CN111325992B - Method, device and equipment for determining running speed - Google Patents
Method, device and equipment for determining running speed Download PDFInfo
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- CN111325992B CN111325992B CN201811526024.5A CN201811526024A CN111325992B CN 111325992 B CN111325992 B CN 111325992B CN 201811526024 A CN201811526024 A CN 201811526024A CN 111325992 B CN111325992 B CN 111325992B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
Abstract
The embodiment of the invention provides a method, a device and equipment for determining running speed, wherein the method comprises the following steps: the speed measuring device obtains track data of each vehicle in the process of running in the target distance. And for any vehicle in the vehicles, determining the first waiting time required for any vehicle to travel the target road section according to the track data of the vehicles. This first waiting time is understood to mean the waiting time of any vehicle due to the signal light effect. And then, obtaining the running speed of any vehicle running target road section according to the first waiting time and the running time required by the whole journey of the any vehicle running target road section. And finally, determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle. In the process of determining the driving speed corresponding to the target road section by using the waiting time length and the driving time length, the waiting time generated by the signal lamp effect when the vehicle drives on the target road section is removed, so that the accuracy of the driving speed corresponding to the target road section is ensured.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a method, an apparatus, and a device for determining a driving speed.
Background
In the existing navigation software, different colors are usually used to represent road congestion conditions, such as green representing smooth, orange representing congestion, red representing severe congestion, and the like. When a user goes on a trip, the congestion condition of the road section can be determined based on the marked color of the road section in the navigation software, and an optimal driving route is planned.
The marking process of the congestion condition of each road section in the navigation software can be as follows: the method comprises the steps of firstly determining the driving speed corresponding to a road section, namely the driving speed of a vehicle passing through the road section, and then marking the road section as a corresponding color according to the corresponding relation between the driving speed and a preset color. Therefore, the driving speed corresponding to the road section has a direct influence on the determination of the road section congestion condition. Therefore, how to accurately determine the driving speed corresponding to the road section becomes an urgent problem to be solved.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method, an apparatus, and a device for determining a driving speed, which are used to accurately determine a driving speed of a vehicle in a road segment by removing a beacon light effect during driving of the vehicle.
In a first aspect, an embodiment of the present invention provides a method for determining a travel speed, including:
acquiring track data of each vehicle in the process of running on a target road section;
for any vehicle in the vehicles, determining a first waiting time required for the any vehicle to travel the target road section according to the track data of the vehicles;
determining the running speed of any vehicle running the target road section according to the first waiting time of any vehicle and the running time required by any vehicle running the target road section in the whole process;
and determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle.
In a second aspect, an embodiment of the present invention provides a travel speed determination apparatus, including:
the acquisition module is used for acquiring track data of each vehicle in the process of running on the target road section;
the first time length determining module is used for determining a first waiting time length required by any vehicle to travel the target road section according to the track data of the vehicles for any vehicle in the vehicles;
the first speed determination module is used for determining the running speed of any vehicle on the target road section according to the first waiting time of any vehicle and the running time required by any vehicle for running the target road section in the whole process;
and the second speed determination module is used for determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory is used to store one or more computer instructions, and the one or more computer instructions, when executed by the processor, implement the method for determining a travel speed in the first aspect. The electronic device may also include a communication interface for communicating with other devices or a communication network.
An embodiment of the present invention provides a computer storage medium for storing and storing a computer program, where the computer program is used to enable a computer to execute the method for determining a travel speed in the first aspect.
According to the method for determining the running speed, provided by the embodiment of the invention, the speed measuring device firstly obtains the track data of each vehicle in the process of running in the target distance. Then, for any vehicle in the vehicles, the first waiting time required for the any vehicle to travel the target road section is determined according to the track data of the vehicles. This first waiting time is understood to mean the waiting time of any vehicle due to the signal light effect. And then, the speed measuring device obtains the running speed of any vehicle in the process of running the target road section according to the first waiting time and the running time required by the vehicle to run the target road section in the whole process. Therefore, when the test device calculates the running speed of any vehicle in the process of running the target road section, the time for the vehicle to wait for the signal lamp is taken into consideration, so that the calculated running speed corresponding to any vehicle can accurately reflect the current congestion condition of the target road section. In the same way, the speed measuring device can obtain the respective corresponding running speeds of the vehicles, and then the statistical calculation is carried out on the respective corresponding running speeds of the vehicles, so that the calculation result is determined as the running speed corresponding to the target road section.
Therefore, the embodiment of the invention removes the waiting time generated by the signal lamp effect in the process of driving the vehicle on the target road section based on the vehicle track data, so that the authenticity and the accuracy of the driving speed corresponding to any vehicle can be ensured, and the accuracy of the driving speed corresponding to the target road section is further ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for determining a travel speed according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a specific road segment in an actual traffic scene;
FIG. 3 is a flowchart of an alternative implementation of step 101 in the embodiment shown in FIG. 1;
FIG. 4 is a flowchart of an alternative implementation of determining the second latency in the embodiment shown in FIG. 1;
FIG. 5 is a schematic view of a driving curve derived from trajectory data;
fig. 6 is a schematic structural diagram of a travel speed determination device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device corresponding to the travel speed determination device provided in the embodiment shown in fig. 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The words "if," "if," as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a recognition," depending on the context. Similarly, the phrases "if determined" or "if identified (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when identified (a stated condition or event)" or "in response to an identification (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
Fig. 1 is a flowchart of a method for determining a driving speed according to an embodiment of the present invention, where the method for determining a driving speed according to an embodiment of the present invention may be executed by a speed measuring device. As shown in fig. 1, the method comprises the steps of:
and S101, acquiring track data of each vehicle in the process of running on the target road section.
In an actual traffic scenario, the definition of a road segment can be roughly the road between two adjacent signal lights. More specifically, a road segment may be as shown in fig. 2, and the distance from the completely outgoing intersection 1 to the incoming intersection 2, i.e., the distance between the point a and the point B, may be referred to as a road segment.
Optionally, each vehicle may be provided with a positioning system and a speed measuring system for each vehicle traveling on any road section. For the two systems, on one hand, the position coordinates and the running speed of the vehicle can be respectively collected, and on the other hand, the collection time when the position coordinates are collected and the collection time when the running speed is collected can be recorded. Of course, the periods of the positioning system and the speed measuring system for acquiring the position coordinates and the running speed of the vehicle can be the same or different. Two systems in the vehicle can send the collected track data to a remote speed measuring device, and the speed measuring device can be a server. And the track data may include the position coordinates, the collection time for collecting the position coordinates, the driving speed, the collection time for collecting the driving speed, and the vehicle identifier.
Based on this, the speed measuring device at the far end can receive all track data of each vehicle in the process of running on any road section. Then, the test device may screen the trajectory data of each vehicle traveling on the target link from the entire trajectory data based on the position coordinates in the trajectory data. Optionally, the testing device may further group the trajectory data according to the vehicle identifiers in the screened trajectory data, that is, divide the trajectory data having the same vehicle identifier in the screened trajectory data into a group.
According to the above description, the speed measuring device actually acquires a plurality of pieces of track data generated by a plurality of vehicles in the driving process of the target road section. Alternatively, a plurality of pieces of trajectory data may be generated for each vehicle traveling the target road segment once.
For the sake of brevity in the following description, in this embodiment and the following embodiments, the acquisition time for acquiring the position coordinates in the trajectory data may be referred to as a first acquisition time, and the acquisition time for collecting the travel speed may be referred to as a second acquisition time.
And S102, determining a first waiting time required for any vehicle to travel the target road section according to the track data of the vehicles for any vehicle in the vehicles.
For clarity of description, in this embodiment and the following embodiments, any one of the vehicles may be referred to as a vehicle I, and of course, the vehicle I may be any one of the vehicles.
One way to optionally determine the first waiting duration is to: the speed measuring device firstly determines a second waiting time required by the driving target road section according to the track data of each vehicle acquired in the step 101. The second waiting time can be understood as a waiting time required for waiting for a red light during the process of driving a target road section by any vehicle, namely, the waiting time generated by the signal light effect, and the second waiting time can be understood as an estimated waiting time obtained in a statistical manner. And then, determining the first waiting time of the vehicle I according to the track data of the vehicle I and the second waiting time. This first waiting time can be understood as an actual waiting time due to a traffic light effect during the passage of the vehicle through the target section.
Specifically, optionally, the speed measuring device may determine the second waiting time as follows:
after the above step 101, the speed measuring device actually obtains a plurality of track data of each vehicle in the process of traveling on the target road section. Taking the example that the positioning system and the speed measuring system may have the same data acquisition cycle, at this time, the first acquisition time and the second acquisition time included in the trajectory data are the same, then, in an optional manner, the speed measuring device may determine the number of times each vehicle waits in the process of traveling on the target road segment and the duration of each waiting according to the vehicle identifier, the traveling speed, and the first acquisition time or the second acquisition time in the trajectory data. Of course, the length of time that the vehicle waits for each time does not normally exceed one red light time.
For example, there are 5 pieces of trajectory data, and trajectory data 1 includes a vehicle identifier a, the first acquisition time is 9:00:10, and the travel speed is 45 Km/h. The trajectory data 2 includes a vehicle identifier a, the first acquisition time is 9:00:20, and the running speed is 0. The trajectory data 3 includes a vehicle identifier a, the first acquisition time is 9:00:30, and the running speed is 0. The trajectory data 4 includes a vehicle identifier a, the first acquisition time is 9:00:40, and the running speed is 0. The track data 5 comprises a vehicle identifier A, the first acquisition time is 9:00:50, the running speed is 40Km/h, the vehicle can be considered to be in a running stop state at 9:00: 20-9: 00:40, and the 20 seconds is the waiting time of the vehicle A.
According to the method, the speed measuring device can obtain the waiting time of each vehicle in the process of driving on the target road section. Then, the speed measuring device can also perform descending order arrangement on the waiting time lengths of each time, directly determine the time length at the preset position in the ordering result as a second waiting time length, and record the second waiting time length at the same time.
For the aforementioned preset position, the longest waiting time at the top of the sequencing result may exceed the time of one red light, which may be obtained according to the noise trajectory data collected by the vehicle. Therefore, in order to avoid the interference of the noise trajectory data, the time duration at the non-top preset position in the sorting result is generally preset as the second waiting time duration. For example, the time length in the middle position in the sorting result may be determined as the second waiting time length, or the time length in the 15% position in the sorting result may be determined as the second waiting time length.
In the process of determining the second waiting time, the speed measuring device can already obtain the waiting time of each vehicle in the vehicles when each vehicle stops running in the process of running on the target road section. Then, in an alternative manner, the speed measuring device may directly determine the second waiting duration of the vehicle I as the first waiting duration of the vehicle I. This determination of the first latency may be considered an estimation, since the second latency is actually an estimate.
Alternatively, the speed measuring device may also calculate the sum of the waiting time lengths of the vehicle I during the whole driving process of the target road section, and this sum may be referred to as a third waiting time length of the vehicle I. Then, the minimum value of the third waiting time period and the second waiting time period is determined as the first waiting time period of the vehicle I. This determination of the first latency may be considered a comparison.
The first waiting time may be a waiting time caused by a traffic light effect during the vehicle I travels through the target section, and the first waiting time is a maximum time of one light. The signal effect may be considered as a waiting time caused by waiting for a signal while the vehicle travels through the target road section.
S103, determining the running speed of any vehicle running target road section according to the first waiting time of any vehicle and the running time required by any vehicle running target road section in the whole process.
For the vehicle I, the speed measuring device can further calculate the driving time required by the vehicle I to drive the target road section in the whole course at the current time period, and the driving time is equal to the quotient of the length of the target road section and the preset driving speed. Whether the positioning system and the speed measuring system of the vehicle have the same data acquisition cycle or not, the two acquisition times are generally separated by a small interval, and the two acquisition times are generally in the same time period. For the preset running speed, in an alternative manner, the speed measuring device may be determined according to a preset corresponding relationship between the time period to which the first acquisition time or the second acquisition time belongs and the running speed. As can be readily appreciated, the preset travel speed corresponding to the morning and evening peak hours is slower, and the preset travel speed corresponding to the off-peak hours is faster. And the preset running speed corresponding to each time interval can be obtained according to the historical statistical value.
The driving speed of the vehicle I on the target road section can be represented as follows:
the driving speed of the target road section is equal to the length of the target road section/(driving time-first waiting time)
When the driving speed corresponding to the vehicle I is determined by the formula, the waiting time generated by the vehicle I due to the signal lamp effect, namely the first waiting time, is removed, so that the determined driving speed corresponding to the vehicle I can be more accurate, and the current road traffic state can be truly reflected.
According to the mode, the speed measuring device can respectively obtain the running speed corresponding to each vehicle.
And S104, determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle.
Finally, based on the respective driving speeds of the vehicles, in an alternative manner, the speed measuring device may arbitrarily select one of the respective driving speeds of the vehicles as the driving speed corresponding to the target road segment. Of course, this method is relatively rough, and therefore, in another alternative method, the speed measuring device may first perform average calculation on the respective traveling speeds of the vehicles, and then determine the calculation result as the traveling speed corresponding to the target road segment. Where, with respect to the average calculation, it may be an arithmetic average, a geometric average, a squared average, a harmonic average, and so forth. The average calculation process described above may be understood as a single fusion process of the traveling speeds corresponding to the respective vehicles.
In the embodiment of the invention, the speed measuring device firstly acquires the track data of each vehicle in the process of running in the target distance. Then, for any vehicle in the vehicles, the first waiting time required for the any vehicle to travel the target road section is determined according to the track data of the vehicles. This first waiting time is understood to mean the waiting time of any vehicle due to the signal light effect. And then, the speed measuring device obtains the running speed of any vehicle in the process of running the target road section according to the first waiting time and the running time required by the vehicle to run the target road section in the whole process. Therefore, when the test device calculates the running speed of any vehicle in the process of running the target road section, the time for the vehicle to wait for the signal lamp is taken into consideration, so that the calculated running speed corresponding to any vehicle can accurately reflect the current congestion condition of the target road section. In the same way, the speed measuring device can obtain the respective corresponding running speeds of the vehicles, and then the statistical calculation is carried out on the respective corresponding running speeds of the vehicles, so that the calculation result is determined as the running speed corresponding to the target road section.
That is to say, the embodiment of the invention is based on the vehicle track data, and removes the waiting time generated by the signal lamp effect in the process of the vehicle running on the target road section, so that the authenticity and the accuracy of the running speed corresponding to any vehicle can be ensured, and the accuracy of the running speed corresponding to the target road section is further ensured.
In step 101 of the embodiment shown in fig. 1, the trajectory data used in the process of determining the travel speed corresponding to the target link may be generated by the vehicle traveling on the target link, and is not limited thereto. In practical application, in order to ensure the accuracy of the driving speed corresponding to the target road section, the trajectory data acquired in step 101 may be limited according to the acquisition time in the trajectory data. Based on this, the manner shown in fig. 3 is an optional implementation manner of step 101:
s201, determining the historical driving time required by the whole driving process of the target road section according to the length of the target road section and the historical driving speed corresponding to the target road section.
S202, determining any time interval which is larger than or equal to the historical running time length as a target time interval.
And S203, acquiring the track data of which the time interval between the acquisition time and the current time is less than or equal to the target time interval from the track data of each vehicle running on the target road section.
Specifically, the speed measuring device determines the quotient of the length of the target road section and the historical driving speed corresponding to the target road section as the historical driving time length, wherein the historical driving time length is used for representing the time required by the vehicle to pass through the target road section in the whole process. For the historical travel speed, it can be determined in the same manner as shown in fig. 1. For example, if the current time is 11 months, 26 days and 9 points, the historical travel speed may be the travel speed corresponding to the target link when the target link is at 11 months, 19 days and 9 points.
Then, the speed measuring device determines any time interval which is larger than or equal to the historical driving time length as a target time interval. At this time, the speed measuring device actually acquires all track data of all vehicles running on the target road section. Therefore, from all the trajectory data, trajectory data with a time interval between the acquisition time and the current time smaller than or equal to the target time interval can be screened out according to the target time interval. In this way, it can be ensured that among the screened trajectory data, the trajectory data corresponding to the same vehicle is the trajectory data generated in the whole course of the vehicle on the driving target road section, and the trajectory data correspond to one complete driving of the vehicle. The travel speed corresponding to the target road section determined by using the trajectory data is obviously more accurate than the travel speed obtained by using the trajectory data generated by the vehicle for half-way travel of the target road section.
The current time is also the time when the speed measuring device starts to determine the driving speed corresponding to the target road section. Alternatively, the speed measuring device may automatically execute the method shown in fig. 1 according to a preset period, or may execute the method shown in fig. 1 after responding to an operation triggered by a human.
For example, it is assumed that the current time is 9: 15 minutes, and after the step 201, it can be determined that the historical travel time period is 15 minutes, that is, it usually takes 15 minutes for the vehicle to travel the entire target road segment. In this case, the speed measuring device may determine any time interval greater than or equal to 15 minutes as the target time interval, for example, the target time interval may be set to 15 minutes. Further, in all acquired track data, the speed measuring device can screen out track data with the acquisition time of 9-15 minutes, and the track data are used for processing in steps 102-104, so that the corresponding driving speed of the target road section in the time period of 9-15 minutes is finally obtained.
It should be noted that the smaller the selection of the target time interval, the higher the timeliness of the driving speed corresponding to the target road segment is determined. The larger the target time interval is selected, the larger the number of the trajectory data participating in the calculation is, and the higher the accuracy and stability of the driving speed corresponding to the target road section are determined.
Of course, in addition to the manner shown in fig. 3, in order to further improve the stability of the driving speed corresponding to the target road segment, another alternative implementation manner of step 101 is: the speed measuring device can acquire track data with a preset time corresponding relation between the acquisition time and the current time from the track data of each vehicle running on the target road section. The preset time correspondence relationship may be a seasonal granularity or a time interval granularity.
For example, assuming that the current time is 11 months and 26 days (thursday), the speed measuring device may screen track data acquired every thursday in the quarter of 11 months and 26 days from all acquired track data, and perform the processing of steps 102 to 104 by using the screened track data.
An example of the time interval granularity is that, assuming that the current time is 11 months, 26 days and 9 points, the speed measuring device screens track data of which the acquisition time is 11 months, 19 days and 9 points to 10 points, and the screened track data is used for performing the processing of the steps 102 to 104.
For the determination of the second waiting time, a specific implementation has been provided in the embodiment shown in fig. 1. In addition, when the vehicle is not equipped with a speed measurement system, the trajectory data may only include the position coordinates of the vehicle and the acquisition time for acquiring the position coordinates, i.e., the first acquisition time mentioned in the embodiment shown in fig. 1. At this time, as shown in fig. 4, the speed measuring device may also determine the second waiting time in the following manner.
S301, according to the position coordinates and the acquisition time, generating corresponding driving curves of all vehicles in the whole process of the driving target road section in a time-distance coordinate system.
And S302, respectively determining the waiting time of each vehicle in the whole process of the driving target road section according to the driving curve.
S303, determining a second waiting time length according to the time length of each waiting.
Specifically, after step 101, the speed measuring device has acquired the track data of each vehicle in the target road segment, and the track data generated for the same vehicle has been divided into one group, the speed measuring device may sequentially project the track data into a pre-established time-distance coordinate system in units of groups, and the track data in the same group may obtain a corresponding driving curve, as shown in fig. 5. Wherein the abscissa of the time-distance coordinate system corresponds to the acquisition time of the trajectory data and the ordinate corresponds to the position coordinates in the trajectory data.
In fig. 5, the respective running curves of the vehicle a and the vehicle B are shown, and the slope of the running curve is used to represent the running speed of the vehicle. The portion where the slope is 0 or less than the preset slope represents a waiting time period existing during the vehicle travels on the target link. In fig. 5, the slopes of the ML and TP segments in the curve are 0, which may indicate that the vehicle a is in the stopped driving state, and the NK segment in the curve, which has an efficiency smaller than the preset slope, may also indicate that the vehicle B is in the stopped driving state. Based on the two driving curves, the speed measuring device can directly determine the waiting time of the vehicle A and the vehicle B in the process of driving on the target road section according to the abscissa values of the middle point M, the point L, the point T, the point P, the point N and the point K of the driving curves.
Next, based on the time length of each waiting time determined by the driving trajectory curve, the speed measuring device may still determine the second waiting time according to the related description in step 102 in the embodiment shown in fig. 1, and the specific process may refer to the related description above, which is not described herein again.
Finally, it should be noted that, in practical applications, after the speed measurement device determines the driving speed corresponding to the target road segment according to the determination method provided in the foregoing embodiment, in an optional manner, the speed measurement device may determine the congestion degree of the target road segment according to the driving speed corresponding to the target road segment. Optionally, the running speed and the congestion degree may have a preset corresponding relationship, and the speed measuring device may further determine and display the prompt information corresponding to the running speed according to the corresponding relationship.
For different use scenes, the presentation form of the prompt message can be different, and the prompt message can appear in the form of characters, or can be presented in the form of colors as mentioned in the background art, for example, green represents unobstructed, orange represents slight congestion, red represents severe congestion, and the like, so that the prompt message can be displayed in navigation software used by a common user, and can also be displayed on a data large screen used by a traffic management department.
When the driving speed of the target road section is acquired by the traffic management department, in another alternative mode, the speed measuring device can also control the split ratio of the signal lamp according to the driving speed corresponding to the target road section. According to the road section defined in fig. 2, the signal lamp is generally located at the entrance and exit of the target road section. For example, when the running speed is less than the preset threshold value, it indicates that the current vehicle running speed is slow, and the current target road section is congested, at this time, the speed measuring device may increase the green-to-green ratio of the signal lamp, that is, extend the time length that the signal lamp is green, so that more vehicles can pass through. When the driving speed is high, the current target road section is indicated to pass smoothly, and the green signal ratio of the signal lamp can be unchanged or even reduced by the speed measuring device.
The determination device of the running speed of one or more embodiments of the present invention will be described in detail below. Those skilled in the art will appreciate that these travel speed determination means can be constructed by configuring the steps taught in the present embodiment using commercially available hardware components.
Fig. 6 is a schematic structural diagram of a travel speed determination apparatus according to an embodiment of the present invention, and as shown in fig. 6, the apparatus includes:
and the acquisition module 11 is used for acquiring track data of each vehicle in the process of running on the target road section.
And a first duration determining module 12, configured to determine, for any vehicle of the vehicles, a first waiting duration required for the any vehicle to travel the target road segment according to the trajectory data of the vehicles.
And the first speed determination module 13 is configured to determine a driving speed of any vehicle driving the target road segment according to the first waiting time of any vehicle and the driving time required by any vehicle driving the target road segment in the whole course.
And a second speed determination module 14, configured to determine a driving speed corresponding to the target road segment according to the driving speed corresponding to each vehicle.
Optionally, the trajectory data comprises position coordinates of the vehicle and acquisition time of the position coordinates;
the obtaining module 11 specifically includes:
the first determining unit 111 is configured to determine a historical driving time required for driving the target road segment all the way according to the length of the target road segment and the historical driving speed corresponding to the target road segment.
A second determination unit 112, configured to determine any time interval greater than or equal to the historical travel time period as a target time interval.
An obtaining unit 113, configured to obtain, from the trajectory data of each vehicle traveling on the target road segment, trajectory data in which a time interval between the acquisition time and the current time is smaller than or equal to the target time interval.
Optionally, the trajectory data comprises position coordinates of the vehicle and acquisition time of the position coordinates;
the obtaining module 11 is specifically configured to: and acquiring track data with a preset time corresponding relation between the acquisition time and the current time from the track data of each vehicle running on the target road section.
Optionally, the first time length determining module 12 specifically includes:
a second duration determining unit 121, configured to determine a second waiting duration required for traveling the target road segment according to the trajectory data of each vehicle.
A first duration determining unit 122, configured to determine, for any vehicle of the vehicles, a first waiting duration of the any vehicle according to the trajectory data of the any vehicle and the second waiting duration.
Optionally, the second duration determining unit 121 is specifically configured to: generating a driving curve corresponding to each vehicle in the whole process of driving the target road section in a time-distance coordinate system according to the position coordinates and the acquisition time, wherein the abscissa of the time-distance coordinate system corresponds to the acquisition time of the track data, and the ordinate corresponds to the position coordinates in the track data;
respectively determining the waiting time of each vehicle in the whole process of driving the target road section according to the driving curve; and determining the second waiting time length according to the time length of each waiting.
Optionally, the second duration determining unit 121 is further specifically configured to: arranging the time lengths of waiting each time in a descending order; and determining the time length at the preset position in the sequencing result as the second waiting time length.
Optionally, the first duration unit module 121 is specifically configured to: determining the sum of the waiting time lengths of any vehicle in the whole process of the target road section as a third waiting time length of any vehicle in the whole process of the target road section, and determining the minimum value of the third waiting time length and the second waiting time length as the first waiting time length.
Optionally, the first speed determining module 13 is configured to determine, according to the difference between the driving time and the first waiting time and the length of the target road segment, a driving speed of any vehicle for driving the target road segment all the way.
Optionally, the second speed determination module 14 is further specifically configured to: carrying out average calculation on the running speed corresponding to each vehicle; and determining the calculation result as the driving speed corresponding to the target road section.
Optionally, the apparatus further comprises:
and the congestion degree determining module 15 is configured to determine the congestion degree of the target road segment according to the driving speed corresponding to the target road segment.
And the display module 16 is used for displaying prompt information corresponding to the congestion degree.
Optionally, the apparatus further comprises:
and the adjusting module 17 is configured to control a split ratio of signal lamps located at an entrance and an exit of the target road section according to the driving speed corresponding to the target road section.
The apparatus shown in fig. 6 can perform the method of the embodiment shown in fig. 1 to 5, and reference may be made to the related description of the embodiment shown in fig. 1 to 5 for a part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 5, and are not described herein again.
The internal functions and structure of the travel speed determination apparatus are described above, and in one possible design, the structure of the travel speed determination apparatus may be implemented as an electronic device, which may be a server, as shown in fig. 7, and the electronic device may include: a processor 21 and a memory 22. Wherein the memory 22 is used for storing a program for supporting the electronic device to execute the method for determining the driving speed provided in the embodiments shown in fig. 1 to 5, and the processor 21 is configured to execute the program stored in the memory 22.
The program comprises one or more computer instructions which, when executed by the processor 21, are capable of performing the steps of:
acquiring track data of each vehicle in the process of running on a target road section;
for any vehicle in the vehicles, determining a first waiting time required for the any vehicle to travel the target road section according to the track data of the vehicles;
determining the running speed of any vehicle running the target road section according to the first waiting time of any vehicle and the running time required by any vehicle running the target road section in the whole process;
and determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle.
Optionally, the processor 21 is further configured to perform all or part of the steps in the embodiments shown in fig. 1 to 5.
The electronic device may further include a communication interface 23 for communicating with other devices or a communication network.
In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions for the electronic device, which includes a program for executing the method for determining a driving speed in the method embodiment shown in fig. 1 to 5.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described aspects and portions of the present technology which contribute substantially or in part to the prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including without limitation disk storage, CD-ROM, optical storage, and the like.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A method of determining a travel speed, comprising:
acquiring track data of each vehicle in the process of running on a target road section, wherein the time interval between the acquisition time of position coordinates in the track data and the current time is less than or equal to a target time interval, and the target time interval is greater than or equal to the historical running time required for running the target road section in the whole process;
for any vehicle in the vehicles, determining a first waiting time required for the any vehicle to travel the target road section according to the track data of the vehicles;
determining the running speed of any vehicle running the target road section according to the first waiting time of any vehicle and the running time required by any vehicle running the target road section in the whole process;
and determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle.
2. The method of claim 1, wherein the trajectory data includes position coordinates of the vehicle;
the acquiring of the track data of each vehicle running on the target road section comprises the following steps:
determining the historical driving time required for driving the target road section in the whole process according to the length of the target road section and the historical driving speed corresponding to the target road section;
determining any time interval which is greater than or equal to the historical driving time length as a target time interval;
and acquiring track data of which the time interval between the acquisition time and the current time is less than or equal to the target time interval from the track data of each vehicle running on the target road section.
3. The method of claim 1, wherein the trajectory data comprises position coordinates of a vehicle and a time of acquisition of the position coordinates;
the acquiring of the track data of each vehicle running on the target road section comprises the following steps:
and acquiring track data with a preset time corresponding relation between the acquisition time and the current time from the track data of each vehicle running on the target road section.
4. The method according to claim 2 or 3, wherein the determining, for any one of the vehicles, a first waiting time period required for the any one vehicle to travel the target road segment according to the trajectory data of the vehicles comprises:
determining a second waiting time required for driving the target road section according to the track data of each vehicle;
and for any vehicle in the vehicles, determining a first waiting time length of the any vehicle according to the track data of the any vehicle and the second waiting time length.
5. The method of claim 4, wherein determining the second waiting duration required to travel the target road segment based on the trajectory data of the vehicles comprises:
generating a driving curve corresponding to each vehicle in the whole process of driving the target road section in a time-distance coordinate system according to the position coordinates and the acquisition time, wherein the abscissa of the time-distance coordinate system corresponds to the acquisition time of the track data, and the ordinate corresponds to the position coordinates in the track data;
respectively determining the waiting time of each vehicle in the whole process of driving the target road section according to the driving curve;
and determining the second waiting time length according to the time length of each waiting time of each vehicle.
6. The method of claim 5, wherein said determining the second wait period based on the length of each wait of the vehicles comprises:
arranging the time lengths of waiting each time in a descending order;
and determining the time length at the preset position in the sequencing result as the second waiting time length.
7. The method of claim 4, wherein determining the first latency of the any vehicle from the trajectory data of the any vehicle and the second latency comprises:
determining the sum of the waiting time lengths of any vehicle in the whole process of the target road section as a third waiting time length of any vehicle in the whole process of the target road section;
determining that the minimum value of the third waiting time period and the second waiting time period is the first waiting time period.
8. The method of claim 7, wherein determining the travel speed of the any vehicle for the target road segment according to the first waiting time of the any vehicle and the travel time required by the any vehicle for the target road segment to travel the full distance comprises:
and determining the running speed of any vehicle running the target road section in the whole course according to the difference between the running time length and the first waiting time length and the length of the target road section.
9. The method according to claim 8, wherein the determining the driving speed corresponding to the target road section according to the driving speed corresponding to each vehicle comprises:
carrying out average calculation on the running speed corresponding to each vehicle;
and determining the calculation result as the driving speed corresponding to the target road section.
10. The method of claim 1, further comprising:
determining the congestion degree of the target road section according to the running speed corresponding to the target road section;
and displaying prompt information corresponding to the congestion degree.
11. The method of claim 1, further comprising:
and controlling the green letter ratio of signal lamps positioned at the entrance and exit of the target road section according to the driving speed corresponding to the target road section.
12. A travel speed determination apparatus, characterized by comprising:
the acquisition module is used for acquiring track data of each vehicle in the process of running on a target road section, wherein the time interval between the acquisition time of the position coordinates in the track data and the current time is less than or equal to a target time interval, and the target time interval is greater than or equal to the historical running time required for running the target road section in the whole process;
the first time length determining module is used for determining a first waiting time length required by any vehicle to travel the target road section according to the track data of the vehicles for any vehicle in the vehicles;
the first speed determination module is used for determining the running speed of any vehicle on the target road section according to the first waiting time of any vehicle and the running time required by any vehicle for running the target road section in the whole process;
and the second speed determination module is used for determining the running speed corresponding to the target road section according to the running speed corresponding to each vehicle.
13. An electronic device, comprising: a memory, a processor; wherein the content of the first and second substances,
the memory is configured to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement a method of determining a travel speed according to any one of claims 1 to 11.
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| JP2010250445A (en) * | 2009-04-13 | 2010-11-04 | Aisin Aw Co Ltd | Driving support system and program |
| CN101975579B (en) * | 2010-09-30 | 2012-11-28 | 深圳市同洲电子股份有限公司 | Method and system for replaying vehicle track and vehicle-mounted monitoring device |
| CN102110363B (en) * | 2011-03-30 | 2013-07-10 | 北京世纪高通科技有限公司 | Floating vehicle data processing method and device |
| US8543320B2 (en) * | 2011-05-19 | 2013-09-24 | Microsoft Corporation | Inferring a behavioral state of a vehicle |
| CN104077311B (en) * | 2013-03-28 | 2017-11-14 | 国际商业机器公司 | Vehicle location indexing means and device |
| CN106297320A (en) * | 2015-06-04 | 2017-01-04 | 高德软件有限公司 | A kind of method and device obtaining Vehicle Speed |
| CN106931980A (en) * | 2015-12-30 | 2017-07-07 | 沈阳美行科技有限公司 | The generation method and device of a kind of running data |
| CN105809993B (en) * | 2016-06-06 | 2018-01-23 | 北方工业大学 | Method for calculating intersection signal lamp timing based on vehicle stop line passing time |
| CN106525033A (en) * | 2016-09-22 | 2017-03-22 | 深圳市元征科技股份有限公司 | Running track determination method and device thereof |
| CN106781507A (en) * | 2017-02-22 | 2017-05-31 | 百度在线网络技术（北京）有限公司 | Method and apparatus for generating traffic information and test road conditions identifying system |
| CN107702729A (en) * | 2017-09-06 | 2018-02-16 | 东南大学 | A kind of automobile navigation method and system for considering expected road conditions |
| CN108932843A (en) * | 2018-08-06 | 2018-12-04 | 百度在线网络技术（北京）有限公司 | Method and apparatus for generating information |
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