A road mainline generation method based on four-unit linear dynamic interaction

Abstract

The present invention discloses a method for generating a main road line based on a four-unit linear dynamic interaction, comprising the following steps: a user sequentially inputs wire points, and the system automatically constructs wires through the wire points; after the basic wire is obtained by connecting the wire points, each wire point is linearly constructed to obtain a linear unit configuration; the obtained linear unit configuration is subjected to unit legitimacy and constraint detection; according to the detection result, the missing front straight line unit of the linear unit configuration is supplemented, and the starting wire points of all linear units are assigned and calculated at the same time; finally, the linear connection is completed; and the road reference line is drawn according to the linear connection. The method of the present invention, through a unified constraint model, structures and units discrete geometric lines through the constraint model, which is convenient for computer storage and management; realizes a variety of symmetrical or asymmetrical structures, and can meet the construction of most flat curves; the operation is simple and friendly to designers.

Description

Technical Field

[0001] The invention belongs to the technical field of computer-aided design, and in particular is a method for generating a road main line based on dynamic interaction of four-unit linear shapes. Background Art

[0002] With the continuous development of Computer Aided Engineering (CAE) and Computer Aided Design (CAD), CAE technology plays an increasingly important role in road engineering planning, road forward design, and road engineering management; at the same time, in the process of road forward design, computer-aided design technology simplifies the design process for designers and relieves them of tedious and repetitive calculation and analysis work, fully stimulating the creativity of designers. Therefore, combining the above two technologies, planning, analysis, preview and other requirements can be met in engineering fields such as road design. With the continuous improvement of computer performance, the application scope of road plane design in road design is becoming wider and wider; at the same time, my country has also put forward higher requirements for the development of road traffic; the large-scale construction of high-grade highways has challenged the traditional simple flat curve construction method; therefore, many road professional engineers and related educational and scientific research personnel have conducted a lot of research on road plane linear design methods and have achieved a lot of results.

[0003] The existing road plane design schemes are mainly divided into the following types according to different classification standards: road alignment method: straight line type, curved line type; curve construction: combined linear construction method (straight line, circular curve, transition curve), spline curve; application method: intersection flat curve design method, oval curve design method, composite wire method, three-unit wire method, five-unit wire method, pattern method, building block method, dynamic interactive pattern method, dynamic interactive building block method, line element method, fixed / floating / free line element method, control method, parameter method, displacement method, trial calculation optimization method, cubic spline curve fitting method, etc.; curve form: single circular curve, symmetrical curve, asymmetrical curve, arch curve, complex curve, single oval, double oval, multi-oval curve, S-shaped curve, C-shaped curve, etc.; focus objects: main line, interchange, man-machine interchange, calculation, initial linear construction, interactive modification, etc.

[0004] In the existing technology, road design solutions have their own advantages and applicable scenarios, but they all have a very obvious defect: they need to complete AutoLISP programming and perform forward road design based on AutoCAD's graphic primitives and data foundations, and only focus on design, not on the constraints and conversion of the system, especially discrete data. This results in the inability to store and modify the linear data of the road in a complete and systematic manner, and the lack of a unified constraint model. Summary of the invention

[0005] The purpose of the present invention is to provide a method for generating a main road line based on a four-unit linear dynamic interaction, so as to solve the problem that in the prior art proposed in the background technology, it is necessary to complete AutoLISP programming based on the graphic element basis and data basis of AutoCAD and perform forward design of the road, resulting in the method in the prior art only focusing on the design but not paying attention to the constraints and conversion of the system, especially discrete data.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A road mainline generation method based on four-unit linear dynamic interaction includes the following steps:

[0008] Step S1, the user inputs the guide wire points in sequence, and the system automatically constructs the guide wire through the guide wire points; because it is necessary to construct a plane target line shape, the guide wire is drawn using the plane formed by the X and Y axes in the left-hand coordinate system;

[0009] Step S2, after the basic wire is obtained by connecting the wire points, each wire point is linearly constructed in sequence from front to back to obtain a linear unit configuration;

[0010] Step S3, performing a unit validity check on the obtained linear unit configuration; after passing the unit validity check, a constraint check is performed on the linear range of the linear unit configuration;

[0011] Step S4, based on the detection results in step S3, complete the missing front straight line units in the linear unit configuration, and assign and calculate the starting conductor points of all linear units; finally, the linear connection between the conductor points is completed; the system draws the road reference line based on the linear connection.

[0012] According to the above technical solution, in step S1, firstly input three spatial coordinate points P0, P1, and P2, and after obtaining the wire, determine the intersection point P1, and determine whether the intersection point P1 is in the vector to the left or right of the line to determine the construction position of the subsequent line.

[0013] According to the above technical solution,

[0014] ;

[0015] ;

[0016] According to the above formula, the parameter sign of the transition curve can be obtained. Sign is used to determine the direction of the tangent vector at the starting point of the transition curve. and ;

[0017] ;

[0018] ;

[0019] The sign bit value of the front relaxation curve sp_1 is obtained by the above formula , the sign bit value of the subsequent relaxation curve sp_2 , the sign bit value Used to determine the deflection direction of the spiral curve: If the sign bit value Equal to 0 means no deflection; greater than 0 means counterclockwise; less than 0 means clockwise.

[0020] According to the above technical solution, the linear parameters of the four units of the conductor point are calculated: Radius, PreL and SucL; among them, Radius represents the radius of the circular curve, PreL represents the length of the front transition curve, and SucL represents the length of the rear transition curve. Indicates the deflection angle of the transition curve;

[0021] Assume the radius of the circular curve is r and the distance parameter Dist is expressed as follows:

[0022]

[0023] ;

[0024] Next, constrain the calculation of Dist value. If Dist is greater than 20, the following calculation is performed:

[0025] ;

[0026] If Dist is less than 20, the calculation is performed using the following formula:

[0027] ;

[0028] The final initial construction result of the transition curve length parameter is obtained.

[0029] According to the above technical solution, in step S2, the linear construction includes:

[0030] Straight-straight line: The radius of the circular curve is 0, and the length of the front and rear transition curves is also 0;

[0031] Transition curve-circular curve unit 2: The radius of the circular curve is not 0, and the length of one of the front and rear transition curves is 0;

[0032] Line-circular curve-line one unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are both 0;

[0033] Transition curve-circular curve-transition curve three-unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are not 0.

[0034] According to the above technical solution, the parameters CurVatureRate of the front and rear easing curves are first calculated. The expressions are as follows:

[0035] ;

[0036] ;

[0037] Where CurVatureRate1 represents the parameters of the front transition curve, CurVatureRate2 represents the parameters of the rear transition curve, R represents the diameter, PreL represents the length of the front transition curve, SucL represents the length of the rear transition curve, Indicates the sign bit value of the front transition curve sp_1. Indicates the sign bit value of the post-smoothing curve sp_2.

[0038] According to the above technical solution, the starting points of the front and rear transition curves are offset along the direction of the wire intersection according to the offset parameters to obtain the final transition curve objects Spiral_1 and Spiral_2, specifically:

[0039] First, obtain the geometric coordinate values ​​end1 and end2 of the end points of the front and rear transition curves through the EndPoint attribute in the transition curve objects Spiral_1 and Spiral_2;

[0040] Then, the perpendicular direction of end1 and end2 along the deflection direction of their respective transition curves is calculated, and the coordinate points OP and EP whose distance from end1 and end2 is R are calculated in this direction;

[0041] Get the tangent direction of the transition curve; the tangent direction can be obtained from the properties originDirection and endDirection in the transition curve object. If it is a front transition curve, the direction is originDirection, and if it is a rear transition curve, the direction is endDirection; construct straight lines line1 and line2 along the tangent direction, and the intersection of line1 and line2 is the center point O of the three-unit circle.

[0042] According to the above technical solution, in step S3, performing unit legitimacy detection includes:

[0043] Whether the wires before and after the wire point are parallel, if they are parallel, it is illegal; whether the boundary lines of adjacent units are staggered, if they are staggered, it is illegal; whether the parameters of the input wire point are within the construction threshold range, if they exceed the threshold, it is illegal.

[0044] According to the above technical solution, the specific steps of unit legitimacy detection are:

[0045] Step S301, reading the wire point data;

[0046] Step S302, determine whether the radius of the circular curve is 0, if yes, jump to step S306; if not, go to step S303;

[0047] Step S303, determine whether it is a transition curve-circular curve two-unit, if yes, construct the two-unit and turn to step S305; if not, go to step S304;

[0048] Step S304, determine whether it is a straight line-circular curve-straight line unit, if yes, construct a unit and jump to step S305; if not, construct a transition curve-circular curve-transition curve three units and jump to step S305;

[0049] Step S305, determine whether the unit legality detection is passed, if yes, proceed to step S306, if no, perform unit automatic construction, and proceed to step S306;

[0050] Step S306, setting boundary parameters and ending the detection.

[0051] According to the above technical solution, setting the boundary parameters specifically includes assigning values ​​to the longitude and latitude of the unit starting point and the longitude and latitude of the unit ending point.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The method of the present invention uses a unified constraint model to structure and unitize discrete geometric lines through the constraint model, which is convenient for computer storage and management; the model unit length can be freely adjusted (set to 0) to achieve a variety of symmetrical or asymmetrical structures, which can meet the construction of most flat curves; the operation is simple and friendly to designers. Users only need to pay attention to key data such as the radius of the circular curve and the length of the transition curve, and the remaining attributes are automatically calculated and stored through the constraint model; the line shape is measured and adjusted automatically in real time, without the need for users to frequently manually input parameters for measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is an example diagram of the main line plane construction steps of the present invention;

[0055] Figure 2 This is an example diagram of the linear unit structure of the present invention;

[0056] Figure 3 This is an example diagram of the conductor of the present invention;

[0057] Figure 4Solving the offset parameters for the three units of the present invention;

[0058] Figure 5 This is an example diagram of the slow-circle-slow three-unit structure of the present invention;

[0059] Figure 6 This is a flowchart of the legal detection of the unit of the present invention. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] Embodiment 1

[0062] like Figure 1 As shown, a method for generating a main road line based on a four-unit linear dynamic interaction includes the following steps:

[0063] Step S1, the user inputs the guide wire points in sequence, and the system automatically constructs the guide wire through the guide wire points; because it is necessary to construct a plane target line shape, the guide wire is drawn using the plane formed by the X and Y axes in the left-hand coordinate system;

[0064] Step S2, after the basic wire is obtained by connecting the wire points, each wire point is linearly constructed in sequence from front to back to obtain a linear unit configuration;

[0065] Step S3, performing a unit validity check on the obtained linear unit configuration; after passing the unit validity check, a constraint check is performed on the linear range of the linear unit configuration;

[0066] Step S4, based on the detection results in step S3, complete the missing front straight line units in the linear unit configuration, and assign and calculate the starting conductor points of all linear units; finally, the linear connection between the conductor points is completed; the system draws the road reference line based on the linear connection.

[0067] The method of the present invention uses a unified constraint model to structure and unitize discrete geometric lines through the constraint model, which is convenient for computer storage and management; the model unit length can be freely adjusted (set to 0) to achieve a variety of symmetrical or asymmetrical structures, which can meet the construction of most flat curves; the operation is simple and friendly to designers. Users only need to pay attention to key data such as the radius of the circular curve and the length of the transition curve, and the remaining attributes are automatically calculated and stored through the constraint model; the line shape is measured and adjusted automatically in real time, without the need for users to frequently manually input parameters for measurement.

[0068] Embodiment 2

[0069] This embodiment is a further refinement of the first embodiment.

[0070] In step S1, firstly input three spatial coordinate points P0, P1, and P2. After obtaining the wire, first determine the intersection point P1. Determine whether the intersection point P1 is in the vector to the left or right of the line to determine the construction position of the subsequent line.

[0071] make

[0072] ;

[0073] ;

[0074] According to the above formula, the parameter sign of the transition curve can be obtained. Sign is used to determine the direction of the tangent vector at the starting point of the transition curve. and ;

[0075] ;

[0076] ;

[0077] The sign bit value of the front relaxation curve sp_1 is obtained by the above formula , the sign bit value of the subsequent relaxation curve sp_2 , the sign bit value Used to determine the deflection direction of the spiral curve: If the sign bit value Equal to 0 means no deflection; greater than 0 means counterclockwise; less than 0 means clockwise.

[0078] Calculate the linear parameters of the four units of the conductor point: Radius, PreL and SucL; Radius represents the radius of the circular curve, PreL represents the length of the front transition curve, and SucL represents the length of the rear transition curve. Indicates the deflection angle of the transition curve.

[0079] Assume the radius of the circular curve is r and the distance parameter Dist is expressed as follows:

[0080] ;

[0081] ;

[0082] Next, constrain the calculation of Dist value. If Dist is greater than 20, the following calculation is performed:

[0083] ;

[0084] If Dist is less than 20, the calculation is performed using the following formula:

[0085] ;

[0086] The final initial construction result of the transition curve length parameter is obtained.

[0087] In step S2, the linear construction includes:

[0088] Straight-straight line: The radius of the circular curve is 0, and the length of the front and rear transition curves is also 0;

[0089] Transition curve-circular curve unit 2: The radius of the circular curve is not 0, and the length of one of the front and rear transition curves is 0;

[0090] Line-circular curve-line one unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are both 0;

[0091] Transition curve-circular curve-transition curve three-unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are not 0.

[0092] First, calculate the parameters CurVatureRate of the front and rear easing curves. The expressions are as follows:

[0093] ;

[0094] ;

[0095] Where CurVatureRate1 represents the parameters of the front transition curve, CurVatureRate2 represents the parameters of the rear transition curve, R represents the diameter, PreL represents the length of the front transition curve, SucL represents the length of the rear transition curve, Indicates the sign bit value of the front transition curve sp_1. Indicates the sign bit value of the post-smoothing curve sp_2.

[0096] According to the offset parameters, the starting points of the front and rear transition curves are offset along the direction of the wire intersection to obtain the final transition curve objects Spiral_1 and Spiral_2, specifically:

[0097] First, obtain the geometric coordinate values ​​end1 and end2 of the end points of the front and rear transition curves through the EndPoint attribute in the transition curve objects Spiral_1 and Spiral_2;

[0098] Then, the perpendicular direction of end1 and end2 along the deflection direction of their respective transition curves is calculated, and the coordinate points OP and EP whose distance from end1 and end2 is R are calculated in this direction;

[0099] Get the tangent direction of the transition curve. The tangent direction can be obtained from the properties originDirection and endDirection in the transition curve object. If it is a front transition curve, the direction is originDirection, and if it is a rear transition curve, the direction is endDirection. Construct straight lines line1 and line2 along the tangent direction. At this time, the intersection of line1 and line2 is the center point O of the three-unit circle.

[0100] like Figure 4 As shown in the figure, when OP and EP are both located at the center O, a three-unit linear splicing is constructed. At this time, it is necessary to calculate the offset values ​​line1 and line2 of OP and EP from the center O, that is, to calculate the geometric distance from OP to the center O and the geometric distance from EP to the center O.

[0101] In step S3, the unit validity check includes:

[0102] Whether the wires before and after the wire point are parallel, if they are parallel, it is illegal; whether the boundary lines of adjacent units are staggered, if they are staggered, it is illegal; whether the parameters of the input wire point are within the construction threshold range, if they exceed the threshold, it is illegal.

[0103] The specific steps of unit legality detection are:

[0104] Step S301, reading the wire point data;

[0105] Step S302, determine whether the radius of the circular curve is 0, if yes, jump to step S30; if not, go to step S303;

[0106] Step S303, determine whether it is a transition curve-circular curve two-unit, if yes, construct the two-unit and turn to step S305;

[0107] If not, proceed to step S304; in step S304, determine whether it is a straight line-circular curve-straight line unit, if so, construct a unit and jump to step S305;

[0108] If not, construct the three units of transition curve-circular curve-transition curve, and jump to step S305;

[0109] Step S305, determine whether the unit legality detection is passed, if yes, proceed to step S306, if no, perform unit automatic construction, and proceed to step S306;

[0110] Step S306, setting boundary parameters and ending the detection.

[0111] Setting boundary parameters specifically includes assigning values ​​to the latitude and longitude of the unit start point (unitStart) and the latitude and longitude of the unit end point (unitEnd).

[0112] Embodiment 3

[0113] The inventive concept of the present invention is:

[0114] Starting from the traverse method, since the main line of the road follows the curvature continuity, it is necessary to solve the constraints of the entire linear structure after determining the traverse. The overall steps are as follows: Figure 2 shown.

[0115] The present invention records the four-unit linear data structure for each conductor point, including the front straight line, the front transition curve, the circular curve, and the rear transition curve. It is worth noting that in a sequence of conductor points on a road section, the first point and the last point are special: the lengths of the four linear units contained in the first conductor point are all zero, and its various parameters are also the default parameters at the initial time; the length of the front straight line contained in the last conductor point may be zero or non-zero (specifically, it is calculated according to the building block method according to the construction order from front to back to see whether it is necessary to add a front straight line with a certain length), and the lengths of the remaining linear units covered by this point are all zero.

[0116] The final constrained four-unit structure U h as follows:

[0117] Front straight line sl (Straight Line): responsible for the straight line part connecting the previous guide point and the current guide point;

[0118] Front transition curve sp_1 (Spiral_1): the curvature transitions from zero to circular curve curvature;

[0119] Circular curve arc (Arc): fixed curvature, connecting the front and rear transition curves;

[0120] Spiral_2: The curvature of the spiral transitions from a circular curve to zero.

[0121] U covered by the conductor point h The four-unit data structure Hmarker is as follows:

[0122] struct HMarker

[0123] {PointCM LonLat; / / longitude and latitude coordinates

[0124] double Elevation; / / Elevation value

[0125] double PreviousLength; / / Length of the previous drive transition curve

[0126] double SuccessorLength; / / Length of the successor relaxation curve

[0127] double Radius; / / Arc radius

[0128] RoadGeos geos; / / Linear unit list

[0129] PointCM unitStart; / / unit starting point longitude and latitude

[0130] PointCM unitEnd; / / unit end point longitude and latitude}

[0131] The data structure of the plane two-dimensional coordinate object PointCM is as follows:

[0132] struct PointCM

[0133] {double X; / / x coordinate

[0134] double Y; / / y coordinate}

[0135] The four-unit collection RoadGeos data structure is as follows:

[0136] struct RoadGeos

[0137] {StraightLine straightLine; / / front straight line

[0138] Clothoid clothoid_1; / / Front easing curve

[0139] ClothoidArc clothoidArc; / / Circular curve

[0140] Clothoid clothoid_2; / / After the easing curve}

[0141] like Figure 2 As shown, the plane wire point set N of this example h ={N0,N1,N2,N3}. The wire points and four-element objects are defined as follows:

[0142] 1. Each wire point controls and stores the four-unit linear object U h ={sl,sp_1,arc,sp_2};

[0143] 2. Wire point Ni Corresponding to a four-unit linear object U i ;

[0144] 3. If the length of the linear unit contained in the four units is zero, the linear object is not eliminated but the linear parameters are set to the initial parameters (that is, the parameters that meet the construction logic when the length is zero);

[0145] 4. The four-unit construction results conform to curvature continuity.

[0146] The above-mentioned unit construction example is the construction constraint model and target result of the present invention. Next, the construction steps (such as Figure 1 Detailed description is given in the table below.

[0147] Step 1: The user inputs the wire points in sequence, and the system automatically constructs the wire through the wire points. Since it is necessary to construct the plane target line, the wire is drawn using the plane formed by the X and Y axes in the left-hand coordinate system (the subsequent linear unit calculation is also based on this two-dimensional plane).

[0148] like Figure 3 As shown, after obtaining the wire, the left and right sides of the intersection point P1 are first determined. The purpose of this step is to infer that P1 is located on the vector to determine on which side subsequent alignments should be constructed.

[0149] make .

[0150] ;

[0151] ;

[0152] According to formula (1) and (2), the sign bit of the transition curve parameter Sign (the sign bit determines the direction of the tangent vector at the starting point of the wire) can be obtained, and then the sign bit value of the previous transition curve sp_1 can be obtained. , the sign bit value of the subsequent relaxation curve sp_2 .

[0153] ;

[0154] ;

[0155] Next, the linear parameters of the four units of the conductor point are calculated: Radius (circular curve radius), PreL (front transition curve length), SucL (back transition curve length). In order to facilitate the user to adjust the parameters of each unit, the present invention uses the widely used symmetrical basic curve to automatically construct the linear three units, which is characterized by A1=A2 (A: transition curve parameter) and the continuous curvature of the curve part. Considering that the user can move the position of the conductor point independently to make the deflection angle of the transition curve It may exceed the threshold range of 8° to 30° (the recommended turning angle range for highways of all levels). This construction method does not restrict the radius of the circular curve, so it only ensures that PreL=SucL.

[0156] Assume the radius of the circular curve is r and the distance parameter Dist is expressed as follows:

[0157] ;

[0158] ;

[0159] Next, the Dist value is constrained and calculated. If Dist is greater than 20, equation (7) is used; otherwise, equation (8) is used to obtain the final initial construction result of the transition curve length parameter.

[0160] ;

[0161] ;

[0162] Step 2: After the basic conductor is obtained by connecting the conductor points, the linear construction is performed for each conductor point (from front to back) in turn based on the idea of ​​the building block method. The preliminary calculation of the linear parameters of each conductor point has been completed through step 1. Before calculating the detailed parameters of the linear structure covered by the conductor point, the user can manually modify the parameters of the current conductor point. Its possible unit configurations include:

[0163] 1. Straight line-straight line: The radius of the circular curve is 0, and the length of the front and rear transition curves is also 0. This point is a broken line;

[0164] 2. Easement-circle (or circle-easement) unit 2: The radius of the circular curve is not 0, and the length of one of the front and rear easement curves is 0;

[0165] 3. Straight-circle-straight unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are both 0;

[0166] 4. Ease-circle-ease three-unit: the radius of the circular curve is not 0 and the lengths of the front and rear easement curves are not 0;

[0167] Take a slow-circle-slow three-unit as an example (such as Figure 5As shown), first calculate the parameters CurVatureRate of the front and rear easing curves. The expressions are as follows:

[0168] ;

[0169] ;

[0170] Where CurVatureRate1 represents the parameters of the front transition curve, CurVatureRate2 represents the parameters of the rear transition curve, R represents the diameter, PreL represents the length of the front transition curve, SucL represents the length of the rear transition curve, Indicates the sign bit value of the front transition curve sp_1. Indicates the sign bit value of the post-smoothing curve sp_2.

[0171] After the above process, we can make a preliminary mathematical expression of the transition curves, but we cannot determine the specific coordinates on the wire where the curvature of the transition curve is zero. Figure 4 As shown, the offset values ​​l1 and l2 are calculated. A perpendicular line is drawn from the end point of the transition curve to the inner side of the conductor, and two points OP and EP are obtained at a length of R. Then, straight lines OP-O and EP-O are constructed along the conductor direction through the two points, and the intersection point O of the two straight lines is the center point of the circular curve.

[0172] According to the offset parameters, the starting points of the front and rear transition curves are offset along the direction of the wire intersection to obtain the final transition curve objects Spiral_1 and Spiral_2. Figure 5 As shown, the segmentation points of each unit can be obtained, namely ZH (straight and slow), HY (slow and round), YH (round and slow), HZ (slow and straight): Ls is the length of two symmetrical transition curves; R represents the diameter; O is the center of the circle; is the radius of curvature at this point, Indicates the deflection angle of the transition curve.

[0173] Step 3: The next main task is to check the unit validity of the currently calculated unit result. After passing the unit check, the constraint check is performed based on the linear range of the building block method. Each road section contains several guide points (at least 2). From front to back, loop through each guide point and read its four-unit object data to perform the following operations: Figure 6 The basis for constructing the legal logic detection of two units, one unit, and three units is as follows:

[0174] 1. Whether the wires before and after the wire point are parallel, if they are parallel, it is illegal;

[0175] 2. Whether the boundary lines of adjacent units are intertwined; if they are intertwined, it is illegal;

[0176] 3. Check whether the parameters of the input wire point are within the construction threshold range. If they exceed the threshold, it is illegal.

[0177] It is worth noting that the purpose of setting the boundary parameters is to facilitate the next legal detection of the target wire unit as a basis for determining whether the unit is interlaced.

[0178] Step 4: Use the horizontal curve traverse point data returned by the previous step to complete the missing front straight line unit (StraightLine), and calculate and assign the starting stake numbers of all linear units. Finally, the linear connection between traverse points is completed. Finally, the system analyzes and draws the road reference line based on the above linear data.

[0179] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0180] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for generating a main road line based on a four-unit linear dynamic interactive method, a four-unit linear data structure, including a front straight line, a front transition curve, a circular curve, and a rear transition curve, characterized in that: The following steps are involved: Step S1, the user inputs the guide wire points in sequence, and the system automatically constructs the guide wire through the guide wire points; because it is necessary to construct a plane target line shape, the guide wire is drawn using the plane formed by the X and Y axes in the left-hand coordinate system; Step S2, after the basic wire is obtained by connecting the wire points, each wire point is linearly constructed in sequence from front to back to obtain a linear unit configuration; Step S3, performing unit legitimacy detection on the obtained linear unit configuration; After passing the unit legality check, the linear range of the linear unit configuration is then constrained. In step S3, the unit validity check includes: Whether the wires before and after the wire point are parallel, if they are parallel, it is illegal; whether the boundary lines of adjacent units are staggered, if they are staggered, it is illegal; whether the parameters of the input wire point are within the construction threshold range, if they exceed the threshold, it is illegal; The specific steps of unit legality detection are: Step S301, reading the wire point data; Step S302, determine whether the radius of the circular curve is 0, if yes, jump to step S306; if not, go to step S303; Step S303, determine whether it is a transition curve-circular curve two-unit, if yes, construct the two-unit and turn to step S305; if not, go to step S304; Step S304, determine whether it is a straight line-circular curve-straight line unit, if yes, construct a unit and jump to step S305; if not, construct a transition curve-circular curve-transition curve three units and jump to step S305; Step S305, determine whether the unit legality detection is passed, if yes, proceed to step S306, if no, perform unit automatic construction, and proceed to step S306; Step S306, setting boundary parameters and ending the detection; Step S4, based on the detection results in step S3, complete the missing front straight line units in the linear unit configuration, and assign and calculate the starting conductor points of all linear units; finally, the linear connection between the conductor points is completed; the system draws the road reference line based on the linear connection.

2. The method for generating a main road line based on a four-unit linear dynamic interaction according to claim 1, characterized in that: In step S1, first input three spatial coordinate points P0, P1, and P2, and after obtaining the wire, determine the intersection point P1 and determine whether the intersection point P1 is in the vector to the left or right of the line to determine the construction position of the subsequent line.

3. The method for generating a main road line based on dynamic interaction of four-unit linear shapes according to claim 2, characterized in that: make ; ; According to the above formula, the parameter sign of the transition curve can be obtained. Sign is used to determine the direction of the tangent vector at the starting point of the transition curve. and ; The sign bit value of the front relaxation curve sp_1 is obtained by the above formula , the sign bit value of the subsequent relaxation curve sp_2 , the sign bit value Used to determine the deflection direction of the spiral curve: If the sign bit value Equal to 0 means no deflection; greater than 0 means counterclockwise; less than 0 means clockwise.

4. The method for generating a main road line based on dynamic interaction of four-unit linear shapes according to claim 3 is characterized by: Calculate the linear parameters of the four units of the conductor point: Radius, PreL and SucL; Radius represents the radius of the circular curve, PreL represents the length of the front transition curve, and SucL represents the length of the rear transition curve. Indicates the deflection angle of the transition curve; Assume the radius of the circular curve is r and the distance parameter Dist is expressed as follows: Next, constrain the calculation of Dist value. If Dist is greater than 20, the following calculation is performed: If Dist is less than 20, the calculation is performed using the following formula: The final initial construction result of the transition curve length parameter is obtained.

5. The method for generating a main road line based on dynamic interaction of four-unit linear shapes according to claim 4, characterized in that: In step S2, the linear construction includes: Straight-straight line: The radius of the circular curve is 0, and the length of the front and rear transition curves is also 0; Transition curve-circular curve unit 2: The radius of the circular curve is not 0, and the length of one of the front and rear transition curves is 0; Line-circular curve-line one unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are both 0; Transition curve-circular curve-transition curve three-unit: the radius of the circular curve is not 0 and the lengths of the front and rear transition curves are not 0.

6. The method for generating a main road line based on dynamic interaction of four-unit linear shapes according to claim 5, characterized in that: First, calculate the parameters CurVatureRate of the front and rear easing curves. The expressions are as follows: Where CurVatureRate1 represents the parameters of the front transition curve, CurVatureRate2 represents the parameters of the rear transition curve, R represents the diameter, PreL represents the length of the front transition curve, SucL represents the length of the rear transition curve, Indicates the sign bit value of the front transition curve sp_1. Indicates the sign bit value of the post-slip curve sp_2.

7. The method for generating a main road line based on dynamic interaction of four-unit linear shapes according to claim 6, characterized in that: According to the offset parameters, the starting points of the front and rear transition curves are offset along the direction of the wire intersection to obtain the final transition curve objects Spiral_1 and Spiral_2, specifically: First, obtain the geometric coordinate values ​​end1 and end2 of the end points of the front and rear transition curves through the EndPoint attribute in the transition curve objects Spiral_1 and Spiral_2; Then, the perpendicular direction of end1 and end2 along the deflection direction of their respective transition curves is calculated, and the coordinate points OP and EP whose distance from end1 and end2 is R are calculated in this direction; Get the tangent direction of the transition curve; the tangent direction can be obtained from the properties originDirection and endDirection in the transition curve object. If it is a front transition curve, the direction is originDirection, and if it is a rear transition curve, the direction is endDirection; construct straight lines line1 and line2 along the tangent direction, and the intersection of line1 and line2 is the center point O of the three-unit circle.

8. The method for generating a main road line based on dynamic and interactive four-unit linear shapes according to claim 1, characterized in that: Setting boundary parameters specifically includes assigning values ​​to the latitude and longitude of the unit start point and the latitude and longitude of the unit end point.

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