performs map matching of a given point to the map More...

#include <ad/map/match/AdMapMatching.hpp>

Public Member Functions
	AdMapMatching ()
	default constructor

	~AdMapMatching ()=default
	destructor

void	setMaxHeadingHintFactor (double newHeadingHintFactor)
	set the maximum probability multiplier for heading hints

double	getMaxHeadingHintFactor () const
	get the maximum probability multiplier for heading hints

void	setRouteHintFactor (double newRouteHintFactor)
	set the probability multiplier for valid route hints

double	getRouteHintFactor () const
	get the probability multiplier for valid route hints

void	addHeadingHint (point::ECEFHeading const &headingHint)
	add a hint for the heading of the vehicle/object More...

void	addHeadingHint (point::ENUHeading const &yaw, point::GeoPoint const &enuReferencePoint)
	add a hint for the heading of the vehicle/object More...

void	clearHeadingHints ()
	clears the list of heading hints

void	addRouteHint (route::FullRoute const &routeHint)
	add a hint for the route of the vehicle/object More...

void	clearRouteHints ()
	clears the list of route hints

void	clearHints ()
	clears route and heading hints at once

void	setRelevantLanes (::ad::map::lane::LaneIdSet const &relevantLanes)
	set the lanes that are relevant for map matching All the rest of the lanes in the map are ignored.

void	clearRelevantLanes ()
	clear the list of relevant lanes.

MapMatchedPositionConfidenceList	getMapMatchedPositions (point::GeoPoint const &geoPoint, physics::Distance const &distance, physics::Probability const &minProbability) const
	get the map matched positions More...

MapMatchedPositionConfidenceList	getMapMatchedPositions (point::ENUPoint const &enuPoint, point::GeoPoint const &enuReferencePoint, physics::Distance const &distance, physics::Probability const &minProbability) const
	get the map matched positions More...

MapMatchedPositionConfidenceList	getMapMatchedPositions (point::ENUPoint const &enuPoint, physics::Distance const &distance, physics::Probability const &minProbability) const
	get the map matched positions More...

MapMatchedPositionConfidenceList	getMapMatchedPositions (ENUObjectPosition const &enuObjectPosition, physics::Distance const &distance, physics::Probability const &minProbability)
	get the map matched positions More...

MapMatchedObjectBoundingBox	getMapMatchedBoundingBox (ENUObjectPosition const &enuObjectPosition, physics::Distance const &samplingDistance=physics::Distance(1.)) const
	get the map matched bounding box More...

LaneOccupiedRegionList	getLaneOccupiedRegions (ENUObjectPositionList enuObjectPositionList, physics::Distance const &samplingDistance=physics::Distance(1.)) const
	get the lane occupied regions from a list of ENUObjectPositionList More...

point::ENUHeading	getLaneENUHeading (MapMatchedPosition const &mapMatchedPosition) const
	Method to be called to retrieve the lane heading at a mapMatchedPosition.

Static Public Member Functions
static MapMatchedPositionConfidenceList	findLanes (point::ECEFPoint const &ecefPoint, physics::Distance const &distance, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	Spatial Lane Search. Returns all Lanes where any part of surface is less than specified physics::Distance from given point. More...

static MapMatchedPositionConfidenceList	findLanes (point::GeoPoint const &geoPoint, physics::Distance const &distance, ::ad::map::lane::LaneIdSet const &relevantLanes=::ad::map::lane::LaneIdSet())
	Spatial Lane Search. Returns all Lanes where any part of surface is less than specified physics::Distance from given point. More...

static MapMatchedPositionConfidenceList	findRouteLanes (point::ECEFPoint const &ecefPoint, route::FullRoute const &route)
	Spatial Lane Search. Returns the map matched position in respect to all Lanes of the given route. More...

Detailed Description

performs map matching of a given point to the map

In general, there are multiple possible matches for a given point available, especially if the point is e.g. located within an intersection area. Therefore, map matching always returns a std::multimap of map matched positions ordered by their probabilities.

Besides the actual position, there are additional input parameters influencing the probabilistic calculation. Observed heading or possible routes of a vehicle/object can be provided to influence the map matching result.

Member Function Documentation

◆ addHeadingHint() [1/2]

void ad::map::match::AdMapMatching::addHeadingHint ( point::ECEFHeading const & headingHint )

inline

add a hint for the heading of the vehicle/object

It is possible to provide hints on the heading of the vehicle/object to be considered on map matching. This increases the map matching probabilities for lanes with respective direction. The matches are multiplied with a headingFactor:

<= headingFactor <= getMaxHeadingHintFactor()

Parameters

[in] headingHint the heading hint of the object/vehicle to consider

◆ addHeadingHint() [2/2]

void ad::map::match::AdMapMatching::addHeadingHint	(	point::ENUHeading const &	yaw,
		point::GeoPoint const &	enuReferencePoint
	)

inline

add a hint for the heading of the vehicle/object

It is possible to provide hints on the heading of the vehicle/object to be considered on map matching. This increases the map matching probabilities for lanes with respective direction.

Parameters

[in]	yaw	the yaw of the object/vehicle to consider
[in]	enuReferencePoint	the reference point of the corresponding ENUCoordinate system

◆ addRouteHint()

void ad::map::match::AdMapMatching::addRouteHint ( route::FullRoute const & routeHint )

inline

add a hint for the route of the vehicle/object

This function allows to provide a hint for the current route of the object. This increases the map matching probabilities for lanes along the route.

Parameters

[in] routeHint the route hint to consider

◆ findLanes() [1/2]

static MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::findLanes	(	point::ECEFPoint const &	ecefPoint,
		physics::Distance const &	distance,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

static

Spatial Lane Search. Returns all Lanes where any part of surface is less than specified physics::Distance from given point.

Parameters

[in]	ecefPoint	Point that is used as base for the search.
[in]	distance	Search radius.
[in]	relevantLanes	if not empty, the function restricts the search to the given set of lanes

This static function doesn't make use of any matching hints.

Returns: Map matching results that satisfy search criteria.

◆ findLanes() [2/2]

static MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::findLanes	(	point::GeoPoint const &	geoPoint,
		physics::Distance const &	distance,
		::ad::map::lane::LaneIdSet const &	relevantLanes = `::ad::map::lane::LaneIdSet()`
	)

static

Spatial Lane Search. Returns all Lanes where any part of surface is less than specified physics::Distance from given point.

Parameters

[in]	geoPoint	Point that is used as base for the search.
[in]	distance	Search radius.
[in]	relevantLanes	if not empty, the function restricts the search to the given set of lanes

This static function doesn't make use of any matching hints.

Returns: Map matching results that satisfy search criteria. The individual matching result probabilities are equal.

◆ findRouteLanes()

static MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::findRouteLanes	(	point::ECEFPoint const &	ecefPoint,
		route::FullRoute const &	route
	)

static

Spatial Lane Search. Returns the map matched position in respect to all Lanes of the given route.

Parameters

[in]	ecefPoint	Point that is used as base for the search.
[in]	route	The route providing the lane subset to be searched.

This static function doesn't make use of any matching hints.

Returns: The individual matching result probabilities are relative to the actual distance of the matchedPoint to the queryPoint.

◆ getLaneOccupiedRegions()

LaneOccupiedRegionList ad::map::match::AdMapMatching::getLaneOccupiedRegions	(	ENUObjectPositionList	enuObjectPositionList,
		physics::Distance const &	samplingDistance = `physics::Distance(1.)`
	)		const

get the lane occupied regions from a list of ENUObjectPositionList

Merge the lane occupied regions of the getMapMatchedBoundingBox() results of all position entries. See getMapMatchedBoundingBox() for a detailed description. For a correct handling of the inner borders crossed on matching a bigger object, this function only works as expected if the the provided enuObjectPositionList covers the whole object.

Parameters

[in]	enuObjectPositionList	list of ENUObjectPosition entries
[in]	samplingDistance	The step size to be used to perform map matching in between the vehicle boundaries A samplingDistance of 0.1 at a car (3x5m) means 1500x map matching. With a distance of 1.0 we get only 15x map matching.

Returns: the map matched bounding box of the object

◆ getMapMatchedBoundingBox()

MapMatchedObjectBoundingBox ad::map::match::AdMapMatching::getMapMatchedBoundingBox	(	ENUObjectPosition const &	enuObjectPosition,
		physics::Distance const &	samplingDistance = `physics::Distance(1.)`
	)		const

get the map matched bounding box

Calculate the map matched bounding box. This will calculate the map matched positions of all the corner points and the center point In addition it will calculate all lane regions that are covered by the bounding box by sampling the objects geometry in between with the provided samplingDistance

Parameters

[in]	enuObjectPosition	object position, orientation, dimensions and ENRReferencePoint to match against the map in ENU coordinate frame
[in]	samplingDistance	The step size to be used to perform map matching in between the vehicle boundaries This parameter is heavily influencing the performance of this function: A samplingDistance of 0.1 at a car (3x5m) means 1500x map matching. With a distance of 1.0 we get only 15x map matching.

Returns: the map matched bounding box of the object

◆ getMapMatchedPositions() [1/4]

MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::getMapMatchedPositions	(	ENUObjectPosition const &	enuObjectPosition,
		physics::Distance const &	distance,
		physics::Probability const &	minProbability
	)

get the map matched positions

Calculate the map matched positions and return these.

Parameters

[in]	enuObjectPosition	object position, orientation, dimensions and ENRReferencePoint to match against the map in ENU coordinate frame
[in]	distance	search radius around geoPoint to select a lane as a match
[in]	minProbabilty	A probability threshold to be considered for the results.

The orientation of the ENUObjectPosition is set as heading hint before matching and cleared afterwards This function makes use of the ENUReferencePoint of the provided ENUObjectPosition. The dimensions of the ENUObjectPosition is not required.

◆ getMapMatchedPositions() [2/4]

MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::getMapMatchedPositions	(	point::ENUPoint const &	enuPoint,
		physics::Distance const &	distance,
		physics::Probability const &	minProbability
	)		const

get the map matched positions

Calculate the map matched positions and return these.

Parameters

[in]	enuPoint	position to match against the map in ENU coordinate frame
[in]	distance	search radius around geoPoint to select a lane as a match
[in]	minProbabilty	A probability threshold to be considered for the results.

This function makes use of the globally set ENUReferencePoint (see AdMapAccess::setENUReferencePoint())

◆ getMapMatchedPositions() [3/4]

MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::getMapMatchedPositions	(	point::ENUPoint const &	enuPoint,
		point::GeoPoint const &	enuReferencePoint,
		physics::Distance const &	distance,
		physics::Probability const &	minProbability
	)		const

get the map matched positions

Calculate the map matched positions and return these.

Parameters

[in]	enuPoint	position to match against the map in ENU coordinate frame
[in]	enuReferencePoint	the enu reference point
[in]	distance	search radius around geoPoint to select a lane as a match
[in]	minProbabilty	A probability threshold to be considered for the results.

◆ getMapMatchedPositions() [4/4]

MapMatchedPositionConfidenceList ad::map::match::AdMapMatching::getMapMatchedPositions	(	point::GeoPoint const &	geoPoint,
		physics::Distance const &	distance,
		physics::Probability const &	minProbability
	)		const

get the map matched positions

Calculate the map matched positions and return these.

Parameters

[in]	geoPoint	position to match against the map
[in]	distance	search radius around geoPoint to select a lane as a match
[in]	minProbabilty	A probability threshold to be considered for the results.

The documentation for this class was generated from the following file:

include/ad/map/match/AdMapMatching.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ addHeadingHint() [1/2]

◆ addHeadingHint() [2/2]

◆ addRouteHint()

◆ findLanes() [1/2]

◆ findLanes() [2/2]

◆ findRouteLanes()

◆ getLaneOccupiedRegions()

◆ getMapMatchedBoundingBox()

◆ getMapMatchedPositions() [1/4]

◆ getMapMatchedPositions() [2/4]

◆ getMapMatchedPositions() [3/4]

◆ getMapMatchedPositions() [4/4]