构建基于车道的三维可视化道路网络模型
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摘要
近年来,城市化步伐进一步加快,而随之而来的一个典型现象就是迅速扩张的城市交通网络以及迅速增长的机动车数量与频繁的交通拥堵。如何利用智能交通系统技术解决上述由城市化带来的负面影响成为政府和学术界讨论的热点。这其中一个重要的基础性工作就是构建能够准确表达道路基本特征的网络模型。目前,基于路段中心线的二维道路网络模型已经普遍存在,但其在几何特征及拓扑关系表达等方面都难以满足复杂交通系统的需求。中心线信息无法涵盖路段中车道的变化情况,而二维模型在表达立体交通网络方面也显不足。因此,本文以车道作为建模的基本单元,提出了一个构建三维可视化道路网络模型的有效方法。该方法既考虑了模型的生成速度,又能够在三维空间中表达路网的基本特征,同时支持网络空间分析。
本文的主要研究内容为基于车道对道路网络进行三维建模。其数据源为二维路段中心线数据与车辆轨迹数据,主要思想包括以下几个部分：首先,将中心线数据与来自于轨迹数据中的离散点高程数据相结合生成三维道路中心线；其次,根据缓冲区边界生成算法及每路段车道属性构建三维道路表面模型；之后,将基于车道的网络拓扑关系整合入道路模型当中用以支持网络分析。本文重点解决的问题包括三维道路表面模型的快速生成技术,以及基于车道的网络模型的建立与应用。其涉及并改进的主要算法包括采用拉格朗日插值算法用于计算点数据高程,利用角平分线算法生成车道边界,应用可见性裁减算法(Visibility Culling Algorithms)与层次细节模型(Levels of Detail, LOD),改进模型的显示速度,利用最短路径算法实现三维路网模型下的网络分析。
论文在上述原理及算法的基础之上,利用C#、DirectX以及ArcGIS Engine为开发工具,以上海快速路系统为研究对象,建立了其三维道路网络模型,并开发了基本的演示平台,该平台可在三维场景下展现上海快速路系统的空间特征及提供基本的空间分析功能,利用直观的视觉效果,可为测绘、规划等部门服务。
In recent years, urbanization is increasing more rapidly, which results in a typical phenomenon that urban traffic network expands more rapidly and traffic jams is more frequent, and it becomes a hot topic for government and academic that how to use intelligent transportation system to solve the negative effects which caused by urbanization. One of the most important tasks is to build a road network model which can express the basic characteristics of road. Currently, the road network based on two-dimensional road centerline has generally existed, however, its geometry and topology expression can not meet the need of complex transportation system. The information of centerlines can not cover the changes of lanes, and the two-dimensional model is also inadequate in the expression of three-dimensional transportation networks. Therefore, this paper proposes a three-dimensional road data model based on lane. The model not only considers the generation rate, but also takes the three-dimensional expression of the basic characteristics of road network and the support to network analysis into account.
The main content of this paper is three-dimensional modeling based on lane. And this paper's data source is two dimensional road centerline data and vehicle trajectory data of roads. The main idea includes the following sections:First, generate three dimensional centerlines from centerline data and elevation vehicle trajectory data. Secondly, construct the 3D road surface model based on buffer algorithm and lane properties. Finally, put the lane-based topology relationship integrated into the road network to support network analysis. This paper focuses on 3D road surface model generation and lane-based road network construction and its application. The involved and improved algorithms include Lagrange Interpolation Algorithm to interpolate elevations of some points, the Angle Bisector Algorithm to generate the road boundaries, and some technologies like Visibility Culling Algorithms and Levels of Detail, which are used to improve the displaying speed of model, and finally we propose Shortest Path Algorithm to carry out network analysis of three-dimensional road network mode.
Based on the principle and algorithms, we use C#、DirectX and ArcGIS Engine as the development tools to build the three-dimensional road network model, which was employed in modeling Shanghai Expressway System, and we develop a basic demonstration platform which can display the spatial characteristics of the system in three-dimensional scenarios and also provide the basic spatial analysis, intuitive visual effects which can serve for mapping, planning and other departments.
本文的主要研究内容为基于车道对道路网络进行三维建模。其数据源为二维路段中心线数据与车辆轨迹数据,主要思想包括以下几个部分：首先,将中心线数据与来自于轨迹数据中的离散点高程数据相结合生成三维道路中心线；其次,根据缓冲区边界生成算法及每路段车道属性构建三维道路表面模型；之后,将基于车道的网络拓扑关系整合入道路模型当中用以支持网络分析。本文重点解决的问题包括三维道路表面模型的快速生成技术,以及基于车道的网络模型的建立与应用。其涉及并改进的主要算法包括采用拉格朗日插值算法用于计算点数据高程,利用角平分线算法生成车道边界,应用可见性裁减算法(Visibility Culling Algorithms)与层次细节模型(Levels of Detail, LOD),改进模型的显示速度,利用最短路径算法实现三维路网模型下的网络分析。
论文在上述原理及算法的基础之上,利用C#、DirectX以及ArcGIS Engine为开发工具,以上海快速路系统为研究对象,建立了其三维道路网络模型,并开发了基本的演示平台,该平台可在三维场景下展现上海快速路系统的空间特征及提供基本的空间分析功能,利用直观的视觉效果,可为测绘、规划等部门服务。
In recent years, urbanization is increasing more rapidly, which results in a typical phenomenon that urban traffic network expands more rapidly and traffic jams is more frequent, and it becomes a hot topic for government and academic that how to use intelligent transportation system to solve the negative effects which caused by urbanization. One of the most important tasks is to build a road network model which can express the basic characteristics of road. Currently, the road network based on two-dimensional road centerline has generally existed, however, its geometry and topology expression can not meet the need of complex transportation system. The information of centerlines can not cover the changes of lanes, and the two-dimensional model is also inadequate in the expression of three-dimensional transportation networks. Therefore, this paper proposes a three-dimensional road data model based on lane. The model not only considers the generation rate, but also takes the three-dimensional expression of the basic characteristics of road network and the support to network analysis into account.
The main content of this paper is three-dimensional modeling based on lane. And this paper's data source is two dimensional road centerline data and vehicle trajectory data of roads. The main idea includes the following sections:First, generate three dimensional centerlines from centerline data and elevation vehicle trajectory data. Secondly, construct the 3D road surface model based on buffer algorithm and lane properties. Finally, put the lane-based topology relationship integrated into the road network to support network analysis. This paper focuses on 3D road surface model generation and lane-based road network construction and its application. The involved and improved algorithms include Lagrange Interpolation Algorithm to interpolate elevations of some points, the Angle Bisector Algorithm to generate the road boundaries, and some technologies like Visibility Culling Algorithms and Levels of Detail, which are used to improve the displaying speed of model, and finally we propose Shortest Path Algorithm to carry out network analysis of three-dimensional road network mode.
Based on the principle and algorithms, we use C#、DirectX and ArcGIS Engine as the development tools to build the three-dimensional road network model, which was employed in modeling Shanghai Expressway System, and we develop a basic demonstration platform which can display the spatial characteristics of the system in three-dimensional scenarios and also provide the basic spatial analysis, intuitive visual effects which can serve for mapping, planning and other departments.
引文
[1]Zhu Q.,Li Y.,Tor Y K.Directing Vehicles in Complex Urban Environment:3D Dynamic Emergency Routing[J].GIM International,2006,6(6):14-15.
[2]Cova T J,Johnson J P.A Network Flow Model for Lane-based Evacuation Routing[J]. Transportation Research Part A:Policy and Practice,2003,3(7):579-604.
[3]Molenarr M.A Topology for 3D Vector Map.ITC Journal,1992.
[4]Pilouk M.,Tempfli K.and Molenaar M.A Tetrahedronbased 3D Vector Data Model for Geoinformation.In:Advanced Geographic Data Modelling,Netherlands Geodetic Commission,Publications on Geodesy,1994,40:129-140.
[5]李清泉,李德仁.三维空间数据模型集成的概念框架研究[J].测绘学报,1998,27(4)：34-38.
[6]陈军,郭薇.基于剖分的三维拓扑ER模型研究[J].测绘学报,1998,27(4)：308-317.
[7]孙敏,马聪,陈军.3维城市道路网络数据模型研究[J].测绘通报,2001,10(1)：4-6.
[8]陆峰,周成虎,万庆.基于特征的城市交通网络非平面数据模型[J].测绘学报,2000,29(4)：334-341.
[9]Zlatanova S.,Verbree E.The Third Dimension in LBS:the Steps to Go[C].The 3rd Symposium on LBS& TeleCartography,Vienna,2005.
[10]Miller H J.,Shaw S L. GIS-T Data Models,Geographic Information Systems for Transportation:Principles and Applications[M].Oxford University Press,2001.
[11]左小清,李清泉.面向交通网络的三维GIS数据模型与可视化[D].武汉：武汉大学,2004.
[12]Shi Y. Report on the Joint ACRS2006 Conferences "Reconstruction of 'next-generation'3D digital road model from three linear scanner images", Chiang Mai,Thailand,2006.
[13]Akel N.Report on the Joint ISPRS WG III/4,V/3 Workshop "Dense DTM generalization aided by roads extracted from LIDAR data",Enschede,the Netherlands,2005.
[14]Chen L.Report on the Joint ACRS2006 Conferences "Automatic Reconstruction of 3D Road Models By Using 2D Road Maps And Airborne Lidar Data",Ulaanbaatar, Mongolia,2006.
[15]Rhee S.Report on the Joint ACRS2007ISRS Conferences PS3.G5.2 "Automated 3D road model generation by Fusion of circular-scanning Laser Data and CCD Images", Beijing, China,2007.
[16]Claire E.Deriving a topological data structure for 3D data Topology and Spatial Databases,2003.
[17]Molenaar M.A formal data structure for three-dimensional vector maps.Report,ESRI Training-Library,Zurich,Switzerland,1990.
[18]Zeitouni K.Topological Modeling for 3D GIS.In:The Fourth International Conference on Computers in Urban Planning and Management,Melbourne, Australia,1995,3(4):479-494.
[19]Zlatanova S.3D GIS for urban development,ITC Dissertation Series,2000,69(1): 216-222.
[20]Bian F.Three dimensional data structure and data model.Geo-spatial Information Science,2000,3(3):19-23.
[21]Tang T.,Zhao W J.Terrestrial laser scan survey and 3D TIN model construction of urban buildings in a geospatial database,Geocarto International,2008,23(4):259-272.
[27]童小华,杨东援,刘大杰.一种新的线性参照系统数据模型[J].同济大学学报,2005,29(4)：410-415.
[28]Du J.,Masters J,Barth M.Lane-level Positioning for In-Vehicle Navigation and Automated Vehicle Location (AVL) Systems[C].IEEE Intelligent Transportation Systems Conference,Washington DC,USA,2004.
[29]Beskpalko S J.,Ganter J H.,Van Meter M D.Geospatial data for ITS,Converging Infrastructures:Intelligent Transportation and the National Information Infrastructure[M].Cambridge:MIT Press,1996.
[30]Fohl P.,Curtin K M.,Goodchild M F.,Church R L.A non-planar,lane-based navigable data model for ITS[A].Kraak M J.Molenaar M.Proceedings,Seventh International Symposium on Spatial Data Handing[C]. Delft, August,1996,713:17-29.
[31]Malaikrisanachalee S.,Adams T M.Lane-Based Network for Transportation Network Flow Analysis and Inventory Management [J].Transportation Research Board, 2005,4(1):101-110.
[32]Li X.,Lin H.A Trajectory-Oriented Carriageway-Based Road Network Data Model, Part 1:Background [J].Geo-spatial Information Science,2006,9(1):65-70.
[33]Li X.,Lin H.A Trajectory-Oriented,Carriageway-Based Road Network Data Model, Part 2:Methodology [J].Geo-spatial Information Science,2006,9(2):112-117.
[34]Zheng Y F.,Li X.,Li M L,Li X J,Tang D M.Modeling Road Surface and Network from a 3D Perspective,2010 2nd International Conference on Computer Engineering and Technology,April 16-18,Chengdu,China,2010.
[35]张寄周.正则余弦算子函数的内插和外插定理[J].数学物理学报,1997,17(3)：9-13.
[36]Waring E.Problems Concerning Interpolations. Philos.Trans.R.Soc.London,1779 5(2):59-67.
[37]李志刚,胡圣武.关于角平分线法建立线状缓冲区算法的改进[J].测绘信息与工程,2005,30(5)：35-36.
[38]程鹏根,龚健雅.机助制图中平行线的绘制方法及其特殊问题的处理[J].武测科技,1994,1(1)：43-52.
[39]李晶晶,林泓.智能交通系统中的最短路径算法分析[J].计算机与数字工程,2009,37(4)：24-27.
[40]梁爱民,梁晓辉,于卓.一种基于松散八叉树的复杂场景可见性裁剪算法[J].计算机辅助设计与图形学学报,2007,19(12)：1593-1598.
[41]Clark J.Hierarchical Geometric Models for Visible Surface Algorithm, Communications of the ACM,1976,10:547-554.
[42]Hyewon S.,Nadia M.LOD Management on Animating Face models.In:Proceedings of IEEE Virtual Reality 2000,New Brunswick,NJ,USA,2000,4(3):161-168.
[43]齐敏,郝重阳,佟明安.三维地形生成及实时显示技术研究进展[J].中国图象图形学报,2000,5(4)：269-275.
[44]孙家广等.计算机图形学[J].第三版..北京：清华大学出版社,1998.
[45]闫玉宝,徐守坤.数据结构[M].北京：清华大学出版社,2008.
[46]陆涛,孔令赏,呙贵春.基于Google Earth的立交方案演示[J].交通与计算机,2007,25(2)：146-148.
[47]KML[EB/OL].http://code.google.map/apis/kml.
[48]徐绍铨,张华海等.GPS测量原理与应用[M],武汉大学出版社,1998.
[49]Andrew MacDonald.Building ArcSDE GeoDatabase[R].ESRIpress,1999.
[2]Cova T J,Johnson J P.A Network Flow Model for Lane-based Evacuation Routing[J]. Transportation Research Part A:Policy and Practice,2003,3(7):579-604.
[3]Molenarr M.A Topology for 3D Vector Map.ITC Journal,1992.
[4]Pilouk M.,Tempfli K.and Molenaar M.A Tetrahedronbased 3D Vector Data Model for Geoinformation.In:Advanced Geographic Data Modelling,Netherlands Geodetic Commission,Publications on Geodesy,1994,40:129-140.
[5]李清泉,李德仁.三维空间数据模型集成的概念框架研究[J].测绘学报,1998,27(4)：34-38.
[6]陈军,郭薇.基于剖分的三维拓扑ER模型研究[J].测绘学报,1998,27(4)：308-317.
[7]孙敏,马聪,陈军.3维城市道路网络数据模型研究[J].测绘通报,2001,10(1)：4-6.
[8]陆峰,周成虎,万庆.基于特征的城市交通网络非平面数据模型[J].测绘学报,2000,29(4)：334-341.
[9]Zlatanova S.,Verbree E.The Third Dimension in LBS:the Steps to Go[C].The 3rd Symposium on LBS& TeleCartography,Vienna,2005.
[10]Miller H J.,Shaw S L. GIS-T Data Models,Geographic Information Systems for Transportation:Principles and Applications[M].Oxford University Press,2001.
[11]左小清,李清泉.面向交通网络的三维GIS数据模型与可视化[D].武汉：武汉大学,2004.
[12]Shi Y. Report on the Joint ACRS2006 Conferences "Reconstruction of 'next-generation'3D digital road model from three linear scanner images", Chiang Mai,Thailand,2006.
[13]Akel N.Report on the Joint ISPRS WG III/4,V/3 Workshop "Dense DTM generalization aided by roads extracted from LIDAR data",Enschede,the Netherlands,2005.
[14]Chen L.Report on the Joint ACRS2006 Conferences "Automatic Reconstruction of 3D Road Models By Using 2D Road Maps And Airborne Lidar Data",Ulaanbaatar, Mongolia,2006.
[15]Rhee S.Report on the Joint ACRS2007ISRS Conferences PS3.G5.2 "Automated 3D road model generation by Fusion of circular-scanning Laser Data and CCD Images", Beijing, China,2007.
[16]Claire E.Deriving a topological data structure for 3D data Topology and Spatial Databases,2003.
[17]Molenaar M.A formal data structure for three-dimensional vector maps.Report,ESRI Training-Library,Zurich,Switzerland,1990.
[18]Zeitouni K.Topological Modeling for 3D GIS.In:The Fourth International Conference on Computers in Urban Planning and Management,Melbourne, Australia,1995,3(4):479-494.
[19]Zlatanova S.3D GIS for urban development,ITC Dissertation Series,2000,69(1): 216-222.
[20]Bian F.Three dimensional data structure and data model.Geo-spatial Information Science,2000,3(3):19-23.
[21]Tang T.,Zhao W J.Terrestrial laser scan survey and 3D TIN model construction of urban buildings in a geospatial database,Geocarto International,2008,23(4):259-272.
[27]童小华,杨东援,刘大杰.一种新的线性参照系统数据模型[J].同济大学学报,2005,29(4)：410-415.
[28]Du J.,Masters J,Barth M.Lane-level Positioning for In-Vehicle Navigation and Automated Vehicle Location (AVL) Systems[C].IEEE Intelligent Transportation Systems Conference,Washington DC,USA,2004.
[29]Beskpalko S J.,Ganter J H.,Van Meter M D.Geospatial data for ITS,Converging Infrastructures:Intelligent Transportation and the National Information Infrastructure[M].Cambridge:MIT Press,1996.
[30]Fohl P.,Curtin K M.,Goodchild M F.,Church R L.A non-planar,lane-based navigable data model for ITS[A].Kraak M J.Molenaar M.Proceedings,Seventh International Symposium on Spatial Data Handing[C]. Delft, August,1996,713:17-29.
[31]Malaikrisanachalee S.,Adams T M.Lane-Based Network for Transportation Network Flow Analysis and Inventory Management [J].Transportation Research Board, 2005,4(1):101-110.
[32]Li X.,Lin H.A Trajectory-Oriented Carriageway-Based Road Network Data Model, Part 1:Background [J].Geo-spatial Information Science,2006,9(1):65-70.
[33]Li X.,Lin H.A Trajectory-Oriented,Carriageway-Based Road Network Data Model, Part 2:Methodology [J].Geo-spatial Information Science,2006,9(2):112-117.
[34]Zheng Y F.,Li X.,Li M L,Li X J,Tang D M.Modeling Road Surface and Network from a 3D Perspective,2010 2nd International Conference on Computer Engineering and Technology,April 16-18,Chengdu,China,2010.
[35]张寄周.正则余弦算子函数的内插和外插定理[J].数学物理学报,1997,17(3)：9-13.
[36]Waring E.Problems Concerning Interpolations. Philos.Trans.R.Soc.London,1779 5(2):59-67.
[37]李志刚,胡圣武.关于角平分线法建立线状缓冲区算法的改进[J].测绘信息与工程,2005,30(5)：35-36.
[38]程鹏根,龚健雅.机助制图中平行线的绘制方法及其特殊问题的处理[J].武测科技,1994,1(1)：43-52.
[39]李晶晶,林泓.智能交通系统中的最短路径算法分析[J].计算机与数字工程,2009,37(4)：24-27.
[40]梁爱民,梁晓辉,于卓.一种基于松散八叉树的复杂场景可见性裁剪算法[J].计算机辅助设计与图形学学报,2007,19(12)：1593-1598.
[41]Clark J.Hierarchical Geometric Models for Visible Surface Algorithm, Communications of the ACM,1976,10:547-554.
[42]Hyewon S.,Nadia M.LOD Management on Animating Face models.In:Proceedings of IEEE Virtual Reality 2000,New Brunswick,NJ,USA,2000,4(3):161-168.
[43]齐敏,郝重阳,佟明安.三维地形生成及实时显示技术研究进展[J].中国图象图形学报,2000,5(4)：269-275.
[44]孙家广等.计算机图形学[J].第三版..北京：清华大学出版社,1998.
[45]闫玉宝,徐守坤.数据结构[M].北京：清华大学出版社,2008.
[46]陆涛,孔令赏,呙贵春.基于Google Earth的立交方案演示[J].交通与计算机,2007,25(2)：146-148.
[47]KML[EB/OL].http://code.google.map/apis/kml.
[48]徐绍铨,张华海等.GPS测量原理与应用[M],武汉大学出版社,1998.
[49]Andrew MacDonald.Building ArcSDE GeoDatabase[R].ESRIpress,1999.