle has arrived on another route at P2, that is, P2 is a new point, not a continuation point, and has no connection with P1, then P2 is taken as a starting point, and the drawing is started again by combining the positioning points received after the combination. After the two conditions are distinguished, different drawing methods can be respectively carried out, and the accurate drawing of the vehicle track line is realized.
In step 412, along the vehicle traveling direction, the end point P3 of the road element point set is obtained.
Specifically, since the time intervals of the P1 and the P2 are not too long, it can be known that the P1 and the P2 are not on a road line due to the vehicle passing through the inflection point, that is, the P2 is a continuation point of the P1 instead of a new point, and then the simplest drawing operation can directly perform coordinate drawing in the order of P1-P3-P2.
It is worth mentioning that since the road line itself is a vector line, it also has an end point, but here the end point refers to an end point determined according to the vehicle traveling direction, not the road line itself.
Step 413, judging whether the distance between P1 and P2 is greater than a preset distance; if yes, go to step 409; if not, go to step 414.
Specifically, this step is similar to the determination in step 106 in the first embodiment, and is not described herein again. It should be noted that, in the whole process, such similar steps can utilize the design method of "private member" in the program design, thereby reducing the amount of calculation and reducing the power consumption.
In the present embodiment, in order to render the trajectory more realistic and accurate, the present step is used to further determine whether the distances between P1 and P2 are too sparse, and whether interpolation encryption needs to be performed in the middle.
Step 414, plotting with P1, P2, and P3.
Specifically, the trajectory lines are drawn according to the coordinates of P1, P3, and P2.
A fourth embodiment of the invention relates to a method of locating data track following. The fourth embodiment is a further improvement on the first embodiment, and the main improvement is that: in the first embodiment, when it is determined that the road line matched with P1 is a curved line, interpolation drawing is directly performed by using the method for acquiring the travel point, but in the present embodiment, the approximate position of P2 on the road line is further determined, so as to further distinguish the direction and order of acquiring the travel point, so that the acquisition of the travel point is faster, and the drawing speed of the trajectory line in the method for tracking the location data trajectory in the present embodiment is further increased.
In the present embodiment, the tracking method when the road line is a curve is a method in which step 104 in the first embodiment is further refined. Specifically, as shown in fig. 5, the starting point PP1 and the ending point PP2 are extracted from the road element point set, and compared with P1, index search is started from the end point closer to P1, and all points between P1 and P2 are acquired as the intermediate process points of vehicle travel.
It should be noted that, in step 501 and step 502 in this embodiment, it may further be determined whether the last adjacent positioning points of P1 and P1 are on the same road, specifically, if the travel point is obtained on the same road, the acquisition is started from the starting point of the road element point set; if not on the same road, when the travel point is acquired, the acquisition is started from P1. For example, if the last adjacent anchor point of P1 is P0, the paths A-PP1 are straight lines, the paths PP1-PP2 are curved lines, the P1 is on the curves PP1-PP2, and the P0 position has two cases, which are as follows:
if the position of P0 is as shown in fig. 6a, and P0 and P1 are not on the same line, then P1 is the positioning point obtained for the first time after the vehicle drives to the curve, and when the travel point is obtained, it is necessary to start obtaining from the starting point PP1 of the road to prevent the track from being inaccurate due to too sparse middle sections PP 1-P1.
If the position of P0 is as shown in FIG. 6b, and P0 and P1 are on the same line, then P1 is the positioning point obtained for the non-first time after the vehicle drives to the curve, and when the travel point is obtained, only the acquisition is needed from P0, and the trajectory of PP1-P0 segments is already completed in the trajectory drawing of the previous cycle.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the steps contain the same logical relationship, which is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (9)
1. A method for locating a data track, comprising the steps of:
A. acquiring adjacent positioning points P1 and P2;
B. acquiring the road data matched with the P1, and acquiring a road element point set in the road data;
C. when the road matched with the P1 is a curve, sequentially acquiring points which are positioned in front of the P2 and are concentrated on the road element points as traveling points along the traveling direction of the vehicle;
D. drawing a trajectory line according to the coordinates of P1, the travel point and P2; if the number of the travel points is more than one, arranging and drawing the trajectory lines according to the obtaining sequence;
wherein, in the step C, the following substeps are included:
if the P1 and the adjacent positioning point are on the same road, acquiring a travel point, and acquiring from a starting point in a road element point set;
if the P1 is not on the same road as its neighboring anchor point, the acquisition starts from the P1 when the travel point is acquired.
2. The method for tracking positional data traces of claim 1, further comprising, after said step B, the steps of:
judging whether the road matched with the P1 is a straight line or not according to the road element point set;
if the road matched with the P1 is judged to be a straight line, calculating the interval point between the P1 and the P2 and the coordinates thereof according to the average vehicle speed and the straight line direction; drawing a track line according to the coordinates of P1, the interval points and P2;
and if the road matched with the P1 is not a straight line, executing the steps C to D.
3. A method of positional data trajectory tracking according to claim 2, characterized in that said number of spaced points is more than one; obtaining each interval point at a first preset time interval;
in the step of drawing a trajectory line in terms of coordinates of P1, spaced points, and P2, the spaced points are arranged in order of acquisition.
4. The method for tracking positional data trajectory according to claim 2, wherein after the step of determining that the road matched with P1 is a straight line, it is determined whether the distance between P1 and P2 is greater than a preset distance;
when the distance is judged to be larger than the preset distance, the step of calculating the spacing point between the P1 and the P2 and the coordinates thereof according to the average vehicle speed and the straight line direction is executed;
when it is determined that the pitch is less than or equal to the preset distance, the trajectory lines are plotted at the coordinates of P1 and P2.
5. The method for tracking positional data according to claim 2, wherein in said step of determining whether the road matched with said P1 is a straight line, the method for determining is:
judging according to the quantity of the road element point sets; or,
and judging whether the starting point, the middle point and the end point in the road element point set are on the same straight line.
6. The method for tracking positional data traces of claim 1, further comprising, after said step B, the steps of: judging whether the P2 is on the same road as the P1 according to the road data;
if yes, the steps C to D are executed.
7. The method for locating data track following according to claim 6, further comprising the following steps after the step of determining whether the P2 is on the same road as the P1 according to the road data:
if the judgment result is negative, judging whether the acquisition time interval of the P1 and the P2 is larger than a second preset time;
when it is determined that the acquisition time is less than or equal to the second preset time, acquiring an end point P3 in the road element point set in the vehicle traveling direction, and drawing a trajectory line according to the coordinates of P1, P3, and P2.
8. The method for locating data track following according to claim 7, wherein in said step of plotting trajectory lines according to the coordinates of P1, P3 and P2, further comprising the sub-steps of:
judging whether the distance between the P1 and the P2 is larger than a preset distance or not;
when the distance is judged to be larger than the preset distance, respectively calculating a first spacing point and a coordinate thereof between P1 and P3, and a second spacing point and a coordinate thereof between P2 and P3 according to the average vehicle speed and the straight line direction;
the trajectory line is plotted according to the coordinates of P1, the first spaced point, P3, the second spaced point, and P2.
9. The positional data track following method of claim 8, wherein the number of spaced points is greater than one; obtaining each interval point at a first preset time interval;
in the step of drawing a trajectory line according to coordinates of P1, a first spaced point, P3, a second spaced point, and P2, the first spaced point and the second spaced point are arranged in an obtaining order.
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