CN101777257B - Method and system for obtaining traffic report - Google Patents
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- CN101777257B CN101777257B CN 200910244111 CN200910244111A CN101777257B CN 101777257 B CN101777257 B CN 101777257B CN 200910244111 CN200910244111 CN 200910244111 CN 200910244111 A CN200910244111 A CN 200910244111A CN 101777257 B CN101777257 B CN 101777257B
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention discloses a method and a system for obtaining a traffic report, relating to the intelligent traffic filed and designed for obtaining the traffic report with high accuracy. The method for obtaining the traffic report comprises the steps of: collecting path source data, wherein the path source data comprise position points and information corresponding to the position points; carrying out map matching on the path source data, determining candidate sections of map positions corresponding to the position points; carrying out path speculation on the position points subjected to the map matching, determining matched sections from the candidate sections; traversing the position points on the matched sections, and obtaining a traffic state report of the matched sections. The invention also discloses a system for obtaining the traffic report by applying the method. The invention is used for obtaining the traffic report.
Description
Technical field
The present invention relates to intelligent transportation field, relate in particular to a kind of method and system of obtaining traffic information.
Background technology
The main thought of intelligent transportation system (Intelligent Transport System) is to regard traditional traffic system as people, car, the entity on road, use computing machine, communication, artificial intelligence, the advanced achievements in sensor field thoroughly changes the traffic situation of present passive type, make the people in driving procedure, can pass through at any time GPS/GIS, broadcasting, the means such as information issue plate are understood present traffic, vehicle supervision department then can be by the vehicle sensors on the road, the equipment such as video camera are understood the traffic conditions in each highway section at any time, and at any time the traffic signals of each traffic intersection are adjusted and carried out to external world information issue, make the traffic capacity of whole traffic system reach maximum.
In traditional acquisition traffic information method, traffic information can obtain by artificial visually examine's method, but adopts the method to exist the human cost height, the shortcoming that visual range is limited, and also range estimation personnel's subjectivity is strong, and can not objective reaction road conditions.
The method of obtaining traffic information can also obtain by image capture device, but the cost of image capture device is high, being limited in scope of data acquisition.
One of method of obtaining traffic information that adopts in the international intelligent transportation system (ITS) in recent years is floating car technology, its ultimate principle is: according to the vehicle location of Floating Car periodic logging in the Vehicle Driving Cycle process of equipping vehicle-bone global positioning system (GPS), direction and velocity information, application comprises that path culculating processes with relevant computation model and algorithms such as road traffic congestion information calculating, thereby Floating Car position data and urban road were associated in time and space, finally obtain the traffic congestion information such as driving hourage of the Vehicle Speed of road that Floating Car is passed through and road.
But existing floating car technology exists the poor problem of information accuracy.
Summary of the invention
Problem to be solved by this invention provides a kind of method of obtaining traffic information, can the high traffic information of accuracy.
For reaching above-mentioned technical purpose, the present invention obtains the method for traffic information, and the technical scheme of employing is:
A kind of method of obtaining traffic information comprises:
Gather the path source data, the path source data comprises location point and information corresponding to location point; The path source data is carried out map match, determine the candidate road section of the map location that each location point is corresponding; Each location point through map match is carried out path culculating, from each candidate road section, determine the coupling highway section; Traversal is respectively mated the location point on the highway section, obtains the road status messages in coupling highway section.
The method of obtaining traffic information of the present invention by the such scheme description, in map match and path culculating process, carry out again path culculating owing to determine first candidate road section, improved the accuracy of path culculating, reduce the difficulty of path culculating, thereby can obtain the high road status messages of accuracy.Because the traffic information accuracy that adopts the present invention program to obtain is high, can be used as the evaluation criterion of the traffic information that other modes gather.
The present invention also provides a kind of system that obtains traffic information, can access the high traffic information of accuracy.
For reaching above-mentioned technical purpose, the present invention obtains the system of traffic information, and the technical scheme of employing is:
A kind of system that obtains traffic information comprises: collecting device, be used for gathering the path source data on the programme path, and the path source data comprises location point and information corresponding to location point; The cartographic information unit is for the positional information that each highway section on the map is provided; Information process unit, the positional information that is used for each highway section on the path source data that will gather and the map is related, determines road status messages.
The system that obtains traffic information of the present invention by the such scheme description, can select candidate road section in the map match unit, improve the accuracy of path culculating, reduced the path culculating unit and carried out the difficulty of path culculating, thereby can obtain the high road condition letter of accuracy.Adopt the road status messages accuracy of the system acquisition that obtains traffic information among the present invention program high, can be used as the evaluation criterion of the traffic information that other modes gather.
Description of drawings
Fig. 1 is the method flow diagram that the embodiment of the invention is obtained traffic information;
Fig. 2 is that the embodiment of the invention is carried out the map match process flow diagram to the path source data;
Fig. 3 is that embodiment of the invention candidate road section is calculated synoptic diagram;
Fig. 4 is that each location point of the embodiment of the invention carries out the path culculating process flow diagram;
Each location point of Fig. 5 embodiment of the invention carries out path culculating process flow diagram in the time slice;
Fig. 6 embodiment of the invention is obtained the system chart of traffic information.
Embodiment
The method of the embodiment of the invention being obtained traffic information below in conjunction with accompanying drawing is described in detail.
As shown in Figure 1, the embodiment of the invention method of obtaining traffic information comprises:
S1, collection path source data, the path source data comprises location point and information corresponding to location point;
S2, the path source data is carried out map match, determine the candidate road section of the map location that each location point is corresponding;
S3, to carrying out path culculating through each location point of map match, from each candidate road section, determine the coupling highway section;
S4, traversal are respectively mated the location point on the highway section, obtain the road status messages in coupling highway section.
By the method for obtaining traffic information of the present invention that such scheme is described, in map match and path culculating process, carry out again path culculating owing to determine first candidate road section, the accuracy that has improved path culculating has reduced the difficulty of path culculating.The road status messages accuracy that adopts the present invention program to obtain is high, thereby can be used as the evaluation criterion of the traffic information that other modes gather.
Below in conjunction with specific embodiment the method that the present invention obtains traffic information is specifically described:
S1, collection path source data, the path source data comprises location point and information corresponding to location point.
Wherein, the information that location point is corresponding comprises the longitude of Vehicle Speed, travel direction, running time, location point and the latitude of location point.
Need to prove, gather before the source data of path that the method also comprises the planning real route of walking of driving, the real route of walking of driving is at least one TMC canonical path or at least one RTIC canonical path.If adopt the evaluation criterion of the traffic information that traffic information that the method for the invention obtains gathers as other modes, estimate for convenient so, when planning drives to walk route in fact, should choose the different route of road conditions complexity, the wider as far as possible general route of choosing, for example, the embodiment of the invention is that to be evaluated number be take the TMC standard as base unit, and then programme path is chosen complete TMC route to greatest extent as the drive test circuit.
Further, gather the path source data for adopting GPS equipment to carry out the collection of path source data, the frequency acquisition of location point is 1-2 second, and the location point that gathers in the chronomere is more, and the path source data is more accurate, and the present embodiment per second gathers a location point.
Be the reaction road condition of closing to reality more, the selection of drive test time will comprise early 7 point-10 point, evening peak traffic period morning that afternoon, 4-7 was ordered.
During actual drive test, the driver drives, and is the real embodiment traffic flow modes, can not the people for travelling fast or slowly.The collector adopts GPS equipment to gather the path source data, article one, the TMC canonical path gather complete after, suspend and gather the path source data, when entering next bar planning route running, begin again to gather the path source data, avoid a highway section repeated acquisition is increased map match and path culculating difficulty.After all route path Source Data Acquisitions finish, in time derive gps data.
S2, as shown in Figure 2 describedly carries out map match to the path source data, determines the candidate road section of the map location that each location point is corresponding, specifically comprises:
S201, the path source data is carried out pre-service, filter invalid path source data.
Wherein, invalid path source data comprises the location point that acquisition time repeats, with the acquisition time interval of the adjacent position point location point greater than the time threshold values.
Further, the time threshold values is 10 times of the frequency acquisition described in the S1.
Because GPS hardware device problem can occur in same time point, duplicates the phenomenon of location point.So filter out invalid location point, can improve the efficient of subsequent step.
Simultaneously, location point and corresponding information thereof are carried out initialization, for the steps such as map match and path culculating ready.
Further, the path source data being carried out map match comprises:
The projector distance in S202, calculating location point and each highway section of map and location point are to the direction vector of the next position point and the angle in each highway section of map.
Particularly, as shown in Figure 3, candidate road section is calculated synoptic diagram, location point to be matched is done projection to the highway section of all roads of map, calculate the projector distance di between each location point and each highway section, Fig. 3 is that location point illustrates that to projection and the angle calculating in a highway section namely location point i arrives the vertical line distance of highway section r, and the angle theta i between vehicle heading and road.Angle between vehicle heading and road is all thought 0 degree with direct north, and clockwise for just, namely the due east direction is 90 to spend.β i is location point i to the line of the next position point i+1 angle with respect to direct north, and β r represents the angle of highway section r and direct north, then the angle theta i=| β i-β r| between vehicle heading and road.
S203, projector distance less than distance threshold values and angle less than the highway section of the angle threshold values candidate road section as location point.
Wherein, be 40-100 rice apart from threshold values, be preferably 60 meters, the angle threshold values is the 30-65 degree, preferred 45 degree.
If less than angle threshold, then this location point produces preliminary matching result in the highway section to projector distance di therewith, thinks that vehicle just travels in this highway section less than distance threshold and angle theta i, subpoint is as the match point of vehicle on the highway section.
S3, as shown in Figure 4 describedly carries out path culculating to each location point through map match, determines the coupling highway section from each candidate road section, specifically comprises:
S301, determine the weighted value of each candidate road section.
Select di, θ i value is less than all highway sections of given threshold value, and calculates the weighted value λ i of each candidate road section according to following formula.
λi＝ωd*di/DistMax+ωθ*θi/AngleMax
Wherein, DistMax is apart from threshold values, AngleMax is the angle threshold values, ω d, ω θ are respectively the weights of Projection Line Segment length and angular separation, ω d+ ω θ=1 wherein, ω d and ω θ choose according to projector distance and angle and in calculate in the coupling highway section correct sex importance are decided, and they are empirical value, generally choosing ω d is that 0.6, ω θ is 0.4.All candidate road section are sorted by weighted value λ i size so that the path culculating of back uses, the highway section that weighted value λ i is less, for the possibility in true walking highway section larger.
S302, by break time the path source data is carried out time slice.
Wherein, refer to that a path Source Data Acquisition on the route is accomplished to the time interval that the path Source Data Acquisition on next bar route begins break time, the coupling highway section of location point is communicated with in the time slice.
Further, to carrying out path culculating through each location point of map match, determine that from each candidate road section the coupling highway section comprises, from the candidate road section of two location points, choose total at most at least that the highway section of weight minimum is as the coupling highway section.
S303, as shown in Figure 5 carries out the path culculating of location point in the time slice.
Below in conjunction with embodiment the path culculating idiographic flow in the time slice is described.
S3031, first location point that candidate road section is arranged is set is starting point.
S3032, choose location point that the first five has candidate road section, obtain to have highway section maximum and the weighted value minimum as the preliminary election highway section in the candidate road section of described the first five location point, enter step S3034;
If five of the location point less thaies of candidate road section should be arranged in the period, then entered step S3033.
S3033, will have the location point of candidate road section all to choose, total maximum in the chosen position point candidate road section, the highway section of weighted value minimum is as the coupling highway section.Then the path culculating in this time slice finishes, and enters the path culculating in next time slice, repeating step S3031.
S3034, read the location point that the next one has candidate road section;
If next have the location point of candidate road section not exist, then enter step S3035,
If next have the location point of candidate road section to exist, enter step S3036.
S3035, starting point are set to mate the highway section to the preliminary election highway section of current point.Then the path culculating in this time slice finishes, and enters the path culculating in next time slice, repeating step S3031.
S3036, determine whether comprise the preliminary election highway section in the candidate road section of this location point;
If comprise the preliminary election highway section, then repeat to enter step S3034, otherwise enter step S3037.
S3037, read after ten location points that candidate road section is arranged, if ten of location point less thaies are afterwards then all chosen for ten;
If comprise the preliminary election highway section in the candidate road section of these ten location points (ten of less thaies are all chosen), then enter step S3034; Otherwise enter step S3038.
S3038, starting point are set to mate the highway section in the preliminary election highway section of any before the current point, and current point is set to new starting point, enters step S3039.
S3039, begin the candidate road section of follow-up five points from the new starting point described in the step S3038, be communicated with before preliminary election highway section, and total maximum in the candidate road section, the highway section of weighted value minimum enters step S3034 as the preliminary election highway section.
S4, traversal are respectively mated the location point on the highway section, obtain the road status messages in coupling highway section.
Add up dot information corresponding to location point on each bar coupling highway section, obtain the information such as speed, hourage, road condition of corresponding period on this coupling highway section.
Add up every coupling on the highway section location point and during corresponding information, more accurate in order to make the result, need deduction to wait for the time of traffic lights, the deduction principle be deduction apart from the crossing less than certain value, and the lower location point of velocity amplitude.
The road status messages that obtains according to the method described in the present invention can be used as metewand and estimates the road conditions traffic data that adopts alternate manner to obtain.
As shown in Figure 6, the embodiment of the invention also provides a kind of system that obtains traffic information, and the system that this obtains traffic information comprises drive test vehicle 1, is used for travelling at programme path; Collecting device 2, collecting device 2 are loaded on the drive test vehicle 1, are used for gathering the path source data, and the path source data comprises location point and information corresponding to location point; Cartographic information unit 3 is for the positional information that each highway section on the map is provided; Information process unit 4, the positional information that is used for each highway section on the path source data that will gather and the map is related, determines road status messages.
Further, programme path is at least one TMC canonical path or at least one RTIC canonical path.
Further, the information that location point is corresponding comprises the longitude of Vehicle Speed, travel direction, running time, location point and the latitude of location point.
Further, collecting device is the GPS collecting device, and frequency acquisition is 1-2 second.
Further, information process unit 4 comprises, map-matching module 401 is for the candidate road section of determining the corresponding map location of each location point; Path culculating module 402 is used for determining the coupling highway section from each candidate road section; Information Statistics module 403 is used for traveling through the location point that respectively mates on the highway section, obtains the road status messages in coupling highway section.
Further, information process unit also comprises pretreatment module, and for the treatment of invalid path source data, described invalid path source data comprises the location point that acquisition time repeats, with the acquisition time interval of the adjacent position point location point greater than the time threshold values.
Further, map-matching module 401 comprises, position calculation submodule 4011, highway section chooser module 4012 and weight calculation submodule 4013.
Position calculation submodule 4011 is used for the projector distance in calculating location point and each highway section and location point to the angle in the next position point vector direction and each highway section of map; Highway section chooser module 4012 be used for determining projector distance less than distance threshold values and angle less than the highway section of the angle threshold values candidate road section as location point; Weight calculation submodule 4013 is used for determining the weighted value of each candidate road section.
Further, the path culculating module comprises that submodule is inferred in the highway section, and total maximum for choosing from the candidate road section of at least two location points, the highway section of weight minimum is as the coupling highway section.
Further, the path culculating module also comprises, the time slice submodule is used for by break time the path source data being carried out time slice.
Refer to that the path Source Data Acquisition on the route in the programme path is accomplished to the time interval that the path Source Data Acquisition on next bar route begins break time, the coupling highway section of location point is communicated with in the time slice.
By the system that obtains traffic information of the present invention that such scheme is described, frequency acquisition is fast, thereby has guaranteed that image data has higher accuracy, can select candidate road section in the map match unit, has reduced the difficulty that the path culculating unit carries out path culculating; The final coupling highway section accuracy that adopts map-matching module among the present invention program and path culculating module to obtain is high, thereby can be used as the evaluation criterion of the traffic information that other modes gather.
The above; be the specific embodiment of the present invention only, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; can expect easily changing or replacing, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (14)
1. a method of obtaining traffic information is characterized in that, comprising:
Gather the path source data, described path source data comprises location point and information corresponding to location point;
Described path source data is carried out map match, determine the candidate road section of the map location that each described location point is corresponding;
Each described location point through map match is carried out path culculating, from each described candidate road section, determine the coupling highway section;
Travel through the location point on each described coupling highway section, obtain the road status messages in described coupling highway section; Wherein, described each described location point to the process map match carries out path culculating, determines that from each described candidate road section the coupling highway section comprises:
Determine the weighted value of each described candidate road section;
Choose total at most at least from the candidate road section of two location points, the highway section of weight minimum is as the coupling highway section;
Wherein, described described path source data is carried out map match, determine that the candidate road section of the map location that each described location point is corresponding comprises: calculate the projector distance di in described location point and each highway section of map and described location point to the direction vector of the next position point and the angle theta i in each highway section of described map; Described projector distance less than distance threshold values and described angle less than the highway section of the angle threshold values candidate road section as described location point;
Describedly determine that the weighted value of each described candidate road section comprises: calculate the weighted value λ i of each candidate road section according to following formula,
λi＝ωd*di/DistMax+ωθ*θi/AngleMax
Wherein, DistMax is apart from threshold values, and AngleMax is the angle threshold values, and ω d, ω θ are respectively the weights of Projection Line Segment length and angular separation.
2. according to the right 1 described method of obtaining traffic information, it is characterized in that: described collection path source data is for adopting GPS equipment to carry out the collection of path source data, and the frequency acquisition of described location point is 1-2 second.
3. according to the right 1 described method of obtaining traffic information, it is characterized in that, described described path source data is carried out map match, calculate before the candidate road section of map location corresponding to each described location point, the method also comprises:
Described path source data is carried out pre-service, filter invalid path source data, wherein said invalid path source data comprises the location point that acquisition time repeats, with the acquisition time interval of the adjacent position point location point greater than the time threshold values.
4. according to the method for obtaining traffic information claimed in claim 1, it is characterized in that, described each described location point to the process map match carries out path culculating, from each described candidate road section, determine the coupling highway section, comprise: by break time described path source data is carried out time slice, refer to that a path Source Data Acquisition on the route is accomplished to the time interval that the path Source Data Acquisition on next bar route begins described break time, the coupling highway section of described location point is communicated with in the time slice.
5. according to the method for obtaining traffic information claimed in claim 1, it is characterized in that: the information that described location point is corresponding comprises the longitude of Vehicle Speed, travel direction, running time, location point and the latitude of location point.
6. according to the method for obtaining traffic information claimed in claim 2, it is characterized in that: described is 40-100 rice apart from threshold values.
7. according to the method for obtaining traffic information claimed in claim 2, it is characterized in that: described is 60 meters apart from threshold values.
8. according to the method for obtaining traffic information claimed in claim 2, it is characterized in that: described angle threshold values is the 30-65 degree.
9. according to the method for obtaining traffic information claimed in claim 3, it is characterized in that: described time threshold values is 10 times of frequency acquisition, and described frequency acquisition is 1-2 second.
10. a system that obtains traffic information is characterized in that, comprising:
Collecting device, described collecting device are used for gathering the path source data on the programme path, and described path source data comprises location point and information corresponding to location point;
The cartographic information unit is for the positional information that each highway section on the map is provided;
Information process unit, the positional information that is used for each highway section on the path source data that will gather and the described map is related, determines road status messages; Wherein,
Described information process unit comprises:
Map-matching module is for the candidate road section of determining the corresponding map location of each described location point;
The path culculating module is used for determining the coupling highway section from each described candidate road section;
The Information Statistics module is used for the location point on each described coupling highway section of traversal, obtains the road status messages in described coupling highway section; Wherein,
Described path culculating module comprises:
The weight calculation submodule is for the weighted value of determining each described candidate road section;
Submodule is inferred in the highway section, and total maximum for choosing from the candidate road section of at least two location points, the highway section of weight minimum is as the coupling highway section;
Wherein, described map-matching module comprises:
The position calculation submodule is used for calculating the projector distance di in described location point and each highway section and described location point to the angle theta i in the next position point vector direction and each highway section of described map,
Highway section chooser module, be used for to determine projector distance less than distance threshold values and described angle less than the highway section of the angle threshold values candidate road section as described location point;
Described weight calculation submodule, the concrete weighted value λ i that is used for calculating according to following formula each candidate road section,
λi＝ωd*di/DistMax+ωθ*θi/AngleMax
Wherein, DistMax is apart from threshold values, and AngleMax is the angle threshold values, and ω d, ω θ are respectively the weights of Projection Line Segment length and angular separation.
11. according to the system that obtains traffic information claimed in claim 10, it is characterized in that, described path culculating module also comprises: the time slice submodule, be used for by break time described path source data being carried out time slice, refer to that the path Source Data Acquisition on the route in the described programme path is accomplished to the time interval that the path Source Data Acquisition on next bar route begins described break time, the coupling highway section of described location point is communicated with in the described time slice.
12. according to the system that obtains traffic information claimed in claim 10, it is characterized in that: described collecting device is the GPS collecting device, and frequency acquisition is 1-2 second.
13. according to the system that obtains traffic information claimed in claim 10, it is characterized in that: described information process unit also comprises pretreatment module, for the treatment of invalid path source data, described invalid path source data comprises the location point that acquisition time repeats, with the acquisition time interval of the adjacent position point location point greater than the time threshold values.
14. according to the system that obtains traffic information claimed in claim 10, it is characterized in that: the information that described location point is corresponding comprises the longitude of Vehicle Speed, travel direction, running time, location point and the latitude of location point.
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| CN 200910244111 CN101777257B (en) | 2009-12-29 | 2009-12-29 | Method and system for obtaining traffic report |
| PCT/CN2010/079528 WO2011079693A1 (en) | 2009-12-29 | 2010-12-07 | Method and system for obtaining traffic information |
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| CN 200910244111 CN101777257B (en) | 2009-12-29 | 2009-12-29 | Method and system for obtaining traffic report |
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