CN107133359B - Vehicle rollover warning feature point and electronic map matching method and device - Google Patents
Vehicle rollover warning feature point and electronic map matching method and device Download PDFInfo
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Abstract
The invention discloses a method and a device for matching vehicle rollover warning feature points with an electronic map, wherein the method comprises the following steps: obtaining an original track file of vehicle running; analyzing according to the original track file to obtain original track file data; correcting the data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point; and projecting the original track file data to the longitude and latitude data to obtain early warning feature points. According to the scheme, the original track data carrying road condition information is used for projection processing on the track line returned after rectification, the processed track data can carry the original road condition information and the rectified position information, and therefore accurate information of the vehicle rollover early warning point is obtained by combining an electronic map.
Description
Technical Field
The disclosure relates to the technical field of vehicle navigation electronic maps, in particular to a method and a device for matching vehicle rollover warning feature points with an electronic map.
Background
With the development of technology, vehicle navigation is increasingly applied, and electronic maps related to the vehicle navigation are greatly developed. However, the conventional electronic map for vehicle navigation cannot fully reflect the actual road condition, and the warning information for the vehicle navigation road is insufficient.
In the prior art, coordinates of early warning points of rollover, jolt and heavy gradient measured by hardware of a vehicle-mounted safety early warning system are provided for a GPS module of a product, most of the mainstream digital two-dimensional maps in the market are data processed by a map company, an error exists between the map and the map, an API function of road matching is to match data sets of roads to roads corresponding to the map, and corresponding characteristic points cannot automatically judge line segments which are matched to the roads.
Therefore, in order to overcome the drawbacks of the conventional vehicle navigation and electronic map, a new scheme for matching the vehicle navigation early warning features with the electronic map is needed.
Disclosure of Invention
In view of the above, the present disclosure is provided to provide a vehicle rollover warning feature point and electronic map matching method and apparatus that overcomes or at least partially solves the above-mentioned problems.
According to one aspect of the disclosure, a method for matching a vehicle rollover warning feature point with an electronic map is provided, which includes:
acquiring an original track file of vehicle running;
analyzing according to the original track file to obtain original track file data;
correcting the data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point;
and projecting the original track file data to the longitude and latitude data to obtain early warning feature points.
The original track file includes but is not limited to: longitude, latitude, speed, altitude, heading, roll, pitch, bump information, road rollover level, and/or dangerous driving.
The acquiring of the original track file of the vehicle comprises:
and acquiring an original track file recorded and stored in the vehicle-mounted safety early warning system according to the set time point.
The method further comprises the following steps:
and filtering and rarefying the original track file data to filter out interference data.
The projecting the original track file data onto the longitude and latitude data comprises:
traversing the original track file data, and sequentially projecting data points in the original track file data onto Ln; the Ln is a track line formed by sequentially connecting each point corresponding to the longitude and latitude data, N is 1,2,3 … … N, and N is the number of the points corresponding to the longitude and latitude data minus one;
and determining whether the projection is successful according to the returned angle value, and recording coordinates of the point with the successful projection.
The determining whether the projection is successful according to the returned angle value includes:
two points B, C are taken from the longitude and latitude data, a point P is taken from the original track file data, the point P is projected onto a line segment BC, and the coordinate of a projection point Q of the point P on the line segment BC is solved; the method specifically comprises the following steps:
B. c, P, Q points are B (xb, yb), C (xc, yc), P (xp, yp) and Q (xq, yq); the vector from B to C is s (xs, ys), and the vector from B to P is r (xr, yr); the norm of s is light _ s, and the norm of r is light _ r;
right _ s ═ math.sqrt (xs × xs + ys @), right _ r ═ math.sqrt (xr × xr + yr) —; sqrt (double d) is the arithmetic square root for calculating a real number;
if the vector a is (x1, y1) and the vector b is (x2, y2), then a · b is x1x2+ y1y2 | | | | b | cos θ, θ is the angle between a and b;
cos ([ PBC) ═ xr × xs + yr ═ ys)/(light _ s × light _ r), [ PBC ] ═ acos ((xr × xs + yr × ys)/(light _ s _ light _ r)); calculating the value of the & PCB in the same way;
if < PBC > pi/2 or < PCB > pi/2, the point P is on two sides of the line segment BC and cannot be projected onto the line segment BC; otherwise, continuing to execute;
taking PB and BC as adjacent edges to make a parallelogram, and if BC is taken as a base, the area of the parallelogram is xr _ ys-yr _ xs or light _ s _ d; d is the height of the parallelogram with BC as the base; obtaining d ═ (xrys-yr xs)/length _ s;
let s be angleRad, then tan (ys/xs) is angleRad; angleRad ═ math. atan2 (ys/xs); atan2(x, y) returns the arctangent value of y/x in radians;
xq ═ yp-d ═ cos (anglerad), yq ═ xp-d ═ sin (anglerad); xq, yq are the horizontal and vertical coordinates of point Q.
The projecting the original track file data onto the longitude and latitude data specifically includes:
projecting the points to be projected onto Ln and Ln +1 simultaneously;
if there is a value on Ln, there is no value on Ln + 1: if the point to be projected is in front of Ln +1, the pointer moves backwards and continues to execute; otherwise, returning to the new coordinates of the projection points on Ln;
if the Ln +1 has a value and the Ln has no value, returning a new coordinate on the Ln +1, and moving the pointer i backwards;
if the Ln +1 has a value and the Ln also has a value, comparing the distances from the two projection points to the two new coordinates, and returning the new coordinates of the projection points close to the projection points; if the return value on Ln +1 is selected, the pointer i needs to be shifted back by 1 bit;
if the Ln +1 has no value, the Ln also has no value, and the angle value in the returned projection point is less than pi/2, only the pointer i is moved backwards;
and judging whether the pointer i reaches the last section Ln, if so, ending the process.
According to another aspect of the present disclosure, there is provided a vehicle rollover warning feature point and electronic map matching device, including:
the original track file acquisition unit is used for acquiring an original track file of vehicle running;
the data analysis unit is used for analyzing the original track file to obtain original track file data;
the correction unit is used for correcting data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point;
and the projection unit is used for projecting the original track file data onto the longitude and latitude data to obtain early warning feature points.
The original track file obtaining unit is further configured to:
and acquiring an original track file recorded and stored in the vehicle-mounted safety early warning system according to the set time point.
The rectification unit is further configured to:
and filtering and rarefying the original track file data to filter out interference data.
According to one or more technical schemes disclosed above, a scheme for matching a rollover warning feature point of a vehicle with an electronic map is provided, wherein an original track file of vehicle driving is obtained; analyzing according to the original track file to obtain original track file data; correcting the data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point; and projecting the original track file data to the longitude and latitude data to obtain early warning feature points. According to the scheme, information in the original running track of the vehicle can be projected into the track of the electronic map, the original track data carrying road condition information is used for projection processing on the track line returned after correction, the processed track data can carry the original road condition information and the corrected position information, and therefore accurate information of the vehicle rollover warning point is obtained by combining the electronic map.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the disclosure. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 illustrates a flow chart of a vehicle rollover warning feature point and electronic map matching method according to one embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a projection computation method according to an embodiment of the present disclosure;
FIG. 3 illustrates a schematic diagram of a projection logic method according to one embodiment of the present disclosure;
fig. 4 is a schematic structural diagram illustrating a vehicle rollover warning feature point and electronic map matching device according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
Fig. 1 is a flowchart illustrating a method for matching a vehicle rollover warning feature point with an electronic map according to the present embodiment, and with reference to fig. 1, the method may include:
and step 11, acquiring an original track file of vehicle running.
In one embodiment, the original track file is an original record file of the vehicle driving, and can be generally obtained by the relevant equipment. Generally, a bluetooth connection hardware device can be used through the APP, and a user can manually select and acquire a track file of a corresponding date. The track file is road data collected by a vehicle-mounted safety early warning system, belongs to after-loading equipment, is stored in a TF card, and can be transmitted to a mobile phone through Bluetooth for storage.
The data contained in the track file includes longitude, latitude, speed, altitude, course, roll, pitch, bump information, road rollover level, dangerous driving and the like, and all the data is obtained by hardware equipment.
And step 12, analyzing the original track file to obtain original track file data.
In one embodiment, the APP can read the track file through a specific protocol, and the read track points are filtered, thinned and the like, so that interference data are filtered.
And step 13, correcting the data points in the original track file data on the electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point.
In one embodiment, the method is an online deviation rectifying method packaged by an electronic map API, original track points are used as parameters, and a longitude and latitude set which is completely matched with the electronic map can be obtained after deviation rectification. The data before and after the deviation correction actually represent the same line, and only the data after the deviation correction is matched with the electronic map better.
For example, the following related programs may be all written in Java, complying with the Java language format, and the function library used is a Java function library. The API method related to the map aspect is provided by the open API of the electronic map if no special description is given. The present embodiment is not intended to limit the specific programming scheme, but merely to illustrate the operational principles thereof.
Usually, the electronic map provides a corresponding deviation rectifying method for rectifying the self track point. The embodiment can call the correction method related to the electronic map. The return value can be obtained by providing the parameters required by the method. The deviation rectifying method only rectifies the position information, and the returned data after the deviation rectification does not carry the road condition information before the deviation rectification. Therefore, after the deviation correction, the original track data carrying the road condition information needs to be used for projection processing on the track line returned after the deviation correction, and the processed track data can carry the original road condition information and the corrected position information.
Calling a format: lbs traceclient. queryprocessdtrace (int lineID, List < TraceLocation > locations, int type, TraceListener List).
And returning a value: by the method, a List < LatLng > type track point set can be obtained, and the set is obtained in a listener deviation rectifying callback.
Parameters are as follows:
the lineID-is used for marking one track and supporting multi-track deviation correction, and if a plurality of tracks call a deviation correction interface, the lineID needs to be different.
locations-a set of points of a trajectory, which is currently supported as a driving GPS high-precision positioning trajectory.
type-trajectory coordinate system.
listener-trajectory rectification callback.
Wherein List < - >: set class in Java language, "-" is the type stored in this set. The method get (i) of the List can obtain the data of the i position in the set. add () method, data "" can be added to the List set.
latLng: the electronic map package stores the class of longitude and latitude coordinate values, and the attributes of the class comprise longitude and latitude.
LBS TraceClient: the type of the track deviation rectifying function provided by the electronic map is called, and the method for calling the deviation rectifying function is a queryprocessTracce method using LBS TraceClient.
TraceLocation: the electronic map defines information of a point for trajectory rectification, which currently needs to: longitude, latitude, speed, heading angle, location time.
And 14, projecting the original track file data to the longitude and latitude data to obtain early warning feature points.
In one embodiment, the original data information and the map information returned after rectification are used as parameters, and the longitude and latitude information in the original set can be replaced by data which is more in accordance with map display after the projection operation. And drawing a track line on the map by using the projected track point data and using a two-point line drawing principle.
Specifically, RawData: the attributes of the original track point information classes customized by the information collecting program of the hardware equipment comprise longitude, latitude, speed, altitude, course, roll, pitch, bump information, road rollover grade, dangerous driving and time.
Project edmessage: the self-defined projection return information class aiming at the projection operation comprises a RawData type data which is represented by the RawData; and the value of ═ PBC, denoted by angle. By judging the values of angle and rawData, the projection result can be analyzed. If the rawData has a value, the projection is successful; if the rawData has no value, the projection is unsuccessful. In case of unsuccessful, by determining the value of angle, the position relationship between the point P to be projected and the line segment BC can be known, for example: angle < pi/2, indicating that point P is in the BC direction, as shown in FIG. 2 at point P1; if angle > π/2, it indicates that point P is in the CB direction.
The specific projection method, see fig. 2, wherein the projection is a straight line projection method, and any two points B, C are taken on the coordinate system. Then, a point P is selected from any point other than point B, C, and the point P is projected onto the line segment BC, and the coordinates of the projected point Q of the point P on the line segment BC are obtained.
The method comprises the following parameters: a line segment starting point B, a line segment end point C and a point P to be projected.
And returning a value: the value of the < PBC and the coordinates of the new point Q.
The algorithm process is as follows:
let the coordinates of point B, C, P, Q be B (xb, yb), C (xc, yc), P (xp, yp), Q (xq, yq), respectively. The vector from B to C is s (xs, ys), and the vector from B to P is r (xr, yr). Modulo of s is light _ s and modulo of r is light _ r.
Then, light _ s ═ math.sqrt (xs × xs + ys @), light _ r ═ math.sqrt (xr × xr + yr) ·. Sqrt (double d) method can calculate the arithmetic square root of a real number.
As can be seen from the equation of the number product of vectors, if the vector a is (x1, y1) and the vector b is (x2, y2), then a · b is x1x2+ y1y2 is | a | | b | cos θ (θ is the included angle a, b).
Therefore, cos ([ PBC) ═ xr × xs + yr ═ ys)/(light _ s × light _ r), [ PBC ] ═ acos ((xr × xs + yr @)/(light _ s × light _ r)). And the value of the & lt PCB can be calculated by the same method.
Judging that if < PBC > pi/2 or < PCB > pi/2, indicating that the point P is on two sides of the line segment BC, the point P cannot be projected onto the line segment BC, and the program can return here. Otherwise, the execution is continued.
Referring to FIG. 2, adjacent sides PB and BC are used as parallelograms. If BC is the base, the parallelogram area calculation formula is xr ys-yr xs or light s d (d is the height of the parallelogram when BC is the base). Therefore, d ═ xs-yr × xs/light _ s can be obtained.
Let s be an angle angleRad, tan (ys/xs) is angleRad, so angleRad is math. Atan2(x, y) can return the arctangent value of y/x in radians.
To this end, the relevant geometric knowledge may be used to derive xq ═ yp-d ═ cos (angleRad), yq ═ xp-d · sin (angleRad). xq and yq are the horizontal and vertical coordinates of the desired point Q.
The specific projection call logic method, see fig. 3, wherein the original trajectory set is traversed to obtain the point P to be projected, L is a route after deviation rectification, and is composed of points C1, C2, and C3 … Cn. Firstly, traversing an original set, sequentially projecting points onto L1, determining whether projection is successful and whether projection is required to be performed on L2 and L3 … Ln by judging angle values returned by a projection method, and setting a pointer index pointing to a current projection line. Here, Ln is a track line formed by sequentially connecting each point corresponding to the longitude and latitude data, N is 1,2,3 … … N, and N is the number of points corresponding to the longitude and latitude data minus one.
And projecting the points to be projected onto Ln and Ln +1 simultaneously.
If there is a value on Ln, there is no value on Ln + 1: if the point to be projected is before Ln +1, the pointer is moved backward and executed downward. Otherwise, returning the new coordinates on Ln.
If there is a value on Ln +1 and there is no value on Ln, then a new coordinate on Ln +1 is returned and pointer i is moved backward.
If there is a value on Ln +1 and also on Ln, the distances from the projected point to the two new coordinates are compared, and the new coordinate close to the projected point is returned. If the return value on Ln +1 is selected, the pointer i needs to be shifted back by 1 bit.
If there is no value on Ln +1, there is no value on Ln, and the angle value in the returned information is less than pi/2, then only the pointer i needs to be moved backward.
And judging whether the pointer i reaches the last segment Ln, wherein the projection on Ln +1 is not calculated since no n +1 segment exists at the moment.
In the embodiment, the original track file of the vehicle running is obtained; analyzing according to the original track file to obtain original track file data; correcting the data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point; and projecting the original track file data to the longitude and latitude data to obtain early warning feature points. According to the scheme, information in the original running track of the vehicle can be projected into the track of the electronic map, the original track data carrying road condition information is used for projection processing on the track line returned after correction, the processed track data can carry the original road condition information and the corrected position information, and therefore accurate information of the vehicle rollover warning point is obtained by combining the electronic map.
Example two
Fig. 4 is a schematic structural diagram of the vehicle rollover warning feature point and electronic map matching device according to the embodiment. Referring to fig. 4, the apparatus may include:
an original track file acquiring unit 41 for acquiring an original track file of vehicle travel;
the data analysis unit 42 is configured to analyze the original track file to obtain original track file data;
the deviation rectifying unit 43 is configured to rectify a deviation of data points in the original trajectory file data on an electronic map according to the original trajectory file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point;
and the projection unit 44 is configured to project the original track file data onto the longitude and latitude data to obtain an early warning feature point.
The original track file obtaining unit 41 is further configured to:
and acquiring an original track file recorded and stored in the vehicle-mounted safety early warning system according to the set time point.
The deviation rectifying unit 42 is further configured to:
and filtering and rarefying the original track file data to filter out interference data.
In the embodiments of the present disclosure, an original track file of vehicle driving is obtained; analyzing according to the original track file to obtain original track file data; correcting the data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point; and projecting the original track file data to the longitude and latitude data to obtain early warning feature points. According to the scheme, information in the original running track of the vehicle can be projected into the track of the electronic map, the original track data carrying road condition information is used for projection processing on the track line returned after correction, the processed track data can carry the original road condition information and the corrected position information, and therefore accurate information of the vehicle rollover warning point is obtained by combining the electronic map.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the disclosure may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Moreover, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments. For example, any of the embodiments claimed in the claims can be used in any combination.
Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. The present disclosure may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the disclosure, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
The foregoing is directed to embodiments of the present disclosure, and it is noted that numerous improvements, modifications, and variations may be made by those skilled in the art without departing from the spirit of the disclosure, and that such improvements, modifications, and variations are considered to be within the scope of the present disclosure.
Claims (8)
1. A vehicle rollover warning feature point and electronic map matching method is characterized by comprising the following steps:
acquiring an original track file of vehicle running;
analyzing according to the original track file to obtain original track file data;
correcting the data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point;
projecting the original track file data to the longitude and latitude data to obtain early warning feature points;
the projecting the original track file data onto the longitude and latitude data comprises:
traversing the original track file data, and sequentially projecting data points in the original track file data onto Ln; the Ln is a track line formed by sequentially connecting each point corresponding to the longitude and latitude data, N is 1,2,3 … … N, and N is the number of the points corresponding to the longitude and latitude data minus one;
determining whether the projection is successful according to the returned angle value, and recording coordinates of the points with successful projection;
the determining whether the projection is successful according to the returned angle value includes:
two points B, C are taken from the longitude and latitude data, a point P is taken from the original track file data, the point P is projected onto a line segment BC, and the coordinate of a projection point Q of the point P on the line segment BC is solved; the method specifically comprises the following steps:
B. c, P, Q points are B (xb, yb), C (xc, yc), P (xp, yp) and Q (xq, yq); the vector from B to C is s (xs, ys), and the vector from B to P is r (xr, yr); the norm of s is light _ s, and the norm of r is light _ r;
right _ s ═ math.sqrt (xs × xs + ys @), right _ r ═ math.sqrt (xr × xr + yr) —; sqrt (doubled) is the arithmetic square root for calculating a real number;
if the vector a is (x1, y1) and the vector b is (x2, y2), then a · b is x1x2+ y1y2 | | | | b | cos θ, θ is the angle between a and b;
cos ([ PBC) ═ xr × xs + yr ═ ys)/(light _ s × light _ r), [ PBC ] ═ acos ((xr × xs + yr × ys)/(light _ s _ light _ r)); calculating the value of the & PCB in the same way;
if < PBC > pi/2 or < PCB > pi/2, the point P is on two sides of the line segment BC and cannot be projected onto the line segment BC; otherwise, continuing to execute;
taking PB and BC as adjacent edges to make a parallelogram, and if BC is taken as a base, the area of the parallelogram is xr _ ys-yr _ xs or light _ s _ d; d is the height of the parallelogram with BC as the base; obtaining d ═ (xrys-yr xs)/length _ s;
let s be angleRad, then tan (ys/xs) is angleRad; angleRad ═ math. atan2 (ys/xs); atan2(x, y) returns the arctangent value of y/x in radians;
xq ═ yp-d ═ cos (anglerad), yq ═ xp-d ═ sin (anglerad); xq, yq are the horizontal and vertical coordinates of point Q.
2. The method of claim 1, wherein the original track file includes, but is not limited to: longitude, latitude, speed, altitude, heading, roll, pitch, bump information, road rollover level, and/or dangerous driving.
3. The method of claim 1 or 2, wherein the obtaining of the original trajectory file of the vehicle travel comprises:
and acquiring an original track file recorded and stored in the vehicle-mounted safety early warning system according to the set time point.
4. The method of claim 1, wherein the method further comprises:
and filtering and rarefying the original track file data to filter out interference data.
5. The method of claim 1, wherein projecting the raw track file data onto the latitude and longitude data specifically comprises:
projecting the points to be projected onto Ln and Ln +1 simultaneously;
if there is a value on Ln, there is no value on Ln + 1: if the point to be projected is in front of Ln +1, the pointer moves backwards and continues to execute; otherwise, returning to the new coordinates of the projection points on Ln;
if the Ln +1 has a value and the Ln has no value, returning a new coordinate on the Ln +1, and moving the pointer i backwards;
if the Ln +1 has a value and the Ln also has a value, comparing the distances from the two projection points to the two new coordinates, and returning the new coordinates of the projection points close to the projection points; if the return value on Ln +1 is selected, the pointer i needs to be shifted back by 1 bit;
if the Ln +1 has no value, the Ln also has no value, and the angle value in the returned projection point is less than pi/2, only the pointer i is moved backwards;
and judging whether the pointer i reaches the last section Ln, if so, ending the process.
6. The utility model provides a vehicle early warning feature point and electronic map matching device that turns on one's side which characterized in that includes:
the original track file acquisition unit is used for acquiring an original track file of vehicle running;
the data analysis unit is used for analyzing the original track file to obtain original track file data;
the correction unit is used for correcting data points in the original track file data on an electronic map according to the original track file data to obtain longitude and latitude data of a matched electronic map corresponding to each data point;
the projection unit is used for projecting the original track file data onto the longitude and latitude data to obtain early warning feature points;
the projecting the original track file data onto the longitude and latitude data comprises:
traversing the original track file data, and sequentially projecting data points in the original track file data onto Ln; the Ln is a track line formed by sequentially connecting each point corresponding to the longitude and latitude data, N is 1,2,3 … … N, and N is the number of the points corresponding to the longitude and latitude data minus one;
determining whether the projection is successful according to the returned angle value, and recording coordinates of the points with successful projection;
the determining whether the projection is successful according to the returned angle value includes:
two points B, C are taken from the longitude and latitude data, a point P is taken from the original track file data, the point P is projected onto a line segment BC, and the coordinate of a projection point Q of the point P on the line segment BC is solved; the method specifically comprises the following steps:
B. c, P, Q points are B (xb, yb), C (xc, yc), P (xp, yp) and Q (xq, yq); the vector from B to C is s (xs, ys), and the vector from B to P is r (xr, yr); the norm of s is light _ s, and the norm of r is light _ r;
right _ s ═ math.sqrt (xs × xs + ys @), right _ r ═ math.sqrt (xr × xr + yr) —; sqrt (doubled) is the arithmetic square root for calculating a real number;
if the vector a is (x1, y1) and the vector b is (x2, y2), then a · b is x1x2+ y1y2 | | | | b | cos θ, θ is the angle between a and b;
cos ([ PBC) ═ xr × xs + yr ═ ys)/(light _ s × light _ r), [ PBC ] ═ acos ((xr × xs + yr × ys)/(light _ s _ light _ r)); calculating the value of the & PCB in the same way;
if < PBC > pi/2 or < PCB > pi/2, the point P is on two sides of the line segment BC and cannot be projected onto the line segment BC; otherwise, continuing to execute;
taking PB and BC as adjacent edges to make a parallelogram, and if BC is taken as a base, the area of the parallelogram is xr _ ys-yr _ xs or light _ s _ d; d is the height of the parallelogram with BC as the base; obtaining d ═ (xrys-yr xs)/length _ s;
let s be angleRad, then tan (ys/xs) is angleRad; angleRad ═ math. atan2 (ys/xs); atan2(x, y) returns the arctangent value of y/x in radians;
xq ═ yp-d ═ cos (anglerad), yq ═ xp-d ═ sin (anglerad); xq, yq are the horizontal and vertical coordinates of point Q.
7. The apparatus of claim 6, wherein the original track file obtaining unit is further configured to:
and acquiring an original track file recorded and stored in the vehicle-mounted safety early warning system according to the set time point.
8. The apparatus of claim 6, wherein the deskew unit is further configured to:
and filtering and rarefying the original track file data to filter out interference data.
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