CN103092949B - A kind of identification of compound crossing in Floating Car Trace Formation and construction method - Google Patents
A kind of identification of compound crossing in Floating Car Trace Formation and construction method Download PDFInfo
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Abstract
The present invention proposes a kind of identification and construction method of compound crossing in Floating Car Trace Formation, its step comprises: 1) LINK grouping pairing, namely divides into groups to the LINK that point of crossing connects according to topological relation and matches to the LINK that point of crossing connects according to the shape of LINK; 2) instantiation compound crossing model, namely to set up between LINK according to compound crossing model, logical relation between after pairing LINK pair, forms the example at a compound crossing; 3) with probability statistics model, compound crossing is confirmed, namely at the current probability of compound crossing all directions, the relation between LINK, NODE and LINK of composite road cause for gossip example and NODE is confirmed, revises and adjust operation according to Floating Car driving; 4) compound crossing builds, and adjusts, constructs the compound crossing of realistic road shape to the succession relation between LINK, NODE and LINK of the example at the compound crossing confirmed.By the method, the compound crossing in the analog map that can go out Floating Car Trace Formation is carried out identifying and is built.
Description
Technical field
The present invention relates to a kind of identification and construction method of compound crossing in Floating Car Trace Formation, belong to the crossing domain of navigation, electronic chart, intelligent transportation system and data mining.
Background technology
In order to obtain actual road shape information, to provide more precisely, navigation Service more targetedly, to the collection of Floating Car traveling track and to be fused into analog map be a kind of practical method.But, due to the positional information that the wheelpath of Floating Car collection just gathers on discrete time point, therefore the Figure losses that the wheelpath gathered is produced random Figure losses (time interval of Figure losses degree and collection and the speed of a motor vehicle about) and produced by wheelpath shape blending can be caused, especially at compound crossing, analog map serious distortion may be caused.As on the real road shown in Fig. 2 Floating Car gather wheelpath as shown in Figure 3, through shape blending produce analog map as shown in Figure 4, create serious distortion, this distortion makes the compound crossing in analog map can not be identified, have a strong impact on the display of analog map and the coupling of electronic map road and to effective classification of Floating Car information, data mining, and have a strong impact on and carry out the senior application such as revising to electronic map data based on Floating Car Information Monitoring.
Related terms is explained:
1. Floating Car
With various sensor, the automobile of actual travel on road that can gather relevant information.
2. wheelpath
Trajectory shape that Floating Car gathers in traveling process, that represent with a series of shape point.
3. shape blending
The order that the shape point of each close in shape track occurs on direction of travel according to it is merged.
4. analog map
By Floating Car wheelpath through shape blending, with actual map map relatively.
5. node (NODE)
For representing path connected network, virtual node object out.The crossing being interpreted as real road that can be similar to.
6. LINK
For representing the shaped form object of path between NODE and NODE, be made up of two NODE and some shape points.What can be similar to is interpreted as that real road connects one section of road at two crossings.
7. enter LINK
When selecting node NODE_A to be handling object, terminal is that the LINK of NODE_A is called and enters LINK, as the LINK_A in Fig. 4.
8. exit LINK
When selecting node NODE_A to be handling object, starting point is that the LINK of NODE_A is called and exits LINK, as the LINK_B in Fig. 4.
9. compound crossing
The crossing formed with the road that is separated of above rolling off the production line is commonly referred to as compound crossing, as shown in Figure 5.
10. LINK in
LINK in compound crossing between each NODE, as the INNER_LINK in Fig. 5.
11. outer LINK
LINK between NODE outside NODE in compound crossing and non-composite crossing, as the OUTER_LINK in Fig. 5.
12. LINK are to (LINK_PAIR)
Be made up of, as the LINK_PAIR_A in Fig. 4 the up LINK of same real road and descending LINK.
13. left-hand rotation LINK couple
Current LINK is to first of clockwise side LINK couple, and LINK_PAIR_B is the left-hand rotation LINK couple of LINK_PAIR_A as shown in Figure 4.
14. craspedodrome LINK couple
Angle differed to the LINK couple of about 180 degree with current LINK, LINK_PAIR_C is the craspedodrome LINK couple of LINK_PAIR_A as shown in Figure 4.
15. right-hand rotation LINK couple
Current LINK is to first of inverse clock side LINK couple, and LINK_PAIR_B is the right-hand rotation LINK couple of LINK_PAIR_C as shown in Figure 4.
Summary of the invention
Problem to be solved by this invention is: provide a kind of identification based on the compound crossing in the analog map of Floating Car Trace Formation one-tenth and construction method, use the method can identify and composite road mouth of recombinating, thus improve the quality of analog map, for trajectory shape process, trajectory shape and actual map mate and further data mining is laid a good foundation.
Technical scheme of the present invention is:
The identification at compound crossing and a construction method in Floating Car Trace Formation, represent path connected network, virtual node object is out defined as node NODE, the approximate crossing being interpreted as real road; Represent that the shaped form object of path between NODE and NODE is defined as LINK, be similar to and be interpreted as that real road connects one section of road at two crossings; The crossing formed with the road that is separated of above rolling off the production line is called compound crossing; Crossing (NODE_A) in the analog map that Floating Car Trace Formation becomes and all LINK connected thereof carry out judging and processing as object, it is characterized in that comprising the following steps:
Step one, LINK divide into groups pairing: to divide into groups to the LINK that point of crossing connects according to topological relation and be paired into LINK couple according to the shape of LINK to the LINK that point of crossing connects; If without any LINK or to there is the number entering LINK right with exiting the LINK of LINK be 0 simultaneously in LINK group, and exit and process and terminate;
Step 2, instantiation compound crossing model: namely to set up between LINK according to compound crossing model and logical relation between after pairing LINK pair, form the example at a compound crossing;
Step 3, with probability statistics model, compound crossing to be confirmed: namely at the current probability of compound crossing all directions, the relation between LINK, NODE and LINK of composite road cause for gossip example and NODE is confirmed, revises and adjust operation according to Floating Car driving; Judge that whether compound crossing model is successful, no just exiting processes and terminates;
Step 4, compound crossing build: the compound crossing namely adjusting, construct realistic road shape to the succession relation between LINK, NODE and LINK of the example at the compound crossing confirmed.
Described step one specifically comprises the following steps:
1.1) all LINK that NODE_A connects are divided into groups by entering LINK and exiting LINK;
1.2) LINK entered in LINK group and the LINK exited in LINK group are entered be paired into LINK couple.
Described step 2 specifically comprises the following steps:
2.1) angle of LINK pair and direct north is calculated;
2.2) set up LINK couple and LINK between relation;
2.3) add craspedodrome LINK between in LINK.
Described step 3 specifically comprises the following steps:
3.1) straight road process: by craspedodrome LINK between add in the craspedodrome of the LINK probability assignment that passes through be: exit LINK and enter LINK common wheelpath number and accounting for the ratio entering the total wheelpath number of LINK, be denoted as: PS; Described interior LINK be in compound crossing in LINK between each NODE
3.2) right-hand rotation road process: right for the right-hand rotation LINK LINK that enters is entered the right-hand rotation the exiting LINK probability assignment that passes through and is: exit LINK and enter LINK common wheelpath number and accounting for the ratio entering the total wheelpath number of LINK, be denoted as: PR, carry out merging and the adjustment of interior LINK node according to the value of PR;
3.3) left-hand rotation road process: by right for left-hand rotation LINK enter LINK enter exit LINK in process the left-hand rotation of the LINK probability assignment that passes through be: exit LINK and enter LINK common wheelpath number and accounting for the ratio entering the total wheelpath number of LINK, be denoted as: PL, carry out merging and the adjustment of interior LINK node according to the value of PL.
Described step 4 specifically comprises the following steps:
4.1) remove invalid interior LINK: travel through all interior LINK, if it is kept straight on, the value of current probability P S and the current probability P L that turns left is less than the threshold value P of current probability simultaneously, then delete this interior LINK;
4.2) merge y-bend LINK: the starting point and the terminal that travel through all interior LINK, if the adjacent LINK of this NODE only has 2, so just remove this NODE and two LINK that this NODE is adjacent are merged into 1.
The specific algorithm calculating the angle of LINK pair and direct north is: for there is the LINK couple entering LINK, when not considering the terminal entering LINK using first flex point entering LINK as the right direction point of LINK; If enter LINK there is no flex point, then get the starting point that enters LINK as the right direction point of LINK; For the LINK couple only exiting LINK, when not considering the starting point exiting LINK using first flex point exiting LINK as the right direction point of LINK; If exit LINK there is no flex point, then get the terminal that exits LINK as the right direction point of LINK; Between the direct north of NODE point and NODE point and the right direction point of LINK, the angle of connecting line is the deflection that LINK is right.
Advantage of the present invention is: the NODE in the analog map that probability statistics model can be utilized to become Floating Car Trace Formation carries out the identification of compound crossing and structure, carries out mating and otherwise data mining lays the first stone for analog map afterwards and figure on the spot.
Accompanying drawing explanation
Fig. 1 is processing flow chart of the present invention;
Fig. 2 is the schematic diagram at compound crossing in real road;
Fig. 3 is the schematic diagram of the wheelpath at compound crossing place;
Fig. 4 is the schematic diagram of the analog map after compound crossing place wheelpath merges;
Fig. 5 is through the schematic diagram at the compound crossing after identifying restructuring;
Fig. 6 is the schematic diagram of the angle that calculating LINK of the present invention is right;
Fig. 7 is the schematic diagram of LINK in interpolation of the present invention;
Fig. 8 is the schematic diagram of LINK in interpolation of the present invention;
Fig. 9 is the schematic diagram of straight road process of the present invention;
Figure 10 is the schematic diagram of right-hand rotation road of the present invention process;
Figure 11 is the schematic diagram of left-hand rotation road of the present invention process;
Figure 12 is the schematic diagram of the interior LINK that deletion of the present invention is invalid;
Figure 13 is the schematic diagram of merging y-bend LINK of the present invention.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the drawings and the specific embodiments, the present invention is described in further detail.
Implementation of the present invention, comprises the following steps after start-up:
1) LINK grouping pairing
Whether the object of LINK grouping pairing is to match being used for the LINK of the uplink and downlink representing same real road, for being that compound crossing lays the first stone with compound crossing model judgement node NODE_A afterwards.Concrete steps are as follows:
1.1) all LINK that NODE_A connects are divided into groups by entering LINK and exiting LINK.If enter LINK group or exit without any LINK in LINK group, then do not think that NODE_A is compound crossing and exits process.
1.2) LINK entered in LINK group and the LINK exited in LINK group are matched.Take out LINK_A, take out LINK_B exiting in LINK group entering in LINK group, if LINK_A, LINK_B can merge with shape matching algorithm when not considering the current direction of LINK_A, LINK_B, and the length of the LINK after LINK_A, LINK_B merge is greater than threshold value LT, judge whether it is the threshold value of short LINK, such as LT=60m, then LINK_A and LINK_B successful matching, is denoted as a LINK to stored in LINK_PAIR_SET.For entering LINK group, exiting in LINK group and do not mix right LINK, separately as a LINK to stored in LINK_PAIR_SET.
1.3) if there is the number entering LINK right with the LINK exiting LINK in LINK_PAIR_SET is 0 simultaneously, then do not think that NODE_A is compound crossing and exits process.
2) instantiation compound crossing model
The object of instantiation compound crossing model is all LINK will connected with compound crossing Model instantiation NODE_A and NODE_A, sets up LINK to, relation between LINK, NODE, for judging whether node NODE_A is that compound crossing lays the first stone afterwards.Concrete steps are as follows:
2.1) angle of each LINK pair and direct north is calculated in LINK_PAIR_SET, computing method:
Enter the LINK couple of LINK for existing, when not considering the terminal entering LINK using first flex point entering LINK as the right direction point (the NB point as in Fig. 6) of LINK.If enter LINK there is no flex point, then get the starting point that enters LINK as the right direction point (the NA point as in Fig. 6) of LINK; For the LINK couple only exiting LINK, when not considering the starting point exiting LINK using first flex point exiting LINK as the right direction point of LINK.If exit LINK there is no flex point, then get the terminal that exits LINK as the right direction point of LINK.
Angle between the direct north of NODE_A and the right direction point of NODE_A and LINK is as the right deflection of LINK, angle aa is the deflection of LINK_PAIR_A as shown in Figure 6, angle ab is the deflection of LINK_PAIR_B, and angle ac is the deflection of LINK_PAIR_C.
2.2) to LINK all in LINK_PAIR_SET to calculating angle, and by angle angle from small to large to LINK to sorting.
2.3) relation between LINK pair is set up.A LINK is taken out to being denoted as LINK_PAIR_A successively from LINK_PAIR_SET:
The LINK that traversal LINK_PAIR_SET selects first angle larger than LINK_PAIR_A is to the left-hand rotation LINK couple for LINK_PAIR_A.If LINK_PAIR_A is last LINK couple in LINK_PAIR_SET, so the left-hand rotation LINK of LINK_PAIR_A is to being exactly first LINK couple in LINK_PAIR_SET.
Traversal LINK_PAIR_SET selected angle differs first LINK between 150 degree to 210 degree to the craspedodrome LINK couple for LINK_PAIR_A with LINK_PAIR_A.
The LINK that traversal LINK_PAIR_SET selects last angle less than LINK_PAIR_A is to the right-hand rotation LINK couple for LINK_PAIR_A.If LINK_PAIR_A is first LINK couple in LINK_PAIR_SET, so the right-hand rotation LINK of LINK_PAIR_A is to being exactly last LINK couple in LINK_PAIR_SET.
Repetitive operation is until the right relation of LINK all in LINK_PAIR_SET has all been set up.
2.4) interior LINK is added.Take out a LINK to being denoted as LINK_PAIR_A from LINK_PAIR_SET successively, LINK_PAIR_A craspedodrome LINK to being denoted as LINK_PAIR_B, the LINK that enters getting LINK_PAIR_A is denoted as LINK_A, and the LINK that exits getting LINK_PAIR_B is denoted as LINK_B.
If LINK_A does not exist, then do not add interior LINK.
If LINK_A exists, but LINK_B does not exist, then with the penultimate shape point of LINK_A for starting point, with the direction of LINK_A for direction, with fixing length (such as 50m) for LINK is long, be that LINK_A adds interior LINK, be denoted as the interior LINK of LINK_A.The terminal of LINK_A is adjusted to the position of the starting point of LINK in LINK_A, as shown in Figure 7 simultaneously.
If LINK_A, LINK_B exist, then with the penultimate shape point of LINK_A for starting point, with second of LINK_B shape point for terminal, be LINK_A, LINK_B add in LINK, this interior LINK is denoted as the interior LINK of LINK_A, is also denoted as the interior LINK of LINK_B.The terminal of LINK_A is adjusted to the position of the starting point of LINK in LINK_A simultaneously, the starting point of LINK_B is adjusted to the position of the terminal of LINK in LINK_B, as shown in Figure 8.
Repetitive operation is until LINK all in LINK_PAIR_SET is to completing the operation adding interior LINK.
3) with probability statistics model, compound crossing is confirmed
At the current probability of compound crossing all directions, LINK, NODE of composite road cause for gossip example and the relation between them are confirmed, revise and adjust operation according to Floating Car driving, and judge whether it is real compound crossing.Concrete steps are as follows:
3.1) straight road process.Take out from LINK_PAIR_SET successively and there is the right LINK couple of craspedodrome LINK, be denoted as LINK_PAIR_A, LINK_PAIR_A craspedodrome LINK to being denoted as LINK_PAIR_B, the LINK that enters getting LINK_PAIR_A is denoted as LINK_A, and the LINK that exits getting LINK_PAIR_B is denoted as LINK_B.
If the wheelpath that LINK_A and LINK_B has N1 bar common, be M1 bar by the total number of tracks of LINK_A.Then craspedodrome LINK between add in the craspedodrome of the LINK probability that passes through be: PS=N1/M1, as shown in Figure 9.
Repetitive operation is until the right LINK of existence craspedodrome LINK all in LINK_PAIR_SET is to completing.
3.2) right-hand rotation road process.Take out from LINK_PAIR_SET successively and there is the right LINK couple of right-hand rotation LINK, be denoted as LINK_PAIR_A, LINK_PAIR_A right-hand rotation LINK to being denoted as LINK_PAIR_B, the LINK that enters getting LINK_PAIR_A is denoted as LINK_A, and the LINK that exits getting LINK_PAIR_B is denoted as LINK_B.
If the wheelpath that LINK_A and LINK_B has N2 bar common, be M2 bar by the total number of tracks of LINK_A.The right-hand rotation that then LINK_A the enters LINK_B probability that passes through is: PR=N2/M2.If the value of PR is not less than the threshold value P of current probability, small probability event probable value, such as P=0.05, then merge the terminal of LINK in the starting point of LINK in LINK_A, LINK_B, as shown in Figure 10.The starting point of LINK in LINK_A is denoted as the terminal of LINK in NODE_A1, LINK_B and is denoted as NODE_B1, the method merging NODE_A1, NODE_B1 is: the intersection point calculating intersection point N(two straight line of the interior LINK of interior LINK and the LINK_B of LINK_A).If intersection point N does not exist or the distance of intersection point N and NODE_A is greater than threshold value L, such as L=100m, then do not think that NODE_A is compound crossing, and exit identification; Otherwise all outer LINK of traversal NODE_A and interior LINK are that intersection point N is adjusted in the position of the NODE of NODE_A1 or NODE_B1 beginning or end.
Repetitive operation is until the right LINK of existence right-hand rotation LINK all in LINK_PAIR_SET is to completing.
3.3) left-hand rotation road process.Take out from LINK_PAIR_SET successively and there is the right LINK couple of left-hand rotation LINK, be denoted as LINK_PAIR_A, LINK_PAIR_A left-hand rotation LINK to being denoted as LINK_PAIR_B, the LINK that enters getting LINK_PAIR_A is denoted as LINK_A, and the LINK that exits getting LINK_PAIR_B is denoted as LINK_B.
If the wheelpath that LINK_A and LINK_B has N3 bar common, be M3 bar by the total number of tracks of LINK_A.The left-hand rotation that then the interior LINK of LINK_A arrives the interior LINK of the LINK_B probability that passes through is: PL=N3/M3.If the value of PL is not less than the threshold value P of current probability, then the starting point of LINK in the terminal of LINK in LINK_A, LINK_B is merged, as shown in figure 11.The terminal of LINK in LINK_A is denoted as the starting point of LINK in NODE_A1, LINK_B and is denoted as NODE_B1, the method merging NODE_A1, NODE_B1 is: the intersection point calculating intersection point N(two straight line of the interior LINK of interior LINK and the LINK_B of LINK_A).If intersection point N does not exist or the distance of intersection point N and NODE_A is greater than threshold value L, then do not think that NODE_A is compound crossing, and exit identification; Otherwise all outer LINK of traversal NODE_A and interior LINK are that intersection point N is adjusted in the position of the NODE of NODE_A1 or NODE_B1 beginning or end.
Repetitive operation is until the right LINK of existence left-hand rotation LINK all in LINK_PAIR_SET is to completing.
4) compound crossing builds
The object that compound crossing builds is to do some adjustment to the point of crossing being determined to be compound crossing, removes some invalid LINK and NODE added when compound crossing judges, the road shape of salty for composite road composition closer to reality.Concrete steps are as follows:
4.1) invalid interior LINK is removed.Travel through all interior LINK, if it is kept straight on, the value of current probability P S and the current probability P L that turns left is less than the threshold value P of current probability simultaneously, then delete this interior LINK, as shown in figure 12.
4.2) merge y-bend LINK: the starting point and the terminal that travel through all interior LINK, if the adjacent LINK of this NODE only has 2, so just remove this NODE and two LINK that this NODE is adjacent are merged into 1, as shown in figure 13.
The above, only that specific embodiment of the invention case is described, and be not used to limit of the present invention can practical range, such as all equivalences that those skilled in the art complete under the spirit do not departed from indicated by the present invention and principle change or modify, and must be covered by the scope of the claims in the present invention.
Claims (1)
1. the identification at compound crossing and a construction method in Floating Car Trace Formation, represent path connected network, virtual node object is out defined as node NODE, is interpreted as a crossing of real road; Represent that the shaped form object of path between NODE and NODE is defined as LINK, be interpreted as that real road connects one section of road at two crossings; The crossing formed with the road that is separated of above rolling off the production line is called compound crossing; Crossing NODE_A in the analog map that Floating Car Trace Formation becomes and all LINK of connection thereof carries out judging and processing as object, it is characterized in that comprising the following steps:
Step one, LINK divide into groups pairing: to divide into groups to the LINK that point of crossing connects according to topological relation and be paired into LINK couple according to the shape of LINK to the LINK that point of crossing connects; If without any LINK or to there is the number entering LINK right with exiting the LINK of LINK be 0 simultaneously in LINK group, and exit and process and terminate;
Step 2, instantiation compound crossing model: namely to set up between LINK according to compound crossing model and logical relation between after pairing LINK pair, form the example at a compound crossing;
Step 3, with probability statistics model, compound crossing to be confirmed: namely at the current probability of compound crossing all directions, the relation between LINK, NODE and LINK of composite road cause for gossip example and NODE is confirmed, revises and adjust operation according to Floating Car driving; Judge that whether compound crossing model is successful, no just exiting processes and terminates;
Step 4, compound crossing build: the compound crossing namely adjusting, construct realistic road shape to the succession relation between LINK, NODE and LINK of the example at the compound crossing confirmed.
2. the identification at compound crossing and construction method in Floating Car Trace Formation according to claim 1, is characterized in that: described step one specifically comprises the following steps:
1.1) all LINK that NODE_A connects are divided into groups by entering LINK and exiting LINK;
1.2) LINK entered in LINK group and the LINK exited in LINK group are entered be paired into LINK couple.
3. the identification at compound crossing and construction method in Floating Car Trace Formation according to claim 1, is characterized in that: described step 2 specifically comprises the following steps:
2.1) angle of LINK pair and direct north is calculated;
2.2) set up LINK couple and LINK between relation;
2.3) add craspedodrome LINK between in LINK.
4. the identification at compound crossing and construction method in Floating Car Trace Formation according to claim 1, is characterized in that: described step 3 specifically comprises the following steps:
3.1) straight road process: by craspedodrome LINK between add in the craspedodrome of the LINK probability assignment that passes through be: exit LINK and enter LINK common wheelpath number and accounting for the ratio entering the total wheelpath number of LINK, be denoted as: PS; Described interior LINK be in compound crossing in LINK between each NODE;
3.2) right-hand rotation road process: right for the right-hand rotation LINK LINK that enters is entered the right-hand rotation the exiting LINK probability assignment that passes through and is: exit LINK and enter LINK common wheelpath number and accounting for the ratio entering the total wheelpath number of LINK, be denoted as: PR, carry out merging and the adjustment of interior LINK node according to the value of PR;
3.3) left-hand rotation road process: by right for left-hand rotation LINK enter LINK enter exit LINK in process the left-hand rotation of the LINK probability assignment that passes through be: exit LINK and enter LINK common wheelpath number and accounting for the ratio entering the total wheelpath number of LINK, be denoted as: PL, carry out merging and the adjustment of interior LINK node according to the value of PL.
5. the identification at compound crossing and construction method in Floating Car Trace Formation according to claim 1, is characterized in that: described step 4 specifically comprises the following steps:
4.1) remove invalid interior LINK: travel through all interior LINK, if it is kept straight on, the value of current probability P S and the current probability P L that turns left is less than the threshold value P of current probability simultaneously, then delete this interior LINK;
4.2) merge y-bend LINK: the starting point and the terminal that travel through all interior LINK, if the adjacent LINK of this NODE only has 2, so just remove this NODE and two LINK that this NODE is adjacent are merged into 1.
6. the identification at compound crossing and construction method in Floating Car Trace Formation according to claim 3, it is characterized in that: the specific algorithm calculating the angle of LINK pair and direct north is: for there is the LINK couple entering LINK, when not considering the terminal entering LINK using first flex point entering LINK as the right direction point of LINK; If enter LINK there is no flex point, then get the starting point that enters LINK as the right direction point of LINK; For the LINK couple only exiting LINK, when not considering the starting point exiting LINK using first flex point exiting LINK as the right direction point of LINK; If exit LINK there is no flex point, then get the terminal that exits LINK as the right direction point of LINK;
Between the direct north of NODE point and NODE point and the right direction point of LINK, the angle of connecting line is the deflection that LINK is right.
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