CN105737841A - Method for acquiring road passing time and electronic equipment - Google Patents

Abstract

The invention discloses a method for acquiring road passing time and electronic equipment. The method comprises the following steps: acquiring an intersection grade of an intersection to be passed when a vehicle passes through a target road, and acquiring a steering angle and a hindering edge grade of the intersection to be passed, wherein the hindering edge grade is a grade of passing through a road corresponding to a traffic light for waiting of the intersection to be passed according to the steering angle; acquiring needed intersection waiting time for passing through the intersection to be passed according to the intersection grade, the steering angle and the hindering edge grade; and acquiring road passing time for passing through the target road according to the intersection waiting time and a road driving speed of the target road. According to the technical scheme, the relatively accurate intersection waiting time can be acquired according to the hindering edge grade so that the road passing time is acquired; and the technical problem in the prior art that the accuracy of acquiring the road passing time is relatively low is solved, and the accuracy of acquiring the road passing time is improved.

Description

A kind of method obtaining road clearance time and electronic equipment

Technical field

The present invention relates to field of navigation technology, particularly to a kind of method obtaining road clearance time and electronic equipment.

Background technology

Along with the development of mobile Internet, airmanship obtains quick development, brings many facilities to daily life, for instance: self-driving navigation, walking navigation etc..

In the process of navigation, planning and the estimating of remaining time of navigating in path are all particularly significant, no matter are the planning in path or the determination navigated remaining time, are all being obtained by Time Calculation according to each road.Road is obtain according to road travel speed and crossing cost by the time.Road travel speed: be called for short road speeds, refers in unobstructed situation by the road speed meansigma methods of certain road.Crossing cost: the waiting time spent by crossing under normal circumstances.In prior art, road speeds and crossing cost creation method are to determine according to road association attributes, wherein the crossing classification of road only uses base attributes such as turning to (turn left, turn right, keep straight on, turn around), but the factor affecting crossing cost also comprises a lot of other factor except turning to, due to classification inaccuracy cause that the acquisition accuracy of road clearance time is relatively low, and then affect guidance path planning and navigate remaining time calculating.

Visible, there is, when prior art obtains road clearance time, the technical problem that accuracy is relatively low.

Summary of the invention

The embodiment of the present invention provides a kind of method obtaining road clearance time and electronic equipment, is used for solving to obtain in prior art the technical problem that during road clearance time, accuracy is relatively low, improves the accuracy of road clearance time acquisition.

The application implements to provide a kind of method obtaining road clearance time, including:

The crossing grade by crossing is treated when obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

According to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

Road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

Optionally, when described acquisition is by target road, treat the crossing grade by crossing, including:

Treat described in acquisition that the category of roads in the passed through direction by crossing, prong number and the edge direction number that comes in and goes out treat the crossing grade by crossing described in obtaining；

Wherein, the category of roads in described discrepancy limit grade and described direction of passing through is determined according to number of track-lines and road attribute.

Optionally, described according to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that to treat by the crossing waiting time that crossing needs by described, including:

Navigational logs according to described crossing grade, described steering angle, described obstruction limit grade and user, it is thus achieved that treated by the crossing waiting time that crossing needs by described.

Optionally, the described navigational logs according to described crossing grade, described steering angle, described obstruction limit grade and user, it is thus achieved that treat by the crossing waiting time that crossing needs by described, including:

The daily record of improper situation is eliminated, it is thus achieved that the candidate navigational logs identical with described crossing grade, described steering angle and described obstruction limit grade from described navigational logs；Wherein, the navigational logs of described improper situation includes following at least one: the navigational logs in moment of blocking up, night/navigational logs in early morning；

The described crossing waiting time is obtained according to described candidate's navigational logs.

Optionally, described according to described candidate's navigational logs acquisition described crossing waiting time, including:

When described candidate's navigational logs comprises the target navigation daily record of described target road, it is thus achieved that treat by the average latency at crossing as the described crossing waiting time described in all described target navigation daily record of described target road；Or

When described candidate's navigational logs does not comprise the target navigation daily record of described target road, it is thus achieved that in all described candidate's navigational logs, the average latency at crossing is as the described crossing waiting time.

Optionally, in the described road travel speed according to described crossing waiting time and described target road, it is thus achieved that before the road clearance time of described target road, described method also includes:

Anchor point in the navigational logs of user is matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding；

Judge whether to comprise the driving path of described target road；

If existing, according to navigational logs the navigation time of target road, navigation distance and described in treat to be calculated the road travel speed obtaining driving average speed as described target road by described crossing waiting time at crossing；If being absent from, it is thus achieved that the driving average speed of the road identical with the road attribute of described target road is as the road travel speed of described target road；

Wherein, described road attribute comprises road width, whether has footpath, whether has lay-by, road curvature and pavement quality.

Optionally, described anchor point in the navigational logs of user is matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding, including:

Using the candidate point k_i to the intersection point of road in road network as described i-th anchor point of the i-th anchor point in the navigational logs of user, and obtaining the distance probability between each described candidate point k_i and i-th anchor point, i is natural number；

The candidate point k_i that between acquisition and candidate point k_ (i+1), confidence probability is maximum is as forerunner's point of described candidate point k_ (i+1)；

Forerunner according to each candidate point k_i and correspondence with forerunner's point puts acquisition n bar candidate chains, and n is natural number；

Obtain the product of the distance probability of all candidate points in every candidate chains, and using candidate chains maximum for described product as described driving path.

Optionally, the distance probability between each described candidate point k_i of described acquisition and i-th anchor point, including:

Calculate according to equation below and obtain described distance probability P 1:

P1=1-len/len_m

Wherein, len represents the distance between described i-th anchor point and described candidate point k_i, and len_m represents that the ultimate range allowed between i-th anchor point and described candidate point k_i is poor；When len is be more than or equal to len_m, len takes (len_m)-1.

Optionally, the candidate point k_i that confidence probability is maximum between described acquisition and candidate point k_ (i+1) is as before forerunner's point of described candidate point k_ (i+1), and described method also includes:

Obtain the confidence probability P2 between each described candidate point k_ (i+1) and each described candidate point k_i:

P2=(1-| Vb-V |/Vc) * (1-| Vb-Va |/Ve)

Wherein, Vb represents that described candidate point k_ (i+1) is to the speed between described candidate point k_i, Va represents the speed between described candidate point k_i with corresponding forerunner point, V represents the Maximum speed limit of road corresponding for candidate point k_ (i+1) and the product of preset multiple, Vc represents preset reference speed, and Ve represents the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If the candidate point that candidate point k_i is first anchor point, Va=Vb；If the difference of Vb-Va is more than Ve, then P2=0.

The embodiment of the present application also provides for a kind of electronic equipment, including:

First acquiring unit, the crossing grade by crossing is treated during for obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

Second acquisition unit, for according to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

3rd acquiring unit, for the road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

Optionally, the first acquiring unit is additionally operable to: treat described in acquisition that the category of roads in the passed through direction by crossing, prong number and the edge direction number that comes in and goes out treat the crossing grade by crossing described in obtaining；Wherein, the category of roads in described discrepancy limit grade and described direction of passing through is determined according to number of track-lines and road attribute.

Optionally, second acquisition unit is additionally operable to: the navigational logs according to described crossing grade, described steering angle, described obstruction limit grade and user, it is thus achieved that treated by the crossing waiting time that crossing needs by described.

Optionally, second acquisition unit, including:

Screening subelement, for eliminating the daily record of improper situation, it is thus achieved that the candidate navigational logs identical with described crossing grade, described steering angle and described obstruction limit grade from described navigational logs；Wherein, the navigational logs of described improper situation includes following at least one: the navigational logs in moment of blocking up, night/navigational logs in early morning；

Obtain subelement, for obtaining the described crossing waiting time according to described candidate's navigational logs.

Optionally, described acquisition subelement is additionally operable to:

When described candidate's navigational logs comprises the target navigation daily record of described target road, it is thus achieved that treat by the average latency at crossing as the described crossing waiting time described in all described target navigation daily record of described target road；Or

When described candidate's navigational logs does not comprise the target navigation daily record of described target road, it is thus achieved that in all described candidate's navigational logs, the average latency at crossing is as the described crossing waiting time.

Optionally, described electronic equipment also includes:

Matching unit, for in the described road travel speed according to described crossing waiting time and described target road, before obtaining road clearance time by described target road, the anchor point in the navigational logs of user is matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding；

Judging unit, for judging whether to comprise the driving path of described target road；

Computing unit, for when the judged result of described judging unit is for being, according to navigational logs the navigation time of target road, navigation distance and described in treat to be calculated the road travel speed obtaining driving average speed as described target road by the described crossing waiting time at crossing；When judged result at described judging unit is no, it is thus achieved that the driving average speed of the road identical with the road attribute of described target road is as the road travel speed of described target road；

Wherein, described road attribute comprises road width, whether has footpath, whether has lay-by, road curvature and pavement quality.

Optionally, described matching unit is additionally operable to:

Using the candidate point k_i to the intersection point of road in road network as described i-th anchor point of the i-th anchor point in the navigational logs of user, and obtaining the distance probability between each described candidate point k_i and i-th anchor point, i is natural number；

The candidate point k_i that between acquisition and candidate point k_ (i+1), confidence probability is maximum is as forerunner's point of described candidate point k_ (i+1)；

Forerunner according to each candidate point k_i and correspondence with forerunner's point puts acquisition n bar candidate chains, and n is natural number；

Obtain the product of the distance probability of all candidate points in every candidate chains, and using candidate chains maximum for described product as described driving path.

Optionally, described matching unit is additionally operable to: calculates according to equation below and obtains described distance probability P 1:

P1=1-len/len_m, wherein, len represents the distance between described i-th anchor point and described candidate point k_i, and len_m represents that the ultimate range allowed between i-th anchor point and described candidate point k_i is poor；When len is be more than or equal to len_m, len takes (len_m)-1.

Optionally, described matching unit is additionally operable to: the candidate point k_i that confidence probability is maximum between described acquisition and candidate point k_ (i+1) is as before forerunner's point of described candidate point k_ (i+1), it is thus achieved that the confidence probability P2 between each described candidate point k_ (i+1) and each described candidate point k_i:

P2=(1-| Vb-V |/Vc) * (1-| Vb-Va |/Ve), wherein, Vb represents that described candidate point k_ (i+1) is to the speed between described candidate point k_i, Va represents the speed between described candidate point k_i with corresponding forerunner point, V represents the product between Maximum speed limit and the preset multiple of road corresponding for candidate point k_ (i+1), Vc represents preset reference speed, and Ve represents the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If the candidate point that candidate point k_i is first anchor point, Va=Vb；If the difference of Vb-Va is more than Ve, then P2=0.

The embodiment of the present application also provides for a kind of electronic equipment, include memorizer, and one or more than one program, one of them or more than one program are stored in memorizer, and are configured to be performed one or more than one program package containing the instruction for carrying out following operation by one or more than one processor:

The crossing grade by crossing is treated when obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

According to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

Road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

Said one in the embodiment of the present application or multiple technical scheme, at least have the following technical effect that

The embodiment of the present application is for the crossing to be passed through of target road, obtain its crossing grade, by this steering angle when by crossing and obstruction limit grade, and according to its crossing grade, steering angle and obstruction limit grade obtain this and treat by the crossing waiting time that crossing needs, due to for treating that adding obstruction limit grade by crossing can characterize more accurately and treat the practical situation by crossing by this, the crossing waiting time for this acquisition is more accurate, road clearance time is obtained according to this crossing waiting time and road travel speed, solve the technical problem that when obtaining road clearance time in prior art, accuracy is relatively low, improve the accuracy of road clearance time acquisition.

Accompanying drawing explanation

A kind of method flow diagram obtaining road clearance time that Fig. 1 provides for the embodiment of the present application；

Fig. 2 can pass through for the crossing that the embodiment of the present application provides the schematic diagram in direction；

A kind of navigator fix point that Fig. 3 provides for the embodiment of the present application is to the matching process flow chart of road network；

The schematic diagram of a kind of electronic equipment that Fig. 4 provides for the embodiment of the present application；

A kind of device schematic diagram for obtaining road clearance time that Fig. 5 provides for the embodiment of the present application；

The structural representation of a kind of server that Fig. 6 provides for the embodiment of the present application.

Detailed description of the invention

In the technical scheme that the embodiment of the present application provides, by obtaining the crossing waiting time more accurately, the time is passed through in conjunction with what road travel speed obtained road, accuracy relatively low technical problem during to solve to obtain in prior art road clearance time, improves the accuracy that road clearance time obtains.

Below in conjunction with accompanying drawing, the main of the embodiment of the present application technical scheme is realized principle, detailed description of the invention and the beneficial effect that should be able to reach is explained in detail.

Embodiment one

Refer to Fig. 1, the embodiment of the present application provides a kind of method obtaining road clearance time, and the method includes:

S101: treat the crossing grade by crossing when obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

S102: according to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

S103: the road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

In the embodiment of the present application, treating by the quantity at crossing during by target road can be multiple, treat that the type by crossing comprises two classes, first kind crossing can include the crossing that target road stage casing is intersected with another road, and Equations of The Second Kind crossing can include the crossing that one end of target road connects with another road.When calculating the road clearance time of target road, calculate waiting time at all first kind crossings that this target road includes, target road treats the waiting time at Equations of The Second Kind crossing by one end and the road travel time of target road.

Performing before S101, the embodiment of the present application by crossing grade, by crossing time steering angle and hinder the confirmation of limit grade to set up crossing Cost Model more accurately, to obtain the crossing waiting time more accurately.Wherein, hinder limit grade be with a steering angle by treat by crossing need the category of roads corresponding to the traffic lights that waits and.Steering angle can be divided into 4 kinds: keeps straight on (-30 to 45 degree), and turn left (-30 to-150 degree), and turn right (45 to 150 degree) reverses end for end (-150 to 150 degree), naturally it is also possible to divide thinner.The obstruction limit grade corresponding for different steering angles is different, the crossing waiting time required during by crossing is also different, such as: during craspedodrome (-30 to 45 degree), the road that limit comprises the right and left is hindered, then hindering limit grade is then the right and left category of roads sum；During right-hand rotation (45 to 150 degree), limit is hindered to comprise left side road, then hindering limit grade is then left side category of roads.The crossing grade of road cross can according to the category of roads in the passed through direction at crossing, prong number, enter edge direction number and come in and go out edge direction number obtain.

Wherein, category of roads can be determined according to the number of track-lines of road and road attribute, and concrete defining method can be, but not limited to as shown in table 1: 1., number of track-lines > 3, or, (road attribute comprises national highway or provincial highway and number of track-lines > 1) time, category of roads is set to 3；2., number of track-lines equal to 1 or road be non-separation up and down and two-way lane time, category of roads is set to 1；The road of the situation except 1. and 2., its category of roads is set to 2.It should be noted that the embodiment of the present application is not limiting as the concrete numerical value of category of roads, this concrete numerical value is only for distinguishing different categories of roads.

Wherein, prong number refers to: the fork way amount that crossing comprises, for instance the prong number that the prong number that crossroad has is 4, T-shaped road junction has is 3.

Wherein, discrepancy limit, refer to the road entering crossing and the road rolling crossing away from, accordingly, the edge direction number that comes in and goes out refers to the road entering crossing and the sum of the passed through direction number of the road rolling crossing away from.Enter edge direction number and refer to the direction number can advanced on the road at entrance crossing, such as: for certain crossing, if can turning right, turn left, keep straight on and turn around on the road entering crossing, so the edge direction number that enters at this crossing is 4, if going out edge direction and can only keep straight on that namely to go out edge direction number be 1 by this crossing, then the discrepancy edge direction number at this crossing is then 5.

In specific implementation process, it is possible to by calculate crossing can pass through the rank sum on highest ranking road, direction, the prong number at crossing, crossing enter edge direction number and come in and go out edge direction number determine crossing grade.Wherein when calculating crossing grade, the discrepancy limit at crossing is to, when should have main road, keeping straight on by main road and calculate, it does not have main road is pressed bypass craspedodrome and calculated.Refer to table 1, it is thus achieved that the detailed process of crossing grade is as follows:

(1), calculate crossing can pass through the rank sum on highest ranking road, direction.Such as, the passed through direction at a crossing comprises 8 directions as shown in Figure 2, if the category of roads on each direction is 3, then this crossing can pass through highest ranking road, direction rank and be 24；Again such as, the passed through direction at a crossing comprises 8 directions, if having on a direction comprise two road, grade respectively 1,2, the category of roads in other direction is 2, then this crossing can pass through highest ranking road, direction rank and be 14.

(2) the prong number at crossing, is obtained.The prong number at crossing can be obtained, it is also possible to obtain crossing photo by shooting, obtain the prong number at crossing through image recognition by the intersection data that metadata provider provides.

(3), determine crossing grade, namely determine crossing grade according to the rank sum in eight directions, crossing, discrepancy edge direction number and prong number, wherein can set that the more big expression crossing of the numerical value of crossing grade is more big.Such as: if the prong number at crossing < 3, it may be determined that crossing grade is 1；If the prong number at crossing is equal to 3, and enters edge direction number < when 3, it may be determined that crossing grade is 2；If the prong number at crossing is equal to 3, and enter edge direction number >=3 time, it may be determined that crossing grade is 3, and the determination of other crossing grade refers to table 1.

Table 1

In actual application, S101 treats the crossing grade by crossing when obtaining by target road, and during by this steering angle when by crossing and obstruction limit grade, steering angle can be treated to be obtained by the discrepancy limit at crossing according to by this；And then can according to steering angle, in the Cost Model of crossing, first search this crossing grade treating whether to prestore corresponding with this steering angle by crossing and hinder limit grade, if prestoring, then directly can obtain its crossing grade from the Cost Model of crossing and hinder limit grade, if not having, then adopt the method setting up crossing Cost Model obtain corresponding crossing grade and hinder limit grade, and be saved in the Cost Model of crossing, in order to follow-up use.

In a preferred embodiment, described method can also include: sets up crossing Cost Model, then step S102 is particularly as follows: according to treating by the crossing grade at crossing, steering angle and hindering limit grade, obtain by treating by the crossing waiting time that crossing needs in conjunction with described crossing Cost Model.

Wherein, described set up crossing Cost Model, may include that and obtain crossing grade corresponding to each crossing, steering angle and hinder limit grade, and by the crossing waiting time trained values needed for this crossing, utilize crossing grade corresponding to each crossing, steering angle and hinder the crossing waiting time trained values of limit grade and correspondence, setting up crossing Cost Model.

Wherein, when obtaining by crossing waiting time trained values needed for each crossing, it is possible to obtain by the crossing waiting time trained values needed for this crossing by crossing being carried out detection on the spot.Further, can for same kind of crossing, detection on the spot can be carried out and obtain the waiting time detected value that multiple crossings are corresponding respectively, and calculate the meansigma methods waiting time as the type crossing of the waiting time detected value corresponding respectively of the multiple crossings with type, and prestore different types of crossing grade steering angle and hinder limit grade corresponding the crossing waiting time in the Cost Model of crossing, can according to the crossing grade treated by crossing for this, steering angle and obstruction limit grade, in the Cost Model of crossing, inquiry obtains by treating by the crossing waiting time that crossing needs.Wherein, same kind of crossing may refer to: has identical crossing grade, steering angle and hinders the crossing of limit grade.

Further, in the embodiment of the present application, described in step S102 according to described crossing grade, described steering angle and described obstruction limit grade, obtaining treats by the crossing waiting time that crossing needs by described, can also include: the navigational logs according to described crossing grade, described steering angle and described obstruction limit grade and user, it is thus achieved that treated by the crossing waiting time that crossing needs by described.The embodiment of the present application can obtain previously according to the navigational logs of user passes through crossing waiting time during crossing with a certain steering angle, and is saved in the Cost Model of crossing.

In a preferred embodiment, when setting up crossing Cost Model, crossing grade corresponding to each crossing of described acquisition, steering angle and hinder limit grade, and the navigational logs of the user corresponding according to each crossing is may include that by the crossing waiting time trained values needed for this crossing, obtain the parameter at each crossing and by the crossing waiting time trained values needed for this crossing.

In order to improve the accuracy of crossing waiting time further, the embodiment of the present application according to navigational logs obtain the crossing waiting time time, it is possible to reject the navigational logs of improper situation, it is thus achieved that with treat the candidate navigational logs corresponding by crossing.Wherein, the navigational logs of improper situation can include following at least one: the navigational logs in moment of blocking up, night/navigational logs in early morning.Certainly, the navigational logs of improper situation can be also the class that navigation time is the shortest and the longest.It should be noted that, if certain treats the crossing waiting time by being absent from this crossing in user's navigational logs that crossing is corresponding, then can obtain navigational logs corresponding to the crossing grade with this crossing, steering angle and the crossing that hinders limit grade same or like as candidate's navigational logs corresponding to this crossing.

In the embodiment of the present application, navigational logs for the moment of blocking up can be determined by the history log of comparison road, such as 10 navigational logs of a certain road, the navigation dotting time difference respectively 20min of its entrance and exit, 23min, 19min ... 40min, so may determine that navigational logs corresponding for bigger 40min consuming time is the navigational logs in moment being rejected of blocking up, certainly can also determine according to the travel speed in navigational logs, as: in 10 travel speeds, 9 travel speeds are all at 60～80km/h, and one of them is 30km/h, the navigational logs that so travel speed is excessively slow is the navigational logs in moment of blocking up, this navigational logs can be rejected, all the other daily records are as candidate's navigational logs.Same, night/navigational logs in early morning can also screen according to navigation dotting time and/or travel speed.

Further, for certain crossing, different time interval is different by the time spent by this crossing.Such as, peak period on and off duty typically belongs to the period of blocking up, and the time expended by this crossing in this time interval may be longer；Typically belonging to the wagon flow rareness period in early morning or morning, the time expended by this crossing in this time interval is generally comparatively short；And other times are normal travel period.

The embodiment of the present application is when obtaining the crossing waiting time according to navigational logs, it may also be determined that need to obtain current slot affiliated during the waiting time of crossing, and obtain candidate's navigational logs of time interval belonging to the current slot that this crossing is corresponding accordingly, thus improve the accuracy obtaining the crossing waiting time further.Accordingly, if the navigational logs according to the current slot of target road determines that current slot belongs to the time period of blocking up, then obtain the navigational logs in moment of blocking up as candidate's navigational logs.Same, if certain treats the crossing waiting time by being absent from this crossing in user's navigational logs that crossing is corresponding, then can obtain and treat by the crossing grade at crossing, steering angle and hinder candidate's navigational logs that limit grade is identical and navigation time section is identical with current slot

The waiting time treated by crossing is obtained according to existing candidate's navigational logs.The navigational logs of user comprises string GPS (GlobalPositioningSystem, the global positioning system) positional information with timestamp, timestamp information in candidate's navigational logs can be passed through for this and obtain the crossing waiting time.Wherein, target navigation daily record is comprised when target road exists the target navigation daily record of self and in candidate's navigational logs, it is thus achieved that all target navigation daily records of target road were treated by the average latency at crossing as its crossing waiting time；Or, when candidate's navigational logs does not comprise the target navigation daily record of target road, it is thus achieved that in all candidate's navigational logs, the average latency at crossing treats the crossing waiting time by crossing as this.

Further, obtaining this after by the waiting time at crossing, performing S103: the road travel speed according to the crossing waiting time obtained and target road, it is thus achieved that by the road clearance time of this target road.

Concrete, road clearance time, running time was equal to the length of target road divided by road travel speed equal to crossing waiting time and running time sum.Wherein, the road travel speed of target road can be chosen the road through the minimum speed per hour of road or 0.8 times of road F-Zero that circuit-switched data provider provides, it is also possible to obtains road travel speed according to the navigational logs of user.

The road travel speed that navigational logs according to user obtains includes:

Step 1: the anchor point in the navigational logs of user and GPS point are matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding.

Step 2: judge whether to comprise the driving path of target road.If there is the driving path comprising target road, namely target road has navigational logs, then forward step 3 to；Otherwise, if being absent from comprising the driving path of target road, namely target road is absent from navigational logs, then forward step 4 to.

Step 3: according to the navigation time of target road in navigational logs, navigation distance and treat to be calculated the road travel speed obtaining driving average speed as target road by the crossing waiting time at crossing.

Concrete, the navigation time of target road in each navigational logs is deducted the crossing waiting time then for the running time of target road, navigation distance can be obtained the road speed of target road in this navigational logs divided by running time, then driving average speed is calculated according to the road speed of target road in all of navigational logs, it can be used as the road travel speed of target road, process ends.

Step 4: obtain the driving average speed road travel speed as target road of the road identical with the road attribute of target road.

Wherein, road attribute can be, but not limited to comprise road width, whether has footpath, whether has lay-by, road curvature (degree of crook) and pavement quality.Further, road attribute can also include: whether isolation strip, if there is encapsulation situations, road direction (being unidirectional or two-way), height above sea level (whether being hill path).If the attribute in two road is identical, so these two road are exactly a classification, corresponding road speeds is more close even identical, so the method that cluster can be adopted when target road does not have navigational logs, using the average speed road travel speed as target road of driving a vehicle of the road of identical category.

Such as: width is about 3 meters, without isolation, not closing, unidirectional road, it does not have footpath, it does not have lay-by, pavement quality is 3, and such road belongs to a classification.As long as an attribute difference all can from becoming a classification.The road log matches result that road attribute is identical there is its speed, this kind of road speed in daily record is averaged, this meansigma methods is exactly the average speed of this type of road, such as Wang Zhuan road is all the same with the above-mentioned condition in subtlety road, so they are types, find during log matches that 2016-3-2 moment Wang Zhuan road speed is 40KM/S, subtlety road is 42KM/S, 2016-3-1 moment Wang Zhuan road speed is 40KM/S, subtlety road is 38KM/S, then 4 speed are averaged the road travel speed of the road being exactly this attribute.

Accordingly, the embodiment of the present application can also pre-build road travel rate pattern, first the GPS point in the navigational logs in non-for all users moment of blocking up is matched road network；Then the time waited at crossing is calculated, and by the road speed of remaining Time Calculation road；The road having navigational logs further to each calculates average speeds, average speeds is saved as the road travel speed of this road, and obtain the road attribute of each bar road, and calculate the average speeds of a class road of same link attribute to save as the road travel speed of this class road.Wherein, road attribute can obtain from the road that road data provider provides, the shooting of photographic head such as electronic eye can also be passed through and obtain road image, road image be carried out image recognition to obtain road width, whether have footpath, whether to have the road attribute such as lay-by, pavement quality.

Road travel rate pattern can according to the navigational logs regular update of user, to improve the accuracy of road travel rate pattern.After establishing road travel rate pattern, then can pass through to search the road travel speed of target road in road travel rate pattern, obtain the crossing waiting time further combined with crossing Cost Model and then quickly obtain the road clearance time of target road.

Refer to Fig. 3, in order to avoid because GPS point matches road network and the inaccurate of GPS coupling causes that the acquisition of road clearance time is also inaccurate, the embodiment of the present application also provides for a kind of navigator fix point matching process to road network, it is illustrated with the coupling of the anchor point that comprises in the navigational logs of the stroke that once navigates to road network below, wherein, the navigational logs of stroke of once navigating starts with origin identification of navigating, the navigation corresponding with this navigation origin identification terminates mark and terminates, under normal circumstances, the navigational logs of navigation stroke all can independently preserve every time.This navigator fix point includes to the matching process of road network:

S301: the i-th anchor point that user navigational logs the is included candidate point k_i to the intersection point of road in road network as described i-th anchor point, and obtain the distance probability between each described candidate point k_i and i-th anchor point, i is natural number, and the timestamp of i-th anchor point is early than the timestamp of (i+1) individual anchor point；

S302: obtain and candidate point k_i that between candidate point k_ (i+1), confidence probability is maximum is as forerunner's point of described candidate point k_ (i+1)；

S303: the forerunner of each candidate point k_i and correspondence with forerunner's point of including according to this navigational logs puts acquisition n bar candidate chains, and n is natural number；

S304: obtain the product of the distance probability of all candidate points in every candidate chains, and using candidate chains maximum for described product as driving path corresponding to described navigational logs.

In specific implementation process, the navigation record that user is every time complete all comprises the string anchor point with timestamp and GPS point, owing to these GPS point often have error, it is to be understood that the real driving trace of user needs on each Point matching to the road of road network, to perform S301 for this using the i-th anchor point in navigational logs to the intersection point of road in road network as the candidate point k_i of this anchor point.Wherein, the candidate point k_i of an anchor point is likely to comprise multiple, and in order to determine the credibility of each candidate point k_i, S301 also obtains the distance probability between each candidate point k_i and i-th anchor point further.Specifically can obtain the distance probability P 1 between each candidate point k_i and i-th anchor point by following formula (one):

P1=1-len/len_m formula (one)

Wherein, len represents the distance between i-th anchor point and candidate point k_i, and len_m represents that the ultimate range allowed between i-th anchor point and described candidate point k_i is poor；When len is be more than or equal to len_m, len takes (len_m)-1, and unit can be rice.

Wherein, len_m can be 100, then, when len is be more than or equal to 100 meters, len can take 99.Probability is more little shows that credibility is more low for distance.

Except the candidate point k_1 that first anchor point is corresponding, each candidate point k_i is to there being unique forerunner's point, forerunner's point of each candidate point can be obtained according to velocity variations situation (velocity variations is smaller, and the likelihood ratio meeting condition of road surface is higher).

Concrete, can obtaining the confidence probability P2 between each candidate point k_ (i+1) and each candidate point k_i respectively, the candidate point k_i that then between execution S302 acquisition and candidate point k_ (i+1), confidence probability is maximum is as forerunner's point of candidate point k_ (i+1).Such as, assume that Present navigation record includes 2 candidate point k_6 and 3 candidate point k_7, then first-selected to one of them candidate point k_7 (1) to each candidate point k_6 calculating confidence probability, take confidence probability value bigger candidate point k_6 forerunner's point as this candidate point k_7 (1), if, the confidence probability of candidate point k_7 (1) to candidate point k_6 (1) confidence probability more than candidate point k_7 (1) to candidate point k_6 (2), then can using the candidate point k_6 (1) forerunner's point as candidate point k_7 (1)；Further, calculate second candidate point k_7 (2) confidence probability to each candidate point k_6, if the confidence probability that the confidence probability of candidate point k_7 (2) to candidate point k_6 (2) is more than candidate point k_7 (2) to candidate point k_6 (1), then can using the candidate point k_6 (2) forerunner's point as candidate point k_7 (2)；By that analogy, the 3rd the candidate point k_7 (3) confidence probability to each candidate point k_6 is calculated.

Concrete, it is possible to obtain the confidence probability P2 between adjacent two candidate points by formula (2):

P2=(1-| Vb-V |/Vc) * (1-| Vb-Va |/Ve) formula (two)

Wherein, Vb represents the speed between candidate point k_ (i+1) to candidate point k_i, Va represents the speed between forerunner's point corresponding with candidate point k_i for candidate point k_i, V represents the Maximum speed limit of road corresponding for candidate point k_ (i+1) and the product of preset multiple, Vc represents preset reference speed, and Ve represents the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If the candidate point that candidate point k_i is first anchor point 1, Va=Vb；If the difference of Vb-Va is more than Ve, then P2=0.Wherein, preset multiple can take 0.8, and certainly, designer can also take other value according to road practical situation, such as 0.7,0.85,0.9 etc..Vc can from the interval at the Maximum speed limit place of road corresponding for candidate point k_ (i+1) value, such as: the Maximum speed limit assuming road corresponding for candidate point k_ (i+1) is 100, the speed restrictive block at place is 90～120, then the value of Vc can be 90,100,120 etc..Ve can set according to the dotting time interval of adjacent two anchor points and common locomotive peak acceleration, for instance: assume that the dotting time of adjacent two anchor points is spaced apart 1s, the peak acceleration 27m/s of common locomotive², then the value of Ve can be 27m/s, it is contemplated that fluctuating error scope, and the value of Ve can suitably be amplified as taken 40m/s.

Such as: assuming that first GPS point has 2 candidates point 1:A1, A2, second GPS point has 3 candidate points 2:B1, B2, B3.If first GPS point is actual should be the speed Vb1=S of A1, A1 to B1_A1-B1/t_0-1, S_A1-B1Represent the distance of A1 to B1, t_0-1Represent the dotting time of second GPS point；The speed Vb2=S of same reason: A1 to B2_A1-B2/t_0-1, the speed Vb3=S of A1 to B3_A1-B3/t_0-1.According to formula (two): P2=(1-| Vb-V |/100) * (1-| Vb-Va |/40) calculates the confidence probability obtained between A1 and B1, A1 and B2, A1 and B2.If the confidence probability between A1 and B2 is maximum, then using A1 forerunner's point as B2, forming one 2 somes chain A1B2, A2, in like manner will to become forerunner's point of next point be such as B1.Next just using B2 and B1 as forerunner's point selection next one point, B3 is not selected in, because from A1, A2 to B3 all without very credible.Analogize in this approach it is known that obtain forerunner's point of the candidate point of last anchor point.

After obtaining forerunner's point of candidate point of last anchor point, the forerunner performing the S303 each candidate point k_i included according to this bar navigation record and correspondence puts acquisition n bar candidate chains, next proceed to perform the product of the distance probability that S304 obtains all candidate points in every candidate chains, and using candidate chains maximum for product as driving path corresponding to this navigational logs, because the candidate chains of the maximum probability driving path that to be exactly user left and right possible.Such as: assume that the candidate chains obtained is: A1-B2-C2-D3 and A2-B1-C2-D3 (the subsequent point selection result of B2 and B1 is possible identical is likely to difference), it is 0.00088% by the product of the distance probability multiplication of A1-B2-C2-D3, the product of the distance probability multiplication of A2-B1-C2-D3 is 0.00090%, then using A2-B1-C2-D3 as driving path corresponding to this navigational logs.

Matching process by above-mentioned navigator fix point to road network, can improve and eliminate the impact that GPS skew brings as much as possible, improve the accuracy of GPS coupling, and then the road travel speed and the accuracy of crossing waiting time based on the target road that driving path obtains more accurately is correspondingly improved, corresponding target road also more accurate by the time.

The accurate acquisition by the time of target road, when being conducive to as navigation, path planning and navigation calculate remaining time.Such as: determine that the attribute of road travel speed has included: whether isolation strip, whether closes, road width, whether had lay-by, whether has footpath and pavement quality, the way road road speed having footpath, lay-by and pavement quality difference is slow, can try one's best and not walk this kind of road during navigation.Determine crossing whether easily by be steering angle and traffic lights time accounting, what determine traffic lights time accounting is the grade and the bar number that hinder limit.If it is determined that current direction of traffic is treated to need, by crossing, crossing waiting time of growing very much, then a kind of closely located, driving path that the crossing waiting time is few can be changed, and then save a lot of time for user.

Refer to Fig. 4, a kind of method correspondence obtaining road clearance time provided based on above-described embodiment provides for a kind of electronic equipment, including:

First acquiring unit 401, the crossing grade by crossing is treated during for obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

Second acquisition unit 402, for according to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

3rd acquiring unit 403, for the road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

In specific implementation process, the first acquiring unit 401 is additionally operable to: treat described in acquisition that the category of roads in the passed through direction by crossing, prong number and the edge direction number that comes in and goes out treat the crossing grade by crossing described in obtaining；Wherein, the category of roads in described discrepancy limit grade and described direction of passing through is determined according to number of track-lines and road attribute.

Second acquisition unit 402 is additionally operable to: the navigational logs according to described crossing grade, described steering angle, described obstruction limit grade and user, it is thus achieved that treated by the crossing waiting time that crossing needs by described.

Further, second acquisition unit 102 includes: screening subelement, for eliminating the daily record of improper situation from described navigational logs, obtain the candidate navigational logs identical with described crossing grade, described steering angle and described obstruction limit grade, wherein, the navigational logs of described improper situation includes following at least one: the navigational logs in moment of blocking up, night/navigational logs in early morning；Obtain subelement, for obtaining the described crossing waiting time according to described candidate's navigational logs.Wherein, described acquisition subelement is additionally operable to: when comprising the target navigation daily record of described target road in described candidate's navigational logs, it is thus achieved that treat by the average latency at crossing as the described crossing waiting time described in all described target navigation daily record of described target road；Or, when described candidate's navigational logs does not comprise the target navigation daily record of described target road, it is thus achieved that in all described candidate's navigational logs, the average latency at crossing is as the described crossing waiting time.

In specific implementation process, described electronic equipment also includes: matching unit 404, judging unit 405 and computing unit 406.Matching unit is in the described road travel speed according to described crossing waiting time and described target road, before obtaining the road clearance time by described target road, anchor point in the navigational logs of user is matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding.Judging unit is for judging whether to comprise the driving path of described target road.Computing unit for when the judged result of described judging unit is for being, according to navigational logs the navigation time of target road, navigation distance and described in treat to be calculated by the described crossing waiting time at crossing to obtain the average speed road travel speed as described target road of driving a vehicle；When judged result at described judging unit is no, it is thus achieved that the driving average speed of the road identical with the road attribute of described target road is as the road travel speed of described target road；Wherein, described road attribute comprises road width, whether has footpath, whether has lay-by, road curvature and pavement quality.

Further, described matching unit 404 is additionally operable to: using the candidate point k_i to the intersection point of road in road network as described i-th anchor point of the i-th anchor point in the navigational logs of user, and obtaining the distance probability between each described candidate point k_i and i-th anchor point, i is natural number；The candidate point k_i that between acquisition and candidate point k_ (i+1), confidence probability is maximum is as forerunner's point of described candidate point k_ (i+1)；Forerunner according to each candidate point k_i and correspondence with forerunner's point puts acquisition n bar candidate chains, and n is natural number；Obtain the product of the distance probability of all candidate points in every candidate chains, and using candidate chains maximum for described product as described driving path.

Further, described matching unit 404 is additionally operable to: calculates according to equation below and obtains described distance probability P 1:P1=1-len/len_m, wherein, len represents the distance between described i-th anchor point and described candidate point k_i, and len_m represents that the ultimate range allowed between i-th anchor point and described candidate point k_i is poor；When len is be more than or equal to len_m, len takes (len_m)-1.

Further, described matching unit 404 is additionally operable to: the candidate point k_i that confidence probability is maximum between described acquisition and candidate point k_ (i+1) is as before forerunner's point of described candidate point k_ (i+1), it is thus achieved that the confidence probability P2 between each described candidate point k_ (i+1) and each described candidate point k_i:

P2=(1-| Vb-V |/Vc) * (1-| Vb-Va |/Ve), wherein, Vb represents that described candidate point k_ (i+1) is to the speed between described candidate point k_i, Va represents the speed between described candidate point k_i with corresponding forerunner point, V represents the product between Maximum speed limit and the preset multiple of road corresponding for candidate point k_ (i+1), Vc represents preset reference speed, and Ve represents the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If the candidate point that candidate point k_i is first anchor point, Va=Vb；If the difference of Vb-Va is more than 40, then P2=0.

About the electronic equipment in above-described embodiment, the concrete mode that wherein modules performs to operate has been described in detail in about the embodiment of the method, and explanation will be not set forth in detail herein.

Fig. 5 is the block diagram of a kind of device 800 obtaining road clearance time according to an exemplary embodiment.Such as, device 800 can be mobile phone, computer, digital broadcast terminal, messaging devices, game console, tablet device, armarium, body-building equipment, personal digital assistant etc..

With reference to Fig. 5, device 800 can include following one or more assembly: processes assembly 802, memorizer 804, power supply module 806, multimedia groupware 808, audio-frequency assembly 810, the interface 812 of input/output (I/O), sensor cluster 814, and communications component 816.

Process assembly 802 and generally control the integrated operation of device 800, such as with display, call, data communication, the operation that camera operation and record operation are associated.Treatment element 802 can include one or more processor 820 to perform instruction, to complete all or part of step of above-mentioned method.Additionally, process assembly 802 can include one or more module, it is simple to what process between assembly 802 and other assemblies is mutual.Such as, processing component 802 can include multi-media module, with facilitate multimedia groupware 808 and process between assembly 802 mutual.

Memorizer 804 is configured to store various types of data to support the operation at equipment 800.The example of these data includes any application program for operation on device 800 or the instruction of method, contact data, telephone book data, message, picture, video etc..Memorizer 804 can be realized by any kind of volatibility or non-volatile memory device or their combination, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, disk or CD.

The various assemblies that electric power assembly 806 is device 800 provide electric power.Electric power assembly 806 can include power-supply management system, one or more power supplys, and other generate, manage and distribute, with for device 800, the assembly that electric power is associated.

Multimedia groupware 808 includes the screen providing an output interface between described device 800 and user.In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen may be implemented as touch screen, to receive the input signal from user.Touch panel includes one or more touch sensor to sense the gesture on touch, slip and touch panel.Described touch sensor can not only sense the border of touch or sliding action, but also detects the persistent period relevant to described touch or slide and pressure.In certain embodiments, multimedia groupware 808 includes a front-facing camera and/or post-positioned pick-up head.When equipment 800 is in operator scheme, during such as screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive the multi-medium data of outside.Each front-facing camera and post-positioned pick-up head can be a fixing optical lens system or have focal length and optical zoom ability.

Audio-frequency assembly 810 is configured to output and/or input audio signal.Such as, audio-frequency assembly 810 includes a mike (MIC), and when device 800 is in operator scheme, during such as call model, logging mode and speech recognition mode, mike is configured to receive external audio signal.The audio signal received can be further stored at memorizer 804 or send via communications component 816.In certain embodiments, audio-frequency assembly 810 also includes a speaker, is used for exporting audio signal.

I/O interface 812 provides interface for processing between assembly 802 and peripheral interface module, above-mentioned peripheral interface module can be keyboard, puts striking wheel, button etc..These buttons may include but be not limited to: home button, volume button, startup button and locking press button.

Sensor cluster 814 includes one or more sensor, for providing the state estimation of various aspects for device 800.Such as, what sensor cluster 814 can detect equipment 800 opens/closed mode, the relative localization of assembly, such as described assembly is display and the keypad of device 800, the position change of all right detecting device 800 of sensor cluster 814 or 800 1 assemblies of device, the presence or absence that user contacts with device 800, the variations in temperature of device 800 orientation or acceleration/deceleration and device 800.Sensor cluster 814 can include proximity transducer, is configured to when not having any physical contact object near detection.Sensor cluster 814 can also include optical sensor, such as CMOS or ccd image sensor, for using in imaging applications.In certain embodiments, this sensor cluster 814 can also include acceleration transducer, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.

Communications component 816 is configured to facilitate between device 800 and other equipment the communication of wired or wireless mode.Device 800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or their combination.In one exemplary embodiment, communication component 816 receives the broadcast singal or the broadcast related information that manage system from external broadcasting via broadcast channel.In one exemplary embodiment, described communication component 816 also includes near-field communication (NFC) module, to promote junction service.Such as, can based on RF identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband (UWB) technology, bluetooth (BT) technology and other technologies realize.

In the exemplary embodiment, device 800 can be realized by one or more application specific integrated circuits (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components, is used for performing said method.

In the exemplary embodiment, additionally providing a kind of non-transitory computer-readable recording medium including instruction, for instance include the memorizer 804 of instruction, above-mentioned instruction can have been performed said method by the processor 820 of device 800.Such as, described non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..

A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is performed by the processor of mobile terminal, mobile terminal is made to be able to carry out a kind of method obtaining road clearance time, described method includes: treat the crossing grade by crossing when obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；According to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；Road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

Fig. 6 is the structural representation of server in the embodiment of the present invention.This server 1900 can produce relatively larger difference because of configuration or performance difference, one or more central processing units (centralprocessingunits can be included, CPU) 1922 (such as, one or more processors) and memorizer 1932, the storage medium 1930 (such as one or more mass memory units) of one or more storage application programs 1942 or data 1944.Wherein, memorizer 1932 and storage medium 1930 can be of short duration storage or persistently store.The program being stored in storage medium 1930 can include one or more modules (diagram does not mark), and each module can include a series of command operatings in server.Further, central processing unit 1922 could be arranged to communicate with storage medium 1930, performs a series of command operatings in storage medium 1930 on server 1900.

Server 1900 can also include one or more power supplys 1926, one or more wired or wireless network interfaces 1950, one or more input/output interfaces 1958, one or more keyboards 1956, and/or, one or more operating systems 1941, such as WindowsServerTM, MacOSXTM, UnixTM, LinuxTM, FreeBSDTM etc..

Those skilled in the art, after considering description and putting into practice invention disclosed herein, will readily occur to other embodiment of the present invention.The application is intended to any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed the general principle of the present invention and include the undocumented known general knowledge in the art of the disclosure or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the present invention and spirit are pointed out by claim below.

It should be appreciated that the invention is not limited in precision architecture described above and illustrated in the accompanying drawings, and various amendment and change can carried out without departing from the scope.The scope of the present invention is only limited by appended claim

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.

Claims (11)

1. the method obtaining road clearance time, it is characterised in that including:

The crossing grade by crossing is treated when obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

According to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

Road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

2. the method for claim 1, it is characterised in that treat the crossing grade by crossing when described acquisition is by target road, including:

Treat described in acquisition that the category of roads in the passed through direction by crossing, prong number and the edge direction number that comes in and goes out treat the crossing grade by crossing described in obtaining；

Wherein, the category of roads in described discrepancy limit grade and described direction of passing through is determined according to number of track-lines and road attribute.

3. the method for claim 1, it is characterised in that described according to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treat by the crossing waiting time that crossing needs by described, including:

Navigational logs according to described crossing grade, described steering angle, described obstruction limit grade and user, it is thus achieved that treated by the crossing waiting time that crossing needs by described.

4. method as claimed in claim 3, it is characterised in that the described navigational logs according to described crossing grade, described steering angle, described obstruction limit grade and user, it is thus achieved that treat by the crossing waiting time that crossing needs by described, including:

The daily record of improper situation is eliminated, it is thus achieved that the candidate navigational logs identical with described crossing grade, described steering angle and described obstruction limit grade from described navigational logs；Wherein, the navigational logs of described improper situation includes following at least one: the navigational logs in moment of blocking up, night/navigational logs in early morning；

The described crossing waiting time is obtained according to described candidate's navigational logs.

5. method as claimed in claim 4, it is characterised in that described according to described candidate's navigational logs acquisition described crossing waiting time, including:

When described candidate's navigational logs comprises the target navigation daily record of described target road, it is thus achieved that treat by the average latency at crossing as the described crossing waiting time described in all described target navigation daily record of described target road；Or

When described candidate's navigational logs does not comprise the target navigation daily record of described target road, it is thus achieved that in all described candidate's navigational logs, the average latency at crossing is as the described crossing waiting time.

6. the method as described in as arbitrary in Claims 1 to 5, it is characterised in that in the described road travel speed according to described crossing waiting time and described target road, it is thus achieved that before the road clearance time of described target road, described method also includes:

Anchor point in the navigational logs of user is matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding；

Judge whether to comprise the driving path of described target road；

If existing, according to navigational logs the navigation time of target road, navigation distance and described in treat to be calculated the road travel speed obtaining driving average speed as described target road by described crossing waiting time at crossing；If being absent from, it is thus achieved that the driving average speed of the road identical with the road attribute of described target road is as the road travel speed of described target road；

Wherein, described road attribute comprises road width, whether has footpath, whether has lay-by, road curvature and pavement quality.

7. method as claimed in claim 6, it is characterised in that described anchor point in the navigational logs of user is matched road network, it is thus achieved that the driving path that the navigational logs of user is corresponding, including:

Using the candidate point k_i to the intersection point of road in road network as described i-th anchor point of the i-th anchor point in the navigational logs of user, and obtaining the distance probability between each described candidate point k_i and i-th anchor point, i is natural number；

The candidate point k_i that between acquisition and candidate point k_ (i+1), confidence probability is maximum is as forerunner's point of described candidate point k_ (i+1)；

Forerunner according to each candidate point k_i and correspondence with forerunner's point puts acquisition n bar candidate chains, and n is natural number；

Obtain the product of the distance probability of all candidate points in every candidate chains, and using candidate chains maximum for described product as described driving path.

8. right wants the method as described in 7, it is characterised in that the distance probability between each described candidate point k_i of described acquisition and i-th anchor point, including:

Calculate according to equation below and obtain described distance probability P 1:

P1=1-len/len_m

Wherein, len represents the distance between described i-th anchor point and described candidate point k_i, and len_m represents that the ultimate range allowed between i-th anchor point and described candidate point k_i is poor；When len is be more than or equal to len_m, len takes (len_m)-1.

9. method as claimed in claim 7, it is characterised in that the candidate point k_i that confidence probability is maximum between described acquisition and candidate point k_ (i+1) is as before forerunner's point of described candidate point k_ (i+1), and described method also includes:

Obtain the confidence probability P2 between each described candidate point k_ (i+1) and each described candidate point k_i:

P2=(1-| Vb-V |/Vc) * (1-| Vb-Va |/Ve)

Wherein, Vb represents that described candidate point k_ (i+1) is to the speed between described candidate point k_i, Va represents the speed between described candidate point k_i with corresponding forerunner point, V represents the Maximum speed limit of road corresponding for candidate point k_ (i+1) and the product of preset multiple, Vc represents preset reference speed, and Ve represents the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If the candidate point that candidate point k_i is first anchor point, Va=Vb；If the difference of Vb-Va is more than Ve, then P2=0.

10. an electronic equipment, it is characterised in that including:

First acquiring unit, the crossing grade by crossing is treated during for obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

Second acquisition unit, for according to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

3rd acquiring unit, for the road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.

11. an electronic equipment, it is characterized in that, include memorizer, and one or more than one program, one of them or more than one program are stored in memorizer, and are configured to be performed one or more than one program package containing the instruction for carrying out following operation by one or more than one processor:

The crossing grade by crossing is treated when obtaining by target road, and steering angle when by crossing described in passing through and hinder limit grade, described obstruction limit grade be with described steering angle pass through described in treat to need the grade of road corresponding to the traffic lights that waits by crossing；

According to described crossing grade, described steering angle and described obstruction limit grade, it is thus achieved that treated by the crossing waiting time that crossing needs by described；

Road travel speed according to described crossing waiting time and described target road, it is thus achieved that by the road clearance time of described target road.