如何解决有没有知道车辆路线覆盖的算法?
我将车辆路线作为输入:Lon1,Lat1; Lon2,Lat2; Lon3,Lat3;等等,我有白天的车辆运动坐标。
而且我需要找出车辆覆盖了路线的哪一部分。在我开始实现自己的算法之前,是否有一些现成的算法?
这是任务的说明:
解决方法
跟踪:
- 途中累积距离(初始化为零)
- 沿路线的最大先前位置
- 在职
- 先前位置状态(开/关路线)
当我们获得新职位时每 5 秒:
如果:
- 新位置在路线上
- 新位置沿路线比最大先前位置更远
- 前一个位置在路线上
然后添加 |(新位置) - (先前位置)|沿路线累计距离。
最后,返回(沿路线的累积距离)/(路线的长度)。
我们考虑沿路线的最大位置的原因是为了避免在驱动器由于某种原因回溯时重复计算某些路线长度。
我只计算当前和先前位置都在路线上的路线段。在这里,您可以更宽容,并仅根据当前职位做出决定。所描述的问题应该没有太大区别。
,我不知道任何直接应用于此问题的显式算法。如果我必须自己编程:
很明显,该问题包括计算预期路线与实际车辆轨迹段的并集的交集(我引入并集是为了去除可能的重复段)。这可以通过以下方式完成:
-
首先计算车辆轨迹的并集,然后从预期路线中减去它
-
每次新的车辆位置到达时,只需从剩余的预期路线中减去每个车辆轨迹段并计算减去的距离。
我想我会选择第二个选项,乍一看似乎更有效。前提是,挑战主要减少到计算当前剩余路线和每个到达轨迹段之间的差异。这种差异的计算方法会因采样时间、所需精度等而异。
一个非常简单的代码来说明这个想法(在 C# 中)
class RouteChecker
{
List<RouteSegment> MissingRoute = null;
double TotalCoveredDistance = 0.0;
Point LastVehiclePoint = default(Point);
public RouteChecker(List<Point> expectedRoute)
{
MissingRoute = new List<RouteSegment>(expectedRoute.Count - 1);
Point previousPoint = expectedRoute[0];
for (int i = 1; i < expectedRoute.Count; i++)
{
MissingRoute.Add(new RouteSegment(previousPoint,expectedRoute[i]));
previousPoint = expectedRoute[i];
}
}
public void SetStartPoint(Point startPoint)
{
TotalCoveredDistance = 0.0;
LastVehiclePoint = startPoint;
}
public double CheckRouteCovered(Point realRouteNextPoint)
{
RouteSegment vehSegment = new RouteSegment(LastVehiclePoint,realRouteNextPoint);
LastVehiclePoint = realRouteNextPoint;
for (int i = 0; i < MissingRoute.Count; i++)
{
if (!MissingRoute[i].isActive)
continue;
RouteSegment[] remainingSegments;
double removedDistance;
bool otherSegmentisFullyContained;
if (MissingRoute[i].Difference(vehSegment,out remainingSegments,out removedDistance,out otherSegmentisFullyContained))
{
if (remainingSegments != null)
{
MissingRoute[i] = remainingSegments[0];
if (remainingSegments.Length > 1)
MissingRoute.Add(remainingSegments[1]);
}
else
MissingRoute[i].isActive = false;
TotalCoveredDistance += removedDistance;
if(otherSegmentisFullyContained)
break;
}
}
return TotalCoveredDistance;
}
}
因此相应的对象将被创建为
List<Point> expectedRoute = new List<Point>() { new Point(Lon1,Lat1),new Point(Lon2,Lat2),new Point(Lon3,Lat3),new Point(Lon4,Lat4),new Point(Lon5,Lat5)
//[...]
};
RouteChecker myChecker = new RouteChecker(expectedRoute);
myChecker.SetStartPoint(new Point(vehicleStartLon,vehicleStartLat));
然后,每 5 秒
double CoveredDistance = myChecker.CheckRouteCovered(new Point(vehicleNextLon,vehicleNextLat));
RouteSegment 类只是一个用于管理所有带点和线段的几何操作的类。
private class RouteSegment
{
const double ParallelMinAngleRadians = Math.PI / 180;
const double MaxOnRouteDist = 10;
Point P1,P2;
public bool isActive = true;
public RouteSegment(Point p1,Point p2)
{
P1 = p1;
P2 = p2;
}
public bool Difference(RouteSegment otherSegment,out RouteSegment[] RemainingRouteSegments,out double removedDistance,out bool otherSegmentisFullyContained)
{
otherSegmentisFullyContained = false;
if(!IsParallelTo(otherSegment))
{
removedDistance = 0.0;
RemainingRouteSegments = null;
return false;
}
if (Contains(otherSegment.P1))
{
if (Contains(otherSegment.P2))
{
removedDistance = Distance(otherSegment.P1,otherSegment.P2);
if (Distance(otherSegment.P2,P1) < Distance(otherSegment.P2,P2))
RemainingRouteSegments = new RouteSegment[] { new RouteSegment(P1,otherSegment.P2),new RouteSegment(otherSegment.P1,P2) };
else
RemainingRouteSegments = new RouteSegment[] { new RouteSegment(P1,otherSegment.P1),new RouteSegment(otherSegment.P2,P2) };
otherSegmentisFullyContained = true;
return true;
}
else
{
if(Distance(otherSegment.P2,P1)< Distance(otherSegment.P2,P2))
{
RemainingRouteSegments = new RouteSegment[] { new RouteSegment(otherSegment.P1,P2) };
removedDistance = Distance(otherSegment.P1,P1);
return true;
}
else
{
RemainingRouteSegments = new RouteSegment[] { new RouteSegment(P1,otherSegment.P1) };
removedDistance = Distance(otherSegment.P1,P2);
return true;
}
}
}
else if (Contains(otherSegment.P2))
{
if (Distance(otherSegment.P1,P1) < Distance(otherSegment.P1,P2))
{
RemainingRouteSegments = new RouteSegment[] { new RouteSegment(otherSegment.P2,P2) };
removedDistance = Distance(otherSegment.P2,P1);
return true;
}
else
{
RemainingRouteSegments = new RouteSegment[] { new RouteSegment(P1,otherSegment.P2) };
removedDistance = Distance(otherSegment.P2,P2);
return true;
}
}
else if (otherSegment.Contains(P1))
{
RemainingRouteSegments = null;
removedDistance = Distance(P1,P2);
return true;
}
else
{
removedDistance = 0.0;
RemainingRouteSegments = null;
return false;
}
}
bool Contains(Point p)
{
double A = P1.Y - P2.Y;
double B = P2.X - P1.X;
double dist = Math.Abs(A * (p.X - P1.X) + B * (p.Y - P1.Y)) / Distance(P1,P2);
return dist < MaxOnRouteDist;
}
bool IsParallelTo(RouteSegment otherSegment)
{
double v1X = P2.X - P1.X;
double v1Y = P2.Y - P1.Y;
double v2X = otherSegment.P2.X - otherSegment.P1.X;
double v2Y = otherSegment.P2.Y - otherSegment.P1.Y;
return Math.Abs(v1X * v2X + v1Y * v2Y) / Distance(P1,P2) / Distance(otherSegment.P1,otherSegment.P2) < Math.Cos(ParallelMinAngleRadians);
}
static double Distance(Point p,Point q)
{
double dX = p.X - q.X;
double dY = p.Y - q.Y;
return Math.Sqrt(dX * dX + dY * dY);
}
}
抱歉给了这么多代码。我发现编写它比解释所有情况更容易。
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