卫星收费系统GPS定位信息和路段匹配方法研究

描述了1种GPS定位信息和电子地图收费路段匹配的方法,分为地图精简和地图匹配2部分。根据GPS定位收费系统对地图及地图匹配的要求,对电子地图进行了精简。路段识别采用了GPS位置点和路段收费位置节点的匹配方法,通过设定收费标示值,配合路段间拓扑关系、路段的收费属性值信息,进行地图匹配计算,判断当前车辆是否行驶在收费路段上,从而对行驶在收费路段的车辆进行通行费用计算、对收费地图信息进行精简处理、探讨分析影响地图匹配精度的因素、描述地图匹配的方法。该方法经过实验检测,并在高速公路卫星收费实验系统中实际运行,效果良好。     

卫星定位不停车收费中基于决策圈的路径识别方法

首次提出在复杂区域使用决策圈的方法进行地图匹配,并提出一种GPS地图匹配和设置决策圈结合的新的路段识别方法,用于解决高速公路卫星收费系统或车栽导航中复杂路段地图匹配不准确的问题.对常规地图匹配算法GPS由于精度难以匹配的路段区域设定决策圈,对决策圈内路段进行特殊匹配处理.在处理方法上利用预先采集到的路段上的准确点代替电...     

A Trajectory-Based Map-Matching System for the Driving Road Identification in Vehicle Navigation Systems

Driving road identification is the key issue of a vehicle navigation system that supports various services of intelligent transportation systems. The method for driving road identification is also known as map matching (MM). In spite of the development of MM algorithms, limitations still exist in obtaining the positioning data and preparing candidate roads (CRs) that may result in mismatches in some special difficult road configurations such as flyovers and parallel roads. To overcome the limitations, an integrated trajectory-based MM (tbMM) system is proposed based on the trajectory similarity evaluation method. The system can fuse the information from global positioning systems (GPS) and inertial sensors to generate the vehicle trajectory that represents the vehicle continuous movement in three dimensions. The elevation data of vehicle and roads are involved to enhance the trajectory-based matching process. Also the method employs an optimized mechanism for generating and maintaining CRs. Using the mechanism, separated road segments in a digital map are reorganized in the form of possible driving roads and the topology among them is guaranteed. Moreover, the CRs are obtained considering all the possibilities in determining the driving road so that the valuable historical information can be effectively reserved to provide more reliable matches in ambiguous situations. The tbMM system was evaluated using a number of real-world vehicle-level test datasets in urban areas in Beijing. Also a comparison test was performed to evaluate the driving road identification accuracy against existing MM algorithms. The results show that the tbMM system can provide reliable matches with about 99% accuracy in all the difficult scenarios and outperforms the existing algorithms.     

基于大样本浮动车数据的武汉市车辆行驶速度获取与分析

采用基于浮动车行进方向与道路方向约束的道路匹配算法,将浮动车数据准确地匹配到城市道路上;在此基础上分析了大样本浮动车平均瞬时速度与路段平均行驶速度的关系,提出了用大样本浮动车的平均瞬时速度快速评估道路行驶速度.最后利用武汉市约1万辆出租车的GPS数据,对武汉市道路车辆行驶速度情况进行了计算和分析.     

基于模糊逻辑的导航定位数据校正算法

为了提高GPS/DR组合定位系统的定位精度,通常采用地图匹配算法来修正定位误差.文中采用了一种基于模糊逻辑的导航定位数据校正算法,对经联合卡尔曼滤波输出的GPS/DR的定位数据进行校正.通过Matlab仿真实验,结果表明,该算法能有效地减小误差,提高组合定位系统的定位精度,改善其对航线跟踪的质量.     

面向智能网联汽车定位的协同地图匹配算法

为实现智能网联环境下低成本、高精度的车辆定位, 研究了基于自适应遗传Rao-Blackwellized粒子滤波的协同地图匹配算法。利用联网车辆的定位信息和道路约束条件消除公共偏差, 提高车辆定位精度。将自适应遗传算法引入到粒子滤波的重采样过程中, 增加粒子的多样性, 解决传统粒子滤波算法中容易出现的“粒子退化”和“粒子耗尽”问题。通过仿真实验与传统粒子滤波以及卡尔曼平滑粒子滤波下的定位结果进行了对比, 同时分析了不同联网车辆数目对定位精度的影响。通过实际测试验证了算法在实际应用中的定位效果。实测结果表明: 以典型十字路口为例, 在联网车辆数目为4的情况下, 协同地图匹配算法的定位误差范围为1.67 m, 分别为原始GNSS定位以及单车地图匹配定位结果的41.03%和56.80%。同时, 该算法的统计定位精度(CEP)达到1.06 m, 比GNSS原始定位精度提高了2.52 m, 具有较好的定位效果。      

Integration of GPS and monocular vision for land vehicle navigation in urban area

For land vehicle navigation in urban area, Global Positioning System (GPS) receivers often suffer from the lack of positioning accuracy, availability, and continuity due to insufficient number of visible satellites and multipath errors. To mitigate this problem, this paper proposes an efficient hybrid positioning method combining a single frequency GPS receiver and a monocular vision sensor. The proposed method is advantageous in that it requires only low-cost hardware and no external map aiding. Compared with existing vision-based methods, the proposed method directly measures absolute heading angle based on the images of straight road segments. For the reason, the proposed method is resilient to multipath errors. The performance of the proposed method is evaluated by the experiments with field-collected real measurements; one with good satellite visibility and the others with poor satellite visibility. Comparison with existing positioning methods demonstrates the feasibility of the proposed method in urban area.     

Accurate INS position solution during GPS outages or degraded GPS

Temporary degraded GPS (DGPS) position loss, in circumstances such as an overhead bridge, can be alleviated by an inertial navigation system (INS) that uses onboard sensors, such as yaw and speed sensors, to determine vehicle position. This paper introduces a post-processing DGPS/INS integration approach based on using the INS solution during DGPS outages or periods of low accuracy DGPS position solutions. In this approach, the INS solution initialization is performed using the DGPS solution before DGPS position solution loss, and measurements from the Inertial Measurement Unit (IMU). The final post-processed INS solution is a weighted average of the INS forward and backward solutions. This work constitutes two parts: the INS initialization methods for different degrees of freedom vehicle positioning models, and the developed weighting model necessary to combine the forward and the backward solutions. The former part is essential in obtaining acceptable INS initial states for both the stand-alone INS or any post-processing or real time INS/GPS integrated system. The latter part is based on the use of the complementary error behaviours of the backward and the forward solutions, and can be used as a survey method with acceptable position solutions accuracies. Applying the forward/backward INS combined solution method on real data shows that the resultant INS solution accuracy is 35 cm or less over a 1000 m road segment. This method is used to survey freeways interchange road segments where 50% of the surveyed distance has no DGPS solution or has a degraded DGPS solution. The average achieved accuracy over the whole freeways interchange is around 40 cm over a 23 km distance.     

An extended generalized filter algorithm for urban expressway traffic time estimation based on heterogeneous data

Travel time estimation and its variation for urban expressways are vital to both the information provision to road users, and the system evaluation and management for traffic administrators. Fruitful research efforts have been made to develop methodologies of reconstructing spatiotemporal traffic states mainly for freeways based on one or multiple data sources. However, few studies specifically focused on urban expressways. There are more intensive merging and diverging traffic due to short distances between ramps, for example, 300–500 m. Based on the empirical analysis of traffic data collected on a typical segment of a congested urban expressway, this study proposes an extended generalized filter algorithm for the urban expressway traffic state estimation based on heterogeneous data. More specifically, the multiple sources of data include both fixed sensor data (e.g., inductive loops or radar data) and global positioning system (GPS) probe vehicle data. This study compares the proposed algorithm and the traditional algorithm for freeways using data collected on the segment of expressway in Beijing, China. Results demonstrate the advantage of the proposed method, as well as its feasibility and effectiveness.     

浮动车系统地图的匹配精度

从地图匹配精度指标出发,针对浮动车系统的配置计划中的浮动车系统信息采集周期这一重要参数进行研究。分析浮动车系统数据特点,说明浮动车系统采集周期对浮动车服务质量的重要性;分析城市路网条件下精度随不同采集周期的变化情况,建立基于城市路网特征描述变量和采集周期等特征向量的地图匹配精度模型。模型由于包含城市路网特征描述向量,具有较高的移植性,应用此模型可以得到期望精度下采集周期的预测值,为浮动车系统的配置计划提供参考依据。     

Developing travel time estimation methods using sparse GPS data

Existing methods of estimating travel time from GPS data are not able to simultaneously take account of the issues related to uncertainties associated with GPS and spatial road network data. Moreover, they typically depend upon high-frequency data sources from specialist data providers, which can be expensive and are not always readily available. The study reported here therefore sought to better estimate travel time using “readily available” vehicle trajectory data from moving sensors such as buses, taxis, and logistical vehicles equipped with GPS in “near” real time. To do this, accurate locations of vehicles on a link were first map-matched to reduce the positioning errors associated with GPS and digital road maps. Two mathematical methods were then developed to estimate link travel times from map-matched GPS fixes, vehicle speeds, and network connectivity information with a special focus on sampling frequencies, vehicle penetration rates, and time window lengths. Global positioning system (GPS) data from Interstate I-880 (California) for a total of 73 vehicles over 6 h were obtained from the University of California Berkeley's Mobile Century Project, and these were used to evaluate several travel time estimation methods, the results of which were then validated against reference travel time data collected from high resolution video cameras. The results indicate that vehicle penetration rates, data sampling frequencies, vehicle coverage on the links, and time window lengths all influence the accuracy of link travel time estimation. The performance was found to be best in the 5-min time window length and for a GPS sampling frequency of 60 s.     

车路协同环境下重叠线路公交车速诱导策略

为了防止公交车辆在线路重叠运行区间产生公交串车，在站点附近形成交通瓶颈，提出一种采用车速诱导策略来调整公交运行状态的动态调度模型。采用车路协同环境下的公交运营调度方式，结合各线路独自运行时的乘客需求和车辆车头时距规律，在避免重叠区站点公交串车的前提下，实现了各线路车辆最大程度地维持各自独立运行时车头时距的优化目标。提出的车路协同环境下的车速诱导调度策略，在引导各线路公交车辆间隔均匀地进入重叠区间后，根据乘客实时交通需求和道路交通状况，实现对车辆的实时调控。开发了一种启发式算法对车辆进入重叠区间的时刻进行求解，采用基于遗传算法的仿真过程求解了重叠区站点之间车辆的最佳运行速度，实现了重叠区间车辆动态调度过程。以哈尔滨市运行区间重叠的3条公交线路为实际案例进行仿真分析，对3条线路共计47辆公交车在重叠区12个站点之间的运行状况进行了优化调度。结果表明：采用提出的启发式算法进行调度后，车辆可以完全均匀地进入重叠区。通过对比采用动态调度优化前后的车辆运行状态发现，车辆串车现象由优化前的单站最多发生6次下降为0次，最大程度地实现了避免公交串车的目标。此外，车速诱导策略不仅避免了不同线路车辆在重叠区站点的串车现象，而且可以调整各线路上相邻两车之间的车头时距偏差，线路1的车头时距最大偏差从55%下降到了30%，线路2的车头时距最大偏差从25%下降到了13%，线路3的车头时距最大偏差从23%下降到了18%。     

Accurate INS position solution during GPS outages or degraded GPS

Temporary degraded GPS (DGPS) position loss, in circumstances such as an overhead bridge, can be alleviated by an inertial navigation system (INS) that uses onboard sensors, such as yaw and speed sensors, to determine vehicle position. This paper introduces a post-processing DGPS/INS integration approach based on using the INS solution during DGPS outages or periods of low accuracy DGPS position solutions. In this approach, the INS solution initialization is performed using the DGPS solution before DGPS position solution loss, and measurements from the Inertial Measurement Unit (IMU). The final post-processed INS solution is a weighted average of the INS forward and backward solutions. This work constitutes two parts: the INS initialization methods for different degrees of freedom vehicle positioning models, and the developed weighting model necessary to combine the forward and the backward solutions. The former part is essential in obtaining acceptable INS initial states for both the stand-alone INS or any post-processing or real time INS/GPS integrated system. The latter part is based on the use of the complementary error behaviours of the backward and the forward solutions, and can be used as a survey method with acceptable position solutions accuracies. Applying the forward/backward INS combined solution method on real data shows that the resultant INS solution accuracy is 35 cm or less over a 1000 m road segment. This method is used to survey freeways interchange road segments where 50% of the surveyed distance has no DGPS solution or has a degraded DGPS solution. The average achieved accuracy over the whole freeways interchange is around 40 cm over a 23 km distance.     

基于比功率参数的北京市柴油公交车行驶和排放特征研究

利用车载尾气检测设备和GPS系统收集了北京市重型柴油公交车实际行驶和排放数据,引入汽车比功率(VSP)参数,建立柴油公交车排放预测方法,并对柴油公交车的实际运行和排放特征进行了分析.行驶特征分析表明,公交车在北京市五环内的平均速度为17.17km/h,其80%以上行驶处于VSP区间[-1,3]kW/t;排放特征分析表明,柴油公交车瞬时高排放集中在VSP≥lOkW/t区间,表明高加速或快速行驶是引起瞬时高排放的主要原因.     

Measuring Truck Travel Time Reliability Using Truck Probe GPS Data

Truck probe data collected by global positioning system (GPS) devices has gained increased attention as a source of truck mobility data, including measuring truck travel time reliability. Most reliability studies that apply GPS data are based on travel time observations retrieved from GPS data. The major challenges to using GPS data are small, nonrandom observation sets and low reading frequency. In contrast, using GPS spot speed (instantaneous speed recorded by GPS devices) directly can address these concerns. However, a recently introduced GPS spot-speed-based reliability metric that uses speed distribution does not provide a numerical value that would allow for a quantitative evaluation. In light of this, the research described in this article improves the current GPS spot speed distribution-based reliability approach by calculating the speed distribution coefficient of variation. An empirical investigation of truck travel time reliability on Interstate 5 in Seattle, WA, is performed. In addition, correlations are provided between the improved approach and a number of commonly used reliability measures. The reliability measures are not highly correlated, demonstrating that different measures provide different conclusions for the same underlying data and traffic conditions. The advantages and disadvantages of each measure are discussed and recommendations of the appropriate measures for different applications are presented.     

南昌红谷隧道管节沉放安装可视化监测技术

为了在保证管节安装精度的同时加快管节安装速度,以红谷隧道管节沉放安装为例,采用一种可视化监测系统,在全站仪测量法及GPS测量法的基础上,通过计算机采集处理测量数据,形成可视化模型,并实时反映在终端屏幕上供指挥人员参考。经实测数据与理论精度计算对比表明,可视化监测系统在其精度满足管节沉放安装要求的同时,具有高效、直观的特点,可有效加快管节安装速度。     

基于多级网络划分的匹配道路初筛方法研究

针对GPS车辆定位系统地图匹配过程中传统匹配道路初筛方法在筛选速度和准确性方面的不足,提出了一种基于多级网络划分的匹配道路筛选方法。算法采用多级网络简单划分、层层筛选的策略,保证了初筛区域的快速、准确定位与初筛路段的准确获取,与多种传统的筛选方法,进行了基于实际数据的运行效果的对比。实证分析可知,文中提出的方法效果较好。     

车辆导航系统中基于三维电子地图的单GPS车道级定位方法研究

在对三维电子地图建模的基础上,提出了一种基于单GPS的虚拟差分、高程辅助定位和碰撞检测误差消除相结合的车道级车辆定位方法.该方法将车辆定位分为两次地图匹配过程,即首次通过虚拟差分技术和高程辅助定位技术对GPS定位参数进行修正,提高定位精度,然后在三维电子地图中结合碰撞检测技术实现车道级匹配.通过实地DGPS跑车对比实验,证明该方法完全能够满足车道级路径引导的要求.     

基于手机基站定位数据的地图匹配研究

研究如何利用手机基站定位数据信息进行地图匹配,其基本原理是通过采集车载手机通过道路的基站切换序列,在剔除冗余数据后,利用初始蜂窝小区定位算法实现每一个切换点在电子地图上的匹配,再利用路网的连通性实现路径的匹配。选取广州市到中山古镇路段作为实验路网进行实地实验,对所获得的基站信息进行数据处理和地图匹配的结果进行分析,证明通过手机基站定位数据来进行地图匹配的可行性和有效性。     

Crash prediction model for two-lane rural highways in the Ashanti region of Ghana

Crash Prediction Models (CPMs) have been used elsewhere as a useful tool by road Engineers and Planners. There is however no study on the prediction of road traffic crashes on rural highways in Ghana. The main objective of the study was to develop a prediction model for road traffic crashes occurring on the rural sections of the highways in the Ashanti Region of Ghana. The model was developed for all injury crashes occurring on selected rural highways in the Region over the three (3) year period 2005–2007. Data was collected from 76 rural highway sections and each section varied between 0.8 km and 6.7 km. Data collected for each section comprised injury crash data, traffic flow and speed data, and roadway characteristics and road geometry data. The Generalised Linear Model (GLM) with Negative Binomial (NB) error structure was used to estimate the model parameters. Two types of models, the ‘core’ model which included key exposure variables only and the ‘full’ model which included a wider range of variables were developed. The results show that traffic flow, highway segment length, junction density, terrain type and presence of a village settlement within road segments were found to be statistically significant explanatory variables (p < 0.05) for crash involvement. Adding one junction to a 1 km section of road segment was found to increase injury crashes by 32.0% and sections which had a village settlement within them were found to increase injury crashes by 60.3% compared with segments with no settlements. The model explained 61.2% of the systematic variation in the data. Road and Traffic Engineers and Planners can apply the crash prediction model as a tool in safety improvement works and in the design of safer roads. It is recommended that to improve safety, highways should be designed to by-pass village settlements and that the number of junctions on a highway should be limited to carefully designed ones.