CN113781786B - Method, device and equipment for confirming unviable area and readable storage medium - Google Patents
Method, device and equipment for confirming unviable area and readable storage medium Download PDFInfo
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Abstract
The invention provides a method, a device, equipment and a readable storage medium for confirming an impassable area, which relate to the technical field of Internet of things services, and the method comprises the following steps: determining real-time lane information and road information of a running vehicle according to the map data and longitude and latitude information of the current running vehicle; determining a plurality of running vehicles with detouring behaviors on the target road according to the lane information and the road information; identifying a plurality of target vehicles with effective detouring behaviors in the plurality of running vehicles according to the detouring time information and the detouring longitude and latitude information respectively corresponding to the plurality of running vehicles; and confirming the impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle. The scheme of the invention greatly reduces the calculation complexity and can finely realize the identification of the unviable area of the panoramic road.
Description
Technical Field
The invention belongs to the technical field of Internet of things services, and particularly relates to a method, a device, equipment and a readable storage medium for confirming an impassable area.
Background
At present, in the technology for confirming the area where the road is not available, a computer vision technology is mainly used, traffic target information in the road is collected through a vehicle-mounted camera, a laser radar, a millimeter wave radar or a roadside camera sensing device, image recognition is carried out based on the collected traffic target information, the static target recognition and the dynamic target recognition are included, and whether the area information which is not available for the road exists or not is analyzed by combining a high-precision map and high-precision positioning capability. The adopted laser radar, millimeter wave radar, video acquisition and image processing algorithms all need expensive GPU (graphic processing unit) calculation cost and complex digital image processing algorithm logic; in addition, for complex scenes such as high-speed driving or severe weather, due to the limitations of vehicle-mounted equipment and road side equipment, the problems of blind area sensing and reduction of the detection accuracy of traffic targets exist, the identification result of an impassable area cannot be stably output, and the requirement of the whole scene service is difficult to meet.
Disclosure of Invention
The embodiment of the invention aims to provide a method, a device and equipment for confirming an impassable area and a readable storage medium, so as to solve the problems that in the prior art, the GPU computing cost is high and the logic of a data image processing algorithm is complex when a computer vision technology is adopted to identify the impassable area of a road.
In order to achieve the above object, an embodiment of the present invention provides a method for confirming an impassable area, including:
determining real-time lane information and road information of a running vehicle according to the map data and longitude and latitude information of the current running vehicle;
determining a plurality of running vehicles with detouring behaviors on the target road according to the lane information and the road information;
identifying a plurality of target vehicles with effective detouring behaviors in the plurality of running vehicles according to the detouring time information and the detouring longitude and latitude information respectively corresponding to the plurality of running vehicles;
confirming an impassable area on a target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle;
determining that the running vehicle has detour behavior on the target road under the condition that the running vehicle meets a first condition;
the running vehicle satisfies a first condition including:
the driving vehicle has lane changing behavior on the target road;
after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range;
and before the running vehicle changes the lane, no vehicle passes through the second preset distance range in front.
Optionally, before determining the real-time lane information and the road information of the running vehicle according to the map data and the longitude and latitude information of the current running vehicle, the method includes:
acquiring map data uploaded by a collection vehicle in advance;
and acquiring longitude and latitude information of the running vehicle in the coverage range of the road side equipment, which is transmitted by the road side equipment in real time.
Optionally, determining real-time lane information and road information of the running vehicle according to the map data and the longitude and latitude information of the current running vehicle, including:
according to the map data, a tree data structure diagram corresponding to the intersection information, the road information and the lane information on each road section is constructed;
and obtaining lane information and road information corresponding to the longitude and latitude information in the tree data structure chart.
Optionally, according to the map data, a tree data structure diagram corresponding to the intersection information, the road information, and the lane information is constructed, including:
acquiring association relation among intersection information, road information and lane information on each road section according to the map data;
generating a topological relation graph according to the incidence relation;
and constructing a tree data structure diagram according to the topological relation diagram.
Optionally, identifying a plurality of target vehicles with effective detour behaviors in the plurality of running vehicles according to the detour time information and the detour longitude and latitude information respectively corresponding to the plurality of running vehicles includes:
acquiring a vehicle passing condition corresponding to the bypassing longitude and latitude information in the bypassing time information;
and when the vehicle passing condition is that no vehicle passes through, identifying the running vehicle as a target vehicle with effective bypassing behavior on the target road.
Optionally, determining the impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, including:
and when the bypassing longitude and latitude information of the plurality of target vehicles is acquired to have an overlapping area according to the bypassing longitude and latitude information corresponding to the effective bypassing behavior of each target vehicle, and the overlapping area is greater than a third preset distance, confirming the impassable area of the target road according to the overlapping area.
Optionally, after determining the impassable area of the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, the method further includes:
confirming dynamic traffic information according to the impassable area;
and issuing dynamic traffic information to the vehicle through the road side equipment.
Optionally, after determining the impassable area of the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, the method further includes:
and stopping issuing the dynamic traffic information when the vehicle passing condition of the impassable area is acquired as that the vehicle passes.
An embodiment of the present invention further provides a device for confirming an impassable area, including:
the system comprises a first module, a second module and a third module, wherein the first module is used for determining real-time lane information and road information of a running vehicle according to map data and longitude and latitude information of the current running vehicle;
the second module is used for determining a plurality of running vehicles with detour behaviors on the target road according to the lane information and the road information;
the third module is used for identifying a plurality of target vehicles with effective bypassing behaviors in the plurality of running vehicles according to the bypassing time information and the bypassing latitude and longitude information which are respectively corresponding to the plurality of running vehicles;
the fourth module is used for confirming the impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle;
wherein the second module comprises:
a determination unit configured to determine that the traveling vehicle has detour behavior on the target road if the traveling vehicle satisfies a first condition;
the running vehicle satisfies a first condition including:
the driving vehicle has lane changing behavior on the target road;
after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range;
and before the running vehicle changes the lane, no vehicle passes through the second preset distance range in front.
Optionally, the apparatus further comprises:
the first acquisition module is used for acquiring map data uploaded by an acquisition vehicle in advance;
and the second acquisition module is used for acquiring the longitude and latitude information of the running vehicle in the coverage range of the road side equipment, which is transmitted by the road side equipment in real time.
Optionally, the first module comprises:
the building unit is used for building a tree data structure chart corresponding to the intersection information, the road information and the lane information on each road section according to the map data;
and the obtaining unit is used for obtaining lane information and road information corresponding to the longitude and latitude information in the tree data structure chart.
Optionally, the construction unit is specifically configured to:
acquiring association relation among intersection information, road information and lane information on each road section according to the map data;
generating a topological relation graph according to the incidence relation;
and constructing a tree data structure diagram according to the topological relation diagram.
Optionally, the third module comprises:
the acquisition unit is used for acquiring the vehicle passing condition corresponding to the bypassing longitude and latitude information in the bypassing time information;
and the identification unit is used for identifying the running vehicle as a target vehicle with effective detour behavior on the target road when the vehicle passing condition is that no vehicle passes through.
Optionally, the fourth module comprises:
and the confirming unit is used for confirming the impassable area of the target road according to the overlapping area when the bypassing longitude and latitude information of the plurality of target vehicles is acquired according to the bypassing longitude and latitude information corresponding to the effective bypassing behavior of each target vehicle and the overlapping area is larger than a third preset distance.
Optionally, the apparatus further comprises:
the confirmation information module is used for confirming the dynamic traffic information according to the impassable area;
and the issuing module is used for issuing the dynamic traffic information to the vehicle through the road side equipment.
Optionally, the apparatus further comprises:
and the stop issuing module is used for stopping issuing the dynamic traffic information after the condition that the vehicles pass through the impassable area is obtained.
An embodiment of the present invention further provides an impassable area confirmation device, including: a processor, a memory and a program stored on said memory and executable on said processor, which program, when executed by said processor, performs the steps of the method for confirming an unvaryable area as described above.
The embodiment of the invention further provides a readable storage medium, wherein the readable storage medium stores a program, and the program realizes the steps of the method for confirming the unvaryable area when being executed by the processor.
The technical scheme of the invention at least has the following beneficial effects:
in the scheme, the real-time lane information and the road information of the running vehicle are determined according to the map data and the longitude and latitude information of the current running vehicle; determining a plurality of running vehicles with detouring behaviors on the target road according to the lane information and the road information; identifying a plurality of target vehicles with effective detouring behaviors in the plurality of running vehicles according to the detouring time information and the detouring longitude and latitude information respectively corresponding to the plurality of running vehicles; confirming an impassable area on a target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle; determining that the running vehicle has detour behavior on the target road under the condition that the running vehicle meets a first condition; the running vehicle satisfies a first condition including: the driving vehicle has lane changing behavior on the target road; after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range; before the driving vehicle changes lanes, no vehicle passes through the second preset distance range in front, so that the calculation complexity is greatly reduced, the transmission parameters are reduced, the algorithm processing efficiency is improved, the map accuracy is higher, a plurality of impassable areas on the same road section can be confirmed, and more refined recognition is realized.
Drawings
FIG. 1 is a schematic diagram illustrating steps of a method for confirming an impassable area according to an embodiment of the present invention;
FIG. 2 is a diagram of a network architecture according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating information delivery of a network architecture according to an embodiment of the present invention;
FIG. 4 is a diagram of a method for confirming an unvaryable area according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a device for confirming an impassable area according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a device for confirming an impassable area according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a method, a device and equipment for confirming an unvaryable area and a readable storage medium, aiming at the problems of high GPU (graphics processing unit) calculation cost and complex data image processing algorithm logic in the prior art when a computer vision technology is adopted to identify the unvaryable area of a road.
As shown in fig. 1, an embodiment of the present invention provides a method for confirming an impassable area, including:
it should be noted that the lane information includes a lane ID (identification number), and the road information includes a road ID. The map data is high-precision map data.
here, a plurality of traveling vehicles having a detour behavior are accurately identified, and traveling vehicles having an individual overtaking behavior and a driving shake behavior are excluded.
103, identifying a plurality of target vehicles with effective bypassing behaviors in the plurality of running vehicles according to the bypassing time information and the bypassing latitude and longitude information respectively corresponding to the plurality of running vehicles;
it should be noted that the number of target vehicles is three or more, where the target vehicles do not include an abnormal vehicle having the following driving behavior: overspeed, retrograde motion, abnormally low speed, sudden braking, sudden and slow speed, and frequent lane change.
104, confirming an impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle;
here, the detour longitude and latitude information includes: the warp and weft values of the winding starting point and the winding end point.
Determining that the running vehicle has detour behavior on the target road under the condition that the running vehicle meets a first condition;
the running vehicle satisfies a first condition including:
the driving vehicle has lane changing behavior on the target road;
after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range;
and before the running vehicle changes the lane, no vehicle passes through the second preset distance range in front.
According to the embodiment of the invention, real-time lane information and road information of a running vehicle are determined according to map data and longitude and latitude information of the current running vehicle; determining a plurality of running vehicles with detouring behaviors on the target road according to the lane information and the road information; identifying a plurality of target vehicles with effective detouring behaviors in the plurality of running vehicles according to the detouring time information and the detouring longitude and latitude information respectively corresponding to the plurality of running vehicles; confirming an impassable area on a target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle; determining that the running vehicle has detour behavior on the target road under the condition that the running vehicle meets a first condition; the running vehicle satisfies a first condition including: the driving vehicle has lane changing behavior on the target road; after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range; before the driving vehicle changes lanes, no vehicle passes through the second preset distance range in front, so that the calculation complexity is greatly reduced, the transmission parameters are reduced, the algorithm processing efficiency is improved, the map accuracy is higher, a plurality of impassable areas on the same road section can be confirmed, and more refined recognition is realized.
Optionally, the method further comprises:
acquiring map data uploaded by a collection vehicle in advance;
and acquiring longitude and latitude information of a running vehicle in the RSU coverage range, which is transmitted by an RSU (Road Side Unit) in real time.
It should be noted that the method for confirming an unviable area provided by the embodiment of the present invention is applied to an edge-side internet of things platform, such as a network architecture schematic diagram shown in fig. 2 and an information transmission schematic diagram of a network architecture shown in fig. 3, where multiple OBUs (On Board units, vehicle-mounted devices), wearable devices, and unified gateways are connected to corresponding RSUs through a 5G or V2X (vehicle to electronic communication technology) technology, the RSUs are connected to a 5G base station (having a core network element parsing function) through a 5G wireless network, the RSUs are connected to an access gateway through optical fibers, the access gateway and the 5G base station are connected to a big data real-time analysis system (machine learning module) through optical fibers, the access gateway and the 5G base station are connected to a first core machine room (configured core network element) through dedicated lines, the first core machine room is communicated with operation and maintenance personnel through dedicated lines, and the big data real-time analysis system is connected with a second core machine room (configured with a high-precision positioning continuous operation reference station differential function). One RSU may cover a range of 300 meters to 500 meters, and after the vehicle-mounted device on the driving vehicle in this range is cached by the road-side device, a timer provided in the RSU is used to periodically send a group of BSMs (Basic Safety messages) to the edge-side internet of things platform, where the BSMs include: the latitude and longitude information further comprises: the time stamp and the vehicle state information such as the speed, the course angle, the size of the vehicle body, the gear, the steering angle of the steering wheel, the shaft acceleration and the like of the running vehicle.
Furthermore, the edge side network platform analyzes the longitude and latitude Information of the running vehicle in the analysis module, and forwards the longitude and latitude Information to the machine learning module for analysis through the access gateway, the analyzed DTI (Dynamic Traffic Information) is issued to the RSU through the access gateway, and the RSU sends the DTI to the OBU in a broadcast mode and finally to the vehicle.
It should be further noted that the collecting vehicle includes: motion sensors (e.g., inertial sensors), global positioning satellite systems, wheel speed gauges, and laser radars; here, the steps of acquiring the map data by the collection vehicle are explained as follows:
collecting panoramic original data by a collecting vehicle, and processing to generate shp file format data; the shp file format data contains original data of points, lines and surfaces, has no information such as road information, intersection information and lane information, is in a vector graphic format, is used for storing geometric figure related attributes, and cannot store the topological relation of geographic data.
Adopting WorldEditor (world editor) to convert the shp file format data into Open Drive format data; the Open Drive format data is used for describing the logic of a road grid, protecting road information, road condition information and lane information (length and width of a lane), and simultaneously contains the incidence relation among intersection information, road information and lane information, such as the incidence relation among a road to which the lane belongs, a precursor road and a subsequent road of the road, an incoming road and a connecting road of the intersection and the like, and is finished continuous data information containing a large amount of data.
Converting the Open Drive format data into map data in the embodiment of the invention; here, the map data is highly accurate map data. The high-precision map data only comprises a certain amount of point sets, lanes, intersections and lines in roads in the Open Drive format data are extracted, for example, one point is extracted according to each meter, and the stored data is sparse data, but lane center point information is not lost.
Further, in the map data according to the embodiment of the present invention, in the physical feature layer, the dependency relationship between road and intersection connection and the dependency relationship between road and lane may be recorded, and of course, the map data may further include geometric information such as ID of road, lane center point of lane, lane center line of lane, width and orientation of lane, geometric information of intersection area, and intersection stop line position; on the semantic information layer, information such as lane speed limit, lane weight, intersection road connection topological relation, conflict point geometry and the like can be recorded, wherein the lane weight is an important reference of an intersection scheduling strategy. The map data can record information such as a maintenance vehicle total set, a vehicle waiting queue on a lane, an intersection passing queue and the like on a real-time mapping layer, and update the state of the vehicle in real time according to the information transmitted by the vehicle. According to the map data, the correspondence among intersections, lanes and roads in the map data, the lane center points of the lane lanes, the lane center lines of the lane lanes, the roads where vehicles leave the intersections, the lane information, the roads where vehicles enter the intersections, the lane information, and the like can be obtained.
Optionally, determining real-time lane information and road information of the running vehicle according to the map data and the longitude and latitude information of the current running vehicle, including:
according to the map data, a tree data structure diagram corresponding to the intersection information, the road information and the lane information on each road section is constructed;
and obtaining lane information and road information corresponding to the longitude and latitude information in the tree data structure chart.
It should be noted that, in the embodiment of the present invention, the map data is analyzed, and a tree data structure diagram corresponding to the intersection information, the road information, and the lane information on different road segments and each road segment is constructed, where the tree data structure diagram may be a kd-tree data structure diagram, and each point in the kd-tree data structure diagram, that is, a tag of a center point of a lane line, is a road ID, a lane ID, and an index of the point.
Preferably, in the tree data structure diagram, a lane line center point closest to the longitude and latitude information is searched, so as to obtain lane information and road information corresponding to the longitude and latitude information according to a label of the closest lane line center point, that is, a road and a lane to which the driving vehicle belongs at the moment.
Optionally, according to the map data, a tree data structure diagram corresponding to the intersection information, the road information, and the lane information is constructed, including:
acquiring association relation among intersection information, road information and lane information on each road section according to the map data;
generating a topological relation graph according to the incidence relation;
and constructing a tree data structure diagram according to the topological relation diagram.
Firstly, analyzing map data, acquiring association relations among intersection information, road information and lane information on different road sections and each road section, and acquiring center line points and center line information of corresponding lanes; secondly, initializing a directed graph based on a NetworkX processing tool and an association relation; generating points and lines in a topological relation graph, wherein each node in the topological relation graph represents a lane in a road; and finally, constructing a kd-tree data structure diagram according to the topological relation diagram.
Optionally, identifying a plurality of target vehicles with effective detour behaviors in the plurality of running vehicles according to the detour time information and the detour longitude and latitude information respectively corresponding to the plurality of running vehicles includes:
acquiring a vehicle passing condition corresponding to the bypassing longitude and latitude information in the bypassing time information;
and when the vehicle passing condition is that no vehicle passes through, identifying the running vehicle as a target vehicle with effective bypassing behavior on the target road.
It should be noted that the detour time information includes: a detour starting point time and a detour end point time; the detour longitude and latitude information comprises: the warp and weft values of the winding starting point and the winding end point. Wherein, the detour starting point is the intersection point of the vehicle central point and the lane line between the two lanes; the detour end point is the intersection point of the vehicle center point and the lane line between the two lanes when the vehicle returns to the original lane.
Judging the vehicle passing condition of an area between the bypassing starting point longitude and latitude and the bypassing end point longitude and latitude corresponding to each running vehicle, and identifying the running vehicle as a target vehicle with effective bypassing behavior on a target road when no vehicle passes through; the vehicle passing condition is continuously judged and detected, and once the vehicle passing condition is detected to be that a vehicle passes through, the running vehicle is not the target vehicle in the embodiment of the invention.
Optionally, the method further comprises:
acquiring real-time vehicle traffic information according to the lane information, the road information and the vehicle information corresponding to the running vehicle;
sequentially grouping the vehicle traffic information according to the road information and the vehicle information to obtain vehicle driving data;
continuously detecting vehicle running data within every 5 minutes, and determining that the running vehicle has detour behavior on the target road under the condition that the vehicle running data meets a first condition;
the first condition includes:
the running vehicle has lane changing behavior on the target road, namely the running vehicle runs from the first lane to the second lane;
after the driving vehicle changes lanes, the driving vehicle changes back to the original lane within the range of 50 meters, namely, the driving vehicle returns to the first lane from the second lane;
before the running vehicle changes lanes, no other vehicle passes through the safety distance in front of the running vehicle;
by the first condition, the individual overtaking behavior and the driving shaking behavior are eliminated, and a plurality of target vehicles with effective bypassing behavior on the target road are accurately identified, so that the impassable area is stably and scientifically output.
Optionally, determining the impassable area of the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, including:
and when the bypassing longitude and latitude information of the plurality of target vehicles is acquired to have an overlapping area according to the bypassing longitude and latitude information corresponding to the effective bypassing behavior of each target vehicle, and the overlapping area is greater than a third preset distance, confirming the impassable area on the target road according to the overlapping area.
It should be noted that, when the number of the target vehicles is greater than or equal to three, whether an overlapping area exists is judged according to the detour longitude and latitude information of each target vehicle; when the overlapping area is larger than 5 meters, confirming that the detouring tracks of the target vehicles are intersected; and confirming the impassable area on the target road according to the bypassing starting point longitude and latitude and the bypassing ending point longitude and latitude of each target vehicle.
Here, the first preset distance, the second preset distance, and the third preset distance as described above are determined according to experimental values or empirical values.
Optionally, after determining the impassable area of the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, the method further includes:
confirming DTI according to the impassable area;
and issuing the DTI to the vehicle through the RSU.
It should be noted that, as shown in fig. 3, after confirming the impassable area on the target road, the RSU in the embodiment of the present invention issues the DTI to the OBU or the wearable device in the coverage area thereof in a broadcast manner, the OBU forwards the DTI to the bluetooth module (e.g., Android bluetooth module) of the vehicle through bluetooth, and the bluetooth module transmits the DTI to the human-machine interface, for example, the vehicle-mounted central control system or the navigation system performs display or path planning, etc., performs impassable area early warning to remind the driver and passengers, and may also present the DTI on the vehicle side, thereby playing an important role in road abnormal maintenance, accident evacuation or path planning.
It should be further noted that after confirming the impassable area on the target road, the DTI may also be sent to the operation and maintenance personnel to indicate the impassable area, thereby implementing road abnormal maintenance and accident evacuation.
Optionally, after determining the impassable area of the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, the method further includes:
and stopping issuing the DTI when the vehicle passing condition of the obtained impassable area is that the vehicle passes.
It should be noted that, in step 102, the embodiment of the present invention performs cycle recognition on a flow included in identifying, according to lane information and road information, a plurality of target vehicles having an effective detour behavior on a target road, and stops issuing DTI, releases the warning of the impassable area, and deletes information related to the impassable area after acquiring that the vehicle passing condition of the impassable area is vehicle passing.
As shown in fig. 4, a specific embodiment of the method for confirming an impassable area according to the embodiment of the present invention is described as follows:
and step 408, issuing the mined DTI to the vehicle in real time.
In summary, the method for confirming the impassable area of the embodiment of the invention avoids a data image processing technology, improves the algorithm processing efficiency, has more refined recognition capability, and can stably and scientifically output the recognition result of the impassable area; the automatic driving capability of the vehicle is not required, and sensing equipment is not required to be installed; the beyond visual range judgment can be carried out, and the DTI is issued in advance; the method is not interfered by external environments such as weather, and the like, and avoids the problems of perception blind areas and reduction of the detection accuracy of traffic targets due to the limitation of OBUs or RSUs during high-speed driving or severe weather.
As shown in fig. 5, an embodiment of the present invention further provides a device for confirming an impassable area, including:
a first module 501, configured to determine real-time lane information and road information of a vehicle according to map data and longitude and latitude information of the vehicle currently running;
a second module 502, configured to determine, according to the lane information and the road information, a plurality of traveling vehicles having a detour behavior on the target road;
a third module 503, configured to identify multiple target vehicles with effective detouring behavior in the multiple traveling vehicles according to detouring time information and detouring longitude and latitude information respectively corresponding to the multiple traveling vehicles;
a fourth module 504, configured to determine an impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle;
wherein the second module 502 comprises:
a determination unit configured to determine that the traveling vehicle has detour behavior on the target road if the traveling vehicle satisfies a first condition;
the running vehicle satisfies a first condition including:
the driving vehicle has lane changing behavior on the target road;
after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range;
and before the running vehicle changes the lane, no vehicle passes through the second preset distance range in front.
According to the embodiment of the invention, real-time lane information and road information of a running vehicle are determined according to map data and longitude and latitude information of the current running vehicle; determining a plurality of running vehicles with detouring behaviors on the target road according to the lane information and the road information; identifying a plurality of target vehicles with effective detouring behaviors in the plurality of running vehicles according to the detouring time information and the detouring longitude and latitude information respectively corresponding to the plurality of running vehicles; confirming an impassable area on a target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle; determining that the running vehicle has detour behavior on the target road under the condition that the running vehicle meets a first condition; the running vehicle satisfies a first condition including: the driving vehicle has lane changing behavior on the target road; after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range; before the driving vehicle changes lanes, no vehicle passes through the second preset distance range in front, so that the calculation complexity is greatly reduced, the transmission parameters are reduced, the algorithm processing efficiency is improved, the map accuracy is higher, a plurality of impassable areas on the same road section can be confirmed, and more refined recognition is realized.
Optionally, the apparatus further comprises:
the first acquisition module is used for acquiring map data uploaded by an acquisition vehicle in advance;
and the second acquisition module is used for acquiring the longitude and latitude information of the running vehicle in the coverage range of the road side equipment, which is transmitted by the road side equipment in real time.
Optionally, the first module 501 comprises:
the building unit is used for building a tree data structure chart corresponding to the intersection information, the road information and the lane information on each road section according to the map data;
and the obtaining unit is used for obtaining lane information and road information corresponding to the longitude and latitude information in the tree data structure chart.
Optionally, the construction unit is specifically configured to:
acquiring association relation among intersection information, road information and lane information on each road section according to the map data;
generating a topological relation graph according to the incidence relation;
and constructing a tree data structure diagram according to the topological relation diagram.
Optionally, the third module 503 comprises:
the acquisition unit is used for acquiring the vehicle passing condition corresponding to the bypassing longitude and latitude information in the bypassing time information;
and the identification unit is used for identifying the running vehicle as a target vehicle with effective detour behavior on the target road when the vehicle passing condition is that no vehicle passes through.
Optionally, the fourth module 504 includes:
and the confirming unit is used for confirming the impassable area of the target road according to the overlapping area when the bypassing longitude and latitude information of the plurality of target vehicles is acquired according to the bypassing longitude and latitude information corresponding to the effective bypassing behavior of each target vehicle and the overlapping area is larger than a third preset distance.
Optionally, the apparatus further comprises:
the confirmation information module is used for confirming the dynamic traffic information according to the impassable area;
and the issuing module is used for issuing the dynamic traffic information to the vehicle through the road side equipment.
Optionally, the apparatus further comprises:
and the stop issuing module is used for stopping issuing the dynamic traffic information after the condition that the vehicles pass through the impassable area is obtained.
It should be noted that the device for confirming an unvaryable area according to the embodiment of the present invention is a device capable of executing the method for confirming an unvaryable area, and all embodiments of the method for confirming an unvaryable area are applicable to the device and can achieve the same or similar technical effects.
As shown in fig. 6, an embodiment of the present invention further provides an impassable area confirmation apparatus, including: a processor 601, a memory 602 and a program stored on the memory 602 and being executable on the processor 601, the program, when executed by the processor 601, implementing the steps of the method for confirming an unvaryable area as described above.
Optionally, the impassable area confirmation device further comprises a transceiver 603 for receiving and transmitting data under the control of the processor 601.
Where in fig. 6 the bus architecture may include any number of interconnected buses and bridges, in particular one or more processors represented by the processor 601 and various circuits of the memory represented by the memory 602, linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides a user interface 604. The transceiver 603 may be a number of elements, including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. For different electronic devices, the user interface 604 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 601 is responsible for managing the bus architecture and general processing, and the memory 602 may store data used by the processor 601 in performing operations.
The embodiment of the invention further provides a readable storage medium, wherein the readable storage medium stores a program, and the program realizes the steps of the method for confirming the unvaryable area when being executed by the processor.
The processor is the processor in the unvaryable area confirming apparatus in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
The exemplary embodiments described above are described with reference to the drawings, and many different forms and embodiments of the invention may be made without departing from the spirit and teaching of the invention, therefore, the invention is not to be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the size and relative sizes of elements may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Unless otherwise indicated, a range of values, when stated, includes the upper and lower limits of the range and any subranges therebetween.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for confirming an impassable area, comprising:
determining real-time lane information and road information of a running vehicle according to the map data and longitude and latitude information of the current running vehicle;
determining a plurality of running vehicles with detour behaviors on a target road according to the lane information and the road information;
acquiring vehicle passing conditions corresponding to the bypassing longitude and latitude information of a plurality of running vehicles in the bypassing time information of the plurality of running vehicles;
when the vehicle passing condition is that no vehicle passes through, identifying a running vehicle as a target vehicle with effective bypassing behavior on the target road;
confirming an impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle;
determining that the running vehicle has detour behavior on the target road under the condition that the running vehicle meets a first condition;
the running vehicle satisfies a first condition including:
the running vehicle has lane change behavior on the target road;
after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range;
and before the running vehicle changes the lane, no vehicle passes through the second preset distance range in front.
2. The impassable area confirmation method of claim 1, wherein before determining the real-time lane information and road information of the traveling vehicle based on the map data and the latitude and longitude information of the currently traveling vehicle, further comprising:
acquiring the map data uploaded by the acquisition vehicle in advance;
and acquiring longitude and latitude information of the running vehicle in the coverage range of the road side equipment, which is transmitted by the road side equipment in real time.
3. The impassable area confirmation method of claim 1, wherein determining real-time lane information and road information of a traveling vehicle based on map data and latitude and longitude information of a currently traveling vehicle comprises:
according to the map data, a tree data structure diagram corresponding to the intersection information, the road information and the lane information on each road section is constructed;
and acquiring the lane information and the road information corresponding to the longitude and latitude information in the tree data structure chart.
4. The method of claim 3, wherein the constructing a tree data structure diagram corresponding to the intersection information, the road information, and the lane information based on the map data includes:
acquiring association relation among intersection information, road information and lane information on each road section according to the map data;
generating a topological relation graph according to the incidence relation;
and constructing the tree data structure diagram according to the topological relation diagram.
5. The method for confirming the unvaryable area according to claim 1, wherein confirming the unvaryable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle comprises:
and when the bypassing longitude and latitude information of a plurality of target vehicles is acquired to have an overlapping area according to the bypassing longitude and latitude information corresponding to the effective bypassing behavior of each target vehicle, and the overlapping area is greater than a third preset distance, confirming the impassable area of the target road according to the overlapping area.
6. The method for confirming the impassable area according to claim 1, wherein after confirming the impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, the method further comprises:
confirming dynamic traffic information according to the impassable area;
and issuing the dynamic traffic information to the vehicle through the road side equipment.
7. The method for confirming the unvarying area according to claim 6, wherein after confirming the unvarying area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle, the method further comprises:
and stopping issuing the dynamic traffic information after the condition that the vehicles pass through the impassable area is obtained.
8. An impassable area confirmation apparatus, comprising:
the system comprises a first module, a second module and a third module, wherein the first module is used for determining real-time lane information and road information of a running vehicle according to map data and longitude and latitude information of the current running vehicle;
the second module is used for determining a plurality of running vehicles with detour behaviors on the target road according to the lane information and the road information;
the third module is used for acquiring the vehicle passing condition corresponding to the bypassing longitude and latitude information of the multiple running vehicles in the bypassing time information of the multiple running vehicles; when the vehicle passing condition is that no vehicle passes through, identifying the running vehicle as a target vehicle with effective detour behavior on the target road;
the fourth module is used for confirming the impassable area on the target road according to the detour longitude and latitude information corresponding to the effective detour behavior of each target vehicle;
wherein the second module comprises:
a determination unit configured to determine that the traveling vehicle has detour behavior on the target road if the traveling vehicle satisfies a first condition;
the running vehicle satisfies a first condition including:
the running vehicle has lane change behavior on the target road;
after the driving vehicle changes the lane, the driving vehicle changes back to the original lane within a first preset distance range;
and before the running vehicle changes the lane, no vehicle passes through the second preset distance range in front.
9. An impassable area confirmation device, comprising: processor, memory and program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the method for validating an unvaryable area according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a program which, when executed by a processor, implements the steps of the unvaryable area validation method according to any one of claims 1 to 7.
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| CN202111330547.4A CN113781786B (en) | 2021-11-11 | 2021-11-11 | Method, device and equipment for confirming unviable area and readable storage medium |
| PCT/CN2022/128780 WO2023083043A1 (en) | 2021-11-11 | 2022-10-31 | Method and apparatus for determining impassable area, device, and readable storage medium |
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| CN113781786B (en) * | 2021-11-11 | 2022-02-22 | 中移(上海)信息通信科技有限公司 | Method, device and equipment for confirming unviable area and readable storage medium |
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| CN113033030A (en) * | 2021-05-25 | 2021-06-25 | 四川见山科技有限责任公司 | Congestion simulation method and system based on real road scene |
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