CN113514860A - Road matching method and device - Google Patents
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- CN113514860A CN113514860A CN202110442554.7A CN202110442554A CN113514860A CN 113514860 A CN113514860 A CN 113514860A CN 202110442554 A CN202110442554 A CN 202110442554A CN 113514860 A CN113514860 A CN 113514860A
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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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- 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
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The invention discloses a road matching method and device. The method comprises the following steps: receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to a target object; preprocessing the Beidou/GPS positioning data; fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data; and determining the driving path of the target object according to the fused positioning data. By adopting the method provided by the invention, the Beidou/GPS positioning data is filtered, and the Beidou/GPS positioning data is supplemented and corrected by fusing the real-time vehicle-mounted monitoring data, so that the road matching precision is improved.
Description
Technical Field
The invention relates to the field of tracking and positioning, in particular to a road matching method and device.
Background
With the continuous improvement of living standard and the continuous progress of science and technology, driving becomes the most common trip mode of people, the navigation positioning technology is already integrated into the daily life of people, and the navigation software brings great convenience for people to trip. However, when the vehicle passes through a tunnel, an overpass and other special road sections without signals or with complex roads, the navigation data cannot be updated in real time, and currently, the common method is to stop waiting or continue along the road without distinguishing inertial navigation, so that the driving route cannot be accurately positioned.
Therefore, the accuracy of road matching is improved under the condition of complex roads or the condition of missing Beidou/GPS signals, and the technical problem to be solved is solved urgently.
Disclosure of Invention
The invention provides a road matching method and device, which are used for improving the accuracy of road matching.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme: a road matching method, comprising:
receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to a target object;
preprocessing the Beidou/GPS positioning data;
fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data;
and determining the driving path of the target object according to the fused positioning data.
The invention has the beneficial effects that: before the route of traveling to the target object matches, receive big dipper GPS positioning data, and carry out the preliminary treatment to big dipper GPS positioning data, filter the positioning data, and then improve the credibility of positioning data, then fuse big dipper GPS positioning data after real-time on-vehicle monitoring data and preliminary treatment, compensate and rectify missing or have the big dipper GPS positioning data of deviation through fusing real-time on-vehicle monitoring data, the rethread positioning data after fusing carries out the road matching, and then improved the road matching precision, can be under the condition that big dipper GPS signal is weak or the signal lacks, confirm the road of traveling of target object.
In one embodiment, the Beidou/GPS positioning data includes at least longitude, latitude, and time;
the real-time vehicle-mounted monitoring data comprises at least one of the following data:
instantaneous speed, transmitter speed, and instantaneous fuel consumption.
In one embodiment, said fusing the preprocessed beidou/GPS positioning data and said real-time vehicle-mounted monitoring data to obtain fused positioning data includes:
verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data so as to verify whether the preprocessed Beidou/GPS positioning data meet preset conditions or not;
when the preprocessed Beidou/GPS positioning data meets preset conditions, correcting the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data;
and fusing the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to form fused positioning data.
The beneficial effect of this embodiment lies in: when the Beidou/GPS positioning data after the real-time vehicle-mounted monitoring data and the preprocessing are fused, the validity and the credibility of the positioning data are verified, the data which accord with specific conditions are identified, the Beidou/GPS positioning data after the preprocessing accord with preset conditions, and then the Beidou/GPS positioning data after the preprocessing is considered to have deviation which needs to be corrected, so that the positioning data accuracy is improved.
In one embodiment, the verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data to verify whether the preprocessed Beidou/GPS positioning data meets preset conditions includes:
judging whether the preprocessed Beidou/GPS positioning data drifts or not through the real-time vehicle-mounted monitoring data;
when the preprocessed Beidou/GPS positioning data drifts, determining that the preprocessed Beidou/GPS positioning data accords with preset conditions;
and when the preprocessed Beidou/GPS positioning data does not drift, determining that the preprocessed Beidou/GPS positioning data does not accord with preset conditions.
The beneficial effect of this embodiment lies in: through real-time vehicle-mounted monitoring data, the Beidou/GPS positioning data is verified, the Beidou/GPS positioning data with drifting is identified, and then the accuracy of positioning influenced by drifting is avoided.
In one embodiment, the verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data to verify whether the preprocessed Beidou/GPS positioning data meets the preset condition further comprises:
determining a first moving speed of a target object according to the preprocessed Beidou/GPS positioning data;
determining a second moving speed of the target object according to the real-time vehicle-mounted monitoring data;
judging whether the difference value between the first moving speed and the second moving speed reaches a preset difference value or not;
when the difference value between the first moving speed and the second moving speed reaches a preset difference value, determining that the preprocessed Beidou/GPS positioning data meets a preset condition;
and when the difference value between the first moving speed and the second moving speed does not reach a preset difference value, determining that the preprocessed Beidou/GPS positioning data does not accord with a preset condition.
The beneficial effect of this embodiment lies in: through real-time vehicle-mounted monitoring data, Beidou/GPS positioning data is verified, and the phenomenon that the judgment of a target object running road is influenced due to the speed deviation measured by the Beidou/GPS positioning data is avoided.
In one embodiment, the determining the traveling path of the target object according to the fused positioning data includes:
determining road matching points corresponding to the target object at a plurality of different moments according to the fused positioning data, wherein at least one road matching point corresponds to the same moment;
and comprehensively determining the driving path of the target object according to all road matching points which may be passed by the target object in the time period containing the plurality of different moments.
The beneficial effect of this embodiment lies in: the road matching points of the target object are determined by fusing data, the accuracy of positioning the target object is improved, the number of the road matching points can be multiple, the probability of movement between the road matching points at different moments is judged by combining the moving conditions of positioning of the target object at a plurality of continuous different moments, and finally the driving path of the target is determined.
The embodiment of the present application further provides a road matching device, including:
the receiving module is used for receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to the target object;
the processing module is used for preprocessing the Beidou/GPS positioning data;
the fusion module is used for fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data;
and the matching module is used for determining the running path of the target object according to the fused positioning data.
In one embodiment, the Beidou/GPS positioning data includes at least longitude, latitude, and time;
the real-time vehicle-mounted monitoring data comprises at least one of the following data:
instantaneous speed, transmitter speed, and instantaneous fuel consumption.
In one embodiment, the fusion module includes:
the verification submodule is used for verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data so as to verify whether the preprocessed Beidou/GPS positioning data meet preset conditions or not;
the corrector sub-module is used for correcting the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data when the preprocessed Beidou/GPS positioning data meets preset conditions;
and the fusion submodule is used for fusing the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to form fused positioning data.
In one embodiment, the validation submodule is to:
judging whether the preprocessed Beidou/GPS positioning data drifts or not through the real-time vehicle-mounted monitoring data;
when the preprocessed Beidou/GPS positioning data drifts, determining that the preprocessed Beidou/GPS positioning data accords with preset conditions;
and when the preprocessed Beidou/GPS positioning data does not drift, determining that the preprocessed Beidou/GPS positioning data does not accord with preset conditions.
In one embodiment, the verification sub-module is further configured to:
determining a first moving speed of a target object according to the preprocessed Beidou/GPS positioning data;
determining a second moving speed of the target object according to the real-time vehicle-mounted monitoring data;
judging whether the difference value between the first moving speed and the second moving speed reaches a preset difference value or not;
when the difference value between the first moving speed and the second moving speed reaches a preset difference value, determining that the preprocessed Beidou/GPS positioning data meets a preset condition;
and when the difference value between the first moving speed and the second moving speed does not reach a preset difference value, determining that the preprocessed Beidou/GPS positioning data does not accord with a preset condition.
In one embodiment, the matching module includes:
the positioning sub-module is used for determining road matching points corresponding to the target object at a plurality of different moments according to the fused positioning data, wherein the same moment corresponds to at least one road matching point;
and the matching submodule is used for comprehensively determining the driving path of the target object according to all road matching points which are possibly passed by the target object in the time period containing the plurality of different moments.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a road matching method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a road matching method according to an embodiment of the present invention;
FIG. 3 is a flow chart of a road matching method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a spatial topology analysis of all possible road matching points of a target object according to an embodiment of the present invention;
fig. 5 is a block diagram of a road matching device according to an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Fig. 1 is a diagram illustrating a road matching method according to an embodiment of the present application, which may be used in a road matching device to improve road matching accuracy. As shown in FIG. 1, the method may be implemented as the following steps S11-S14:
in step S11, receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to the target object;
in step S12, preprocessing the beidou/GPS positioning data;
in step S13, fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data;
in step S14, the travel path of the target object is determined from the fused positioning data.
In this embodiment, Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to the target object are received.
Big dipper/GPS location data in this embodiment specifically includes: longitude, latitude, time, azimuth and speed etc. real-time vehicle-mounted monitoring data in this embodiment includes OBD data, accelerometer data, vehicle event data recorder data, specifically includes: instantaneous speed, gear, torque, throttle state, brake state, clutch state, transmitter speed, meter panel mileage, instantaneous fuel consumption, remaining fuel, etc.
And preprocessing the Beidou/GPS positioning data. Specifically, this embodiment filters big dipper/GPS location data according to predetermined filtering rule. For example, the data which do not conform to the preset rule are removed, wherein the data which do not conform to the preset rule can be data in which the Beidou/GPS positioning data exceeds a boundary value range, for example, the specified latitude is-90 to 90 degrees, the longitude is-180 to 180 degrees, the speed does not exceed 200km/h, the variation range does not exceed 90 degrees within 1 second of the azimuth angle, and the like. It should be noted that, in order to improve the reliability of the real-time vehicle-mounted monitoring data, the embodiment also performs a preprocessing operation on the real-time vehicle-mounted monitoring data. For example, the actual speed may be inconsistent with the instantaneous speed in the OBD data if the vehicle slips or slides during the driving process, at this time, the current speed of the vehicle is obtained through the acceleration extracted by the vehicle acceleration sensor, and if the difference between the instantaneous speed in the real-time vehicle-mounted monitoring data and the current speed of the vehicle obtained through the acceleration calculation exceeds a preset threshold value, it is determined that the real-time vehicle-mounted monitoring data is abnormal, and the vehicle speed obtained through the calculation replaces the real-time vehicle-mounted monitoring data. For example, instantaneous speed and direction can be calculated through a real-time image monitored by a vehicle data recorder, and the calculation is used for verifying OBD data, acceleration data and the like.
And fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data. Specifically, the preprocessed Beidou/GPS positioning data is verified through real-time vehicle-mounted monitoring data so as to verify whether the preprocessed Beidou/GPS positioning data meets preset conditions or not; when the preprocessed Beidou/GPS positioning data meets preset conditions, the preprocessed Beidou/GPS positioning data is corrected through real-time vehicle-mounted monitoring data, and the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data are fused to form fused positioning data; and when the preprocessed Beidou/GPS positioning data does not accord with the preset conditions, the preprocessed Beidou/GPS positioning data is reserved.
And determining the driving path of the target object according to the fused positioning data. Specifically, firstly, according to the fused positioning data, determining road matching points corresponding to the target object at a plurality of different moments, wherein the same moment corresponds to at least one road matching point, specifically, determining a positioning point according to the fused positioning data from pre-stored road network planning information or road network information extracted from satellite image data, selecting all possible roads of the target object from the road network information according to a preset confidence range, and using a point closest to the positioning point in the roads as the road matching point of the positioning point on the road. Then, comprehensively determining a driving path of the target object according to all road matching points which may pass through by the target object in a time period including a plurality of different moments, specifically, performing spatial topology analysis and matching probability analysis on the driving path of the target object in the embodiment, wherein in the spatial topology analysis, a topological relation of the road matching points in space and connectivity of the road are mainly considered, and a possible driving path result of the target object is obtained; and matching probability analysis, namely calculating the running probability of the target object at each road matching point through the distance between the positioning data and the road matching points, calculating the movement probability of the target object between the road matching points, giving a comprehensive score to each possible running path of the target object obtained by the spatial topology analysis, and selecting the path with the highest comprehensive score as a vehicle running path.
The beneficial effect of this embodiment lies in: before the route of traveling to the target object matches, receive big dipper GPS positioning data, and carry out the preliminary treatment to big dipper GPS positioning data, filter the positioning data, and then improve the credibility of positioning data, then fuse big dipper GPS positioning data after real-time on-vehicle monitoring data and preliminary treatment, compensate and rectify missing or have the big dipper GPS positioning data of deviation through fusing real-time on-vehicle monitoring data, the rethread positioning data after fusing carries out the road matching, and then improved the road matching precision, can be under the condition that big dipper GPS signal is weak or the signal lacks, confirm the road of traveling of target object.
In one embodiment of the present invention,
the Beidou/GPS positioning data at least comprises longitude, latitude and time;
real-time on-board monitoring data, including at least one of the following:
instantaneous speed, transmitter speed, and instantaneous fuel consumption.
Specifically, big dipper/GPS fixes data still includes: longitude, latitude, time, azimuth and speed etc. real-time on-vehicle monitoring data includes OBD data, accelerometer data, gyroscope data, vehicle event data recorder data, specifically includes: instantaneous speed, gear, torque, throttle state, brake state, clutch state, transmitter speed, meter panel mileage, instantaneous fuel consumption, remaining fuel, acceleration, angular velocity, and the like.
In one embodiment, as shown in FIG. 2, the above step S13 can be implemented as the following steps S21-S23:
in step S21, verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data to verify whether the preprocessed Beidou/GPS positioning data meets the preset condition;
in step S22, when the preprocessed beidou/GPS positioning data meets the preset condition, the preprocessed beidou/GPS positioning data is corrected by the real-time vehicle-mounted monitoring data;
in step S23, the corrected big dipper/GPS positioning data and the real-time vehicle-mounted monitoring data are fused to form fused positioning data.
In this embodiment, the big dipper/GPS positioning data after the preliminary treatment is verified through real-time on-vehicle monitoring data to verify whether big dipper/GPS positioning data after the preliminary treatment accords with preset conditions.
Wherein, whether the Beidou/GPS positioning data after verification preprocessing accords with the preset condition can be through following several modes:
in a first mode
And judging whether the preprocessed Beidou/GPS positioning data drifts or not through the real-time vehicle-mounted monitoring data. Specifically, the maximum distance traveled by the vehicle in a short time is measured and calculated through instrument panel inside/instantaneous speed/engine rotating speed/instantaneous oil consumption in the OBD data, and when the difference value between the travel distance obtained by measuring and calculating the speed of the Beidou/GPS positioning data and the maximum distance is larger than a certain preset value, the Beidou/GPS positioning data is considered to have drifted. The embodiment also judges whether the variation range and the variation frequency of the azimuth angle in the Beidou/GPS positioning data are abnormal or not through the torque/angular speed/vehicle real-time image, when the variation range or the variation frequency of the azimuth angle is larger than a preset threshold value, the data is considered to have drifted, and when the data drifts, the preprocessed Beidou/GPS positioning data are considered to accord with preset conditions.
Mode two
The speed in the Beidou/GPS positioning data is verified through the instantaneous speed/engine rotating speed/instantaneous oil consumption/accelerator state/brake state and the like in the real-time vehicle-mounted data, for example, the maximum instantaneous speed of a vehicle is obtained through measurement and calculation according to the instantaneous speed/engine rotating speed/instantaneous oil consumption, and when the difference value between the instantaneous speed in the Beidou/GPS positioning data and the maximum instantaneous speed is larger than a certain preset value, the positioning data is considered to have deviation; if judge according to the throttle state or acceleration at the vehicle normal course of going again and judge that the vehicle is acceleration state, and the speed among the big dipper GPS is quiescent condition, then think big dipper GPS positioning data have the deviation, when big dipper GPS positioning data have the deviation, think big dipper GPS positioning data after the preliminary treatment accord with the preset condition.
Mode III
The torque/angular speed of the vehicle is compared with the azimuth angle in the Beidou/GPS positioning data, whether the vehicle driving direction is consistent or not is judged, when the driving direction is inconsistent, the Beidou/GPS positioning data is considered to have drifted, and when the drifts occur, the preprocessed Beidou/GPS positioning data is considered to accord with preset conditions. It should be noted that, in the above determination process, it may also be determined whether the driving directions of the vehicles are consistent by extracting the road directions in the road network information and comparing the road directions with the azimuth angles in the Beidou/GPS positioning data.
And when the preprocessed Beidou/GPS positioning data accords with preset conditions, correcting the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data. Specifically, when the Beidou/GPS positioning data drifts, the running distance and the running angle between two continuous sampling points are calculated according to the instantaneous speed and the angular speed of the vehicle, the positioning point of the previous sampling point is obtained according to the Beidou/GPS positioning data of the previous sampling point, and then the data of the current positioning point is updated according to the running distance and the running direction between the previous positioning point and the current positioning point.
And fusing the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to form fused positioning data.
And when the preprocessed Beidou/GPS positioning data does not accord with the preset conditions, the preprocessed Beidou/GPS positioning data is reserved.
The beneficial effect of this embodiment lies in: when the Beidou/GPS positioning data after the real-time vehicle-mounted monitoring data and the preprocessing are fused, the validity and the credibility of the positioning data are verified, the data which accord with specific conditions are identified, the Beidou/GPS positioning data after the preprocessing accord with preset conditions, and then the Beidou/GPS positioning data after the preprocessing is considered to have deviation which needs to be corrected, so that the positioning data accuracy is improved.
In one embodiment, the above step S21 can be implemented as the following steps A1-A3:
in the step A1, whether the preprocessed Beidou/GPS positioning data drifts or not is judged through the real-time vehicle-mounted monitoring data;
in step a2, when the preprocessed Beidou/GPS positioning data drifts, determining that the preprocessed Beidou/GPS positioning data meets preset conditions;
in step a3, when the preprocessed beidou/GPS positioning data does not drift, it is determined that the preprocessed beidou/GPS positioning data does not meet the preset condition.
In this embodiment, whether the preprocessed Beidou/GPS positioning data drifts or not is judged through the real-time vehicle-mounted monitoring data, specifically, the maximum distance of vehicle running in a short time is measured and calculated through the instrument panel inner/instantaneous speed/engine speed/instantaneous oil consumption in the OBD data, and when the difference value between the running distance measured and calculated by the Beidou/GPS positioning data and the maximum distance is larger than a certain preset value, the Beidou/GPS positioning data is considered to drift. The embodiment also judges whether the variation range and the variation frequency of the azimuth angle in the Beidou/GPS positioning data are abnormal or not through the torque/angular speed/vehicle real-time image, and when the variation range or the variation frequency of the azimuth angle is larger than a preset threshold value, the data are considered to have drifted.
The invention has the beneficial effects that: through real-time vehicle-mounted monitoring data, the Beidou/GPS positioning data is verified, the Beidou/GPS positioning data with drifting is identified, and then the influence of drifting on positioning is avoided.
In one embodiment, the above step A1 can be implemented as the following steps A111-A113:
in step A111, determining a first travel distance of a target object in two continuous time points according to the Beidou/GPS positioning data;
in step A112, determining a second driving distance of the target in two continuous time points according to the real-time vehicle-mounted data;
in step a113, when the difference between the first travel distance and the second travel distance is greater than a first preset threshold, it is determined that the Beidou/GPS positioning data of the second time point of the two consecutive time points drifts.
In the embodiment, the first travel distance of the target object in two continuous time points is determined according to the Beidou/GPS positioning data; determining a second driving distance of the target in two continuous time points according to the real-time vehicle-mounted data, specifically, calculating the second driving distance according to real-time vehicle-mounted data such as instrument panel data, instantaneous speed, engine rotating speed, instantaneous oil consumption and the like; and when the difference value of the first driving distance and the second driving distance is larger than a preset threshold value, determining the data of the second time point in the two continuous time points as the drift positioning data.
The beneficial effect of this embodiment lies in: the Beidou/GPS positioning data is detected through real-time vehicle-mounted data, and when the moving distance of the positioning data in a short time obviously exceeds a reasonable range, the data is considered to drift, so that the data is corrected.
In one embodiment, the above step A1 can be implemented as the following steps A121-A123:
in step a121, calculating a first azimuth angle change value of the target object in two continuous time points according to the Beidou/GPS positioning data;
in step a122, determining a second azimuth angle change value of two continuous time points according to the real-time vehicle-mounted monitoring data;
in step a123, when the difference between the first azimuth change value and the second azimuth change value is greater than a second preset threshold, it is determined that the Beidou/GPS positioning data of the second time point of the two consecutive time points drifts.
In the embodiment, a first azimuth angle change value of a target object in two continuous time points is calculated according to Beidou/GPS positioning data; determining a second azimuth angle change value of two continuous time points according to the real-time vehicle-mounted monitoring data, specifically, according to real-time image analysis of a forming recorder, and also according to vehicle acceleration and angular speed calculation; and when the difference value of the first azimuth angle change value and the second azimuth angle change value is larger than a second preset threshold value, determining that the Beidou/GPS positioning data of the second time point in two continuous time points drift.
The beneficial effect of this embodiment lies in: the Beidou/GPS positioning data is monitored through real-time vehicle-mounted data, and when the variation range of the azimuth angle in a short time obviously exceeds a reasonable range, the data is considered to drift, and then the data is corrected.
In one embodiment, the above step A1 can be implemented as the following steps A131-A133:
in step a121, calculating direction change values of the target object in a plurality of continuous time periods according to the Beidou/GPS positioning data;
in step a122, calculating a direction change frequency in a plurality of consecutive time periods according to the direction change value;
in step a123, when the direction change frequency is greater than a third preset threshold, the data at each time point in the time period is determined as the drift location data.
In the embodiment, direction change values of the target object in a plurality of continuous time periods are calculated according to the Beidou/GPS positioning data; calculating a direction change frequency in a plurality of consecutive time periods according to the direction change value; and when the direction change frequency is greater than a third preset threshold value, determining the data of each time point in the time period as drift positioning data.
The beneficial effect of this embodiment lies in: the Beidou/GPS positioning data is monitored through real-time vehicle-mounted data, and when the change frequency of the azimuth angle obviously exceeds a reasonable range, the data is considered to drift, so that the data is corrected.
In one embodiment, the above step S21 can also be implemented as the following steps B1-B3:
in step B1, determining a first moving speed of the target object according to the preprocessed beidou/GPS positioning data;
in step B2, determining a second moving speed of the target object according to the real-time on-board monitoring data;
in step B3, it is determined whether the difference between the first moving speed and the second moving speed reaches a preset difference;
in step B4, when the difference between the first moving speed and the second moving speed reaches a preset difference, determining that the preprocessed beidou/GPS positioning data meets a preset condition;
in step B5, when the difference between the first moving speed and the second moving speed does not reach the preset difference, it is determined that the preprocessed beidou/GPS positioning data does not meet the preset condition.
In the embodiment, a first moving speed of the target object is determined according to the preprocessed Beidou/GPS positioning data; determining a second moving speed of the target object according to the real-time vehicle-mounted monitoring data, specifically, calculating by using the instantaneous speed, the engine rotating speed, the meter panel mileage, the instantaneous oil consumption and the like in the real-time vehicle-mounted data; judging whether the difference value between the first moving speed and the second moving speed reaches a preset difference value or not; when the difference value between the first moving speed and the second moving speed reaches a preset difference value, determining that the preprocessed Beidou/GPS positioning data meets a preset condition; and when the difference value between the first moving speed and the second moving speed does not reach a preset difference value, determining that the preprocessed Beidou/GPS positioning data does not accord with a preset condition.
The invention has the beneficial effects that: through real-time on-vehicle monitoring data, verify the speed in big dipper GPS positioning data, to having taken place speed and surpassed the instantaneous speed degree, or the vehicle has started but big dipper GPS positioning data verifies the condition that does not go on updating, and then has avoided the location inaccurate.
In one embodiment, the above step S22 can be implemented as the following steps C1-C2:
in step C1, calculating a travel angle and a travel distance of the target object based on the real-time on-vehicle monitoring data;
in step C2, new positioning data is determined to replace the corresponding beidou/GPS positioning data according to the positioning data at the previous time point and the driving angle and the driving distance of the target object.
In the embodiment, the driving angle and the driving distance of the target object are calculated according to the real-time vehicle-mounted monitoring data; and determining new positioning data to replace corresponding Beidou/GPS positioning data according to the positioning data of the last time point and the driving angle and the driving distance of the target object.
The invention has the beneficial effects that: under the condition that the Beidou/GPS positioning data drifts, new positioning data is obtained through vehicle-mounted data calculation, and then the positioning data is corrected.
In one embodiment, as shown in FIG. 3, the above step S14 can be implemented as the following steps S31-S32:
in step S31, determining road matching points corresponding to the target object at a plurality of different times according to the fused positioning data, where the same time corresponds to at least one road matching point;
in step S32, the travel path of the target object is determined comprehensively from all the road matching points that the target object may pass through in a time period including a plurality of different time instants.
In this embodiment, according to the fused positioning data, road matching points corresponding to the target object at a plurality of different moments are determined, where at least one road matching point corresponds to the same moment. Specifically, positioning points are determined according to the fused positioning data from pre-stored road network planning information or road network information extracted from satellite image data, all possible roads of the target object are selected from the road network information according to a preset confidence range, and points closest to the positioning points in the roads are used as road matching points of the positioning points on the roads.
In step S11, the method for receiving the beidou/GPS positioning data and the real-time vehicle-mounted monitoring data corresponding to the target object may be real-time receiving, or receiving according to a specific time interval. In order to save system resources and improve road matching efficiency, the specific time interval may be automatically adjusted according to the number of road matching points corresponding to the same time, for example, the number of road matching points is positively correlated to the size of the time interval.
And comprehensively determining the driving path of the target object according to all road matching points which may be passed by the target object in a time period containing a plurality of different moments.
In this embodiment, a spatial topology analysis is performed on all possible road matching points of the target object to obtain possible traveling paths of the target object, and specifically, possible road matching points determined by determining a plurality of consecutive sampling points are determinedMoving the path, determining the connectivity of each road by combining the road information in the road planning information database, as shown in fig. 4, t1、t2、t3Is the time, t, corresponding to three successive sample points1Three road matching points are P at each moment11、P12、P13And two road matching points at the time t2 are respectively P21、P22，t3Two road matching points are P at each moment31、P32Then the possible travel path of the target object is P11→P21→P31、P11→P21→P32、P11→P22→P31、P11→P22→P32、P12→P21→P31、P12→P21→P32、P12→P22→P31、P12→P22→P32According to road connectivity t2Road matching point P of time21And t3Road matching point P of time32Is not connected, P22And t3The road matching points at the moment are not communicated, so that the driving path P is uniquely determined by the three road matching points at the moment11→P21→P31。
And carrying out matching probability analysis on the target object to obtain the probability of the target object moving on each driving path. Specifically, when multiple possible driving paths are obtained according to the road matching points at all times, according to the real-time monitoring data and the distances between the target object positioning point and different roads, a first probability of driving of the target object at all the road matching points is determined, a second probability of movement of the target object between the road matching points at different times is judged according to the vehicle speed and the driving direction, and a comprehensive probability of different driving paths is obtained according to the product of the first probability and the second probability. It should be noted that the probability may also be combined with the vehicle acceleration, the angular velocity, and the elevation angle/downward floating angle change of the vehicle to determine the path traveled by the vehicle, for example, at a position such as a viaduct, the inclination angles of different road segments are not consistent, the probability that the target object travels on different roads is determined according to the elevation angle/downward floating angle and the azimuth angle of the target object, and the probability that the target object travels on a certain road is higher when the target object tilts up and tilts down and the azimuth angle is smaller than the inclination angle/road angle of the certain road.
And determining the running path of the vehicle of the target object according to the running probability of the target object on each running path. Specifically, the possible driving paths are arranged from high to low according to the comprehensive probability, the possible paths are obtained by combining with spatial topology analysis, and the driving path of the target vehicle is determined.
The beneficial effect of this embodiment lies in: the road matching points of the target object are determined by fusing the data, the accuracy of positioning the target object is improved, the probability of movement between the road matching points at different moments is judged by combining the moving conditions of positioning of the target object at a plurality of continuous different moments, the road matching points which are impossible to travel are eliminated, and the travel path of the target is finally determined.
In one embodiment, the method for comprehensively determining the travel path of the target object according to all road matching points which may be passed by the target object in a time period containing a plurality of different time instants comprises the following steps:
calculating the moving probability from each road matching point at the current moment to each road matching point at the next moment;
and determining the running path of the target object according to the moving probability of each road matching point at a plurality of continuous moments.
It is understood that the vehicle referred to in the embodiments of the present application is the target object.
As shown in fig. 5, an embodiment of the present application further provides a road matching device, including:
the receiving module 51 is used for receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to the target object;
the processing module 52 is used for preprocessing the Beidou/GPS positioning data;
the fusion module 53 is used for fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data;
and the matching module 54 is used for determining the running path of the target object according to the fused positioning data.
In one embodiment, the Beidou/GPS positioning data includes at least longitude, latitude, and time;
real-time on-board monitoring data, including at least one of the following:
instantaneous speed, transmitter speed, and instantaneous fuel consumption.
In one embodiment, a fusion module includes:
in one embodiment, a fusion module includes:
the verification submodule is used for verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data so as to verify whether the preprocessed Beidou/GPS positioning data meet the preset conditions or not;
the corrector sub-module is used for correcting the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data when the preprocessed Beidou/GPS positioning data meets the preset conditions;
and the fusion submodule is used for fusing the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to form fused positioning data.
In one embodiment, the validation submodule is to:
judging whether the preprocessed Beidou/GPS positioning data drifts or not through the real-time vehicle-mounted monitoring data;
when the preprocessed Beidou/GPS positioning data drifts, the preprocessed Beidou/GPS positioning data is determined to accord with preset conditions;
and when the preprocessed Beidou/GPS positioning data does not drift, determining that the preprocessed Beidou/GPS positioning data does not accord with preset conditions.
In one embodiment, the verification sub-module is further configured to:
determining a first moving speed of the target object according to the preprocessed Beidou/GPS positioning data;
determining a second moving speed of the target object according to the real-time vehicle-mounted monitoring data;
judging whether the difference value between the first moving speed and the second moving speed reaches a preset difference value or not;
when the difference value between the first moving speed and the second moving speed reaches a preset difference value, determining that the preprocessed Beidou/GPS positioning data meets a preset condition;
and when the difference value between the first moving speed and the second moving speed does not reach a preset difference value, determining that the preprocessed Beidou/GPS positioning data does not accord with a preset condition.
In one embodiment, a matching module includes:
the positioning sub-module is used for determining road matching points corresponding to the target object at a plurality of different moments according to the fused positioning data, wherein the same moment corresponds to at least one road matching point;
and the matching submodule is used for comprehensively determining the driving path of the target object according to all road matching points which are possibly passed by the target object in a time period containing a plurality of different moments.
It should be noted that the embodiment corresponding to the road matching method may be implemented by the road matching device, that is, the road matching device may implement any embodiment corresponding to the road matching method.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A road matching method, comprising:
receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to a target object;
preprocessing the Beidou/GPS positioning data;
fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data;
and determining the driving path of the target object according to the fused positioning data.
2. The method of claim 1, wherein said Beidou/GPS positioning data includes at least longitude, latitude, and time;
the real-time vehicle-mounted monitoring data comprises at least one of the following data:
instantaneous speed, transmitter speed, and instantaneous fuel consumption.
3. The method of claim 1, wherein said fusing the pre-processed Beidou/GPS positioning data and the real-time on-board monitoring data to obtain fused positioning data, comprises:
verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data so as to verify whether the preprocessed Beidou/GPS positioning data meet preset conditions or not;
when the preprocessed Beidou/GPS positioning data meets preset conditions, correcting the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data;
and fusing the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to form fused positioning data.
4. The method of claim 3, wherein the verifying the pre-processed Beidou/GPS positioning data through the real-time vehicle monitoring data to verify whether the pre-processed Beidou/GPS positioning data meets a preset condition comprises:
judging whether the preprocessed Beidou/GPS positioning data drifts or not through the real-time vehicle-mounted monitoring data;
when the preprocessed Beidou/GPS positioning data drifts, determining that the preprocessed Beidou/GPS positioning data accords with preset conditions;
and when the preprocessed Beidou/GPS positioning data does not drift, determining that the preprocessed Beidou/GPS positioning data does not accord with preset conditions.
5. The method of claim 3, wherein the verifying the pre-processed Beidou/GPS positioning data by the real-time vehicle monitoring data to verify whether the pre-processed Beidou/GPS positioning data meets a preset condition, further comprising:
determining a first moving speed of a target object according to the preprocessed Beidou/GPS positioning data;
determining a second moving speed of the target object according to the real-time vehicle-mounted monitoring data;
judging whether the difference value between the first moving speed and the second moving speed reaches a preset difference value or not;
when the difference value between the first moving speed and the second moving speed reaches a preset difference value, determining that the preprocessed Beidou/GPS positioning data meets a preset condition;
and when the difference value between the first moving speed and the second moving speed does not reach a preset difference value, determining that the preprocessed Beidou/GPS positioning data does not accord with a preset condition.
6. The method according to any one of claims 1-5, wherein determining a travel path of a target object from the fused positioning data comprises:
determining road matching points corresponding to the target object at a plurality of different moments according to the fused positioning data, wherein at least one road matching point corresponds to the same moment;
and comprehensively determining the driving path of the target object according to all road matching points which may be passed by the target object in the time period containing the plurality of different moments.
7. A road matching device, comprising:
the receiving module is used for receiving Beidou/GPS positioning data and real-time vehicle-mounted monitoring data corresponding to the target object;
the processing module is used for preprocessing the Beidou/GPS positioning data;
the fusion module is used for fusing the preprocessed Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to obtain fused positioning data;
and the matching module is used for determining the running path of the target object according to the fused positioning data.
8. The apparatus of claim 7, wherein said Beidou/GPS positioning data includes at least longitude, latitude, and time;
the real-time vehicle-mounted monitoring data comprises at least one of the following data:
instantaneous speed, transmitter speed, and instantaneous fuel consumption.
9. The apparatus of claim 7, wherein the fusion module comprises:
the verification submodule is used for verifying the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data so as to verify whether the preprocessed Beidou/GPS positioning data meet preset conditions or not;
the corrector sub-module is used for correcting the preprocessed Beidou/GPS positioning data through the real-time vehicle-mounted monitoring data when the preprocessed Beidou/GPS positioning data meets preset conditions;
and the fusion submodule is used for fusing the corrected Beidou/GPS positioning data and the real-time vehicle-mounted monitoring data to form fused positioning data.
10. The apparatus of claim 7, the matching module, comprising:
the positioning sub-module is used for determining road matching points corresponding to the target object at a plurality of different moments according to the fused positioning data, wherein the same moment corresponds to at least one road matching point;
and the matching submodule is used for comprehensively determining the driving path of the target object according to all road matching points which are possibly passed by the target object in the time period containing the plurality of different moments.
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Application publication date: 20211019 |