CN103256937B - The method of route matching and device - Google Patents
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Abstract
The method and the device that the invention provides a kind of route matching, the method comprises: the vehicle traveling information that obtains vehicle; According to described vehicle traveling information, calculate the driving trace of vehicle; According to described driving trace, calculate the curvature of described driving trace; According to the curvature of described vehicle traveling information and described driving trace, from electronic map database, obtain the guidance path mating with vehicle current driving route. Can effectively increase the accuracy of route matching.
Description
Technical field
The present invention relates to field of navigation technology, relate in particular to a kind of in automobile navigation, utilize road curvature and roadThe road gradient is carried out method and the device of route matching.
Background technology
Route matching be utilize the GPS of vehicle (GlobalPositioningSystem, global positioning system),The positioner such as gyroscope, dipmeter, by the road network in the sensor signal receiving and map of navigation electronicMate, and by sensor signal and map of navigation electronic most possible one represent current driving roadThe Link (for example guidance path) on road mates, and obtains mating path.
Because route matching function is the basic Core Feature of automatic navigator, the route matching of mistake will causeOther navigation features cannot be carried out or be provided wrong information to driver, are therefore necessary furtherStrengthen the accuracy of route matching.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of method and device of route matching, Neng GouyouEffect ground increases the accuracy of route matching.
In order to solve the problems of the technologies described above, the invention provides a kind of method of route matching, described method comprises:
Obtain the vehicle traveling information of vehicle;
According to described vehicle traveling information, calculate the driving trace of vehicle;
According to described driving trace, calculate the curvature of described driving trace;
According to the curvature of described vehicle traveling information and described driving trace, from electronic map database, obtainThe guidance path mating with vehicle current driving route.
Preferably, described according to described driving trace, calculate described driving trace curvature step itBefore, described method also comprises:
According to vehicle traveling information, from electronic map database, choose the guidance path of candidate.
Preferably, described vehicle traveling information comprises: the positional information of vehicle, the travel direction information of vehicleAngle of inclination information with vehicle.
Preferably, the step of the described guidance path of choosing candidate from electronic map database comprises:
According to the positional information of described vehicle, all leading in selected preset range in electronic map databaseBit path;
According to the travel direction information of described vehicle, in all guidance paths, current direction and vehicleTravel direction deviate from larger guidance path and reject, obtain the guidance path of candidate.
Preferably, also comprise:
If there is the historical track of Vehicle Driving Cycle, then according to the historical track of Vehicle Driving Cycle, in conjunction with travelling of vehicleDirection, in the guidance path of described candidate, the guidance path that vehicle can not be entered excludes, and obtainsThe guidance path of the candidate after optimization.
Preferably, described according to the curvature of described vehicle traveling information and described driving trace, from electronic chartThe step that obtains the guidance path mating with vehicle current driving route in database comprises:
According to the angle of inclination letter of the travel direction information of the positional information of described vehicle, described vehicle, vehicleBreath and the curvature of described driving trace, calculate the assessed value of the guidance path of each candidate;
According to the assessed value of the guidance path of described each candidate, obtain and leading that vehicle current driving route matesBit path.
Preferably, described according to travel direction information, the vehicle of the positional information of described vehicle, described vehicleAngle of inclination information and the curvature of described driving trace, calculate the assessment of the guidance path of each candidateThe step of value comprises:
According to the distance between the position of vehicle and the guidance path of each candidate, the first weighted value q is setd；
According to the angle between the travel direction of vehicle and the guidance path of each candidate, the second weighted value is setqθ；
Tangent line according to the curvature of described driving trace and vehicle corresponding to the point on the guidance path of each candidateCurvature, arranges the 3rd weighted value qρ；
According to the gradient of the guidance path of the angle of inclination of vehicle and each candidate, the 4th weighted value q is setδ；
According to w=k1 × qd+k2×qθ+k3×qρ+k4×qδ, calculate the assessed value of the guidance path of each candidateW, wherein k1, k2, k3 and k4 are respectively coefficient.
The present invention also provides a kind of device of route matching, comprising:
The first acquisition module, for obtaining the vehicle traveling information of vehicle;
The first processing module, for according to described vehicle traveling information, calculates the driving trace of vehicle;
The second processing module, for according to described driving trace, calculates the curvature of described driving trace;
Matching module, for according to the curvature of described vehicle traveling information and described driving trace, from electronicallyIn chart database, obtain the guidance path mating with vehicle current driving route.
Preferably, also comprise:
The second acquisition module for according to vehicle traveling information, is chosen candidate from electronic map databaseGuidance path.
Preferably, described matching module comprises:
Computing unit, for according to travel direction information, the car of the positional information of described vehicle, described vehicleAngle of inclination information and the curvature of described driving trace, calculate the commenting of guidance path of each candidateValuation;
Matching unit, for according to the assessed value of the guidance path of described each candidate, obtains and vehicle current lineSail the guidance path of route coupling.
As shown from the above technical solution, embodiments of the invention have following beneficial effect: by pathIn joining, the angle of inclination of the curvature of the driving trace of vehicle and vehicle, as with reference to factor, is participated in to candidate roadIn the calculating of the assessed value in footpath, increase the degree of accuracy of route matching, especially in rotary island, overhead gateway etc.There is obvious advantage in the region that road conditions are more complicated.
Brief description of the drawings
Fig. 1 is expressed as the method flow diagram of route matching in embodiments of the invention;
Fig. 2 is expressed as and in embodiments of the invention, utilizes road curvature and road grade to carry out route matchingMethod flow diagram;
Fig. 3 is expressed as Vehicle Driving Cycle schematic diagram in embodiments of the invention;
Fig. 4 is expressed as the structure drawing of device of route matching in embodiments of the invention.
Detailed description of the invention
In the present embodiment, first obtain the vehicle traveling information of vehicle; Secondly according to described Vehicle Driving Cycle letterCease, calculate the driving trace of vehicle; Again, according to described driving trace, calculate described driving traceCurvature; Last according to the curvature of described vehicle traveling information and described driving trace, from electronic map dataIn storehouse, obtain the guidance path mating with vehicle current driving route.
In order to make object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with realityExecute example and accompanying drawing, the embodiment of the present invention is described in detail. At this, schematic reality of the present inventionExecute example and explanation for explaining the present invention, but not as a limitation of the invention.
As shown in Figure 1, be the method flow diagram of route matching in embodiments of the invention, concrete steps are as follows:
Step 101, obtain the vehicle traveling information of vehicle;
Vehicle traveling information, the relevant information when representing Vehicle Driving Cycle, for example: the positional information of vehicle,The travel direction information of vehicle, the angle of inclination information of vehicle. The angle of inclination information of vehicle refers to vehicleBody sway angle, can obtain by obliquity sensor.
Step 102, according to vehicle traveling information, calculate the driving trace of vehicle;
Step 103, according to driving trace, calculate the curvature of driving trace;
Step 104, according to the curvature of vehicle traveling information and driving trace, from electronic map databaseTo the guidance path mating with vehicle current driving route.
In electronic map database, set in advance many bar navigations path, by performing step 101～step104, can obtain the guidance path that mates with current driving route, this guidance path can be presented in navigator,Driver can carry out vehicle drive according to the prompting of guidance path.
In step 104, first according to the travel direction information of the positional information of vehicle, vehicle, vehicleThe curvature of angle of inclination information and driving trace, calculates the assessed value of the guidance path of each candidate; SoAccording to the assessed value of the guidance path of each candidate, obtain the navigation road of mating with vehicle current driving route afterwardsFootpath.
In existing route matching, general to judge distance, the Vehicle Driving Cycle between vehicle location and pathThese two indexs of the current angular separation of direction and route are main, and in existing electronic chart, in electronic chartPath there are curvature and these two attributes of the gradient, therefore can make full use of this point, add curvature and slopeSpend two weights, can improve preferably the accuracy of route matching.
Further, in the route matching of the present embodiment, the curvature of the driving trace of vehicle and vehicleAngle of inclination as with reference to factor, participates in the calculating of assessed value of path candidate, increased route matchingThe degree of accuracy, especially has obvious advantage in the more complicated region of the road conditions such as rotary island, overhead gateway.
In the present embodiment, before execution step 103, can be according to vehicle traveling information, from electronic chartIn database, choose the guidance path of candidate. Further can realize in the following way:
According to the positional information of vehicle, all navigation roads in selected preset range in electronic map databaseFootpath;
According to the travel direction information of vehicle, in all guidance paths, the row of current direction and vehicleSail direction and deviate from larger guidance path rejecting, obtain the guidance path of candidate.
If there is the historical track of Vehicle Driving Cycle, then according to the historical track of Vehicle Driving Cycle, in conjunction with travelling of vehicleDirection, in the guidance path of described candidate, the guidance path that vehicle can not be entered excludes, and obtainsThe guidance path of the candidate after optimization.
As shown in Figure 2, for utilizing road curvature and road grade to carry out route matching in embodiments of the inventionMethod flow diagram, concrete steps are as follows:
Step 201, obtain the vehicle traveling information of vehicle;
Vehicle traveling information is for representing the status information that Vehicle Driving Cycle process is relevant, and for example Vehicle Driving Cycle is believedBreath includes but not limited to: the angle of inclination letter of the positional information of vehicle, the travel direction information of vehicle and vehicleBreath.
This vehicle traveling information generally can obtain by existing sensor, and wherein the positional information of vehicle can be led toCross GPS module or GPS and DR (DeadReckoning, a kind of simple, conventional vehicle locationTechnology) composite module obtains; The angle of inclination information of vehicle can be obtained by obliquity sensor.
For example: in the time adopting GPS and DR composite module, when in the good situation of gps signal, with GPSSignal is the main Vehicle Driving Cycle position of determining, DR is auxiliary; In the situation that star condition is bad, taking DR as main.Generally can adopt Kalman filtering to merge GPS and DR signal, draw the sky of more accurate vehicleBetween position.
Step 202, according to vehicle traveling information, calculate the driving trace of vehicle;
In the present embodiment, can adopt existing algorithm in conjunction with vehicle traveling information, calculate and calculate vehicleThe driving trace of the preset distance (for example 20 meters～50 meters) closely travelling, and can further adopt cardKalman Filtering is processed driving trace, obtains smoother curve, to better calculate the rail that travelsThe curvature of mark.
Step 203, according to vehicle traveling information, from electronic map database, choose the guidance path of candidate;
According to the positional information of vehicle, (for example 50 meters or can be reduced into 30 of first selected preset rangesRice) interior all guidance paths, then according to the travel direction information of vehicle, square passing through in all pathsReject to deviating from larger guidance path with the travel direction of vehicle, obtain the guidance path of candidate.
Further, if while having the historical track of Vehicle Driving Cycle, can be again according to the historical track of Vehicle Driving Cycle, knotClose the travel direction information of vehicle, the guidance path that in the guidance path of candidate, vehicle can not be entered rowRemove the guidance path of the candidate after being optimized.
Step 204, according to the driving trace of vehicle, calculate the curvature of the driving trace of vehicle;
Suppose: the current anchor point of vehicle is P (i), has before a series of tracing point P (1), P at P (i)(2) ..., P (i-1), supposes P (1), P (2) ..., the velocity attitude that P (i) is corresponding is A (1),A (2) ..., A (i), and corresponding speed is V (1), V (2) ..., V (i), suppose allPhase property location is spaced apart T, in the time that vehicle is received the locating information of P (i) point, and S rice before can calculatingCurvature K (i)=(A (i)-A (1))/S of track of vehicle.
Step 205, according to the curvature of vehicle traveling information and driving trace, from electronic map databaseTo the guidance path mating with vehicle current driving route;
For example: according to the angle of inclination information of the travel direction information of the positional information of vehicle, vehicle, vehicle,And the curvature of driving trace, calculate the assessed value of the guidance path of each candidate, then according to each candidateThe assessed value of guidance path, obtains the guidance path mating with vehicle current driving route.
In the present embodiment, calculating the assessed value of the guidance path of each candidate can be in the following way:
According to the distance between the position of vehicle and the guidance path of each candidate, the first weighted value q is setd；
According to the angle between the travel direction of vehicle and the guidance path of each candidate, the second weighted value is setqθ；
Tangent line according to the curvature of described driving trace and vehicle corresponding to the point on the guidance path of each candidateCurvature, arranges the 3rd weighted value qρ；
According to the gradient of the guidance path of the angle of inclination of vehicle and each candidate, the 4th weighted value q is setδ；
According to w=k1 × qd+k2×qθ+k3×qρ+k4×qδ, calculate the assessed value of the guidance path of each candidateW, wherein k1,, k2, k3 and k4 be respectively coefficient, can choose as the case may be concrete modeAs follows:
First, carry out Distance Judgment, calculate the position of vehicle to the vertical range of the guidance path of each candidate,Using distance as an important reference value, if the position of vehicle is to the vertical range of the guidance path of candidateFor d, its first weighted value Wherein unit is rice.
Then, calculate the angle of the guidance path of vehicle heading and each candidate, suppose vehicle and each candidateThe angle of guidance path be θ, the second weighted value Wherein unit is degree.
Secondly, for the curvature of road, be generally divided into three kinds: straight line curvature is 0, circular curve curvature is oneConstant, easement curve curvature is from 0 to the variable quantity a certain constant, wherein circular curve and easement curveCurvature is all directive, and forward, for just, is reversed negative. Calculate the curvature ρ of the driving trace of vehicleCWithVehicle is corresponding to the angential curvature ρ of the point on the guidance path of candidateL, the 3rd weighted value In the time being straight line on the guidance path of candidate, weighted value is 0, noCalculate the weighted value that its difference forms.
Again, calculate the 4th weight of the value of delta of the gradient of the angle of inclination of vehicle and the guidance path of candidateValue
Finally, give every numerical value weighting, calculate the assessed value of the guidance path of each candidate. Work as vehicle locationApart from crossing before road when (30 meters of >) far away, w=0.5 × qd+0.3×qθ+0.1×qρ+0.1×qδ；In the time that vehicle location is positioned at crossing (30 meters of <), w=0.2 × qd+0.3×qθ+0.3×qρ+0.2×qδ. GetThe wherein guidance path of the minimum candidate of w value, as the guidance path of the candidate of Optimum Matching, thus completeBecome route matching.
As shown in Figure 3, be Vehicle Driving Cycle schematic diagram in embodiments of the invention, arrow is vehicle heading,Along viaduct, stride across crossroad, drive towards ring road, wherein position 1, position 2, position 3 broken circles areThe range of drift of vehicle location, first 10 meters from position 1 of overpass drive off bypass by ring road.
Can find out, in the time that Vehicle Driving Cycle arrives position 1, utilize traditional route matching technology, be difficult to distinguishVehicle still drives off bypass on overhead, considers the drift of vehicle location, be easy to judge by accident, therefore,Add curvature and the gradient to judge, be easy to distinguish vehicle and whether sail bypass into.
When Vehicle Driving Cycle is when the position 2, according to vehicle driving trace, easily determine vehicle still on overheadBut not on crossroad.
In the time that Vehicle Driving Cycle arrives position 3,, having there is obvious curvature and changed in entrance ramp, can judgeGo out to mate road and should be ring road.
Referring to Fig. 4, be the structure drawing of device of route matching in embodiments of the invention, the dress of this route matchingPut and comprise:
The first acquisition module, for obtaining the vehicle traveling information of vehicle;
The first processing module, for according to described vehicle traveling information, calculates the driving trace of vehicle;
The second processing module, for according to described driving trace, calculates the curvature of described driving trace;
Matching module, for according to the curvature of described vehicle traveling information and described driving trace, from electronicallyIn chart database, obtain the guidance path mating with vehicle current driving route.
In another embodiment of the present invention, device also comprises:
The second acquisition module for according to vehicle traveling information, is chosen candidate from electronic map databaseGuidance path.
In another embodiment of the present invention, described matching module comprises:
Computing unit, for according to travel direction information, the car of the positional information of described vehicle, described vehicleAngle of inclination information and the curvature of described driving trace, calculate the commenting of guidance path of each candidateValuation;
Matching unit, for according to the assessed value of the guidance path of described each candidate, obtains and vehicle current lineSail the guidance path of route coupling.
The above is only the preferred embodiment of the present invention, it should be pointed out that common for the artTechnical staff, under the premise without departing from the principles of the invention, can also make some improvements and modifications,These improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. a method for route matching, is characterized in that, described method comprises:
Obtain the vehicle traveling information of vehicle;
According to described vehicle traveling information, calculate the driving trace of vehicle;
According to described driving trace, calculate the curvature of described driving trace;
According to the curvature of described vehicle traveling information and described driving trace, from electronic map database, obtainThe guidance path mating with vehicle current driving route;
Described vehicle traveling information comprises: the positional information of vehicle, the travel direction information of vehicle and vehicleAngle of inclination information;
Described according to described driving trace, before calculating the step of curvature of described driving trace, described inMethod also comprises:
According to vehicle traveling information, from electronic map database, choose the guidance path of candidate;
The step of the described guidance path of choosing candidate from electronic map database comprises:
According to the positional information of described vehicle, all leading in selected preset range in electronic map databaseBit path;
According to the travel direction information of described vehicle, in all guidance paths, current direction and vehicleTravel direction deviate from larger guidance path and reject, obtain the guidance path of candidate;
Described according to the curvature of described vehicle traveling information and described driving trace, from electronic map databaseThe step that obtains the guidance path mating with vehicle current driving route comprises:
According to the angle of inclination letter of the travel direction information of the positional information of described vehicle, described vehicle, vehicleBreath and the curvature of described driving trace, calculate the assessed value of the guidance path of each candidate;
According to the assessed value of the guidance path of described each candidate, obtain and leading that vehicle current driving route matesBit path;
Described according to the travel direction information of the positional information of described vehicle, described vehicle, the inclination angle of vehicleThe curvature of degree information and described driving trace, calculates the step of the assessed value of the guidance path of each candidateComprise:
According to the distance between the position of vehicle and the guidance path of each candidate, the first weighted value q is setd；
According to the angle between the travel direction of vehicle and the guidance path of each candidate, the second weighted value is set qθ；
Tangent line according to the curvature of described driving trace and vehicle corresponding to the point on the guidance path of each candidateCurvature, arranges the 3rd weighted value qρ；
According to the gradient of the guidance path of the angle of inclination of vehicle and each candidate, the 4th weighted value q is setδ；
According to w=k1 × qd+k2×qθ+k3×qρ+k4×qδ, calculate the assessed value of the guidance path of each candidateW, wherein k1, k2, k3 and k4 are respectively coefficient.
2. method according to claim 1, is characterized in that, also comprises:
If there is the historical track of Vehicle Driving Cycle, then according to the historical track of Vehicle Driving Cycle, in conjunction with travelling of vehicleDirection, in the guidance path of described candidate, the guidance path that vehicle can not be entered excludes, and obtainsThe guidance path of the candidate after optimization.
3. a device for route matching, is characterized in that, comprising:
The first acquisition module, for obtaining the vehicle traveling information of vehicle;
The first processing module, for according to described vehicle traveling information, calculates the driving trace of vehicle;
The second processing module, for according to described driving trace, calculates the curvature of described driving trace;
Matching module, for according to the curvature of described vehicle traveling information and described driving trace, from electronicallyIn chart database, obtain the guidance path mating with vehicle current driving route;
Also comprise:
The second acquisition module for according to vehicle traveling information, is chosen candidate from electronic map databaseGuidance path;
Described matching module comprises:
Computing unit, for according to travel direction information, the car of the positional information of described vehicle, described vehicleAngle of inclination information and the curvature of described driving trace, calculate the commenting of guidance path of each candidateValuation;
Matching unit, for according to the assessed value of the guidance path of described each candidate, obtains and vehicle current lineSail the guidance path of route coupling;
Computing unit, specifically for according to the distance between the position of vehicle and the guidance path of each candidate, arrangesThe first weighted value qd；
According to the angle between the travel direction of vehicle and the guidance path of each candidate, the second weighted value is setqθ；
Tangent line according to the curvature of described driving trace and vehicle corresponding to the point on the guidance path of each candidateCurvature, arranges the 3rd weighted value qρ；
According to the gradient of the guidance path of the angle of inclination of vehicle and each candidate, the 4th weighted value q is setδ；
According to w=k1 × qd+k2×qθ+k3×qρ+k4×qδ, calculate the assessed value of the guidance path of each candidateW, wherein k1, k2, k3 and k4 are respectively coefficient.
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| CN104062671B (en) * | 2014-07-08 | 2016-07-13 | 中国石油大学(华东) | Curvature Constrained GNSS Floating Vehicle Map Matching Method and Device |
| CN106370190B (en) * | 2015-07-20 | 2019-05-28 | 腾讯科技（深圳）有限公司 | Automobile navigation, position mark method, apparatus and system |
| CN106610294B (en) * | 2015-10-27 | 2020-03-27 | 高德信息技术有限公司 | Positioning method and device |
| CN105547304A (en) * | 2015-12-07 | 2016-05-04 | 北京百度网讯科技有限公司 | Road recognition method and device |
| CN105737824A (en) * | 2016-02-03 | 2016-07-06 | 北京京东尚科信息技术有限公司 | Indoor navigation method and device |
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| CN108240813B (en) * | 2016-12-23 | 2021-08-24 | 北京四维图新科技股份有限公司 | Storage and navigation method for acquiring actual driving track and driving history of vehicle |
| CN107331180A (en) * | 2017-08-10 | 2017-11-07 | 佛山市三水区彦海通信工程有限公司 | A kind of automobile speed limit information cuing method |
| WO2019028819A1 (en) * | 2017-08-11 | 2019-02-14 | 深圳配天智能技术研究院有限公司 | Vehicle positioning method and related devices |
| CN110031876A (en) * | 2018-01-11 | 2019-07-19 | 中南大学 | A kind of vehicle mounted guidance tracing point offset antidote based on Kalman filtering |
| CN109584605A (en) * | 2018-12-03 | 2019-04-05 | 北京远特科技股份有限公司 | Vehicle position acquisition method and device |
| CN109919518B (en) * | 2019-03-29 | 2021-08-03 | 百度在线网络技术（北京）有限公司 | Quality determination method, device, server and medium for map track matching data |
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