CN104573390A - Cognitive-rule-based time-space trajectory fusion method and road network topology generating method - Google Patents
Cognitive-rule-based time-space trajectory fusion method and road network topology generating method Download PDFInfo
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Abstract
The invention provides a cognitive-rule-based time-space trajectory fusion method and road network topology generating method. The fusion method includes: if a current new trajectory partially coincide with a trajectory before fusion, interrupting at a trajectory separation position to obtain two to-be-fused similar trajectory sections, or else interrupting at an intersection and recording; performing Delaunay triangular net constructing based on the constraint of the two similar trajectory sections, analyzing the side-side adjacency relation among triangles in the Delaunay triangular net, acquiring the trajectory section, based on the Delaunay triangular net, after fusion according to the adjacency relation; continuing fusion until all new trajectories participate in fusion, and generating a road network according the results of all the trajectory sections participating in the fusion. The road network topology generating method includes: whenever the current new trajectory partially coincide with the trajectory before fusion, performing topology point extraction during the interruption at the trajectory separation position, and generating the road topological graph based on the topology point extraction results according to the acquired road network.
Description
Technical field
The present invention relates to the space-time track fusion method based on cognitive law and road network topology generation method, belong to Geographic Information System and intelligent transportation research field.
Background technology
Along with the develop rapidly of urban transportation and going from bad to worse of traffic environment, the road information demand high to fine degree when people go on a journey, Up-to-date state is good is extremely urgent, simultaneously, people navigate within urban road network every day, magnanimity space-time trajectory data can be produced, be producer and the percipient of meticulous road data, from the magnanimity space-time track of people's go off daily, how excavate and to extract the road information of people's trip requirements, become the sciences problems that whole world scientists faces.
Relevant exploration work has been carried out from the research of space-time GPS track extracting data road net information, mainly be divided into two class methods, first kind research mainly adopts gridding method will to extract the center line of road after track data rasterizing, and Equations of The Second Kind research mainly adopts the method for trajectory clustering.
Generate based on the method above the digital road map of gps data although researchist has proposed, these methods are not suitable for the reason extracting road network from a large amount of gps data two: above research does not all consider that taxi driver selects the experimental knowledge on road, less than the contact between the angle analysis track from cognition; All from GPS track data, extraction is to a certain degree carried out to road data, but comparatively difficult for the extraction of urban road network topological relation so complicated at present.
Summary of the invention
For the ease of excavating and extract road figure and the topology information of people's trip requirements from the magnanimity space-time track of people's go off daily, the present invention proposes the space-time track fusion method based on cognitive law and road network topology generation method.
The present invention is solved the problem by following technological means:
Based on a space-time track fusion method for cognitive law, comprise the following steps,
Step 1, if there is partially overlapping between current new track and the front track of fusion, interrupt, obtain two similar orbit segments to be fused in track separation place, directly adding to beyond the path portion that overlaps in new track is merged in front track, then enters step 2; Partially overlap if do not exist between current new track and the front track of fusion, judge current new track and whether there is intersection point between track before merging, if exist, interrupt and record in point of intersection, new track is added to merge after in front track and enter step 4, if do not exist, then direct being added to by new track after in the front track of fusion enters step 4;
Step 2, carry out, based on the Delaunay triangle network forming of two similar orbit segment constraints, comprising following sub-step, step 2.1, in the new trajectory of adding of definition, the weighted value of tracing point is 1, and before merging, in trajectory, the weighted value of tracing point is equal with the trajectory number n generating this trajectory;
Step 2.2, judges whether two similar orbit segments exist intersection, if exist, interrupts and record intersection point, enter step 2.3, if do not exist, directly enter step 2.3 in point of intersection;
Step 2.3, according to the criterion of Delaunay network forming, constructs Delaunay triangulation network based on the tracing point of two similar orbit segments;
Step 3, carry out the fusion of two similar orbit segments, comprise the syntople analyzing each triangle in Delaunay triangulation network limit and limit each other, each leg-of-mutton corresponding fusion line segment is generated respectively according to syntople, connect each leg-of-mutton corresponding fusion line segment successively, and record direction and experience weights, obtain orbit segment after the fusion based on Delaunay triangulation network;
Describedly generate each leg-of-mutton corresponding fusion line segment implementation respectively according to syntople and be, the triangle of two adjacent sides is had for other triangles, corresponding fusion line segment is the line of weights than cut-point of two adjacent sides, only have the triangle of an adjacent side for other triangles, corresponding fusion line segment is the line of weights than cut-point end points corresponding thereto of adjacent side; It is as follows that described weights ask for mode than cut-point,
Weights are calculated by two-end-point A, B than cut-point P,
T
P＝T
A+T
B
Wherein, X
i, Y
iand T
idistinguish the x coordinate of representative point I, y coordinate and weighted value, I gets P, A and B;
Step 4, when also having untreated new track, using trajectory after current fusion as the front trajectory of fusion, returning step 1 and continuing to merge, until all new tracks participate in merging, generates road network according to the result that all trajectory participations are merged.
A kind of road network topology generation method realized according to the above-mentioned space-time track fusion method based on cognitive law, whenever there is partially overlapping at current new track and before merging between track, carry out topology point to extract when track separation place interrupts, finally extract result according to step 4 gained road network based on topology point and generate road topology figure; It is as follows that described topology point extracts realization,
If on new track track burble point with merge before the position of topology point that track has been deposited close, then directly calculating this track burble point with depositing weights that topology point institute forms line segment than cut-point is new topological point, the next alternative topological point deposited;
Otherwise, if track burble point is A respectively on two tracks
1and A
2, before merging, track is non-similar orbit segment 1 after track burble point, new track is non-similar orbit segment 2 after track burble point, line taking section A
1a
1weights than cut-point M point for topological point, a lower Q of the track burble point on a lower N of the track burble point on non-similar orbit segment 1 and non-similar orbit segment 2 is connected with M point respectively.
Space-time track fusion method based on cognitive law of the present invention and road network topology generation method, the experimental result figure obtained is close to real road net, and accurately can extract the topological relation of urban road network.
Accompanying drawing illustrates:
Fig. 1 is the method flow diagram of the embodiment of the present invention;
Fig. 2 is the similar trajectory segment schematic diagram of the embodiment of the present invention;
Fig. 3 is that the intersection point of the embodiment of the present invention interrupts schematic diagram;
Fig. 4 is the Delaunay triangle network forming schematic diagram that the similar orbit segment of the embodiment of the present invention retrains based on line;
Fig. 5 is the extraction schematic diagram of embodiment of the present invention topology point;
Fig. 6 is the extraction schematic diagram of embodiment of the present invention topological relation;
Fig. 7 is the generation schematic diagram of embodiment of the present invention topological relation.
Embodiment
The present invention can utilize taxi GPS to realize, merging based on taxi space-time GPS track the essence generating road network is by the repeatedly experience of taxi GPS to city road network, form the cognitive process of city road network spatial framework, so when taxi GPS track is recorded to the experience of first city road network, the features such as the road shape of meeting perception city road network, be to a kind of local of road network, abstract characteristic perception, belong to first characteristic perception level of spatial cognition, when taxi is repeatedly experienced, more and more local, inferior grade road can be traversed, the level of detail of city road network figure and topology enriches further, and formed the object of urban road entity cognitive, this belongs to second spatial object perception level of spatial cognition, along with taxi driver's dictyosome that satisfies the need tests the further increase of number of times, increasing road is found on the one hand, the feature contour repeating the road traveled through on the other hand can become and more meet real roads, detect simple at first, extensive road network figure and topology information can become more and more abundanter, more and more meticulousr, by simplifying path space feature and road entity object, association and comprehensive process, make the figure of road net more and more true to nature, topology information is more and more perfect, form the expression that becomes more meticulous to road network, finally realize the generation of road net data, this is the cognitive level of the 3rd spatial framework of spatial cognition.
The present invention proposes the space-time trajectory fusion method based on Delaunay triangulation network, constantly again merges, the trajectory of newly adding and the fusion trajectory merging generation before more to be enriched careful mileage chart.Technical solution of the present invention can adopt computer software mode to support automatic operational scheme.Technical solution of the present invention is described in detail below in conjunction with embodiment and accompanying drawing.
See Fig. 1, a kind of space-time track fusion method based on cognitive law that the embodiment of the present invention provides, comprises the steps:
1) there is situation about partially overlapping to current new track and before merging between track, carry out trajectory segment, obtain two similar trajectories to be fused, then enter 2) merge; There is not situation about partially overlapping for current new track and before merging between track, merging by adding new path implementation, directly entering 4), this situation is not emphasis of the present invention, and those skilled in the art can realize simply, and it will not go into details.
The step 1 of embodiment) be implemented as follows,
First time performs 1) time track that time experience is obtained as track before fusion, by current new track with merge before track merge.When existence partially overlaps between two tracks, interrupt and coincidence path portion is labeled as similar orbit segment to be fused in track separation place, directly adding to beyond the path portion that overlaps in new track is merged in front track; When there is no the orbit segment overlapped between two tracks, then do not need to carry out trajectory segment (namely interrupting in track separation place), but judge whether it exists intersection point, if exist, interrupt and record in point of intersection, then added to by new track before merging in track, if do not exist, direct being added to by new track is merged in front track.
As shown in Figure 2,3, a in Fig. 2
1-a
2-a
3with the b in Fig. 3
1-b
2-b
3two kinds of different situations, a
1in fusion before there is the orbit segment that partially overlaps between track and new track, interrupt (a in as Fig. 2 in the place of track separation
2shown in part), coincidence path portion is labeled as similar track to be fused, and the method according to the Trace Formation hereafter proposed merges, and obtains merging rear track.(as a in Fig. 2
3shown in).B in Fig. 3
1track and new intersection of locus before middle fusion, do not have the orbit segment overlapped, and to be interrupted by two tracks and record intersection point (b in as Fig. 3 in the part of intersection of locus
2), intersection point is inserted among two tracks, generates and merge rear track (as Fig. 3 b
3shown in).
2) based on the Delaunay triangle network forming of two similar orbit segment constraints:
Delaunay triangulation network is a kind of support model preferably in spatial neighbor analysis, in the merging of polygon cluster, the detection of Map Generalization conflict relationship are analyzed with shifting processing, landform shape, achieves gratifying result.The embodiment of the present invention is for the fusion of similar orbit segment, and using two similar tracks as constrained line, adopt the Delaunay triangle network forming (as shown in Figure 4) based on line constraint, concrete triangular network method is as follows:
2.1) in the diagram, thick line is the similar orbit segment before merging on track, and fine rule is the similar orbit segment on new track.Note on tracing point with weighted value, in the new trajectory of adding of definition, the weighted value of tracing point is 1, before merging, in trajectory, the weighted value of tracing point is equal with the trajectory number n (having merged n-1 time) generating this trajectory before, see the 1. part of Fig. 4;
2.2) see the 2. part of Fig. 4, judge whether two similar orbit segments exist intersection, if exist, interrupt and record intersection point in point of intersection, enter 2.3), if do not exist, directly enter 2.3);
2.3) see the 3. part of Fig. 4, according to the criterion of Delaunay network forming---do not have within the scope of any leg-of-mutton circumscribed circle in the triangulation network other point exist and to its intervisibility---based on the tracing point of two similar orbit segments, construct Delaunay triangulation network, realize structure constraint Delaunay triangulation network.
3) fusion of two similar orbit segments is carried out
From the Delaunay triangulation network of previous step structure, extract track after merging, the syntople on each triangle limit and limit each other in Water demand Delaunay triangulation network, the merging point carried out based on syntople generates, thus generation road fusion track.
In Delaunay triangulation network mainly there are two class adjacency state (as shown in Figure 4) in the syntople on each triangle limit and limit each other, its merge after mode of Track Pick-up be respectively:
See the 4. part of Fig. 4,
I class triangle: have the triangle of two articles of adjacent sides with other triangles, corresponding fusion line segment is the line of weights than cut-point of two adjacent sides;
II class triangle: only have the triangle of one article of adjacent side with other triangles, corresponding fusion line segment is the lines of adjacent side weights than cut-point end points corresponding thereto.
In I class, II class triangle, weights are calculated by two-end-point A, B of adjacent side than cut-point P, see formula 1,2, wherein X
i, Y
iand T
idistinguish the x coordinate of representative point I, y coordinate and weighted value.(in this example of I, getting P, A and B point)
T
p=T
a+ T
b(formula 2)
See the 5. part of Fig. 4, after generating each leg-of-mutton corresponding fusion line segment respectively according to syntople, connect the fusion line segment generated in each Delaunay triangle successively, and record direction and experience weights, tracing point weights after fusion become n+1, can to obtain two similar orbit segments, based on orbit segment after the fusion of Delaunay triangulation network, entering 4).
4) through step 1) add and step 3) according to after the fusion of the triangulation network, obtain trajectory after current fusion.When also having untreated new track, need to carry out Trace Formation further, then using trajectory after current fusion as fusion before trajectory, return 1) continue to merge together with new track, until all new trajectories participate in merging, carry out road network generation, generate road network according to the result that all trajectories participate in merging.
Along with increasing trajectory participates in merging, after the fusion generated, trajectory more and more can level off to real Road, this meets the rule of spatial cognition---and along with the increase experiencing number of times, driver can be more and more abundanter, more and more perfect for the cognition of road net.The time experience of driver to road network is that driver is first to road network detection behavior, therefrom can get the driving trace line that a theory is feasible, when repeatedly experiencing road network, various different traveling can be produced select at crossing place, trajectory exists each other and partly overlaps, first trajectory segment is carried out to the trajectory newly added, for overlapping region between track, utilize the described trajectory fusion method based on Delaunay triangulation network above, successively trajectory part similar in different tracks section is merged, realize the road network map generalization repeatedly experienced.
Based on above-mentioned fusion process, road network topology map generalization can be carried out: the present invention further provides a kind of road network topology generation method, whenever there is partially overlapping at current new track and before merging between track, carry out topology point to extract when track separation place interrupts, finally extract result according to step 4 gained road network based on topology point and generate road topology figure.
1) topological dot generation
What topology point was expressed is section topological communication information each other, is generally occur when section bifurcated.The driving behavior of tracking driver, when new track is separated with old track generation track time, illustrates there is different topological connected relations herein, needs to add the connectedness that topology point expresses road network.
Road net topology point extracts and can carry out when the similar trajectory segment of each appearance, first analyzes the position of track burble point on new track:
If on new track, track burble point is close with the position of merging the topology point that front track has been deposited (can preset close judgment threshold by those skilled in the art when specifically implementing, such as 2m, be close when being less than 2m), then directly calculate this track burble point with deposit topology point form line segment weights be new topological point than cut-point, substitute the topological point deposited, weights are more same than cut-point to be defined according to formula 1,2.Namely with track burble point and two-end-point A, B of having deposited topology point and being respectively limit, weights are calculated than cut-point P.
If the topological point that near the track burble point on new track, (such as in 2m) has not deposited, then the situation according to trajectory segment is needed to generate new topological point.During trajectory segment, two trajectories can be divided into three parts: similar orbit segment, non-similar orbit segment 1 and non-similar orbit segment 2, as shown in Figure 5, partially overlapping is there is between track at current new track and before merging, before merging, track is non-similar orbit segment 1 after track burble point, new track is non-similar orbit segment 2 after track burble point.If two on track, track burble point is A respectively
1and A
2, line taking section A
1a
1weights than cut-point M point for topological point, weights are more same than cut-point to be defined, namely with A according to formula 1,2
1and A
2be respectively two-end-point A, the B on limit, calculate weights than cut-point P.Article two, the end points of fusion line that the similar orbit segment of track generates after Trace Formation is M point just, therefore inevitable connected relation is there is with M point, again lower some Q point of the track burble point on the lower some N point of the track burble point on non-similar orbit segment 1 and non-similar orbit segment 2 is connected with M point respectively, then achieve the connection of three road sections part at topology point M place, namely complete the extraction of topology point.
2) road network topology map generalization
Extract on basis at the topology point of track fusion line, according to based on step 4 in the space-time track fusion method of cognitive law) the road network figure that obtains, carries out the extraction of urban road network's topological relation.Be linking between crossing with crossing by road net abstract expression, intersection topological model can be obtained, thus obtain road topology figure.During concrete enforcement, those skilled in the art according to crossing type set expression way, can carry out topological relation extraction.Such as modal right-angled intersection and T junction, if the point of white in Fig. 6 is the topological point within the scope of the intersection that obtains according to method mentioned above.Calculate the center of gravity of all existing topology points of each crossing intersection part, with this center of gravity for circle is drawn in the center of circle, as far as possible all topologys point is included in circle, calculates circle and the intersection point of each road segment segment, be also recorded as topological point.What express in circle is the topology connectivity in each section, intersection, is referred to as topological circle.Reject and unnecessary express irrelevant tracing point with topology, traversal trajectory the sequencing of topology point of process, express the connectedness between each topology point by the directive segmental arc of band, the topological relation of the crossing intersection part obtained is as shown in Figure 7.According to the connectedness on each section, the abstract line of topological circle road of each intersection is coupled together, namely achieves road network topology map generalization.
Based on the present invention, road network graph data and topological data can be obtained easily.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (2)
1., based on a space-time track fusion method for cognitive law, it is characterized in that: comprise the following steps,
Step 1, if there is partially overlapping between current new track and the front track of fusion, interrupt, obtain two similar orbit segments to be fused in track separation place, directly adding to beyond the path portion that overlaps in new track is merged in front track, then enters step 2; Partially overlap if do not exist between current new track and the front track of fusion, judge current new track and whether there is intersection point between track before merging, if exist, interrupt and record in point of intersection, new track is added to merge after in front track and enter step 4, if do not exist, then direct being added to by new track after in the front track of fusion enters step 4;
Step 2, carries out, based on the Delaunay triangle network forming of two similar orbit segment constraints, comprising following sub-step,
Step 2.1, in the new trajectory of adding of definition, the weighted value of tracing point is 1, and before merging, in trajectory, the weighted value of tracing point is equal with the trajectory number n generating this trajectory;
Step 2.2, judges whether two similar orbit segments exist intersection, if exist, interrupts and record intersection point, enter step 2.3, if do not exist, directly enter step 2.3 in point of intersection;
Step 2.3, according to the criterion of Delaunay network forming, constructs Delaunay triangulation network based on the tracing point of two similar orbit segments;
Step 3, carry out the fusion of two similar orbit segments, comprise the syntople analyzing each triangle in Delaunay triangulation network limit and limit each other, each leg-of-mutton corresponding fusion line segment is generated respectively according to syntople, connect each leg-of-mutton corresponding fusion line segment successively, and record direction and experience weights, obtain orbit segment after the fusion based on Delaunay triangulation network;
Describedly generate each leg-of-mutton corresponding fusion line segment implementation respectively according to syntople and be, the triangle of two adjacent sides is had for other triangles, corresponding fusion line segment is the line of weights than cut-point of two adjacent sides, only have the triangle of an adjacent side for other triangles, corresponding fusion line segment is the line of weights than cut-point end points corresponding thereto of adjacent side; It is as follows that described weights ask for mode than cut-point,
Weights are calculated by two-end-point A, B than cut-point P,
T
P＝T
A+T
B
Wherein, X
i, Y
iand T
idistinguish the x coordinate of representative point I, y coordinate and weighted value, I gets P, A and B;
Step 4, when also having untreated new track, using trajectory after current fusion as the front trajectory of fusion, returning step 1 and continuing to merge, until all new tracks participate in merging, generates road network according to the result that all trajectory participations are merged.
2. one kind according to claim 1 based on the road network topology generation method that the space-time track fusion method of cognitive law realizes, it is characterized in that: whenever there is partially overlapping at current new track and before merging between track, carry out topology point to extract when track separation place interrupts, finally extract result according to step 4 gained road network based on topology point and generate road topology figure; It is as follows that described topology point extracts realization,
If on new track track burble point with merge before the position of topology point that track has been deposited close, then directly calculating this track burble point with depositing weights that topology point institute forms line segment than cut-point is new topological point, the next alternative topological point deposited;
Otherwise, if track burble point is A respectively on two tracks
1and A
2, before merging, track is non-similar orbit segment 1 after track burble point, new track is non-similar orbit segment 2 after track burble point, line taking section A
1a
1weights than cut-point M point for topological point, a lower Q of the track burble point on a lower N of the track burble point on non-similar orbit segment 1 and non-similar orbit segment 2 is connected with M point respectively.
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