From 67d4d5baacbeeea06cf3245ca50c2d14aa6cab36 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期五, 20 三月 2026 01:32:04 +0800
Subject: [PATCH] 修改计算剩余轨迹导航逻辑
---
xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java | 85 ++++++++++++++++++++++++++++++++++++++++++
1 files changed, 85 insertions(+), 0 deletions(-)
diff --git a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java
index 5784d42..f621649 100644
--- a/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java
+++ b/xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java
@@ -2,14 +2,99 @@
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.concurrent.*;
+
@Slf4j
public class MapMatchingUtil {
+
+
+
+ /**
+ * 获取剩余导航数据
+ * @param polyline
+ * @param longitude
+ * @param latitude
+ * @return
+ */
+ public static List<LonLatDto> getRemainingNavigation(List<LonLatDto> polyline, Double longitude, Double latitude){
+ //导航数据只有一个点的情况
+ 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){
+ return Collections.emptyList();
+ }
+ //大于5米的情况，将车子当前位置添加进结果中
+ lonLatDto = new LonLatDto(longitude, latitude);
+ polyline.add(0, lonLatDto);
+ return polyline;
+ }
+ //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 List<LonLatDto> getRecentlyPoint(List<LonLatDto> polyline, Double longitude, Double latitude){
+ for (int i = 0; i < polyline.size(); i++) {
+ LonLatDto lonLatDto1 = polyline.get(i);
+
+ 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();
+
+ 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();
+
+
+ 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();
+
+ //判断当前位置是否处于两个点位之间
+ if((distance1 + distance2) == distance3 || (distance1 + distance2) <= distance3 + 5){
+ //取距离最近的点位数据
+ if(distance1 < distance2){
+ return polyline.subList(i, polyline.size() - 1);
+ }
+ return polyline.subList(i + 1, polyline.size() - 1);
+ }
+ }
+ return Collections.emptyList();
+ }
+
+
+
+
+
+
+
/**
* 轨迹裁剪（线段版本）
* @param polyline
--
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