A GPS and pile number matching method and system based on direction and equidistant sampling

Abstract

The invention provides a GPS and pile number matching method and system based on direction and equal-interval sampling, and relates to the technical field of highway traffic management. The method comprises the following steps: S1, respectively collecting vehicles traveling on the outermost side of a lane in the direction along the pile number and in the direction against the pile number; S2, respectively calculating the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number; S3, sequentially matching the GPS points in the direction along the pile number with the GPS points in the direction against the pile number through Manhattan distance to obtain a first matching point, and marking the validity of all the first matching points according to the GPS distance between the two adjacent GPS points corresponding to the first matching points; S4, screening and obtaining a first matching point that meets a condition according to the validity mark, locating a starting point in the direction along the pile number in the first matching point that meets the condition, and calculating a vertical point in the direction against the pile number according to the starting point, matching the starting point with the corresponding vertical point to form a second matching point.

Description

Technical Field

[0001] The invention relates to the technical field of highway traffic management, and in particular to a GPS and pile number matching method and system based on direction and equidistant sampling. Background Art

[0002] In traditional highway monitoring and management, highway pile numbers serve as physical signs of roads and are used to mark specific information such as the location and distance of the road. Therefore, in order to achieve functions such as highway section monitoring, navigation services, and accident recording, it is particularly important to accurately match GPS positioning information with pile numbers.

[0003] At present, distance-based matching algorithms, interpolation algorithms, and matching algorithms based on high-precision maps are usually used to match GPS positioning information with stake numbers. However, these methods still have the following problems:

[0004] (1) Insufficient accuracy: Due to the error of the GPS signal itself, traditional matching algorithms often cannot achieve high-precision stake number positioning;

[0005] (2) High computational complexity: Some algorithms combined with high-definition maps require a large amount of computing resources, especially in large-scale road scenarios, where real-time performance and efficiency are greatly challenged;

[0006] (3) Strong environmental dependence: In complex road conditions or multi-path propagation environments, GPS signals are easily interfered with, resulting in inaccurate positioning and affecting the reliability of pile number matching. Summary of the invention

[0007] The purpose of the present invention is to provide a method and system for matching GPS and pile numbers based on direction and equidistant sampling, which is mainly used on roads with two lanes. The GPS points in the direction along the pile number and the direction against the pile number are matched, and the GPS data in the three directions of the road, namely, the forward, reverse and middle directions, can be obtained by combining the point-line distance relationship, which can significantly improve the matching accuracy of GPS information and highway pile numbers.

[0008] In order to solve the above technical problems, the present invention adopts the following solutions:

[0009] A GPS and pile number matching method based on direction and equidistant sampling is applied to a road with two lanes, where the driving direction of one lane is in the same direction as the pile number and the driving direction of the other lane is in the opposite direction as the pile number. The method comprises the following steps:

[0010] S1, collecting data of vehicles traveling on the outermost side of the lane in the direction of the pile number and the direction of the pile number at equal intervals, and obtaining GPS points in the direction of the pile number and the direction of the pile number sorted by time;

[0011] S2, respectively calculating the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number, to obtain the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number;

[0012] S3, sequentially matching the GPS points in the forward pile direction with the GPS points in the reverse pile direction by Manhattan distance to obtain first matching points, and marking the validity of all first matching points according to the GPS distance between two adjacent GPS points corresponding to the first matching points;

[0013] S4. Filter and obtain the first matching point that meets the conditions according to the validity mark, locate the starting point in the direction of the pile number among the first matching point that meets the conditions, and calculate the vertical point in the direction against the pile number according to the starting point, match the starting point with the corresponding vertical point to form a second matching point.

[0014] Furthermore, the along-pile number direction refers to that the driving direction of the lane extends in the direction of increasing pile numbers, and the against-pile number direction refers to that the driving direction of the lane extends in the direction of decreasing pile numbers.

[0015] Furthermore, the step S3 includes the following steps:

[0016] S31, calculating the Manhattan distance between each GPS point in the direction of the pile number and each GPS point in the direction of the reverse pile number, forming an initial matching point with a GPS point in the direction of the pile number corresponding to the minimum Manhattan distance, and marking the initial matching point as valid;

[0017] S32, starting from the initial matching point, sequentially matching the GPS point in the forward pile direction with the GPS point in the reverse pile direction with the smallest Manhattan distance thereto to form other matching points, wherein the initial matching point and other matching points are all first matching points;

[0018] S33, according to the GPS distance between two adjacent GPS points, respectively calculate the distance deviation of the two GPS points corresponding to other matching points. When the distance deviation of the two GPS points is less than the threshold, mark the corresponding other matching points as valid.

[0019] Further, in S1, the equally spaced collection refers to collecting the GPS points of the vehicle traveling on the outermost side of the lane according to a preset distance; in S33, the process of calculating the distance deviation is:

[0020] Obtain two GPS points corresponding to other matching points, and obtain the GPS distances between the two GPS points and their adjacent GPS points respectively, calculate the difference between the GPS distance and the preset distance, and use the difference as the distance deviation of the GPS point.

[0021] Furthermore, the step S4 includes the following steps:

[0022] S41, screening the first matching points in sequence to obtain two currently adjacent and valid first matching points;

[0023] S42, locating a starting point in the direction of the stake number among two currently adjacent and valid first matching points;

[0024] S43, calculating according to the starting point and two corresponding GPS points in the reverse pile direction of two adjacent and valid first matching points, to obtain the forward and reverse distances and the vertical point in the reverse pile direction;

[0025] S44, matching the starting point with the vertical point in the reverse pile direction to form a second matching point.

[0026] Further, in S42, the process of locating the starting point in the direction of the pile number among the two current adjacent and valid first matching points is: obtaining two corresponding GPS points in the direction of the pile number among the two current adjacent and valid first matching points, and selecting any point between the two GPS points as the starting point.

[0027] Furthermore, the method further includes step S5, which is after step S4 and is as follows:

[0028] S5. Obtain the forward and reverse distances and the vertical points in the reverse pile direction of all the first matching points that meet the conditions, calculate the center point of the road based on the starting point and the vertical point, and construct the center pile method with the center points of all roads; and perform median filtering on all the forward and reverse distances to obtain the forward and reverse distances of the road, and then calculate the road width distance through the forward and reverse distances of the road.

[0029] Furthermore, in S2, the GPS distance between two adjacent GPS points is calculated using the spherical distance.

[0030] A GPS and pile number matching system based on direction and equal-space sampling, using the GPS and pile number matching method based on direction and equal-space sampling, comprising:

[0031] GPS acquisition module: collects data of vehicles traveling on the outermost side of the lane in the direction of the pile number and the direction of the pile number at equal intervals, and obtains GPS points in the direction of the pile number and the direction of the pile number sorted by time;

[0032] The GPS distance calculation module calculates the GPS distance between two adjacent GPS points in the direction of the pile number and the direction of the reverse pile number, respectively, to obtain the GPS distance between two adjacent GPS points in the direction of the pile number and the direction of the reverse pile number;

[0033] The first matching module: matches the GPS points in the direction of the pile number with the GPS points in the direction of the pile number in sequence through the Manhattan distance to obtain the first matching points, and marks the validity of all the first matching points according to the GPS distance between the two adjacent GPS points corresponding to the first matching points;

[0034] The second matching module: the first matching point that meets the conditions is obtained by screening according to the validity mark, the starting point is located in the direction of the pile number in the first matching point that meets the conditions, and the vertical point is calculated in the direction against the pile number according to the starting point, and the starting point is matched with the corresponding vertical point to form the second matching point.

[0035] Beneficial effects of the present invention:

[0036] The invention provides a GPS and pile number matching method and system based on direction and equidistant sampling, mainly proposes a construction method of road GPS information and highway pile number, fuses the information in the forward and reverse directions of the road, not only can obtain basic data with higher accuracy, but also can realize the correction and optimization of GPS deviation, thereby further improving the stability and accuracy of GPS data; adopts the concept of equidistant sampling when collecting GPS data, can clean up abnormal GPS data, and improve the validity of data; fuses the information in the forward and reverse directions of the road, combines the point-line distance relationship, and obtains GPS data in the forward, reverse and middle directions of the road, which can significantly improve the matching accuracy of GPS information and highway pile number, and proposes a road width calculation method based on the concept of equidistant sampling and the point-line distance relationship, which is more conducive to the management of highway traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The figure is a flowchart of the method for matching GPS information with a stake number in Embodiment 1 of the present invention.

[0038] Figure 2 This is a schematic diagram of GPS points collected at equal intervals on a dual lane in Example 1 of the present invention.

[0039] Figure 3 In Example 1 of the present invention, based on Figure 2 Calculate the schematic diagram of the starting point and vertical point. DETAILED DESCRIPTION

[0040] 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, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0041] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0042] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0043] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness.One of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0044] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0045] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0046] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments:

[0047] Example 1

[0048] In traditional highway monitoring and management, highway pile numbers serve as physical signs of roads and are used to mark specific information such as the location and distance of the road. Therefore, in order to achieve functions such as highway section monitoring, navigation services, and accident recording, it is particularly important to accurately match GPS positioning information with pile numbers.

[0049] In order to solve the above problem, in this embodiment, a GPS and pile number matching method based on direction and equally spaced sampling is proposed. The GPS information and pile number matching method is mainly applied to roads with two lanes. The driving direction of one lane is in the direction of the pile number, that is, it extends in the direction of increasing pile number; the driving direction of the other lane is in the direction against the pile number, that is, it extends in the direction of decreasing pile number.

[0050] On the same road, GPS positioning information of vehicles traveling on the outermost side of the lane can be collected in the direction along the pile number and in the direction against the pile number, thereby obtaining GPS data in the direction along the pile number and in the direction against the pile number. The present invention can fuse the GPS positioning information in the forward and reverse directions on a road to obtain basic data with higher accuracy, thereby improving the matching accuracy of GPS information and highway pile numbers.

[0051] Specifically, Figure 1 As shown, the GPS information and stake number matching method includes the following steps:

[0052] S1, collecting data of vehicles traveling on the outermost side of the lane in the direction of the pile number and the direction of the pile number at equal intervals, and obtaining GPS points in the direction of the pile number and the direction of the pile number sorted by time;

[0053] S2, respectively calculating the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number, to obtain the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number;

[0054] S3, sequentially matching the GPS points in the forward pile direction with the GPS points in the reverse pile direction by Manhattan distance to obtain first matching points, and marking the validity of all first matching points according to the GPS distance between two adjacent GPS points corresponding to the first matching points;

[0055] S4. Filter and obtain the first matching point that meets the conditions according to the validity mark, locate the starting point in the direction of the pile number among the first matching point that meets the conditions, and calculate the vertical point in the direction against the pile number according to the starting point, match the starting point with the corresponding vertical point to form a second matching point.

[0056] In one embodiment, step S1 can be used to collect GPS positioning information in the direction along the pile number and the direction against the pile number on the road, respectively. The GPS positioning information is mainly collected by the GPS+RTK high-precision positioning module and the equally spaced trigger module. The equally spaced trigger module can ensure the distance accuracy between adjacent collected data, that is, the accuracy of the GPS distance between two adjacent GPS points; and the GPS+RTK high-precision positioning module can ensure absolute GPS positioning progress. The positioning accuracy of the GPS+RTK high-precision positioning module can be sub-meter, and the accuracy of the equally spaced trigger module is sub-micron, and the preset distance of the equally spaced trigger module can be defined by itself. The GPS point of the vehicle traveling on the outermost side of the lane is sampled at a preset distance. In the embodiment here, it is triggered once at 5m.

[0057] In one embodiment, step S2 can be used to pre-process the GPS positioning information collected in the direction along the pile number and the direction against the pile number, respectively. The pre-processing refers to calculating the GPS distance between two adjacent GPS points. Specifically, the increase_gps_list obtained by equally spaced collection in the direction along the pile number is sorted by time to calculate the GPS distance between two adjacent GPS points in the increase_gps_list. In addition, the GPS distance can be compared with the preset distance collected at equal intervals in advance. When the GPS distance exceeds a preset distance within a certain range, it is marked in the increase_gps_list. In summary, the same operation is performed on the increase_gps_list obtained by equally spaced collection in the direction against the pile number, and the GPS distance between two adjacent GPS points in the direction along the pile number and the direction against the pile number can be obtained.

[0058] In step S2, the GPS distance between two adjacent GPS points is calculated using the spherical distance. The specific calculation process is as follows:

[0059] Assume that two adjacent GPS points are A and B. According to GPS positioning information, the longitude and latitude of A is (latA, lngA), the longitude and latitude of B is (latB, lngB), and R=6371004m.

[0060] C = sin(latA)*sin(latB) + cos(latA)*cos(latB)*cos(lngA-lngB);

[0061] Then the GPS distance between A and B is: Distance = R*Arccos(C)*Pi / 180.

[0062] In one embodiment, the GPS positioning information collected in the direction of the pile number and the direction of the reverse pile number can be fused, i.e. matched, through step S3. Specifically, the step S3 includes the following steps:

[0063] S31, calculating the Manhattan distance between each GPS point in the direction of the pile number and each GPS point in the direction of the reverse pile number, forming an initial matching point with a GPS point in the direction of the pile number corresponding to the minimum Manhattan distance, and marking the initial matching point as valid;

[0064] S32, starting from the initial matching point, sequentially matching the GPS point in the forward pile direction with the GPS point in the reverse pile direction with the smallest Manhattan distance thereto to form other matching points, wherein the initial matching point and other matching points are all first matching points;

[0065] S33, according to the GPS distance between two adjacent GPS points, respectively calculate the distance deviation of the two GPS points corresponding to other matching points. When the distance deviation of the two GPS points is less than the threshold, mark the corresponding other matching points as valid.

[0066] In S31, the Manhattan distance can be calculated for each GPS point in the increase_gps_list in the direction of the pile number and each GPS point in the increase_gps_list in the direction against the pile number, wherein the Manhattan distance is preferably also a spherical distance, because the calculation of the spherical distance is relatively complicated and the size of the spherical distance and the Manhattan distance have a certain correlation, when the spherical distance is large, the Manhattan distance is also large; when the spherical distance is small, the Manhattan distance is also small.

[0067] like Figure 2 As shown, the current driving direction of lane 1 is in the direction of the pile number, and the current driving direction of lane 2 is in the direction of the reverse pile number. Two GPS points A and B in the direction of the pile number are obtained in lane 1 in the order of time, and two GPS points C and D in the direction of the reverse pile number are obtained in lane 2 in the order of time. The Manhattan distance between each GPS point in the direction of the pile number and each GPS point in the direction of the reverse pile number can be calculated, and then the smallest Manhattan distance is found among the Manhattan distances of all the forward and reverse matching points, and the corresponding forward and reverse matching points are used as the initial matching points. The initial matching points are a pair of GPS points, consisting of a GPS point in the direction of the pile number and a GPS point in the direction of the reverse pile number. The GPS points in the direction of the pile number corresponding to the initial matching points are calculated. The S point and the GPS points in the reverse pile direction are marked as valid, that is, the initial matching point is marked as valid. At this time, if the initial matching points are A and D, the valid of A and D are set to 1; then, starting from the initial matching point, for each GPS point in the forward pile direction, a GPS point closest to it can be found in the reverse pile direction for pairing to form other matching points. At this time, the other matching points are B and C. In summary, the Manhattan distance can be used to integrate the information in the forward and reverse directions on the road, and the forward and reverse matching points can be quickly found. In addition, the introduction of Manhattan distance as a partial distance calculation method greatly reduces the calculation complexity and improves the calculation efficiency, which can realize accurate basic data construction in large-scale highway scenes.

[0068] The other matching points are obtained in sequence based on the initial matching points. They are the forward and reverse matching points to be further judged. The validity of the forward and reverse matching points needs to be judged. In the present embodiment, the validity of the forward and reverse matching points is judged mainly by the concept of equidistant sampling. The concept of equidistant sampling can be used to clean up abnormal GPS data and improve the validity of the data. Specifically, since the distance of equidistant sampling can be customized by the equidistant trigger module, the present invention can obtain the preset distance in advance. Under normal circumstances, the GPS distance between two adjacent GPS points is very close to the preset distance. Therefore, the deviation between the two is used to judge whether the positioning of the current GPS point is accurate, that is, whether the other matching points are valid. The GPS distance between two adjacent GPS points is iteratively calculated and compared with the preset distance. If the difference between the GPS distance between two adjacent GPS points corresponding to other matching points and the preset distance is less than the threshold, specifically, when the obtained Figure 2 When the other matching points are B and C, first, through distance calculation, the GPS distance between B and its adjacent A and the GPS distance between C and its adjacent D are obtained, and the difference between these two GPS distances and the preset distance collected at equal intervals is calculated respectively, and the difference is used as the distance deviation of B and C, and the distance deviation is judged whether it is a threshold. If the distance deviation of B and C is less than the threshold, the other matching points are marked as valid, that is, the valid of B and C are set to 1. According to the above steps, the validity of all GPS points can be established and the abnormal GPS data can be cleaned up.

[0069] In one embodiment, step S4 can be used to obtain GPS data in the forward, reverse and center directions of the road based on information fusion in the forward and reverse directions of the road and combined with the point-line distance relationship, which can significantly improve the matching accuracy between GPS information and highway pile numbers. In addition, a method for calculating road width is proposed based on the concept of equidistant sampling and the point-line distance relationship, which is more conducive to the management of highway traffic.

[0070] The step S4 includes the following steps:

[0071] S41, screening the first matching points in sequence to obtain two currently adjacent and valid first matching points;

[0072] S42, locating a starting point in the direction of the pile number among two currently adjacent and valid first matching points;

[0073] S43, calculating according to the starting point and two corresponding GPS points in the reverse pile direction of two adjacent and valid first matching points, to obtain the forward and reverse distances and the vertical point in the reverse pile direction;

[0074] S44, matching the starting point with the vertical point in the reverse pile number direction to form a second matching point.

[0075] Further, in S42, the process of locating the starting point in the direction of the pile number among the two current adjacent and valid first matching points is: obtaining two corresponding GPS points in the direction of the pile number among the two current adjacent and valid first matching points, and selecting any point between the two GPS points as the starting point.

[0076] Specifically, after screening the first matching points in turn, we get Figure 2 The initial matching points A and D and other matching points B and C all meet the valid conditions, and the initial matching points A and D are adjacent to other matching points B and C. Then the two adjacent matching points that currently meet the conditions are A and D, B and C. At this time, if Figure 3 As shown, the starting point P is located in the direction of the pile number among two adjacent and valid first matching points. The specific positioning process is as follows: first find two adjacent A and B in the direction of the pile number, and then select any point between A and B as the starting point P; then, according to the starting point P and the two adjacent C and D in the direction of the reverse pile number, the distance from the point to the straight line is calculated to obtain the forward and reverse distances and the vertical point M in the direction of the reverse pile number.

[0077] Assume that the coordinates of P are (lat0, lng0), and the coordinates of C and D are (lat1, lng1) and (lat2, lng2) respectively. The calculation process of the forward and reverse distance d and the reverse direction perpendicular point M (latQ, lngQ) is as follows:

[0078] First, the longitude and latitude coordinates of P, C, and D are converted into a three-dimensional coordinate system through calculation to obtain the three-dimensional coordinate information of P, C, and D, namely P (x0, y0, z0), C (x1, y1, z1), and D (x2, y2, z2). The calculation formula is:

[0079] ;

[0080] Then, the forward and reverse distance d and the reverse vertical point M (latQ, lngQ) are calculated according to the three-dimensional coordinate information of P, C and D. The calculation formula is:

[0081] ;

[0082] ;

[0083] ;

[0084] ;

[0085] Among them, you can choose any value between Z1 and Z1 as Z Q .

[0086] It can be seen that according to the above formula, the forward and reverse distances and the corresponding vertical points of all matching points can be calculated. At this time, the vertical point M and the starting point P are matched to form the second matching point, that is, the forward and reverse matching point with the same pile number, so as to realize the matching of road GPS information and pile number, and the center point C of the road can be calculated through the starting point P and the vertical point M: (latc, lngc), specifically: latc=(latQ+lat0) / 2, lngc=(lngQ+lng0) / 2, then all the forward and reverse distances are subjected to median filtering to obtain the forward and reverse distances of the road. If the sampling distance in the application is 5m and the length of the median filter is selected as 100m, 21 points are selected for median filtering to obtain the forward and reverse distances and the changes in the forward and reverse distances.

[0087] In one embodiment, step S5 is further included, and step S5 is after step S4, and step S5 is:

[0088] S5. Obtain the forward and reverse distances and the vertical points in the reverse pile direction of all the first matching points that meet the conditions, calculate the center point of the road based on the starting point and the vertical point, and construct the center pile method with the center points of all roads; and perform median filtering on all the forward and reverse distances to obtain the forward and reverse distances of the road, and then calculate the road width distance through the forward and reverse distances of the road.

[0089] Specifically, when the road is 3.5m and the highway is 3.75m, the inspection vehicle drives in the outermost lane in the forward and reverse directions. Therefore, the total number of lanes in the forward and reverse directions is int(d / 3.5)+1, and d / (ind(d / 3.5)) is used to obtain the actual single lane width. Based on this, the road width distance can be calculated as: (int(d / 3.5)+1)*d / (int(d / 3.5)).

[0090] In one embodiment, the GPS data with valid=0 in the forward and reverse pile directions can be linearly interpolated by using the forward and reverse distances and the matching information of the GPS information and the pile number, so as to correct the data with valid=0, thereby constructing the matching GPS data in the forward, reverse and middle directions;

[0091] In one embodiment, the data collected during the line inspection can also be used to identify the pile numbers in the line, and combined with the previous pile numbers on the highway, the GPS points in the GPS sequence are assigned pile numbers; the GPS data between adjacent pile numbers are evenly divided and assigned pile numbers, and for data outside the pile numbers, extrapolation is performed based on the existing pile numbers and data sampling distances to construct the forward, reverse, and middle sequence data of the entire line and their corresponding pile numbers, and store them in the database as basic data.

[0092] In summary, based on the matching of the road GPS information and the pile number, when a pile number is given, the two basic data points with the smallest deviation from the pile number are found in the basic data, and the GPS of the two basic data points with the smallest deviation is used for linear difference to obtain the precise forward, reverse and center GPS coordinates of the pile number; or, given a GPS information, the basic data point with the smallest GPS Manhattan distance is also found in the forward, reverse and center GPS data in the basic database. If the smallest technical data point is forward, the smallest point is found between the two points before and after the point with the smallest Manhattan distance as the second smallest data, and then the pile numbers of the two smallest points are used for linear difference to obtain the pile number corresponding to the GPS point.

[0093] Example 2

[0094] A GPS and pile number matching system based on direction and equal-space sampling, using the GPS and pile number matching method based on direction and equal-space sampling, comprising:

[0095] GPS acquisition module: collects data of vehicles traveling on the outermost side of the lane in the direction of the pile number and the direction of the pile number at equal intervals, and obtains GPS points in the direction of the pile number and the direction of the pile number sorted by time;

[0096] The GPS distance calculation module calculates the GPS distance between two adjacent GPS points in the direction of the pile number and the direction of the reverse pile number, respectively, to obtain the GPS distance between two adjacent GPS points in the direction of the pile number and the direction of the reverse pile number;

[0097] The first matching module: matches the GPS points in the direction of the pile number with the GPS points in the direction of the pile number in sequence through the Manhattan distance to obtain the first matching points, and marks the validity of all the first matching points according to the GPS distance between the two adjacent GPS points corresponding to the first matching points;

[0098] The second matching module: the first matching point that meets the conditions is obtained by screening according to the validity mark, the starting point is located in the direction of the pile number in the first matching point that meets the conditions, and the vertical point is calculated in the direction against the pile number according to the starting point, and the starting point is matched with the corresponding vertical point to form the second matching point.

[0099] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A GPS and stake number matching method based on direction and equidistant sampling, characterized in that: Applied to a road with two lanes, the driving direction of one lane is in the direction of the pile number, and the driving direction of the other lane is in the direction against the pile number. The method includes the following steps: S1, collecting data of vehicles traveling on the outermost side of the lane in the direction of the pile number and the direction of the pile number at equal intervals, and obtaining GPS points in the direction of the pile number and the direction of the pile number sorted by time; S2, respectively calculating the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number, to obtain the GPS distance between two adjacent GPS points in the direction along the pile number and in the direction against the pile number; S3, sequentially matching the GPS points in the forward pile direction with the GPS points in the reverse pile direction by Manhattan distance to obtain first matching points, and marking the validity of all first matching points according to the GPS distance between two adjacent GPS points corresponding to the first matching points; The step S3 includes the following steps: S31, calculating the Manhattan distance between each GPS point in the direction of the pile number and each GPS point in the direction of the reverse pile number, forming an initial matching point with a GPS point in the direction of the pile number corresponding to the minimum Manhattan distance, and marking the initial matching point as valid; S32, starting from the initial matching point, sequentially matching the GPS point in the forward pile direction with the GPS point in the reverse pile direction with the smallest Manhattan distance thereto to form other matching points, wherein the initial matching point and other matching points are all first matching points; S33, according to the GPS distance between two adjacent GPS points, respectively calculate the distance deviation of the two GPS points corresponding to other matching points, and when the distance deviation of the two GPS points is less than the threshold, mark the corresponding other matching points as valid; S4. Filter and obtain the first matching point that meets the conditions according to the validity mark, locate the starting point in the direction of the pile number among the first matching point that meets the conditions, and calculate the vertical point in the direction against the pile number according to the starting point, match the starting point with the corresponding vertical point to form a second matching point.

2. A GPS and stake number matching method based on direction and equidistant sampling according to claim 1, characterized in that: The along-pile number direction refers to that the driving direction of the lane extends in the direction of increasing pile numbers, and the against-pile number direction refers to that the driving direction of the lane extends in the direction of decreasing pile numbers.

3. A GPS and stake number matching method based on direction and equidistant sampling according to claim 1, characterized in that: In S1, the equal-interval collection refers to collecting the GPS points of the vehicle traveling on the outermost side of the lane according to a preset distance; in S33, the process of calculating the distance deviation is: Obtain two GPS points corresponding to other matching points, and obtain the GPS distances between the two GPS points and their adjacent GPS points respectively, calculate the difference between the GPS distance and the preset distance, and use the difference as the distance deviation of the GPS point.

4. The method for matching GPS and stake numbers based on direction and equidistant sampling according to claim 1, characterized in that: The step S4 includes the following steps: S41, screening the first matching points in sequence to obtain two currently adjacent and valid first matching points; S42, locating a starting point in the direction of the stake number among two currently adjacent and valid first matching points; S43, calculating according to the starting point and two corresponding GPS points in the reverse pile direction of two adjacent and valid first matching points, to obtain the forward and reverse distances and the vertical point in the reverse pile direction; S44, matching the starting point with the vertical point in the reverse pile number direction to form a second matching point.

5. A method for matching GPS and stake numbers based on direction and equidistant sampling according to claim 4, characterized in that: In S42, the process of locating the starting point in the direction of the stake number among the two current adjacent and valid first matching points is as follows: obtaining two corresponding GPS points in the direction of the stake number among the two current adjacent and valid first matching points, and selecting any point between the two GPS points as the starting point.

6. A method for matching GPS and stake numbers based on direction and equidistant sampling according to claim 4, characterized in that: The step S5 is also included. The step S5 is after the step S4. The step S5 is: S5. Obtain the forward and reverse distances and the vertical points in the reverse pile direction of all the first matching points that meet the conditions, calculate the center point of the road based on the starting point and the vertical point, and construct the center pile method with the center points of all roads; and perform median filtering on all the forward and reverse distances to obtain the forward and reverse distances of the road, and then calculate the road width distance through the forward and reverse distances of the road.

7. The method for matching GPS and stake numbers based on direction and equidistant sampling according to claim 1, characterized in that: In S2, the GPS distance between two adjacent GPS points is calculated using the spherical distance.

8. A GPS and stake number matching system based on direction and equidistant sampling, characterized in that: A method for matching GPS and stake numbers based on direction and equidistant sampling as described in any one of claims 1 to 7 is applied, comprising: GPS acquisition module: collects data of vehicles traveling on the outermost side of the lane in the direction of the pile number and the direction of the pile number at equal intervals, and obtains GPS points in the direction of the pile number and the direction of the pile number sorted by time; The GPS distance calculation module calculates the GPS distance between two adjacent GPS points in the direction of the pile number and the direction of the reverse pile number, respectively, to obtain the GPS distance between two adjacent GPS points in the direction of the pile number and the direction of the reverse pile number; The first matching module: matches the GPS points in the direction of the pile number with the GPS points in the direction of the pile number in sequence through the Manhattan distance to obtain the first matching points, and marks the validity of all the first matching points according to the GPS distance between the two adjacent GPS points corresponding to the first matching points; The second matching module: the first matching point that meets the conditions is obtained by screening according to the validity mark, the starting point is located in the direction of the pile number in the first matching point that meets the conditions, and the vertical point is calculated in the direction against the pile number according to the starting point, and the starting point is matched with the corresponding vertical point to form the second matching point.

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