CN104061935B - Probe vehicle map matching acceleration method for limiting traveling speed - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a probe vehicle map matching acceleration method for limiting the traveling speed. The shortest path upper bound of an adjacent tracing point traveling in a road network is estimated according to a road segment traveling speed threshold value and a probe vehicle sampling interval in the urban road network, and the shortest path of all node pairs in the road network is previously calculated through the shortest path upper bound; when the candidate road segment pair matching probability of a front tracing point and a rear tracing point in the map matching process of a probe vehicle is estimated, the analysis of the shortest path can be obtained only by inquiring the preprocessing result, so that the time expenditure of the probe vehicle map matching can be greatly reduced; in addition, the node scale of the road network is controlled through the grid segmentation, and the preprocessing time can be completed within a short time.
Description
Technical field
The invention belongs to navigator fix and intelligent transportation field are and in particular to a kind of travel speed in Traffic Net
The Floating Car map match accelerated method limiting.
Background technology
In current intelligent transportation field, Floating Car has become a kind of traffic, the important means of trip information collection.With mutual
The arrival in networking big data epoch, towards the geographic information services (geographic information services) of traffic
Demand is also remarkably reinforced, and is also one of important composition of its supplied geographic information data with regard to information such as traffic, trips.And float
Motor-car map-matching method is then the key technology realizing the excavation of the information datas such as traffic and trip.So-called map match refers to lead to
Cross the positional information that gnss (global navigation satellite system) track data is comprised, by tracing point by
On one road section matching floating vehicle place, track data is reverted to true traveling in road network for the Floating Car
Path.
Due to the sampling interval of floating car data relatively large (40-100 second), in order to recover the information of wherein disappearance, float
Need to calculate the topological correlation information between the candidate matches section of adjacent track point in a large number in motor-car data map coupling, this
Topological correlation information is generally the shortest path connecting between candidate matches section.In road network data, a large amount of calculating are the shortest
Path spends the time long.And for a large amount of floating car datas, some same paths were possible to by not in one day
Repeatedly travel with Floating Car, so can cause to compute repeatedly path in the path matching of different vehicle, lead to matching speed
The problem reducing.
Entitled " using the magnanimity floating car data path adaptation fast algorithm of map rasterizing " (author: Li Yuguang, Lee
Clear spring, Wuhan University Journal (information science version), 2014.39 (6): the Floating Car map match that document p.724-733) is given
Fast algorithm is only the acceleration strategy during geometric properties coupling for single-point, does not address the association between adjacent track point
The slow problem of speed during the matching analysis.The patent of Publication No. cn103149576a discloses a kind of " map of floating car data
Matching process ", although the shortest path that this patent is directed in Floating Car map match calculates some optimizations, it is the shortest
The calculating in path remains and carries out in coupling, and inevitably has a large amount of repetitions in coupling for a large amount of Floating Car
Path, during this mass data coupling, duplicate paths calculate this patent of efficiency brought and are not directed to.
Content of the invention
For above-mentioned technical problem present in prior art, the present invention proposes the Floating Car that a kind of travel speed limits
Map match accelerated method, can greatly accelerate the speed of matching primitives in Floating Car map matching process, floating beneficial to saving
The time overhead of motor-car map match.
To achieve these goals, the present invention adopts the following technical scheme that
The Floating Car map match accelerated method that travel speed limits, comprises the steps:
S1, the shortest path upper bound b of calculating Floating Car map match:
Maximum speed limit v is taken out in s11, the speed limit of all road segmental arcs from road networkmax, by this maximum speed limit
Value vmaxFloating 40% obtains threshold speed vLimit threshold, vLimit threshold=(1+0.4) * vmax；
S12, the sampling time interval t according to floating wheel paths to be matched, calculate adjacent track point in road network
The shortest path upper bound b, b=vLimit threshold*t；
S2, road network is split:
Calculate the minimum enclosed rectangle of road network first, then grid segmentation carried out to road network,
Set the quantity of road network node as n, segmentation threshold as m, n, m are natural number, and n is more than m, and calculating is more than
The minimum even number m of n/m；Find a Factorization m=m1*m2 of m so that m1 and m2 meets ratio and the road network of m1 and m2
Minimum enclosed rectangle length-width ratio closest, make m1 be number of lines, m2 be column number, set up benchmark grid；Each benchmark grid
The quantity of interior road network node is not more than m；
The grid that is expanded after the width that length is b is outwards expanded on the border of each benchmark grid, calculates each extension
The road segmental arc being comprised inside grid and node；
S3, the dijkstra algorithm in the road network in each extension grid that step s2 obtains, after improving
All shortest paths of the shortest path upper bound b that calculating obtains less than step s12:
The beeline table d of all nodes pair and predecessor node in road network g (v, e) in s31, initialization extension grid
To table pre, wherein, v represents all sets of node in road network, and e represents all road segmental arc collection in road network；
If node is not same node to two nodes of (v, w) and is joined directly together by a segmental arc, then its distance mark
Number d (v, w) is set to segmental arc length l (v, w), and these nodes is put into (v, w) in weight minimum Priority Queues q, and it is excellent
Priority weight in first queue q is d (v, w), and predecessor node is to pre (v, w)=0；
If node is not same node to two nodes of (v, w) and is not joined directly together by a segmental arc, then by distance
Label d (v, w) is set to 64 floating number effable maximum floating numbers dbm；
If node is same node to two nodes of (v, w), then distance label d (v, w) is set to 0；
S32, repeated execution of steps s33～s34, until Priority Queues q is empty or Priority Queues q MINIMUM WEIGHT weight values
During the shortest path upper bound b obtaining more than step s12, go to step s35；
S33, obtain the minimum node of weight from Priority Queues q to (v, w), it is removed from Priority Queues q；
S34, for road segmental arc (w, u) from w in road network, calculate d (v, w)+l (w, u):
If d (v, w)+l (w, u) < d (v, u), and d (v, u) is maximum floating number dbm, then by the distance mark of node pair
Number d (v, u) is changed to d (v, w)+l (w, u), and node is added in Priority Queues q to (v, u), and its predecessor node is to pre (v, u)
=(v, w)；
If d (v, w)+l (w, u) < d (v, u), and d (v, u) is not maximum floating number dbm, then by the distance of node pair
Label d (v, u) is changed to d (v, w)+l (w, u), its priority weight in Priority Queues q is also reset to d (v, u), its forerunner
Node is to pre (v, u)=(v, w)；
The beeline table d of all nodes pair in road network in s35, preservation extension grid and predecessor node are to table
pre；
S4, in front and back's tracing point candidate road section between association coupling in, first according to coordinate calculating before and after tracing point
Belonged to which benchmark grid ri, then determines all nodes pair in road network in this benchmark grid ri according to step s3
The short distance table d and predecessor node position to table；
S5, set before and after the corresponding candidate road section of tracing point to for (e1, e2), take the terminal node v1 of segmental arc e1, e2's
Start node v2, calculates previous tracing point to the intersection point of e1 along segmental arc e1 to v1 apart from l1 simultaneously, and v2 is along segmental arc e2 to rear one
Tracing point is to the intersection point of e2 apart from l2；
S6, with starting point v1, terminating point v2 for a node to (v1, v2), benchmark grid ri all nodes pair
Directly inquiring its shortest path distance in short distance table d is dsp, then intersection point on e1 for the previous tracing point exists to later section point
The distance of the intersection point on e2 is l1+l2+dsp；
S7, benchmark grid ri all nodes pair predecessor node in table, backtracking recovers the shortest path of v1 to v2:
S71, v2 is put in a queue h, h is initialized as sky, insert v2 from queue h tail；
S72, take out node to the predecessor node of (v1, v2) to pre (v1, v2)=(v1 x), x is inserted from queue h tail；
S73, step s72 interior joint is replaced with to (v1, v2) taking-up (v1, x), repeated execution of steps s72, Zhi Daoqu
The forerunner of egress pair is 0 termination；After termination, v1 is inserted from queue h tail；
S74, the node sequence in queue h is reverse, the as shortest path of v1 to v2.
The present invention has the advantage that
The present invention estimates an adjacent rail according to travel speed threshold value in section in city road network and Floating Car sampling interval
The shortest path upper bound that mark point travels in road network, and all sections in road network are precalculated with this shortest path upper bound
Point to shortest path；Before and after estimating in the map matching process of Floating Car, the candidate road section of tracing point is to coupling possibility
When, the Shortest Path Analysis being related to only need to be can get by the result that inquiry pre-processes, and has been greatly saved Floating Car map
The time overhead of coupling, additionally, splitting, by grid, the node scale controlling road network, its pretreatment time also can be at one
Complete in the shorter time.Further, since all calculating to shortest path are with b as the upper bound in the present invention, therefore locate in advance
Also and less, all with 4000 meters of length as the upper bound of general 10,000 node road networks are to shortest path for the time overhead of reason
Solve about 1-2 minute, for the time overhead of this preprocess method of urban road network of Floating Car map match application
Also little.
Brief description
Fig. 1 is road network segmentation schematic diagram in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention:
The inventive method is divided into pretreatment and two parts of matching inquiry, and very time-consuming shortest path in coupling is calculated
It is placed on pretreatment stage to complete, and then only need during real-time matching to inquire shortest path according to initial terminal node.By estimation
In coupling can all shortest paths the upper bound, can in pretreatment stage, the calculating of all shortest paths will be controlled at this
Within the individual upper bound, the time overhead of so pretreatment also will complete within the relatively short time (5-10 minute).
Specifically, the Floating Car map match accelerated method that the travel speed in the present invention limits, comprises the steps:
1st, pretreatment stage, mainly completes before floating car data coupling
S1, the shortest path upper bound b of calculating Floating Car map match:
Maximum speed limit v is taken out in s11, the speed limit of all road segmental arcs from road networkmax, by this maximum speed limit
Value vmaxFloating 40% obtains threshold speed vLimit threshold, vLimit threshold=(1+0.4) * vmax；
S12, the sampling time interval t according to floating wheel paths to be matched, calculate adjacent track point in road network
The shortest path upper bound b, b=vLimit threshold*t.
S2, road network is split:
Calculate the minimum enclosed rectangle of road network first, then grid segmentation carried out to road network,
Set the quantity of road network node as n, segmentation threshold as m, n, m are natural number, and n is more than m, and calculating is more than
The minimum even number m of n/m；Find a Factorization m=m1*m2 of m so that m1 and m2 meets ratio and the road network of m1 and m2
Minimum enclosed rectangle length-width ratio closest, make m1 be number of lines, m2 be column number, set up benchmark grid 1；Each benchmark grid
In 1, the quantity of road network node is not more than m；
The grid 2 that is expanded after the width that length is b is outwards expanded on the border of each benchmark grid, calculates each extension
The road segmental arc being comprised inside grid and node, as shown in Figure 1.The node scale controlling road network is split by grid,
Its pretreatment time can complete within a shorter time.
Determine the road network in each benchmark grid corresponding extension grid, and calculate length in this road network and be less than
Upper bound b all to shortest path, even if the initial, terminal node so inquiring in benchmark grid is respectively in different benchmark
Node pair in grid, as long as its shortest path length is less than b, then its result necessarily can be looked in the result that pretreatment calculates
Inquiry obtains.
S3, the dijkstra algorithm in the road network in each extension grid 2 that step s2 obtains, after improving
All shortest paths of the shortest path upper bound b that calculating obtains less than step s12:
The beeline table d of all nodes pair and predecessor node in road network g (v, e) in s31, initialization extension grid
To table pre, wherein, v represents all sets of node in road network, and e represents all road segmental arc collection in road network；
If node is not same node to two nodes of (v, w) and is joined directly together by a segmental arc, then its distance mark
Number d (v, w) is set to segmental arc length l (v, w), and these nodes is put into (v, w) in weight minimum Priority Queues q, and it is excellent
Priority weight in first queue q is d (v, w), and predecessor node is to pre (v, w)=0；
If node is not same node to two nodes of (v, w) and is not joined directly together by a segmental arc, then by distance
Label d (v, w) is set to 64 floating number effable maximum floating numbers dbm；
If node is same node to two nodes of (v, w), then distance label d (v, w) is set to 0；
S32, repeated execution of steps s33～s34, until Priority Queues q is empty or Priority Queues q MINIMUM WEIGHT weight values
During the shortest path upper bound b obtaining more than step s12, go to step s35；
S33, obtain the minimum node of weight from Priority Queues q to (v, w), it is removed from Priority Queues q；
S34, for road segmental arc (w, u) from w in road network, calculate d (v, w)+l (w, u):
If d (v, w)+l (w, u) < d (v, u), and d (v, u) is maximum floating number dbm, then by the distance mark of node pair
Number d (v, u) is changed to d (v, w)+l (w, u), and node is added in Priority Queues q to (v, u), and its predecessor node is to pre (v, u)
=(v, w)；
If d (v, w)+l (w, u) < d (v, u), and d (v, u) is not maximum floating number dbm, then by the distance of node pair
Label d (v, u) is changed to d (v, w)+l (w, u), its priority weight in Priority Queues q is also reset to d (v, u), its forerunner
Node is to pre (v, u)=(v, w)；
The beeline table d of all nodes pair in road network in s35, preservation extension grid and predecessor node are to table
pre.
Because calculating to shortest path all in step s3 are with b as the upper bound, the therefore time overhead of pretreatment
And less, the solving the shortest path of general 10,000 node road networks at 5 minutes about, for the city of Floating Car map match application
The time overhead of city's this preprocess method of road network is also little.
2nd, matching inquiry part, in front and back's tracing point candidate road section between association coupling in, shortest path can be straight
Connect result according to preprocessing part to search
S4, first according to coordinate calculating before and after tracing point belonged to which benchmark grid ri, then according to step s3 determine should
The beeline table d of all nodes pair in road network in the benchmark grid ri and predecessor node position to table；
S5, set before and after the corresponding candidate road section of tracing point to for (e1, e2), take the terminal node v1 of segmental arc e1, e2's
Start node v2, calculates previous tracing point to the intersection point of e1 along segmental arc e1 to v1 apart from l1 simultaneously, and v2 is along segmental arc e2 to rear one
Tracing point is to the intersection point of e2 apart from l2；
S6, with starting point v1, terminating point v2 for a node to (v1, v2), benchmark grid ri all nodes pair
Directly inquiring its shortest path distance in short distance table d is dsp, then intersection point on e1 for the previous tracing point exists to later section point
The distance of the intersection point on e2 is l1+l2+dsp；
S7, benchmark grid ri all nodes pair predecessor node in table, backtracking recovers the shortest path of v1 to v2:
S71, v2 is put in a queue h, h is initialized as sky, insert v2 from queue h tail；
S72, take out node to the predecessor node of (v1, v2) to pre (v1, v2)=(v1 x), x is inserted from queue h tail；
S73, step s72 interior joint is replaced with to (v1, v2) taking-up (v1, x), repeated execution of steps s72, Zhi Daoqu
The forerunner of egress pair is 0 termination；After termination, v1 is inserted from queue h tail；
S74, the node sequence in queue h is reverse, the as shortest path of v1 to v2.
In Floating Car map matching process, by directly inquiring about pre-processed results, obtain the association of before and after's gnss tracing point
Shortest path between section, can realize high performance acceleration to magnanimity Floating Car map-matching method.
Certainly, only presently preferred embodiments of the present invention described above, the present invention is not limited to enumerate above-described embodiment, should
When explanation, any those of ordinary skill in the art are under the teaching of this specification, all equivalent substitutes of being made, bright
Aobvious variant, all falls within the essential scope of this specification, ought to be protected by the present invention.
Claims (1)
1. the Floating Car map match accelerated method that travel speed limits is it is characterised in that comprise the steps:
S1, the shortest path upper bound b of calculating Floating Car map match:
Maximum speed limit v is taken out in s11, the speed limit of all road segmental arcs from road networkmax, by this maximum speed limit vmax
Floating 40% obtains threshold speed vLimit threshold, vLimit threshold=(1+0.4) * vmax；
S12, the sampling time interval t according to floating wheel paths to be matched, calculate adjacent track point the shortest in road network
The path upper bound b, b=vLimit threshold*t；
S2, road network is split:
Calculate the minimum enclosed rectangle of road network first, then grid segmentation carried out to road network,
Set the quantity of road network node as n, segmentation threshold as m, n, m are natural number, and n is more than m, calculate and are more than n/m
Minimum even number m；Find a Factorization m=m1*m2 of m so that m1 and m2 meets the ratio of m1 and m2 and road network
Minimum enclosed rectangle length-width ratio is closest, makes m1 be number of lines, and m2 is column number, sets up benchmark grid；In each benchmark grid
The quantity of road network node is not more than m；
The grid that is expanded after the width that length is b is outwards expanded on the border of each benchmark grid, calculates each and extend grid
Road segmental arc and node that inside is comprised；
S3, the dijkstra algorithm calculating in the road network in each extension grid that step s2 obtains, after improving
All shortest paths of the shortest path upper bound b obtaining less than step s12:
In road network g (v, e) in s31, initialization extension grid, the beeline table d of all nodes pair and predecessor node are to table
Pre, wherein, v represents all sets of node in road network, and e represents all road segmental arc collection in road network；
If node is not same node to two nodes of (v, w) and is joined directly together by a segmental arc, then its distance label d
(v, w) is set to segmental arc length l (v, w), and these nodes is put into (v, w) in weight minimum Priority Queues q, and it is in preferential team
Priority weight in row q is d (v, w), and predecessor node is to pre (v, w)=0；
If node is not same node to two nodes of (v, w) and is not joined directly together by a segmental arc, then by distance label d
(v, w) is set to 64 floating number effable maximum floating numbers dbm；
If node is same node to two nodes of (v, w), then distance label d (v, w) is set to 0；
S32, repeated execution of steps s33～s34, until Priority Queues q is that empty or Priority Queues q MINIMUM WEIGHT weight values are more than
During the shortest path upper bound b that step s12 obtains, go to step s35；
S33, obtain the minimum node of weight from Priority Queues q to (v, w), it is removed from Priority Queues q；
S34, for road segmental arc (w, u) from w in road network, calculate d (v, w)+l (w, u):
If d (v, w)+l (w, u) < d (v, u), and d (v, u) is maximum floating number dbm, then by distance label d of node pair
(v, u) is changed to d (v, w)+l (w, u), and by node to (v, u) add Priority Queues q in, its predecessor node to pre (v, u)=
(v,w)；
If d (v, w)+l (w, u) < d (v, u), and d (v, u) is not maximum floating number dbm, then by the distance label of node pair
D (v, u) is changed to d (v, w)+l (w, u), its priority weight in Priority Queues q is also reset to d (v, u), its predecessor node
To pre (v, u)=(v, w)；
The beeline table d of all nodes pair in road network in s35, preservation extension grid and predecessor node are to table pre；
S4, in front and back's tracing point candidate road section between association coupling in, first according to coordinate calculating before and after tracing point belong to
Which benchmark grid ri, then determines the short distance of all nodes pair in road network in this benchmark grid ri according to step s3
From the table d and predecessor node position to table；
S5, set before and after the corresponding candidate road section of tracing point to being (e1, e2), take the terminal node v1 of segmental arc e1, e2 initiates
Node v2, calculates previous tracing point to the intersection point of e1 along segmental arc e1 to v1 apart from l1, v2 is along segmental arc e2 to a rear track simultaneously
Point is to the intersection point of e2 apart from l2；
S6, with starting point v1, terminating point v2 for a node to (v1, v2), in the short distance of all nodes pair of benchmark grid ri
Directly inquire in table d with a distance from its shortest path as dsp, then previous tracing point the intersection point on e1 to later section point on e2
Intersection point distance be l1+l2+dsp；
S7, benchmark grid ri all nodes pair predecessor node in table, backtracking recovers the shortest path of v1 to v2:
S71, v2 is put in a queue h, h is initialized as sky, insert v2 from queue h tail；
S72, take out node to the predecessor node of (v1, v2) to pre (v1, v2)=(v1 x), x is inserted from queue h tail；
S73, step s72 interior joint is replaced with to (v1, v2) taking-up (v1, x), repeated execution of steps s72, until take out section
Point to forerunner be 0 termination；After termination, v1 is inserted from queue h tail；
S74, the node sequence in queue h is reverse, the as shortest path of v1 to v2.
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| CN104634352B (en) * | 2015-03-02 | 2015-11-11 | 吉林大学 | A kind of road matching method merged based on Floating Car motion track and electronic chart |
| CN111595353B (en) * | 2020-04-26 | 2022-02-11 | 北京大学 | Real-time map matching method based on GPU and Spark mixed parallel computing architecture |
| CN112629552B (en) * | 2021-01-04 | 2022-06-07 | 福州大学 | Communication balance based map partition shortest driving route planning method for motor vehicle |
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