一种新型的城市道路地图匹配方法
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摘要
提出了一种充分利用道路交叉口约束的地图匹配方法,并采用低成本的IMU/里程计组合导航系统采集无人驾驶汽车的定位数据,利用开源的OpenStreetMap地图对其进行地图匹配。试验表明,本文算法适用于城市交通环境,并能满足实时解算要求,单点平均耗时0.11 ms,在查全率89%的情况下,匹配准确率可达100%。
The existing map matching method using vertical projection is often difficult to correct the longitudinal error,and the matching effect in the intersection is not good. In this paper,a map matching algorithm is proposed which makes full use of the road constraints at the intersections. We collect the location data of autonomous cars using low-cost integrated navigation method with IMU and odometer,and combine with open source Open Street Map for map matching,which breaks the dilemma that the autonomous driving industry is highly dependent on GPS. Experimental results show that the average time of a single point is 0.11 ms,and the proposed method is suitable for urban driving environment and meets the requirement of real-time calculation,and the matching accuracy can reach 100% while the recall rate is 89%.
The existing map matching method using vertical projection is often difficult to correct the longitudinal error,and the matching effect in the intersection is not good. In this paper,a map matching algorithm is proposed which makes full use of the road constraints at the intersections. We collect the location data of autonomous cars using low-cost integrated navigation method with IMU and odometer,and combine with open source Open Street Map for map matching,which breaks the dilemma that the autonomous driving industry is highly dependent on GPS. Experimental results show that the average time of a single point is 0.11 ms,and the proposed method is suitable for urban driving environment and meets the requirement of real-time calculation,and the matching accuracy can reach 100% while the recall rate is 89%.
引文
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[15]ALY H,YOUSSEF M.Sem Match:road semantics-based accurate map matching for challenging positioning data[C]∥ACM Seattle:SIGSPATIAL International Conference on Advances in Geographic Information Systems.[S.l.]:ACM,2015:1-10.
[16]MA C,ZHANG X,GAO P,et al.Space-map-matchingbased candidate selection for GPS map matching[C]∥IEEE International Conference on Service Operations and Logistics,and Informatics.Beijing:IEEE,2016:77-82.
[2]LIAO W,LU W,ZHU T,et al.A map matching algorithm for intersections based on floating car data[C]∥International Conference on Advanced Communication Technology.Gangwon-Do:IEEE,2008:311-316.
[3]WANG Z,LI Z,WANG L.The application of GPS data processing technique in map matching[C]∥International Conference on Transportation,Mechanical,and Electrical Engineering.Changchun:IEEE,2012:588-591.
[4]ZHANG Y,GAO Y.An improved map matching algorithm for intelligent transportation system[C]∥IEEEInternational Conference on Industrial Technology.Chengdu:IEEE,2008:1-5.
[5]周晴.兼容路口校正的地图匹配算法研究[D].合肥:中国科学技术大学,2010.
[6]KUHNT F,KOHLHAAS R,JORDAN R,et al.Particle filter map matching and trajectory prediction using a spline based intersection model[C]∥International Conference on Intelligent Transportation Systems.Hawaii:IEEE,2014:1892-1893.
[7]陈滨,王平,施文灶,等.GPS轨迹数据的综合地图匹配算法研究[J].电子科技,2014,27(12):20-23.
[8]ZHU Z,XING J,MENG L,et al.SRMM:simple realtime map-matching model and algorithm in urban area traffic integrated application[C]∥International Conference on Intelligent System Design and Engineering Application.Changsha:IEEE Computer Society,2010:395-398.
[9]ISHIMARU T,TANAKA K,SAEKI K,et al.Map building by 3D map matching[C]∥Proceedings of SICEAnnual Conference.Taiwan:IEEE,2010:1989-1992.
[10]吴涛,向隆刚,龚健雅.路网更新的轨迹-地图匹配方法[J].测绘学报,2017,46(4):507-515.
[11]CHEN C,YANG B.A fast map matching method by using grid index[C]∥International Conference on Intelligent Computation Technology and Automation.[S.l.]:IEEEComputer Society,2017:75-79.
[12]HSUEH Y L,CHEN H C,HUANG W J.A hidden Markov model-based map-matching approach for lowsampling-rate GPS trajectories[C]∥International Symposium on Cloud and Service Computing.Santa Clara:IEEE Computer Society,2017:271-274.
[13]ZHANG T,YANG D,LI J,et al.A trajectory-based mapmatching system for the driving road identification in vehicle navigation systems[J].Journal of Intelligent Transportation Systems,2016,20(2):162-177.
[14]ZHANG Y,GUO C,NIU R,et al.A multi-weights map matching algorithm used in GPS system for vehicle navigation application[C]∥International Conference on Signal Processing.Auckland:IEEE,2015.
[15]ALY H,YOUSSEF M.Sem Match:road semantics-based accurate map matching for challenging positioning data[C]∥ACM Seattle:SIGSPATIAL International Conference on Advances in Geographic Information Systems.[S.l.]:ACM,2015:1-10.
[16]MA C,ZHANG X,GAO P,et al.Space-map-matchingbased candidate selection for GPS map matching[C]∥IEEE International Conference on Service Operations and Logistics,and Informatics.Beijing:IEEE,2016:77-82.