Automated curvature modeling of polygonal lines
An embodiment may include, for a real world moving object moving along a real world path, modeling trajectory of the moving object along a polygon. The polygon may have a plurality of line segments and vertices and may represent the real world path for the moving object. A turn radius may be calculated at each vertex of the polygon. For a given vertex, the calculated turn radius may be associated with line segments of the polygon that originate from the given vertex. Using the calculated turn radii, a single-dimensional model may be formed of the real world path, where a respective calculated turn radius of the given vertex may serve as a measure of curvature of that portion of the real world path represented by the given vertex. The calculated turn radius of the respective given vertex may be defined by lane width of the real world path.
1. A computer-implemented method of modeling a road network, comprising:
for a real world moving object moving along a path in the real world, the real world path being part of a road network, modeling, in a computer, trajectory of the moving object along a polygon, the polygon having a plurality of line segments and vertices, the polygon representing the real world path for the moving object;
automatically calculating, by the computer, a turn radius at each vertex of the polygon, for a given vertex, the calculated turn radius being associated with line segments of the polygon that originate from the given vertex;
automatically, by the computer, using the calculated turn radii and forming a model of the real world path where a respective calculated turn radius of the given vertex of the polygon serves as a measure of curvature of that portion of the real world path represented by the given vertex, the measure of curvature at the given vertex being independent of a corresponding measure of curvature at each other vertex of the polygon, the formed model of the real world path being a single dimensional model of a lane width of the real world path and the calculated turn radius of the respective given vertex being solely defined by the lane width of the real world path;
including the formed model of the real world path in a model of the road network, said including being automated by the computer and resulting in an improved road network model; and
simulating transportation of industrial resources using the improved road network model, the simulating including a processor determining industrial operations associated with the transported industrial resources.
2. The computer-implemented method of claim 1 , further comprising:
associating the measure of curvature with an angle located between the line segments of the polygon that originate from the given vertex.
3. The computer-implemented method of claim 1 , further comprising:
calculating the turn radius at each vertex of the polygon, for the given vertex, based upon a given angle located between the line segments of the polygon that originate from the given vertex, and based upon the lane width associated with the line segments of the polygon that originate from the given vertex.
4. The computer-implemented method of claim 1 , wherein the trajectory is a curved trajectory.
5. The computer-implemented method of claim 3 , wherein the turn radius is a function of the lane width and the given angle.
6. The computer-implemented method of claim 3 , further comprising:
determining a turn of the moving object based upon length of a given line segment of the polygon, the length of the real world path associated with the turn being twice the length of the given line segment, wherein the length of the given line segment is a function of the turn radius and the given angle.
7. The computer-implemented method of claim 3 , further comprising:
associating the turn radius with a length of a given line segment of the polygon, wherein the turn radius is a function of the given line segment and the given angle.
8. The computer-implemented method of claim 1 , further comprising:
determining a speed limit associated with the moving object, the speed limit being a function of the calculated turn radius.
9. The computer-implemented method of claim 1 , wherein forming the model includes:
at least one of planning haulage and determining cycle time, based upon the calculated turn radius.
10. A computer-implemented system for modeling a road network, comprising:
a processor; and
a memory with computer code instructions stored thereon, the memory operatively coupled to the processor such that, when executed by the processor, the computer code instructions cause the computer system to implement:
a processing module configured to model trajectory of a moving object along a polygon, for a real world moving object moving along a path in the real world, the real world path being part of a road network, the polygon having a plurality of line segments and vertices, the polygon representing the real world path for the moving object;
the processing module further configured to calculate a turn radius at each vertex of the polygon, and the processing module further configured to associate, for a given vertex, the calculated turn radius with line segments of the polygon that originate from the given vertex;
the processing module further configured to form a model of the real world path, using the calculated turn radii, where a respective calculated turn radius of the given vertex of the polygon serves as a measure of curvature of that portion of the real world path represented by the given vertex, the formed model of the real world path being a single dimensional model of a lane width of the real world path and the calculated turn radius of the respective given vertex being solely defined by the lane width of the real world path, wherein the processing module includes the formed model of the real world path in a model of the road network resulting in an improved road network model; and
the processing module further configured to simulate transportation of industrial resources using the improved road network model, the simulating including determining industrial operations associated with the transported industrial resources.
11. The computer-implemented system of claim 10 , wherein the processing module is further configured to associate the measure of curvature with an angle located between the line segments of the polygon that originate from the given vertex.
12. The computer-implemented system of claim 10 , wherein the processing module is further configured to calculate the turn radius, at each vertex of the polygon, for the given vertex, based upon a given angle located between the line segments of the polygon that originate from the given vertex, and based upon the lane width associated with the line segments of the polygon that originate from the given vertex.
13. The computer-implemented system of claim 10 , wherein the trajectory is a curved trajectory.
14. The computer-implemented system of claim 12 , wherein the turn radius is a function of the lane width and the given angle.
15. The computer-implemented system of claim 12 , wherein the processing module is further configured to determine a turn of the moving object based upon length of a given line segment of the polygon, the length of the real world path associated with the turn being twice the length of the given line segment, wherein the length of the given line segment is a function of the turn radius and the given angle.
16. The computer-implemented system of claim 12 , wherein the processing module is further configured to associate the turn radius with a length of a given line segment of the polygon, wherein the turn radius is a function of the given line segment and the given angle.
17. The computer-implemented system of claim 10 , wherein the processing module is further configured to determine a speed limit associated with the moving object, the speed limit being a function of the calculated turn radius.
18. The computer-implemented system of claim 10 , wherein the processing module is further configured to form the model to include at least one of planning haulage and determining cycle time, based upon the calculated turn radius.
19. A non-transitory computer readable medium having stored thereon a sequence of instructions for modeling a road network which, when loaded and executed by a processor coupled to an apparatus causes the apparatus to:
model trajectory of a moving object along a polygon, for a real world moving object moving along a path in the real world, the real world path being part of a road network, the polygon having a plurality of line segments and vertices, the polygon representing the real world path for the moving object;
calculate a turn radius at each vertex of the polygon, and associate, for a given vertex, the calculated turn radius with line segments of the polygon that originate from the given vertex;
form a model of the real world path, using the calculated turn radii, where each respective calculated turn radius of the given vertex of the polygon serves as a measure of curvature of that portion of the real world path represented by the given vertex, the formed model of the real world path being a single dimensional model of a lane width of the real world path and the calculated turn radius of the respective given vertex being solely defined by the lane width of the real world path;
include the formed model of the real world path in a model of the road network resulting in an improved road network model; and
simulate transportation of industrial resources using the improved road network model, the simulating including determining industrial operations associated with the transported industrial resources.