A bayonet position location system

Abstract

The application provides a bayonet position positioning system, which comprises a total bayonet ID list, a processor and a memory storing a computer program, a non-seed bayonet ID list and a seed bayonet ID list are obtained according to the total bayonet ID list, a to-be-detected bayonet list is obtained according to the non-seed bayonet, a path list between two seed bays corresponding to the to-be-detected bayonet is obtained according to the to-be-detected bayonet, and the position of the to-be-detected bayonet is determined according to the seed bayonet, so that the accuracy of the bayonet position is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation, and in particular to a checkpoint location positioning system. Background Technology

[0002] In recent years, with the rapid development of my country's economy and society, the scale of cities has continued to expand, the urbanization process has accelerated, and the urban population has grown rapidly. Furthermore, with the continuous improvement of residents' living standards, the number of motor vehicles has increased rapidly, leading to a significant increase in traffic demand. The original balance between traffic supply and demand has been disrupted, and the improvement of urban traffic management facilities and capabilities has gradually failed to keep pace with the rapid growth in traffic demand. In order to achieve clear and systematic management of urban traffic, it is necessary to acquire road traffic parameters to facilitate the construction of intelligent transportation systems.

[0003] Checkpoints are surveillance cameras installed on roads and play an important role in building intelligent transportation systems. After checkpoints are installed on roads, their locations need to be marked to facilitate subsequent traffic management.

[0004] In existing technologies, when calibrating the location of a newly installed checkpoint, the average of multiple locations of the floating vehicle captured by the checkpoint is usually calculated to locate the checkpoint. However, when there are few points where the floating vehicle can be captured, the existing technology can only obtain limited location information, resulting in inaccurate location information for the checkpoint. Summary of the Invention

[0005] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows:

[0006] A checkpoint location positioning system, characterized in that the system includes: a total checkpoint ID list A0 = {A01, A02, ..., A0} α ...A0 β}, processor and memory storing computer programs, A0 α Let α be the α-th checkpoint among all checkpoints, where α = 1, 2, ..., β, and β is the total number of checkpoints; when the computer program is executed by the processor, the following steps are implemented:

[0007] S100: Obtain the list of non-seed checkpoint IDs A” = {A”1, A”2, ..., A”} based on A0. γ ...A” μ}, A” γ Let γ be the γth non-seed checkpoint among the non-seed checkpoints, where γ = 1, 2, ..., μ, and μ is the total number of non-seed checkpoints;

[0008] S200: Obtain the list of checkpoint IDs to be detected, D = {D1, D2, ..., D2}, based on A. δ ...D η}, Dδ Let δ be the ID of the non-seed checkpoint in A” that has at least one path between two seed checkpoints, where δ = 1, 2, ..., η, and η is the total number of checkpoints to be detected in D;

[0009] S300: Obtain each D δ The corresponding path list E of the checkpoint to be detected located between the two seed checkpoints. δ ={E δ 1 E δ 2 ...E δ e ...E δ h(Dδ E δ e D δ The corresponding checkpoint corresponds to the e-th path located between two seed checkpoints, where e = 1, 2, ..., h(D). δ ), h(D δ ) is D δ The total number of paths located between the two seed checkpoints;

[0010] S400: Obtain D δ Corresponding positioning coordinates (x) δ y δ ).

[0011] The present invention has at least the following beneficial effects:

[0012] When it is necessary to locate checkpoints, seed checkpoints and non-seed checkpoints are distinguished from the total number of checkpoints. Non-seed checkpoints cannot be directly located by floating cars, while seed checkpoints can be located by floating cars and the location information has high reliability. Then, paths that meet preset conditions are obtained from the non-seed checkpoints, with a seed checkpoint at each end of the path. The non-seed checkpoints are then located using the information from the seed checkpoints, thus increasing the path length for checkpoint location. Furthermore, using the already located seed checkpoints allows for more precise location of non-seed checkpoints, improving accuracy. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A flowchart of a checkpoint positioning system provided in an embodiment of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] like Figure 1 As shown, this embodiment of the invention provides a checkpoint location positioning system, the system including: a total checkpoint ID list A0 = {A01, A02, ..., A0} α ...A0 β}, processor and memory storing computer programs, A0 α Let α be the α-th checkpoint among all checkpoints, where α = 1, 2, ..., β, and β is the total number of checkpoints; when the computer program is executed by the processor, the following steps are implemented:

[0017] S1: Obtain the target checkpoint ID list A = {A1, A2, ..., A...} i ...A m}, A i Let i be the ID identifier corresponding to the i-th target checkpoint, where i = 1, 2, ..., m, and m is the total number of target checkpoints.

[0018] Specifically, the target checkpoint is a checkpoint that can be located by a floating car, and the checkpoint is a monitoring and capture device located in the center of the road.

[0019] Specifically, floating cars are vehicles equipped with satellite positioning systems.

[0020] Specifically, the ID identifier of the target checkpoint is used to identify each target checkpoint. The ID identifier includes letters, numbers, and underscores, and the ID identifier corresponding to each target checkpoint is unique.

[0021] S2: Get A i The corresponding road ID list A' i ={A' i 1 A' i 2 ...A' i r ...A' i s(Ai)}, A' i r In order to be able to A i The ID identifier of the r-th road in the road used for positioning the corresponding target checkpoint, where r = 1, 2, ..., s(A i ), s(Ai ) is able to be A i The total number of roads for which the corresponding target checkpoints are located.

[0022] Specifically, it can be used for A i The specific road used for locating the corresponding target checkpoint is determined by those skilled in the art and will not be elaborated here.

[0023] S3: Get A' i r Corresponding checkpoint positioning information list According to A i The A obtained by the j-th floating car on the r-th road i The distance between the corresponding target checkpoint and the center coordinates of the r-th road, j = 1, 2, ..., n (A' i r ), n(A' i r ) is A i The total number of floating vehicles on the corresponding r-th road.

[0024] Specifically, obtain It also includes the following steps:

[0025] S31: Obtain A i The j-th floating car on the r-th road is A i The corresponding coordinates were collected at the target checkpoint. Collection time And the starting coordinates (x, y) of this point to the r-th road i r y i r distance

[0026] Specifically, The following conditions must be met:

[0027]

[0028] Specifically, when the target checkpoint detects the floating car, the coordinates of the floating car are obtained through the floating car's own satellite positioning system, which will not be elaborated here.

[0029] Specifically, The starting coordinates of the road are all located on the center line of the road.

[0030] Specifically, the method of aligning the coordinates of the floating car to the center line of the road is prior art known to those skilled in the art and will not be described in detail here.

[0031] Specifically, the starting coordinates of each road are obtained using a satellite positioning system. Other techniques known to those skilled in the art for obtaining the starting coordinates of roads are within the scope of protection of this invention and will not be elaborated here.

[0032] S32: Get t i r j Within a seconds before and after, A i List of coordinates of the j-th floating car on the r-th road For A i The corresponding g-th coordinate value obtained by the j-th floating car on the r-th road, where g = 1, 2, ..., z, and z is the total number of coordinates collected by the floating car.

[0033] Specifically, a and z are set by the domain's technical personnel themselves, and will not be elaborated here.

[0034] Specifically, each Each coordinate is located on the center line of the road.

[0035] S33: According to Obtain The corresponding road starting coordinates and Distance list between for With (x) i r y i r The distance between them.

[0036] S34: According to Obtain The following conditions must be met:

[0037]

[0038] The above applies when it is necessary to obtain At that time, first through A i The corresponding target checkpoint collects the time and coordinates of the j-th floating car. But will When used as the coordinates of the target checkpoint, the error is relatively large due to the limited amount of data collected. Therefore, for The coordinates of the target checkpoint a seconds before and after the given time are obtained. The distance between each location and the starting coordinate of the r-th road is then calculated using these coordinates. Finally, the average of these distances is taken to obtain the coordinates of the target checkpoint and the starting coordinates of the road (x, y, y). i r y ir The average distance between the samples. The above method increases the number of samples, thereby reducing errors and improving accuracy.

[0039] S4: According to B i r Obtain the coordinates (x) of Ai i y i ).

[0040] Specifically, it also includes the following steps to obtain (x) i y i ):

[0041] S41: According to B i r Obtain according to A i The corresponding A obtained from the r-th road i List of coordinates of the corresponding target checkpoint According to A obtained i The coordinates of the corresponding target checkpoint.

[0042] Specifically, the technical means of obtaining coordinates based on the distance to the starting coordinates of the road are existing technologies known to those skilled in the art, and will not be elaborated here.

[0043] S42: Let Ni={n(A' i 1 ), n(A' i 2 )……n(A' i r )……n(A' i s(Ai) Let n i 0 =maxN i Let n i 0 Corresponding A i List of coordinates of the corresponding target checkpoint

[0044] S43: From N i Remove max N i Get N i 1 If max N i 1 <n i 0 *80%, then let Otherwise let n' i =max N i 1Then proceed to step S44.

[0045] S44: From N i 1 Remove maxN i 1 Get N i 2 If max N i 2 <max N i 1 *80%, then let Otherwise let n” i =max N i 2. Execute step S45.

[0046] S45: Let n' i Corresponding A i The corresponding target checkpoint coordinate list C n'i ={(x i ' 1 y i ' 1 ), (x i ' 2 y i ' 2 )……(x i ' n'i y i ' n'i )}.

[0047] Let n” i Corresponding A i The corresponding target checkpoint coordinate list C n”i ={(x i " 1 y i " 1 ), (x i " 2 y i " 2 )……(x i " n”i y i " n”i )}.

[0048] x i 0 The following conditions must be met:

[0049]

[0050] y i 0 The following conditions must be met:

[0051]

[0052] S46: Obtain the center coordinate set H = {(x1,y1), (x2,y2)……(x...} of the road. k y k )……(x t y t )},(x k y k Let t be the coordinates of the center point of the kth road among all roads, where k = 1, 2, ..., t, and t is the total number of roads.

[0053] Specifically, each coordinate value in H is set by those skilled in the art, and will not be elaborated here.

[0054] S47: Obtain (x) i 0 y i 0 Distance list to each point H: W = {W} i 1 W i 2 ...W i k ...W i t}, W i k For (x) k y k ) to (x i 0 y i 0 The distance.

[0055] S48: Take the coordinates in H corresponding to min(W) as (x i y i ).

[0056] As mentioned above, when it is necessary to obtain (x) i y i When ), A' i The number of floating cars on the road with the most floating cars is taken as n. i 0 If max N i 1 <n i If 0*80%, then n is considered to be... i 0 There are a large number of samples on the corresponding roads, so the A obtained from passing through this road... i The average of the coordinates of the corresponding target checkpoint is used to obtain (x i 0 y i0 If there are many vehicles using other roads, in this embodiment, if there are two roads with more than 80% and more than 64% of the maximum number of vehicles, then the coordinates obtained on these two roads are considered to be meaningful. In this case, a weighted average is calculated based on the number of floating cars using the three roads to obtain (x). i 0 y i 0 Furthermore, it is generally assumed that the target checkpoint is located in the center of the road, therefore (x) is obtained. i 0 y i 0 After that, select the distance (x) i 0 y i 0 The nearest point in H is taken as (x i y i This completed the work on A. i The location of the corresponding target checkpoint coordinates is based on a large sample size, which improves the accuracy of the target checkpoint coordinates.

[0057] S100: Obtain the list of non-seed checkpoint IDs A” = {A”1, A”2, ..., A”} based on A0. γ ...A” μ}, A” γ Let γ be the γth non-seed checkpoint among the non-seed checkpoints, where γ = 1, 2, ..., μ, and μ is the total number of non-seed checkpoints.

[0058] Specifically, non-seed checkpoints are checkpoints whose location cannot be directly obtained through floating cars or whose location obtained through floating cars has low reliability.

[0059] Specifically, A is obtained through the following steps:

[0060] S101: Obtain (x) i y i The coordinates of each floating car are A i Coordinates collected from the corresponding target checkpoint distance The following conditions must be met:

[0061]

[0062] S102: Remove each A0 that does not belong to A. α Add it to "A".

[0063] S103: If any d i j >dh1 Then A i Add to A”, otherwise leave A i Add to A0, and A i Delete from A, d h1 This is the preset distance threshold.

[0064] Specifically, d h1 This is to be set by those skilled in the art, and will not be elaborated here.

[0065] S200: Obtain the list of checkpoint IDs to be detected, D = {D1, D2, ..., D2}, based on A. δ ...D η}, D δ Let δ be the ID of the non-seed checkpoint in A” that has at least one path between two seed checkpoints, where δ = 1, 2, ..., η; and let η be the total number of checkpoints to be detected in D.

[0066] Specifically, the method for obtaining the checkpoints that meet the requirements is existing technology and will not be elaborated here.

[0067] S300: Obtain each D δ The corresponding path list E of the checkpoint to be detected located between the two seed checkpoints. δ ={E δ 1 E δ 2 ...E δ e ...E δ h(Dδ E δ e D δ The corresponding checkpoint corresponds to the e-th path located between two seed checkpoints, where e = 1, 2, ..., h(D). δ ), h(D δ ) is D δ The total number of paths located between the two seed checkpoints.

[0068] Specifically, the method for obtaining the path is existing technology. Other methods for obtaining the path that are known to those skilled in the art are within the protection scope of this invention, and will not be described in detail here.

[0069] S400: Obtain D δ Corresponding positioning coordinates (x) δ y δ ).

[0070] Specifically, obtain (x) δ y δ It also includes the following steps:

[0071] S410: Obtain each E δ e List of location information for non-seed checkpoints along the path F δ e p According to D δ The location information of the non-seed checkpoint generated by the p-th floating car on the corresponding e-th path, where p = 1, 2, ..., q(E δ e ), q(E δ e ) is E δ e The total number of floating cars on the corresponding path.

[0072] Specifically, the location information is that the p-th floating car is located on the e-th path by D. δ The corresponding non-seed checkpoint captures the length traveled on the e-th path.

[0073] Specifically, obtain It also includes the following steps:

[0074] S411: Obtain D δ The corresponding floating car p on the e-th path starts from E. δ e The starting point to D δ The time interval between the corresponding checkpoints being tested acquiring images and average speed

[0075] Specifically, and The method for obtaining it is existing technology and will not be elaborated here.

[0076] S412: The following conditions must be met:

[0077]

[0078] The above, Considered D δ The corresponding checkpoint is through D δ The position of the p-th floating car on the corresponding e-th path.

[0079] S420: According to F δ e Obtain The following conditions must be met:

[0080]

[0081] S430: Obtain E δ e Corresponding road length list For E δ e The length of the u-th road in the path, u = 1, 2, ..., w(E) δ e ), w(E δ e ) is E δ e The total number of roads on the corresponding path.

[0082] S440: When season The coordinates of the center point of the corresponding road are used as D. δ Undetermined coordinates (x) δ e y δ e ).

[0083] The above can be used to define D δ The coordinates of the corresponding checkpoint are determined down to the specific road segment.

[0084] S450: Obtain D δ The corresponding pseudo-corresponding coordinates (x) δ 0 y δ 0 ).

[0085] Specifically, obtain (x) δ 0 y δ 0 The steps also include:

[0086] S451: Let Q δ ={q(E δ 1 ), q(E δ 2 )……q(E δ e )……q(E δ h(Dδ) Let q δ =maxQ δ .

[0087] S452: From Q δ Remove maxQ δ Get Q δ 1 If maxQ δ 1δ *80%, then let x δ 0 =x δ e y δ 0 =y δ e Otherwise let q δ 1 =maxQ δ 1 Then proceed to step S453.

[0088] S453: From Q δ 1 Remove maxQ δ 1 Get Q δ 2 If maxQ δ 2< q δ 1 *80%, then let x δ 0 =x δ e y δ 0 =y δ e Otherwise let q δ 2 =maxQ δ 2 Then proceed to step S454.

[0089] S454: Let q δ The corresponding D δ The undetermined coordinates are (xq) δ yq δ ), q δ 1 The corresponding D δ The undetermined coordinates are (xq) δ 1 yq δ 1 ), q δ 2 The corresponding D δ The undetermined coordinates are (xq) δ 2 yq δ 2 ).

[0090] S455:x δ 0 =xq δ *q δ / (q δ ​+q δ 1 +q δ 2 )+xq δ 1 *q δ 1 / (q δ +q δ 1 +q δ 2 )+xq δ 2 *q δ 2 / (q δ +q δ 1 +q δ 2 ).

[0091] y δ 0 =yq δ *q δ / (q δ +q δ 1 +q δ 2 )+yq δ 1 *q δ 1 / (q δ +q δ 1 +q δ 2 )+yq δ 2 *q δ 2 / (q δ +q δ 1 +q δ 2 ).

[0092] S460: Obtained (x) δ 0 y δ 0 Distance list to each point H: W0 = {W0} δ 1 W0 δ 2 ...W0 δ k ...W0 δ t}

[0093] S470: Take the coordinate of H corresponding to min(W0) as (x δ y δ ).

[0094] As mentioned above, when it is necessary to obtain (x) δ y δ When q is used, the number of floating cars on the path with the most floating cars passing through it is taken as q. δ If maxQ δ 1 δ *80%, then q is considered δ The corresponding path has a large number of samples, so the D obtained through this path... δ The average of the coordinates of the corresponding checkpoints is used to obtain (x δ 0 y δ 0 If there are many vehicles on other paths, in this embodiment, if there are two paths with more than 80% and more than 64% of the maximum number of vehicles, then the coordinates obtained on these two paths are considered to be meaningful. In this case, a weighted average is calculated based on the number of floating cars passing through the above three roads to obtain (x). δ 0 y δ 0 Furthermore, it is generally believed that the checkpoint is located in the center of the road, therefore (x) is obtained. δ 0 y δ 0 After that, select the distance (x) δ 0 y δ 0 The nearest point in H is taken as (x δ y δ This completed the study of D. δ The location of the corresponding checkpoint coordinates, with a large sample size, improves the accuracy of the checkpoint coordinates.

[0095] S500: D δ Remove from D, and if each t δ e p All satisfy t δ e p <t h Then D δ Add it to A.

[0096] Specifically, t h This is to be set by those skilled in the art, and will not be elaborated here. ​

[0097] As mentioned above, if each t δ e p All satisfy t δ e p <t h Then it is believed that (x) δ y δ The credibility of ) is relatively high, so D will be used in this case. δ Add it to A as a reference for subsequent location determination of other non-seed checkpoints.

[0098] S600: Repeat S200 to S500 until D is an empty set.

[0099] As mentioned above, when it is necessary to determine the position of non-seed checkpoints, by iterating through S200 to S500 repeatedly, some non-seed checkpoints are calibrated into seed checkpoints, which facilitates the subsequent positioning of the remaining checkpoints.

[0100] As mentioned above, when it is necessary to obtain (x) i y i When ), A' i The number of floating cars on the road with the most floating cars is taken as n. i 0 If max N i 1 <n i If 0*80%, then n is considered to be... i 0 There are a large number of samples on the corresponding roads, so the A obtained from passing through this road... i The average of the coordinates of the corresponding target checkpoint is used to obtain (x i 0 y i 0 If there are many vehicles using other roads, in this embodiment, if there are two roads with more than 80% and more than 64% of the maximum number of vehicles, then the coordinates obtained on these two roads are considered to be meaningful. In this case, a weighted average is calculated based on the number of floating cars using the three roads to obtain (x). i 0 y i 0 Furthermore, it is generally assumed that the target checkpoint is located in the center of the road, therefore (x) is obtained. i 0 y i 0 After that, select the distance (x) i 0 y i 0The nearest point in H is taken as (x i y i This completed the work on A. i The location of the corresponding target checkpoint coordinates, with a large sample size, improves the accuracy of the target checkpoint coordinates. When it is necessary to obtain (x δ y δ When q is used, the number of floating cars on the path with the most floating cars passing through it is taken as q. δ If maxQ δ 1 δ *80%, then q is considered δ The corresponding path has a large number of samples, so the D obtained through this path... δ The average of the coordinates of the corresponding checkpoints is used to obtain (x δ 0 y δ 0 If there are many vehicles on other paths, in this embodiment, if there are two paths with more than 80% and more than 64% of the maximum number of vehicles, then the coordinates obtained on these two paths are considered to be meaningful. In this case, a weighted average is calculated based on the number of floating cars passing through the above three roads to obtain (x). δ 0 y δ 0 Furthermore, it is generally believed that the checkpoint is located in the center of the road, therefore (x) is obtained. δ 0 y δ 0 After that, select the distance (x) δ 0 y δ 0 The nearest point in H is taken as (x δ y δ This completed the study of D. δ The location of the corresponding checkpoint coordinates, with a large sample size, improves the accuracy of the checkpoint coordinates.

[0101] While specific embodiments of the invention have been described in detail by way of example, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.​

Claims

1. A checkpoint positioning system, characterized in that, The system includes: a total checkpoint ID list A0={A01, A02, ..., A0} α ...A0 β }, processor and memory storing computer programs, A0 α Let α be the α-th checkpoint among all checkpoints, where α = 1, 2, ..., β, and β is the total number of checkpoints; when the computer program is executed by the processor, the following steps are implemented: S100: Obtain the list of non-seed checkpoint IDs A''={A''1, A''2……A''} based on A0. γ ...A'' μ }, A'' γ Let γ be the γth non-seed checkpoint among the non-seed checkpoints, where γ = 1, 2, ..., μ, and μ is the total number of non-seed checkpoints. S200: Obtain the list of checkpoint IDs to be detected, D={D1, D2……D'', based on A''. δ ...D η }, D δ Let δ be the ID of the non-seed checkpoint in A'' that has at least one path between two seed checkpoints, where δ = 1, 2, ..., η, and η is the total number of checkpoints to be detected in D. S300: Obtain each D δ The corresponding path list E of the checkpoint to be detected located between the two seed checkpoints. δ ={E δ 1 E δ 2 ...E δ e ...E δ h（Dδ E δ e D δ The corresponding checkpoint corresponds to the e-th path located between two seed checkpoints, where e = 1, 2, ..., h (D δ ), h(D δ ) is D δ The total number of paths located between the two seed checkpoints; S400: Obtain D δ Corresponding positioning coordinates (x) δ y δ ); Step S400 further includes: S410: Obtain each E δ e List of location information F for non-seed checkpoints on the path δ e ={F δ e 1, F δ e 2……F δ e p ...F δ e q（Eδe） }, F δ e p According to D δ The location information of the non-seed checkpoint generated by the p-th floating car on the corresponding e-th path, p=1,2……q (E δ e ), q (E) δ e ) is E δ e The total number of floating cars on the corresponding path; S410 also includes the following steps to obtain F δ e p : S411: Obtain D δ The corresponding floating car p on the e-th path starts from E. δ e The starting point to D δ The time interval t between the images acquired by the corresponding checkpoint to be detected δ e p and average velocity v δ e p ; S412:F δ e p The following conditions must be met: F δ e p =t δ e p *v δ e p ; S420: According to F δ e Get F 0 δ e F 0 δ e The following conditions must be met: F 0 δ e =(∑ b=1 q（Eδe） F δ e b ) / q(E δ e ); S430: Obtain E δ e The corresponding road length list G δ e ={G δ e 1, G δ e 2……G δ e u ...G δ e w（Eδe） }, G δ e u For E δ e The length of the u-th road in the path, u=1,2……w (E δ e ), w(E δ e ) is E δ e The total number of roads on the corresponding path; S440: When G δ e 1+G δ e 2+G δ e u-1 <F 0 δ e <G δ e 1+G δ e 2+G δ e u At that time, let G δ e u The coordinates of the center point of the corresponding road are used as D. δ Undetermined coordinates (x) δ e y δ e ); S450: Obtain D δ The corresponding pseudo-corresponding coordinates (x) δ 0 y δ 0 ); In step S450, obtain (x) δ 0 y δ 0 The steps also include: S451: Let Q δ ={q(E δ 1 ), q (E) δ 2 )……q(E δ e )……q(E δ h（Dδ） Let q δ =maxQ δ ; S452: From Q δ Remove maxQ δ Get Q δ 1 If maxQ δ 1 δ *80%, then let x δ 0 =x δ e y δ 0 =y δ e Otherwise let q δ 1 =maxQ δ 1 And proceed to step S453;​ S453: From Q δ 1 Remove maxQ δ 1 Get Q δ 2 If maxQ δ 2< q δ 1 *80%, then let x δ 0 =x δ e y δ 0 =y δ e Otherwise let q δ 2 =maxQ δ 2 And proceed to step S454; S454: Let q δ The corresponding D δ The undetermined coordinates are (xq) δ yq δ ), q δ 1 The corresponding D δ The undetermined coordinates are (xq) δ 1 yq δ 1 ), q δ 2 The corresponding D δ The undetermined coordinates are (xq) δ 2 yq δ 2 ); S455:x δ 0 The following conditions must be met: x δ 0 =xq δ *q δ / (q δ +q δ 1 +q δ 2 )+xq δ 1 *q δ 1 / (q δ +q δ 1 +q δ 2 )+xq δ 2 *q δ 2 / (q δ +q δ 1 +q δ 2 ); y δ 0 The following conditions must be met: y δ 0 =yq δ *q δ / (q δ +q δ 1 +q δ 2 )+yq δ 1 *q δ 1 / (q δ +q δ 1 +q δ 2 )+yq δ 2 *q δ 2 / (q δ +q δ 1 +q δ 2 ); S460: Obtained (x) δ 0 y δ 0 The list of distances from H to each point W0 = {W0} δ 1 W0 δ 2 ...W0 δ k ……W0δ t }; S470: Take the coordinate of H corresponding to min(W0) as (x δ y δ ); The steps preceding step S100 also include: S1: Obtain the target checkpoint ID list A = {A1, A2, ..., A...} i ...A m }, A i Let i be the ID identifier corresponding to the i-th target checkpoint, where i = 1, 2, ..., m, and m is the total number of target checkpoints; S2: Get A i The corresponding road ID list A' i ={A' i 1 A' i 2 ...A' i r ...A' i s（Ai） }, A' i r In order to be able to A i The ID identifier of the r-th road in the road where the target checkpoint is located, r=1,2……s (A i ), s(A i ) is able to be A i The total number of roads for which the corresponding target checkpoints are located; S3: Get A' i r Corresponding checkpoint positioning information list B i r ={B i r 1, B i r 2……B i r j ...B i r n(A') i r B i r j According to A i The A obtained by the j-th floating car on the r-th road i The distance between the corresponding target checkpoint and the center coordinates of the r-th road, j=1,2……n (A' i r ), n(A' i r ) is A i The total number of floating vehicles on the corresponding r-th road; S4: According to B i r Obtain the coordinates (x) of Ai i y i Step S4 further includes the following steps: S41: According to B i r Obtain according to A i The corresponding A obtained from the r-th road i The corresponding target checkpoint coordinate list C i r={(x i r 1, y i r 1), (x i r 2, y i r 2) ... (x) i r j y i r j )……(x i r n（A'ir） y i r n（A'ir） )}, (x i r j y i r j According to B i r j A obtained i The coordinates of the corresponding target checkpoint; S42: Let Ni={n(A' i 1 ), n(A' i 2 )……n(A' i r )……n(A' i s（Ai） Let n )} i 0 =maxN i Let n i 0 Corresponding A i The corresponding target checkpoint coordinate list C ni0 ={(x i 0 1, y i 0 1), (x i 0 2, y i 0 2) ... (x) i 0 ni0 y i 0 ni0 )}; S43: From N i Remove max N i Get N i 1 If max N i 1 <n i 0 *80%, then let x i 0 =(∑ f=1 ni0 x i 0 f ) / n i 0 y i 0 =y i r j Otherwise let n' i =max N i 1 And proceed to step S44; S44: From N i 1 Remove maxN i 1 Get N i 2 If max N i 2 <max N i 1 *80%, then let x i 0 =(∑ f=1 ni0 x i 0 f ) / n i 0 y i 0 =(∑ f=1 ni0 y i 0 f ) / n i 0 Otherwise let n'' i =max N i 2. Execute step S45; S45: Let n' i Corresponding A i The corresponding target checkpoint coordinate list C n'i ={(x i ' 1 y i ' 1 (x) i ' 2 y i ' 2 )……(x i ' n'i y i ' n'i )}; Let n'' i Corresponding A i The corresponding target checkpoint coordinate list C n''i ={(x i '' 1 y i '' 1 (x) i '' 2 y i '' 2 )……(x i '' n''i y i '' n''i )}; x i 0 The following conditions must be met: x i 0 =((∑ f=1 ni0 x i 0 f ) / n i 0 )*n i 0 / (n i 0 +n' i +n'' i )+((∑ f=1 n'i x i '' f ) / n' i )*n' i / (n i 0 +n' i +n'' i )+((∑ f=1 n''i x i '' 1 f ) / n'' i )*n'' i / (n i 0 +n' i +n'' i ); y i 0 The following conditions must be met: the i 0 = ((∑ f=1 ni0 the i 0 f ) / n i 0 ) *n i 0 / (n i 0 +n' i +n'' i ) + ( (∑ f=1 n'i the i '' f ) / n' i ) *n' i / (n i 0 +n' i +n'' i ) + ( (∑ f=1 n'' i the i '' 1 f ) / n'' i ) *n'' i / (n i 0 +n' i +n'' i ); S46: Obtain the center coordinate set H={(x1,y1),(x2,y2)……(x k y k )……(x t y t )}, (x k y k Let t be the coordinates of the center point of the k-th road among all roads, where k = 1, 2, ..., t, and t is the total number of roads; S47: Obtain (x) i 0 y i 0 The list of distances from each point to H is W={W i 1 W i 2 ...W i k ...W i t }, W i k For (x) k y k ) to (x i 0 y i 0 The distance; S48: Take the coordinates in H corresponding to min(W) as (x i y i ).

2. The system according to claim 1, characterized in that, Step S3 further includes the following steps: S31: Obtain A i The j-th floating car on the r-th road is A i The corresponding coordinates (x) of the target checkpoint when they are collected i r j 0 y i r j 0 ), collection time t i r j And the starting coordinates (x, y) of this point to the r-th road i r y i r The distance L) i r j 0 ; S32: Get t i r j Within a seconds before and after, A i The coordinate list U of the j-th floating car on the r-th road. i r j ={(x i r j 1 y i r j 1 (x) i r j 2 y i r j 2 )……(x i r j g y i r j g )……(x i r j z y i r j z )}, (x i r j g y i r j g ) is A i The corresponding g-th coordinate value obtained by the j-th floating car on the r-th road, where g = 1, 2, ..., z, and z is the total number of coordinates collected by the floating car; S33: According to U i r j Get U i r j The corresponding road starting coordinates and U i r j Distance list L i rj ={L i r j 1 L i r j 2 ...L i r j g ...L i r j z }, L i r j g For (x) i r j g y i r j g ) and (x i r y i r The distance between them; S34: According to L i r j Get B i r j B i r j The following conditions must be met: B i r j =(L i r j 0 +∑ c=1 z L i r j c ) / (z+1)。 3. The system according to claim 1, characterized in that, Step S100 further includes: S101: Obtain (x) i y i The coordinates of each floating car are A i The corresponding target checkpoint coordinates (x) i r j 0 y i r j 0 The distance d) i r j , S102: Remove each A0 that does not belong to A. α Add to A''; S103: If any d i j >d h1 Then A i Add to A'', otherwise leave A i Add to A0, and A i Delete from A, d h1 This is the preset distance threshold.

4. The system according to claim 1, characterized in that, The system also includes the following steps: S500: D δ Remove from D, and if each t δ e p All satisfy t δ e p <t h Then D δ Add to A; S600: Repeat S200 to S500 until D is an empty set.

5. The system according to claim 3, characterized in that, The d i r j The following conditions must be met: d i r j =((x i -x i r j 0 ) 2 +(y i -y i r j ) 2 ) 0.5 。

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