CN107331186B - Positioning method of self-parking position on traffic road condition schematic diagram - Google Patents
Positioning method of self-parking position on traffic road condition schematic diagram Download PDFInfo
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- CN107331186B CN107331186B CN201610271550.6A CN201610271550A CN107331186B CN 107331186 B CN107331186 B CN 107331186B CN 201610271550 A CN201610271550 A CN 201610271550A CN 107331186 B CN107331186 B CN 107331186B
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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Abstract
The invention discloses a method for positioning a self-vehicle position on a traffic road condition sketch, which comprises the steps of generating the traffic road condition sketch according to a real geographical map, dividing traffic areas, collecting IDs of all road sections in the traffic areas, forming an ID set, and acquiring a geographical coordinate set of the traffic areas by the ID set; acquiring a pixel coordinate set in a traffic area and corresponding to a geographic coordinate set, determining a self-vehicle coordinate point on a real geographic map, building a ray from the center of the real geographic map through the self-vehicle coordinate point, and intersecting the ray with a geographic area boundary, thereby obtaining an included angle between the ray and the due north direction and a ratio of a line segment of the real geographic map from the center of the real geographic map to the line segment of the intersection point of the ray from the self-vehicle coordinate point to the geographic area boundary; and projecting the vehicle to a traffic area in the traffic road condition sketch according to the ratio of the included angle to the line segment, thereby determining the position of the vehicle on the traffic road condition sketch. The method can visually calibrate and display the position of the vehicle on the traffic road condition schematic diagram, and provides more convenient vehicle positioning service for driving.
Description
Technical Field
The invention relates to a positioning method of a self-parking position on a traffic road condition sketch.
Background
The self-vehicle positioning generally refers to the position of the self-vehicle GPS coordinate on a real geographic map, and the real geographic map is shown in FIG. 1; the traffic road condition sketch is generated by abstracting through a regional road network in a real geographic map, so that the position of a self-vehicle cannot be converted into the corresponding pixel coordinate on the traffic road condition sketch through a real GPS coordinate generally, and the position of the self-vehicle cannot be calibrated and displayed by the abstractly generated traffic road condition sketch. The traffic road condition sketch is shown in fig. 2, and is generally applied to vehicles, mobile terminals and various traffic road condition indicators, and the traffic road condition sketch can more visually display real-time road conditions of global cities, partial regions or main roads compared with a real geographic map, and has no defects of high complexity and difficulty in identification of the geographic map, so that the main roads in the urban regions and the traffic road conditions in the urban regions are easily identified, that is, not all the urban road conditions in the geographic map, and the real-time information and traffic guidance can be conveniently and visually known and mastered.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for positioning a self-parking position on a traffic diagram.
In order to solve the technical problem, the method for positioning the position of the self-vehicle on the traffic road condition sketch comprises the following steps:
step one, constructing and generating a traffic road condition sketch according to a real geographical map in an abstract way, wherein the boundary of the traffic road condition sketch is consistent with the boundary of the real geographical map, the traffic area division is carried out on the traffic road condition sketch, and IDs of all road sections in a traffic area are collected in sequence to form an ID set;
step two, starting according to a certain path section in the traffic area, and collecting a pixel coordinate set in the traffic area in a clockwise direction;
acquiring a geographical coordinate set of the traffic area according to the ID set of each road section of the traffic area, wherein the geographical coordinate set of the traffic area and the pixel coordinate set are in one-to-one correspondence on a traffic road condition sketch;
determining a geographical area central point A corresponding to the traffic area in the real geographical map according to the geographical coordinate set of the traffic area;
obtaining a coordinate point B of the self-vehicle in the real geographical map through a GPS, building a ray with a geographical area central point A through the coordinate point B of the self-vehicle in the real geographical map, intersecting the ray with a boundary defined by a geographical coordinate set in the real geographical map at a point C, and obtaining K = AB/BC through calculation, wherein AB is the distance from the central point A to the coordinate point B, and BC is the distance from the coordinate point B to the point C;
step six, determining a central point E of a traffic area through the collected traffic area pixel coordinate set, building a ray with an included angle of β with the due north direction by using the central point E of the traffic area, wherein the ray is intersected with a boundary defined by the pixel coordinate set in the traffic road condition sketch at a point G, and marking a point F on the ray, and the position of the point F meets EF/FG = K, wherein EF is the distance from the central point E to the point F, and FG is the distance from the point F to the point G;
and seventhly, marking the coordinates of the point F in the traffic road condition sketch so as to determine the position of the vehicle on the traffic road condition sketch.
Further, the traffic road condition sketch map is divided into a plurality of traffic areas.
Furthermore, the traffic area division in the traffic road condition diagram is carried out according to polygons, and the traffic area is less than a quadrangle after division and complements the quadrangle.
The method for positioning the self-parking position on the traffic road condition sketch adopts the technical scheme, namely the method comprises the steps of firstly constructing and generating the traffic road condition sketch according to a real geographical map in an abstract mode, carrying out traffic area separation on the traffic road condition sketch, collecting IDs of all road sections in a traffic area and forming an ID set, and acquiring a geographical coordinate set of the traffic area by the ID set; acquiring a pixel coordinate set in a traffic area and corresponding to a geographic coordinate set, determining a self-vehicle coordinate point on a real geographic map, building a ray from the center of the real geographic map through the self-vehicle coordinate point, and intersecting the ray with a geographic area boundary of the real geographic map, thereby obtaining an included angle between the ray and the due north direction and a ratio of a line segment of the real geographic map from the self-vehicle coordinate point to the line segment of the self-vehicle coordinate point from the line segment of the real geographic map to the geographic area boundary; and projecting the vehicle to a traffic area in the traffic road condition sketch according to the ratio of the included angle to the line segment, thereby determining the position of the vehicle on the traffic road condition sketch. The method can be used for visually calibrating and displaying the position of the vehicle on the traffic road condition schematic diagram, and provides more convenient vehicle positioning service for driving.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a schematic diagram of a real geographic map;
FIG. 2 is a schematic view of a traffic road situation diagram;
FIG. 3 is a schematic diagram of the geographic region in the real geographic map of the present method;
fig. 4 is a schematic view of a traffic area in the traffic road condition diagram according to the method.
Detailed Description
Embodiment example as shown in fig. 3 and 4, the method for locating the position of the vehicle on the traffic road condition sketch in the invention comprises the following steps:
step one, constructing and generating a traffic road condition sketch according to a real geographical map in an abstract way, wherein the boundary of the traffic road condition sketch is consistent with the boundary of the real geographical map, dividing a traffic area 2 of the traffic road condition sketch, and sequentially collecting IDs of all road sections in the traffic area 2 to form an ID set; the ID of the road section is the road section ID determined according to the RTIC standard in the traffic road condition, and one ID corresponds to one geographical road section in the traffic area 2, namely simultaneously corresponds to a group of geographical coordinate sets of the road section;
step two, starting according to a certain road section in the traffic area 2, and collecting a pixel coordinate set in the traffic area 2 in a clockwise direction;
acquiring a geographical coordinate set of the traffic area 2 according to the ID set of each road section of the traffic area 2, wherein the geographical coordinate set and the pixel coordinate set of the traffic area 2 correspond to each other one by one on a traffic road condition sketch;
step four, determining a central point A of a geographic area 1 corresponding to the traffic area 2 in the real geographic map according to the geographic coordinate set of the traffic area 2;
obtaining a coordinate point B of the self-vehicle in the real geographical map through a GPS, building a ray with a central point A of a geographical area 1 through the coordinate point B of the self-vehicle in the real geographical map, intersecting the ray with a boundary defined by a geographical coordinate set in the real geographical map at a point C, and obtaining K = AB/BC through calculation, wherein AB is the distance from the central point A to the coordinate point B, and BC is the distance from the coordinate point B to the point C;
step six, determining a central point E of the traffic area 2 through the collected pixel coordinate set of the traffic area 2, constructing a ray with an included angle of β with the due north direction by using the central point E of the traffic area 2, intersecting the ray with a boundary defined by the pixel coordinate set in the traffic road condition sketch at a point G, and marking a point F on the ray, wherein the position of the point F meets EF/FG = K, wherein EF is the distance from the central point E to the point F, and FG is the distance from the point F to the point G;
and seventhly, marking the coordinates of the point F in the traffic road condition sketch so as to determine the position of the vehicle on the traffic road condition sketch.
Preferably, the traffic road condition sketch is divided into a plurality of traffic areas. For example, a traffic road condition diagram for the whole Shanghai city can be divided into a plurality of traffic areas such as a Bomb region and a Xupu region, so as to facilitate the management of the traffic areas in a slicing manner.
Preferably, in the traffic road condition diagram, the traffic area 2 is divided according to polygons, and after the division, the traffic area 2 is less than a quadrangle and complements the quadrangle. For example, when the edges of the traffic diagram are separated, the traffic area may have only two sides, three sides, or form a convex or concave pattern, and the pattern needs to be modified to form a quadrilateral traffic area.
The method is simple, convenient and practical, and projects the self-parking position information in the real geographic map into the traffic road condition sketch according to the projection principle, so that the coordinates of the self-parking position in the traffic road condition sketch are determined, the positioning information of the self-parking position is obtained, and the problem that the traffic road condition sketch generated in an abstract mode cannot be used for self-parking position calibration and display is solved.
Claims (3)
1. A positioning method of a self-parking position on a traffic road condition sketch map is characterized by comprising the following steps:
step one, constructing and generating a traffic road condition sketch according to a real geographical map in an abstract way, wherein the boundary of the traffic road condition sketch is consistent with the boundary of the real geographical map, the traffic area division is carried out on the traffic road condition sketch, and IDs of all road sections in a traffic area are collected in sequence to form an ID set;
step two, starting according to a certain path section in the traffic area, and collecting a pixel coordinate set in the traffic area in a clockwise direction;
acquiring a geographical coordinate set of the traffic area according to the ID set of each road section of the traffic area, wherein the geographical coordinate set of the traffic area and the pixel coordinate set are in one-to-one correspondence on a traffic road condition sketch;
determining a geographical area central point A corresponding to the traffic area in the real geographical map according to the geographical coordinate set of the traffic area;
obtaining a coordinate point B of the self-vehicle in the real geographical map through a GPS, building a ray with a geographical area central point A through the coordinate point B of the self-vehicle in the real geographical map, intersecting the ray with a boundary defined by a geographical coordinate set in the real geographical map at a point C, and obtaining K = AB/BC through calculation, wherein AB is the distance from the central point A to the coordinate point B, and BC is the distance from the coordinate point B to the point C;
step six, determining a central point E of a traffic area through the collected traffic area pixel coordinate set, building a ray with an included angle of β with the due north direction by using the central point E of the traffic area, wherein the ray is intersected with a boundary defined by the pixel coordinate set in the traffic road condition sketch at a point G, and marking a point F on the ray, and the position of the point F meets EF/FG = K, wherein EF is the distance from the central point E to the point F, and FG is the distance from the point F to the point G;
and seventhly, marking the coordinates of the point F in the traffic road condition sketch so as to determine the position of the vehicle on the traffic road condition sketch.
2. The method as claimed in claim 1, wherein the method comprises the steps of: the traffic road condition sketch map is divided into a plurality of traffic areas.
3. The method for positioning the self-parking position on the traffic road condition sketch as claimed in claim 1 or 2, wherein the method comprises the following steps: the traffic area division in the traffic road condition diagram is carried out according to polygons, and the traffic area is less than a quadrangle after division and complements the quadrangle.
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| US11288521B2 (en) * | 2019-01-31 | 2022-03-29 | Uatc, Llc | Automated road edge boundary detection |
| CN111207760B (en) * | 2019-12-31 | 2022-03-22 | 上海炬宏信息技术有限公司 | Method and device for correcting real-time track of intersection, electronic equipment and computer readable medium |
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| CN101673175A (en) * | 2008-09-12 | 2010-03-17 | 富士通天株式会社 | Information processing device and information processing method |
| WO2010119774A1 (en) * | 2009-04-17 | 2010-10-21 | 株式会社エヌ・ティ・ティ・ドコモ | Position information analysis device and position information analysis method |
| CN103577678A (en) * | 2012-08-07 | 2014-02-12 | 上海市测绘院 | Method of accurately measuring any deformation map |
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Patent Citations (6)
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| CN1442835A (en) * | 2002-03-05 | 2003-09-17 | 麦士威(香港)电子技术有限公司 | Programme setting method of electronic map |
| CN1839416A (en) * | 2003-08-22 | 2006-09-27 | 株式会社日立制作所 | Map display method |
| CN101673175A (en) * | 2008-09-12 | 2010-03-17 | 富士通天株式会社 | Information processing device and information processing method |
| WO2010119774A1 (en) * | 2009-04-17 | 2010-10-21 | 株式会社エヌ・ティ・ティ・ドコモ | Position information analysis device and position information analysis method |
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