【作者】 张涛； 杨殿阁； 李克强； 连小珉；

【Author】 Zhang Tao;Yang Diange;Li Keqiang;Lian Xiaomin;Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Department of Automotive Engineering;

【机构】 清华大学汽车工程系汽车安全与节能国家重点实验室；

【摘要】 连续导航要求导航系统在车辆行驶过程中连续准确的确定车辆位置,并进行车辆引导等功能。其基础是车辆的连续地图匹配及适用于连续匹配的路网模型。常用的路网模型因为无法描述车辆在路口中的行驶特征,通常不能满足连续导航的要求。为此,本文首先建立了虚拟连通路网模型,它通过虚拟轨迹路段为车辆在路口中的连续匹配和导航提供了基础。然后提出一种匹配度反馈的模糊地图匹配方法,将匹配过程分为模糊评判和综合决策两级完成,并对匹配结果的可信程度进行评价,以反馈方式在下一次匹配的评判计算中加以利用。试验表明,使用本文所述的路网模型及地图匹配方法,可以较准确的实现车辆的连续匹配,进而实现连续导航。更多还原

【Abstract】 Continuous navigation requires the in-vehicle navigation system to determine continuously the precise position of vehicle,as well as achieve vehicle guidance and other navigation functions.Continuous map-matching,which is the basis of continuous navigation,is based on a proper road network model.However,the commonly used road network model can not meet the needs of continuous navigation,for its weakness in describing the characteristics of vehicle traveling in an intersection.To solve these problems,firstly,a virtually connected road network model is built.It provides the basic support for continuous navigation in intersections,using the newly developed virtual track road segments.Secondly,a map-matching algorithm is proposed.It is composed of fuzzy judgment and integrated decision-making.Also,the map-matching confidence is calculated for evaluating the state of trustiness,and employed in the form of feedback in next map-matching process.Experiments show that the road network model and map-matching algorithm are effective for achieving continuous map-matching and navigation.更多还原