From ed838e62602c0a63a64ff4bd144a0d16cc9a7cf8 Mon Sep 17 00:00:00 2001
From: puzhibing <393733352@qq.com>
Date: 星期五, 10 四月 2026 09:39:25 +0800
Subject: [PATCH] 和客户同步1.0版本
---
xp-robotaxi-push-message-boot/src/main/java/com/xiaopeng/pushMessage/utils/MapMatchingUtil.java | 175 +++++++++++++++++-----------------------------------------
1 files changed, 52 insertions(+), 123 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 422ed98..ac654e3 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
@@ -1,8 +1,6 @@
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;
@@ -38,13 +36,13 @@
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", Collections.emptyList());
- map.put("served", Collections.emptyList());
+ 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", Collections.emptyList());
+ 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
@@ -68,148 +66,60 @@
}
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();
- //判断当前位置是否处于两个点位之间
- if((distance1 + distance2) == distance3 || (distance1 + distance2) <= distance3 + 5){
- //剩余未服务的点位（创建新副本避免修改原列表）
- List<LonLatDto> lonLatDtos = new ArrayList<>(polyline.subList(i + 1, polyline.size()));
- //已经服务的点位，给到前端处理（创建新副本避免修改原列表）
- List<LonLatDto> lonLatDtos1 = new ArrayList<>(polyline.subList(0, i + 1));
- map.put("unserved", lonLatDtos);
- map.put("served", lonLatDtos1);
+ //车辆位置在第一个点位的后面
+ //这种情况不需要截取数据，只需要等到车辆位置移到两点之间，再进行截取数据
+ if(distance1 < distance2 && distance2 > distance3){
+ map.put("unserved", polyline);
+ map.put("served", new ArrayList<>());
+// System.err.println("车辆在第一个点位后面，等待车辆位移 " + lonLatDto1.getLongitude() + "," + lonLatDto1.getLatitude() + " " + longitude + "," + latitude);
+ return map;
+ }
+ //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");
return map;
}
}
map.put("unserved", polyline);
- map.put("served", Collections.emptyList());
+ map.put("served", new ArrayList<>());
return map;
}
-// public static void main(String[] args) {
-// JSONArray objects = JSON.parseArray("[{\n" +
-// "\t\t\"latitude\": 30.58549,\n" +
-// "\t\t\"longitude\": 104.054501\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.585938,\n" +
-// "\t\t\"longitude\": 104.054501\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.586522,\n" +
-// "\t\t\"longitude\": 104.054501\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.587026,\n" +
-// "\t\t\"longitude\": 104.054507\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.587922,\n" +
-// "\t\t\"longitude\": 104.054518\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.588062,\n" +
-// "\t\t\"longitude\": 104.054518\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.588292,\n" +
-// "\t\t\"longitude\": 104.054528\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.588292,\n" +
-// "\t\t\"longitude\": 104.0544\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.588292,\n" +
-// "\t\t\"longitude\": 104.0544\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.587949,\n" +
-// "\t\t\"longitude\": 104.054384\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.587311,\n" +
-// "\t\t\"longitude\": 104.054389\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.587118,\n" +
-// "\t\t\"longitude\": 104.054394\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.586704,\n" +
-// "\t\t\"longitude\": 104.054394\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.586125,\n" +
-// "\t\t\"longitude\": 104.0544\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.585938,\n" +
-// "\t\t\"longitude\": 104.054405\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.585476,\n" +
-// "\t\t\"longitude\": 104.054405\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.584693,\n" +
-// "\t\t\"longitude\": 104.054405\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.584403,\n" +
-// "\t\t\"longitude\": 104.054416\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.584312,\n" +
-// "\t\t\"longitude\": 104.054416\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.583593,\n" +
-// "\t\t\"longitude\": 104.054416\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.583486,\n" +
-// "\t\t\"longitude\": 104.054416\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.583116,\n" +
-// "\t\t\"longitude\": 104.054421\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.582391,\n" +
-// "\t\t\"longitude\": 104.054426\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.582397,\n" +
-// "\t\t\"longitude\": 104.054577\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.582397,\n" +
-// "\t\t\"longitude\": 104.054577\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.582815,\n" +
-// "\t\t\"longitude\": 104.054561\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.58311,\n" +
-// "\t\t\"longitude\": 104.05455\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.58311,\n" +
-// "\t\t\"longitude\": 104.05455\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.58311,\n" +
-// "\t\t\"longitude\": 104.054899\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.583143,\n" +
-// "\t\t\"longitude\": 104.054931\n" +
-// "\t}, {\n" +
-// "\t\t\"latitude\": 30.583148,\n" +
-// "\t\t\"longitude\": 104.054973\n" +
-// "\t}]");
-// List<LonLatDto> lonLatDtoList = new ArrayList<>();
-// for (int i = 0; i < objects.size(); i++) {
-// JSONObject object = objects.getJSONObject(i);
-// LonLatDto lonLatDto = new LonLatDto(object.getDouble("longitude"), object.getDouble("latitude"));
-// lonLatDtoList.add(lonLatDto);
-// }
-// for (int i = 0; i < 20; i++) {
-// List<LonLatDto> remainingNavigation = getRemainingNavigation(lonLatDtoList, 104.054503, 30.58549);
-// lonLatDtoList = remainingNavigation;
-// }
-//
-//
-// }
+
/**
@@ -322,4 +232,23 @@
}
+ public static void main(String[] args) {
+ String ysgj = "[{\"latitude\":23.162022,\"longitude\":113.382319},{\"latitude\":23.163358,\"longitude\":113.382345},{\"latitude\":23.164174,\"longitude\":113.382312},{\"latitude\":23.164227,\"longitude\":113.382302},{\"latitude\":23.164464,\"longitude\":113.382275},{\"latitude\":23.164624,\"longitude\":113.382259},{\"latitude\":23.16507,\"longitude\":113.382227},{\"latitude\":23.165418,\"longitude\":113.382227},{\"latitude\":23.165665,\"longitude\":113.382243},{\"latitude\":23.166159,\"longitude\":113.382302},{\"latitude\":23.166368,\"longitude\":113.382339},{\"latitude\":23.167945,\"longitude\":113.382613},{\"latitude\":23.167988,\"longitude\":113.382414},{\"latitude\":23.167988,\"longitude\":113.382414},{\"latitude\":23.167768,\"longitude\":113.382361},{\"latitude\":23.16618,\"longitude\":113.382076},{\"latitude\":23.165966,\"longitude\":113.382044},{\"latitude\":23.165751,\"longitude\":113.382034},{\"latitude\":23.165627,\"longitude\":113.382044},{\"latitude\":23.165456,\"longitude\":113.382082},{\"latitude\":23.165064,\"longitude\":113.382082},{\"latitude\":23.164517,\"longitude\":113.38213},{\"latitude\":23.164442,\"longitude\":113.382136},{\"latitude\":23.164346,\"longitude\":113.382146},{\"latitude\":23.164174,\"longitude\":113.382162},{\"latitude\":23.164018,\"longitude\":113.382168},{\"latitude\":23.163771,\"longitude\":113.382184},{\"latitude\":23.163385,\"longitude\":113.3822},{\"latitude\":23.163165,\"longitude\":113.3822},{\"latitude\":23.162243,\"longitude\":113.382189},{\"latitude\":23.162205,\"longitude\":113.382189},{\"latitude\":23.161663,\"longitude\":113.382168},{\"latitude\":23.161406,\"longitude\":113.382157},{\"latitude\":23.160156,\"longitude\":113.382119},{\"latitude\":23.159641,\"longitude\":113.382125},{\"latitude\":23.159179,\"longitude\":113.38213},{\"latitude\":23.158933,\"longitude\":113.382136},{\"latitude\":23.158176,\"longitude\":113.382168},{\"latitude\":23.158048,\"longitude\":113.382173},{\"latitude\":23.156894,\"longitude\":113.382216},{\"latitude\":23.156234,\"longitude\":113.382184},{\"latitude\":23.156063,\"longitude\":113.382162},{\"latitude\":23.155736,\"longitude\":113.382076},{\"latitude\":23.155119,\"longitude\":113.381851},{\"latitude\":23.154631,\"longitude\":113.381626},{\"latitude\":23.154631,\"longitude\":113.381626},{\"latitude\":23.154529,\"longitude\":113.381481},{\"latitude\":23.153381,\"longitude\":113.380682},{\"latitude\":23.153263,\"longitude\":113.380623},{\"latitude\":23.153198,\"longitude\":113.380623},{\"latitude\":23.153198,\"longitude\":113.380623},{\"latitude\":23.153144,\"longitude\":113.38066},{\"latitude\":23.153107,\"longitude\":113.380735},{\"latitude\":23.153107,\"longitude\":113.380735},{\"latitude\":23.153112,\"longitude\":113.3808},{\"latitude\":23.153161,\"longitude\":113.38088},{\"latitude\":23.153295,\"longitude\":113.380982},{\"latitude\":23.154218,\"longitude\":113.381615},{\"latitude\":23.154432,\"longitude\":113.381733},{\"latitude\":23.15462,\"longitude\":113.381733},{\"latitude\":23.154851,\"longitude\":113.381841},{\"latitude\":23.155414,\"longitude\":113.38206},{\"latitude\":23.156138,\"longitude\":113.382275},{\"latitude\":23.156353,\"longitude\":113.382302},{\"latitude\":23.156353,\"longitude\":113.382302},{\"latitude\":23.155564,\"longitude\":113.383632},{\"latitude\":23.155564,\"longitude\":113.383632},{\"latitude\":23.155312,\"longitude\":113.383648},{\"latitude\":23.155081,\"longitude\":113.383713},{\"latitude\":23.154856,\"longitude\":113.383825},{\"latitude\":23.154593,\"longitude\":113.384002},{\"latitude\":23.154384,\"longitude\":113.38419},{\"latitude\":23.153869,\"longitude\":113.384732},{\"latitude\":23.153606,\"longitude\":113.385081},{\"latitude\":23.153397,\"longitude\":113.385402},{\"latitude\":23.153252,\"longitude\":113.385671},{\"latitude\":23.15308,\"longitude\":113.386036},{\"latitude\":23.15306,\"longitude\":113.386128}]";
+ List<LonLatDto> polyline = TrajectoryDensifier.densify(JSON.parseArray(ysgj, LonLatDto.class), 15);
+
+// String dhgj = "[{\"latitude\":23.162022,\"longitude\":113.382319},{\"latitude\":23.162067140932074,\"longitude\":113.38231987849119},{\"latitude\":23.16211228186415,\"longitude\":113.38232075698238},{\"latitude\":23.162157422796223,\"longitude\":113.38232163547357},{\"latitude\":23.162202563728297,\"longitude\":113.38232251396477},{\"latitude\":23.162247704660373,\"longitude\":113.38232339245596},{\"latitude\":23.162292845592447,\"longitude\":113.38232427094715},{\"latitude\":23.16233798652452,\"longitude\":113.38232514943834},{\"latitude\":23.162383127456597,\"longitude\":113.38232602792954},{\"latitude\":23.16242826838867,\"longitude\":113.38232690642073},{\"latitude\":23.162473409320743,\"longitude\":113.38232778491192},{\"latitude\":23.162518550252816,\"longitude\":113.38232866340311},{\"latitude\":23.162563691184893,\"longitude\":113.38232954189431},{\"latitude\":23.162608832116966,\"longitude\":113.38233042038551},{\"latitude\":23.16265397304904,\"longitude\":113.38233129887671},{\"latitude\":23.162699113981116,\"longitude\":113.3823321773679},{\"latitude\":23.16274425491319,\"longitude\":113.38233305585909},{\"latitude\":23.162789395845262,\"longitude\":113.38233393435029},{\"latitude\":23.16283453677734,\"longitude\":113.38233481284148},{\"latitude\":23.162879677709412,\"longitude\":113.38233569133267},{\"latitude\":23.162924818641486,\"longitude\":113.38233656982386},{\"latitude\":23.162969959573562,\"longitude\":113.38233744831506},{\"latitude\":23.163015100505636,\"longitude\":113.38233832680625},{\"latitude\":23.16306024143771,\"longitude\":113.38233920529744},{\"latitude\":23.163105382369785,\"longitude\":113.38234008378863},{\"latitude\":23.16315052330186,\"longitude\":113.38234096227983},{\"latitude\":23.163195664233932,\"longitude\":113.38234184077102},{\"latitude\":23.16324080516601,\"longitude\":113.38234271926221},{\"latitude\":23.163285946098082,\"longitude\":113.3823435977534},{\"latitude\":23.163331087030155,\"longitude\":113.3823444762446},{\"latitude\":23.163358,\"longitude\":113.382345},{\"latitude\":23.163403116702963,\"longitude\":113.38234317542745},{\"latitude\":23.16344823340593,\"longitude\":113.3823413508549},{\"latitude\":23.163493350108894,\"longitude\":113.38233952628237},{\"latitude\":23.163538466811858,\"longitude\":113.38233770170982},{\"latitude\":23.16358358351482,\"longitude\":113.38233587713727},{\"latitude\":23.16362870021779,\"longitude\":113.38233405256472},{\"latitude\":23.163673816920753,\"longitude\":113.38233222799218},{\"latitude\":23.163718933623716,\"longitude\":113.38233040341963},{\"latitude\":23.163764050326684,\"longitude\":113.38232857884708},{\"latitude\":23.163809167029648,\"longitude\":113.38232675427453},{\"latitude\":23.16385428373261,\"longitude\":113.382324929702},{\"latitude\":23.16389940043558,\"longitude\":113.38232310512944},{\"latitude\":23.163944517138543,\"longitude\":113.3823212805569},{\"latitude\":23.163989633841506,\"longitude\":113.38231945598434},{\"latitude\":23.16403475054447,\"longitude\":113.38231763141181},{\"latitude\":23.164079867247438,\"longitude\":113.38231580683926},{\"latitude\":23.1641249839504,\"longitude\":113.38231398226671},{\"latitude\":23.164170100653365,\"longitude\":113.38231215769416},{\"latitude\":23.164174,\"longitude\":113.382312},{\"latitude\":23.164218476482535,\"longitude\":113.38230360821083},{\"latitude\":23.164227,\"longitude\":113.382302},{\"latitude\":23.1642718998196,\"longitude\":113.38229688483068},{\"latitude\":23.164316799639195,\"longitude\":113.38229176966136},{\"latitude\":23.164361699458794,\"longitude\":113.38228665449203},{\"latitude\":23.16440659927839,\"longitude\":113.38228153932272},{\"latitude\":23.16445149909799,\"longitude\":113.3822764241534},{\"latitude\":23.164624,\"longitude\":113.382259},{\"latitude\":23.16466904920537,\"longitude\":113.38225576777002},{\"latitude\":23.16471409841074,\"longitude\":113.38225253554005},{\"latitude\":23.16475914761611,\"longitude\":113.38224930331006},{\"latitude\":23.16480419682148,\"longitude\":113.38224607108008},{\"latitude\":23.164849246026847,\"longitude\":113.38224283885009},{\"latitude\":23.16489429523222,\"longitude\":113.38223960662012},{\"latitude\":23.164939344437588,\"longitude\":113.38223637439013},{\"latitude\":23.164984393642957,\"longitude\":113.38223314216015},{\"latitude\":23.165029442848326,\"longitude\":113.38222990993016},{\"latitude\":23.16507,\"longitude\":113.382227},{\"latitude\":23.165115148225038,\"longitude\":113.382227},{\"latitude\":23.165160296450075,\"longitude\":113.382227},{\"latitude\":23.165205444675117,\"longitude\":113.382227},{\"latitude\":23.165250592900154,\"longitude\":113.382227},{\"latitude\":23.165295741125192,\"longitude\":113.382227},{\"latitude\":23.16534088935023,\"longitude\":113.382227},{\"latitude\":23.165386037575267,\"longitude\":113.382227},{\"latitude\":23.165418,\"longitude\":113.382227},{\"latitude\":23.165463067461392,\"longitude\":113.38222991934973},{\"latitude\":23.16550813492278,\"longitude\":113.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+// List<LonLatDto> polyline = JSON.parseArray(dhgj, LonLatDto.class);
+
+ String xcgj = 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+ 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;
+
+ }
+ }
+
}
--
Gitblit v1.7.1