Merge branch '1.0' of http://120.76.84.145:10101/gitblit/r/java/Robotaxi in...

puzhibing

2026-05-12 08cc6d5cf7e93b75cfabe7dcc2aeaa9afa1117eb

 xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java

@@ -1,14 +1,121 @@
package com.xiaopeng.pushMessage.utils;

import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.xiaopeng.api.dto.operation.LonLatDto;
import lombok.extern.slf4j.Slf4j;
import org.gavaghan.geodesy.Ellipsoid;
import org.gavaghan.geodesy.GeodeticCalculator;
import org.gavaghan.geodesy.GeodeticCurve;
import org.gavaghan.geodesy.GlobalCoordinates;

import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.*;
import java.util.concurrent.*;


@Slf4j
public class MapMatchingUtil {




    /**
     * 获取剩余导航数据
     * @param polyline
     * @param longitude
     * @param latitude
     * @return
     */
    public static Map<String, List<LonLatDto>> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
        //导航数据只有一个点的情况
        Map<String, List<LonLatDto>> map = new HashMap<>();
        if(polyline.size() == 1){
            LonLatDto lonLatDto = polyline.get(0);
            GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto.getLatitude(), lonLatDto.getLongitude());
            GlobalCoordinates target1 = new GlobalCoordinates(latitude, longitude);
            GeodeticCurve geoCurve1 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source1, target1);
            double distance =geoCurve1.getEllipsoidalDistance();
            //判断距离小于5米，则可以返回空数据
            if(5 >= distance){
                map.put("unserved", new ArrayList<>());
                map.put("served", new ArrayList<>());
                return map;
            }
            //大于5米的情况，将车子当前位置添加进结果中
            map.put("unserved", polyline);
            map.put("served", new ArrayList<>());
            return map;
        }
        //多个点位的情况，需要找出当前点位处于那两个点位之间，然后截取掉超出的部分轨迹
        return getRecentlyPoint(polyline, longitude, latitude);
    }


    /**
     * 判断点位在轨迹线路中的点位之间
     * 返回截取后的剩余轨迹
     * @param polyline
     * @param longitude
     * @param latitude
     * @return
     */
    public static Map<String, List<LonLatDto>> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
        Map<String, List<LonLatDto>> map = new HashMap<>();
        for (int i = 0; i < polyline.size(); i++) {
            if(i == polyline.size() - 1){
                break;
            }
            LonLatDto lonLatDto1 = polyline.get(i);

            //车辆到第一个点位的距离
            GlobalCoordinates source1 = new GlobalCoordinates(lonLatDto1.getLatitude(), lonLatDto1.getLongitude());
            GlobalCoordinates target1 = new GlobalCoordinates(latitude, longitude);
            GeodeticCurve geoCurve1 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source1, target1);
            double distance1 =geoCurve1.getEllipsoidalDistance();

            //车辆到第二个点位的距离
            LonLatDto lonLatDto2 = polyline.get(i + 1);
            GlobalCoordinates source2 = new GlobalCoordinates(lonLatDto2.getLatitude(), lonLatDto2.getLongitude());
            GlobalCoordinates target2 = new GlobalCoordinates(latitude, longitude);
            GeodeticCurve geoCurve2 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source2, target2);
            double distance2 =geoCurve2.getEllipsoidalDistance();

            //第一个点位到第二个点位的距离
            GlobalCoordinates source3 = new GlobalCoordinates(lonLatDto1.getLatitude(), lonLatDto1.getLongitude());
            GlobalCoordinates target3 = new GlobalCoordinates(lonLatDto2.getLatitude(), lonLatDto2.getLongitude());
            GeodeticCurve geoCurve3 = new GeodeticCalculator().calculateGeodeticCurve(Ellipsoid.WGS84, source3, target3);
            double distance3 =geoCurve3.getEllipsoidalDistance();

            //车辆位置在第二个点位的前面
            //这种情况需要从第二个点位开始截取，最终剩余的轨迹从第三个点位开始
            if(distance1 > distance2 && distance1 > distance3){
                //继续向前找，找车辆处于那一段点位中间
                continue;
            }
            //车辆位置在两点之间的情况
            //车辆位置到上一个点的距离+车辆位置到下一个点的距离 = 上一个点到下一个点的距离
            //车辆位置到上一个点的距离+车辆位置到下一个点的距离 <= 上一个点到下一个点的距离 + 5米的漂移量
            if ((distance1 + distance2) == distance3 || (distance1 + distance2) <= distance3 + 5) {
                //剩余未服务的点位
                List<LonLatDto> unserved = new ArrayList<>(polyline.subList(i + 1, polyline.size()));
                List<LonLatDto> served = new ArrayList<>(polyline.subList(0, i + 1));
                map.put("unserved", unserved);
                map.put("served", served);

                System.err.println("车辆在两点之间，从第二个开始截取 : " + i);
                return map;
            }
        }
        //所有数据遍历完后任然没有合适的数据则返回原始数据
        map.put("unserved", polyline);
        map.put("served", new ArrayList<>());
        return map;
    }





    /**
     * 轨迹裁剪（线段版本）
@@ -120,4 +227,135 @@
    }


    public static void main(String[] args) {
        String json = "[{\n" +
                "\t\"latitude\": 23.155130575839845,\n" +
                "\t\"longitude\": 113.3843844686235\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155210151679693,\n" +
                "\t\"longitude\": 113.38426593724698\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155289727519538,\n" +
                "\t\"longitude\": 113.38414740587048\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15529,\n" +
                "\t\"longitude\": 113.384147\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155362958389055,\n" +
                "\t\"longitude\": 113.38402358903004\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155435916778114,\n" +
                "\t\"longitude\": 113.38390017806007\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15550887516717,\n" +
                "\t\"longitude\": 113.3837767670901\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155581833556226,\n" +
                "\t\"longitude\": 113.38365335612013\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155585,\n" +
                "\t\"longitude\": 113.383648\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155542,\n" +
                "\t\"longitude\": 113.383621\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155312,\n" +
                "\t\"longitude\": 113.383648\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155180919552134,\n" +
                "\t\"longitude\": 113.3836848841087\n" +
                "}, {\n" +
                "\t\"latitude\": 23.155081,\n" +
                "\t\"longitude\": 113.383713\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15495796304221,\n" +
                "\t\"longitude\": 113.38377424506344\n" +
                "}, {\n" +
                "\t\"latitude\": 23.154856,\n" +
                "\t\"longitude\": 113.383825\n" +
                "}, {\n" +
                "\t\"latitude\": 23.154741004509642,\n" +
                "\t\"longitude\": 113.38390239240225\n" +
                "}, {\n" +
                "\t\"latitude\": 23.154626009019285,\n" +
                "\t\"longitude\": 113.38397978480451\n" +
                "}, {\n" +
                "\t\"latitude\": 23.154593,\n" +
                "\t\"longitude\": 113.384002\n" +
                "}, {\n" +
                "\t\"latitude\": 23.154488868635756,\n" +
                "\t\"longitude\": 113.3840956684042\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15438473727151,\n" +
                "\t\"longitude\": 113.3841893368084\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153869,\n" +
                "\t\"longitude\": 113.384732\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153783434325412,\n" +
                "\t\"longitude\": 113.38484554532484\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153697868650823,\n" +
                "\t\"longitude\": 113.38495909064967\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153612302976235,\n" +
                "\t\"longitude\": 113.3850726359745\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153606,\n" +
                "\t\"longitude\": 113.385081\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15352802191651,\n" +
                "\t\"longitude\": 113.38520076538181\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153450043833022,\n" +
                "\t\"longitude\": 113.38532053076364\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153397,\n" +
                "\t\"longitude\": 113.385402\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15332878835048,\n" +
                "\t\"longitude\": 113.38552854437049\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15326057670096,\n" +
                "\t\"longitude\": 113.38565508874098\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153252,\n" +
                "\t\"longitude\": 113.385671\n" +
                "}, {\n" +
                "\t\"latitude\": 23.153190501345524,\n" +
                "\t\"longitude\": 113.3858015058656\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15312900269105,\n" +
                "\t\"longitude\": 113.38593201173121\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15308,\n" +
                "\t\"longitude\": 113.386036\n" +
                "}, {\n" +
                "\t\"latitude\": 23.15306,\n" +
                "\t\"longitude\": 113.386128\n" +
                "}]";
        List<LonLatDto> polyline = JSON.parseArray(json, LonLatDto.class);
        String xcgj = "[{\"longitude\":113.38368194444445,\"latitude\":23.15508361111111}]";
        List<LonLatDto> lonLatDtos = JSON.parseArray(xcgj, LonLatDto.class);
        for (LonLatDto lonLatDto : lonLatDtos) {
            Map<String, List<LonLatDto>> remainingNavigation = getRemainingNavigation(polyline, lonLatDto.getLongitude(), lonLatDto.getLatitude());
            List<LonLatDto> unserved = remainingNavigation.get("unserved");
            List<LonLatDto> served = remainingNavigation.get("served");
            System.err.println(JSON.toJSONString(served));
            polyline = unserved;

        }




//        JSONArray objects = JSON.parseArray("[{\"latitude\":23.154856,\"longitude\":113.383825},{\"latitude\":23.154741004509642,\"longitude\":113.38390239240225},{\"latitude\":23.154626009019285,\"longitude\":113.38397978480451},{\"latitude\":23.154593,\"longitude\":113.384002},{\"latitude\":23.154488868635756,\"longitude\":113.3840956684042},{\"latitude\":23.15438473727151,\"longitude\":113.3841893368084},{\"latitude\":23.153869,\"longitude\":113.384732},{\"latitude\":23.153783434325412,\"longitude\":113.38484554532484},{\"latitude\":23.153697868650823,\"longitude\":113.38495909064967},{\"latitude\":23.153612302976235,\"longitude\":113.3850726359745},{\"latitude\":23.153606,\"longitude\":113.385081},{\"latitude\":23.15352802191651,\"longitude\":113.38520076538181},{\"latitude\":23.153450043833022,\"longitude\":113.38532053076364},{\"latitude\":23.153397,\"longitude\":113.385402},{\"latitude\":23.15332878835048,\"longitude\":113.38552854437049},{\"latitude\":23.15326057670096,\"longitude\":113.38565508874098},{\"latitude\":23.153252,\"longitude\":113.385671},{\"latitude\":23.153190501345524,\"longitude\":113.3858015058656},{\"latitude\":23.15312900269105,\"longitude\":113.38593201173121},{\"latitude\":23.15308,\"longitude\":113.386036},{\"latitude\":23.15306,\"longitude\":113.386128}]");
//        String str = "[";
//        for (int i = 0; i < objects.size(); i++) {
//            JSONObject jsonObject = objects.getJSONObject(i);
//            str += "[" + jsonObject.getDouble("longitude") + "," + jsonObject.getDouble("latitude") + "],";
//        }
//        System.err.println(str + "]");
    }

}