Embodiment 1 provides a road information detection method, which is used for improving the updating efficiency of electronic map road network information. The specific flow diagram of the method is shown in fig. 1, and the method comprises the following steps:
step 11, acquiring positioning information;
step 12, generating track information by using the positioning information;
and step 13, presuming road information which does not exist in the electronic map at present according to the track information matched with the linear characteristic of the road plane.
Wherein, the track information matched with the road plane linear characteristic satisfies the following conditions: the projection of the represented trajectory onto a horizontal plane is a gentle line. The gentle line shape referred to here is constituted by road elements. The road elements include one or more of: straight line, circular curve, gentle curve.
By adopting the method provided by the embodiment 1, since the positioning information is firstly used as the track information, and then the road information which does not exist currently in the electronic map is estimated according to the track information matched with the linear characteristics of the road plane, which is equivalent to the estimation of the road information by acquiring the moving track of the user, as long as the newly opened road has the positioning information, the information of the road which does not exist currently in the electronic map can be excavated, the time for finding the newly added road is shortened, the problem of low updating efficiency caused by the method of firstly depending on-site surveying and then updating the electronic map in the prior art is solved, and the updating efficiency of the road network information of the electronic map is improved.
Step 11 to step 13 are described in detail below:
for step 11, obtaining positioning information may include, but is not limited to, one or more of the following: acquiring Positioning information based on GPS (Global Positioning System) Positioning; acquiring Location information Based on Location Based Service (LBS) Location; positioning information based on Wireless Access Point (AP) positioning is acquired. The positioning information may include a coordinate position of the positioning point and may also include an absolute time at the positioning point.
In one embodiment, in order to obtain the effect of obtaining as much positioning information as possible, the time for obtaining the positioning information may be prolonged. For example, at least 3 months of location information, even year-round location information, is obtained.
For step 12, generating the track information using the positioning information may include: filtering the acquired positioning information; and generating track information according to the filtered positioning information.
In one embodiment, the filtering of the acquired positioning information may include, but is not limited to, three ways:
the first mode is as follows: and filtering the acquired positioning information according to a preset confidence radius.
Specifically, each positioning of the terminal has a confidence radius, and the magnitude of the confidence radius is used for representing the credibility of the positioning result, namely, each positioning is accompanied by a confidence radius used for indicating the accuracy of the positioning. In the embodiment of the present application, a confidence threshold may be preset, and when the confidence radius of a certain location is greater than the threshold, the reliability of the location information is considered to be low, and the location information should be filtered.
In practical applications, the confidence threshold may be adjusted according to different regions. For example, when positioning information in a city is obtained, because the city terrain is flat, the positioning signal intensity is high, the road alignment is regular, the road network is complex and variable, a smaller confidence threshold value can be set, and the positioning information with higher reliability is retained. For example, the confidence threshold may be set to 20m, and when the confidence radius of a certain positioning information is 15m, the positioning information is retained; when the confidence radius of certain positioning information is 25m, the positioning information is filtered. When the positioning information in the mountain area is obtained, due to the complex terrain and low positioning signal intensity, the road line shape is mostly curved, the road network is simple, and the confidence threshold value can be set to be 50 m.
The second mode is as follows: and filtering the acquired positioning information according to a preset positioning point interval threshold value.
Specifically, under normal conditions, the track of the positioning points of the same terminal on one road is smooth and continuous, and the positioning point interval (the interval between the coordinate positions of the designated position point) is within a certain range; with this feature, a location interval threshold can be set for filtering unreliable location information. When the interval between two positioning points is larger than the threshold value, one of the two positioning points is considered to be unreliable, and unreliable positioning information is determined and filtered according to the interval between the two positioning points and the adjacent positioning point.
The significance of this approach is to filter out data with erroneous positioning information. In practical application, the anchor point interval threshold is generally set to be 1km, that is, when the interval between a certain anchor point and two adjacent anchor points is greater than 1km, the anchor point is considered to be faulty and should be filtered.
The third mode is as follows: and filtering the acquired positioning information according to a preset running speed threshold value.
Specifically, under normal conditions, the running speed of a positioning point of the same terminal on a road fluctuates within a certain range (the running speed of a highway is generally 60 km/h-180 km/h), and by utilizing the characteristic, a running speed threshold value can be set for filtering unreliable positioning information. And when the running speed of the terminal between two adjacent positioning points is greater than the running speed threshold value through calculation, determining unreliable positioning information according to the running speeds of the terminal between the two positioning points and other adjacent positioning points respectively, and filtering.
The significance of this approach is to filter out data with erroneous positioning information. In practical application, the threshold value of the running speed is set to be 250km/h, that is, when the running speed of the terminal between a certain location point and two adjacent location points is 250km/h, the location point can be considered to be faulty and should be filtered. In order to achieve the filtering effect better, different operation speed thresholds may be set according to different conditions of each road, and specifically, the operation speed threshold may be determined according to the following formula:
running speed threshold value is equal to average running speed multiplied by speed limit coefficient
Wherein,
the average running speed can be obtained by the following steps: acquiring all positioning information of the same terminal on a road, and calculating according to the coordinate positions and absolute time of all positioning points;
speed limit coefficient: this factor is empirically derived and represents the maximum safe speed of operation possible on a road beyond which it is considered to be highly detrimental to safety.
For example, the designed speed of the highway is 80km/h, the average running speed of the vehicle is calculated to be 70km/h by acquiring all positioning information of the same terminal on the highway, a speed limit coefficient can be set to be 3 according to experience, and it can be considered that when the running speed of a certain positioning point and the running speed of two adjacent positioning points are both greater than 210km/h, the positioning point is wrong.
In one embodiment, in order to achieve the effect of improving the accuracy of the estimated road information, the filtering conditions in the various modes may be adjusted to improve the accuracy of the retained positioning information when step 12 is executed. For example, the confidence threshold is adjusted to be small, the positioning point interval threshold is adjusted to be small, the speed limit coefficient is adjusted to be small, and the like.
Further to step 12, the obtained positioning information may be filtered through the above three ways, and then the track information may be generated according to the filtered positioning information.
For step 13, the following two substeps may be included:
in substep 131, partial trajectory information overlapping the existing road trajectory information is deleted from the trajectory information.
In the substep 131, the trajectory information generated in the step 12 is compared with the existing road trajectory information, and the trajectory information is deleted from the trajectory information so as to remove a part of the trajectory information overlapping the existing road trajectory information.
It should be noted that, in an embodiment, the track information may be generated by first using the acquired positioning information; deleting partial track information superposed with the existing road track information from the track information; then, filtering the positioning information corresponding to the reserved track information; and finally, generating track information according to the filtered positioning information.
And a substep 132 of estimating road information that does not exist currently in the electronic map based on the retained trajectory information.
For sub-step 132, there is a possibility that the remaining trajectory information is a true one, but some trajectory information may not have the characteristics of the road. For example, although a large amount of positioning information can be collected in an area such as a park or a parking lot, the characteristics of the trajectory information described based on such positioning information do not generally match the linear features of the road plane. Therefore, in order to avoid the interference of such track information on the presumed road information, matching conditions of the road plane linear characteristic can be formulated, and the track information needs to satisfy: the projection of the represented trajectory onto a horizontal plane is a gentle line. The matching conditions may be: a trajectory does not match a road-plane linear feature when its projection in the horizontal plane is within a certain coordinate range and/or the projection of the trajectory in the horizontal plane exhibits a certain number of acute angles of less than 15 °.
For example, if the generated trajectory is within a circle with a radius of 20m and an acute angle of 100 ° or less occurs in the trajectory, it may be determined that the trajectory is not a road trajectory (possibly a movement trajectory of the user in a park or a parking lot).
And deducing road information which does not exist in the electronic map at present according to the reserved track information.
In one embodiment, in order to complete the road information that does not exist currently in the electronic map, step 13 may further include: clustering track information corresponding to roads which do not exist in the electronic map at present; determining road information according to the clustering result; and determining the road attribute corresponding to the clustering result according to the road information.
Clustering refers to the process of dividing a collection of physical or abstract objects into classes composed of similar objects. The clustering algorithm used for clustering trajectory information corresponding to a road that does not exist currently in the electronic map (hereinafter, referred to as a suspicious road) is not particularly limited herein. In the clustering result (the clustering result generally includes at least one cluster), the clusters containing the same or similar track information corresponding to the suspicious road may be considered to correspond to one road. By analyzing each cluster, the road information can be determined, and the road attribute corresponding to the clustering result can be further determined according to the road information.
The clustering meaning is that if only one or a few people walk on a suspicious road, or one or a few vehicles run on a suspicious road, the estimated information amount of the suspicious road information is insufficient, and the information is unreliable. The unreliable information may be positioning information with positioning deviation, or positioning information generated when a route designer carries a positioning device to survey a terrain (at this time, there is a high possibility that a road does not exist in a place where the route designer passes), and the like. The positioning frequency of a single user is not high, and the limited positioning information of the single user is not enough to completely describe the trend of the road. A large number of people walk on the same road, so that a large number of track information corresponding to suspicious roads can be gathered and mutually supplemented, and the real trend of the road can be described to a great extent. If a larger amount of trajectory information is grouped together to form a cluster, it can be basically inferred that the cluster represents an actual road.
In practical applications, road information estimated from the clustering result needs to be verified through real-time examination to obtain absolutely real road information data even if the road information is accurate. However, since the amount of road information is large, in order to improve the efficiency of investigation and evidence collection, it is necessary to preferentially investigate the estimated road information with high reliability. Therefore, in one embodiment, in order to achieve the effect of knowing the reliability of the estimated road information, the reliability of the estimated road information may be known by ranking the reliability of the completion of the estimated road information according to the size of the information amount of the clustering result. Positioning information thresholds corresponding to different levels (generally, there are several levels of a premium level, a good level, a medium level, and a poor level) and track information thresholds of different levels may be set, and when the number of positioning information and the number of track information corresponding to a certain piece of estimated road information are respectively greater than the positioning information threshold of a certain level and the track information threshold of a certain level, the estimated road information is determined to be a certain level. For example, when the positioning information and the track information corresponding to a certain piece of estimated road information are respectively greater than the positioning information threshold value of the highest level and the track information threshold value of the highest level, the estimated road information is determined as the highest level to represent that the estimated road information is reliable, and according to the information, on-site investigation and evidence collection are preferentially considered to determine the actual road.
In one embodiment, the road information may include, but is not limited to, one or more of the following: traffic volume; the running speed; the length of the road.
In particular, the method of manufacturing a semiconductor device,
the amount of traffic may be calculated according to the number of tracks in the clustering result, for example, 270000 pieces of track information are obtained for a certain suspicious road in one month (30 days) according to the clustering result, and the average daily amount of traffic per month may be calculated to be 270000/30 — 9000 (vehicles).
The running speed may be calculated according to the number of tracks in the clustering result, for example, n pieces of track information corresponding to a certain suspicious road in one month (30 days) are obtained according to the clustering result, the average running speed of each track is calculated according to the coordinate position of each locating point in each track and the absolute time of the locating point, and then the average running speed of the suspicious road of the n tracks is calculated.
The road length may be calculated according to the number of tracks in the clustering result, for example, n pieces of track information corresponding to a certain suspicious road in one month (30 days) are obtained according to the clustering result, and the approximate road length may be obtained by calculating the average length of the n pieces of tracks.
In one embodiment, the road attributes may include, but are not limited to, one or more of the following: the design speed of the road; the width of the road; the grade of the road.
In particular, the method of manufacturing a semiconductor device,
the design speed of the road can be determined according to the calculated average running speed of the suspicious road with the n tracks, for example, if the average running speed of the suspicious road is 85km/h, the design speed of the road can be determined to be 80km/h, and for example, if the average running speed of the suspicious road is 5km/h, it can be estimated that the suspicious road may be a pedestrian street.
The trend (unidirectional and bidirectional) of the road and the number of lanes of the road can be estimated according to the estimated design speed of the road and the positions of the n tracks, so that the width of the road can be estimated.
The grade of the road (such as highway divided into freeway, first-level highway, second-level highway, third-level highway and fourth-level highway) can be estimated according to the estimated information of the design speed of the road, the trend of the road, the number of lanes of the road, the width of the road and the like.
For example, positioning information of a certain road estimated for one month is acquired, and n pieces of track information are described according to the positioning information; calculating to obtain that the average running speed of the suspicious roads of the n tracks is 85km/h, and the lowest speed per hour respectively appears at the starting point and the ending point; and presume the road is the two-way lane according to the position of n orbit, the length is 43km, and the orbit reveals there are 4 lanes; according to the coordinate information of the positioning points in the track, the average width of the road is calculated to be 23m, so that the road can be further estimated to be an expressway with the design speed of 80km/h, two-way 4 lanes and the roadbed width of 24.5m, and the starting point and the ending point are two toll stations respectively.
It should be noted that, in the process of determining the road information according to the clustering result and determining the road attribute corresponding to the clustering result according to the road information, the road information and the road attribute which cannot be identified due to the absence of a specific calculation method and an identification method can be obtained through artificial analysis; such as service areas, parking areas, interchange ramps, toll stations, etc. of highways. For another example, since there is no GPS signal in the tunnel, but the speed at the entrance and exit of the tunnel is relatively constant, this may require human judgment. For example, for a highway or a first-class highway including a separate roadbed, human judgment may be required to determine the estimated road information.
In one embodiment, to achieve the effect of completing the electronic map, the method may further include: road information which is supposed not to exist in the electronic map at present is supplemented in the electronic map.
In particular, the method of manufacturing a semiconductor device,
when the execution subject of the presumed road information is the first terminal, the presumed road information that does not exist in the electronic map at present may be directly supplemented to the electronic map local to the first terminal by the first terminal.
When the execution subject of the estimated road information is the server and the positioning information is transmitted to the server by the first terminal, the server may supplement the estimated road information that does not exist in the electronic map of the server.
In one embodiment, to achieve the effect of sharing road information that does not currently exist in the presumed electronic map, the method may further include: and sending the road information which is supposed not to exist in the electronic map at present to the terminal.
In particular, the method of manufacturing a semiconductor device,
when the execution subject of the presumed road information is the first terminal, the presumed road information which does not exist in the electronic map is sent to the terminal, and the first terminal can directly send the presumed road information which does not exist in the electronic map to the second terminal; or the first terminal can send the estimated road information which does not exist in the electronic map to the second terminal through the server.
When the estimated road information which does not exist in the electronic map is sent to the terminal, the execution main body of the method is the server; when the positioning information is sent to the server by the first terminal, the estimated road information which does not exist in the electronic map at present is sent to the terminal, and the server can send the estimated road information which does not exist in the electronic map at present to the second terminal.
The road information that does not exist currently in the electronic map may be the road information that does not exist currently in the electronic map local to the terminal, or the road information that does not exist currently in the electronic map in the server.
It should be noted that all execution subjects of the steps of the method provided in embodiment 1 may be the same device, or all the steps of the method may be executed by different devices. For example, the execution subjects of step 11 and step 12 may be the apparatus 1; for another example, the execution subject of step 11 may be device 1, and the execution subject of step 12 and step 2 may be device 2; and so on.
Example 2
Based on the same inventive concept, embodiment 2 provides a road information detection device, which is used for improving the updating efficiency of the road network information of the electronic map. As shown in fig. 2, the road information detecting apparatus includes:
an acquisition information unit 21 that can be used to acquire positioning information;
a generation information unit 22 operable to generate trajectory information using the positioning information; the estimation information unit 23 may be configured to estimate road information that does not currently exist in the electronic map, based on the trajectory information that matches the road plane linear feature.
By adopting the device provided by the embodiment 2, since the positioning information is firstly used as the track information, and then the road information which does not exist currently in the electronic map is estimated according to the track information matched with the linear characteristics of the road plane, which is equivalent to the estimation of the road information by acquiring the moving track of the user, as long as the newly opened road has the positioning information, the information of the road which does not exist currently in the electronic map can be excavated, the time for finding the newly added road is shortened, the problem of low updating efficiency caused by the method of firstly depending on-site surveying and then updating the electronic map in the prior art is solved, and the updating efficiency of the road network information of the electronic map is improved.
In one embodiment, the speculation information unit 23 may include:
a deleting subunit, configured to delete, from the track information, a part of the track information that coincides with the existing road track information;
and the estimation subunit is used for estimating the road information which does not exist in the electronic map at present according to the reserved track information.
In one embodiment, the generation information unit 22 may be configured to: filtering the acquired positioning information; and generating track information according to the filtered positioning information.
In one embodiment, the generation information unit 22 may be configured to perform one or more of the following steps: filtering the acquired positioning information according to a preset confidence radius; filtering the acquired positioning information according to a preset positioning point interval threshold; and filtering the acquired positioning information according to a preset running speed threshold value.
In one embodiment, the speculation information unit 23, the apparatus may be further configured to: clustering track information corresponding to roads which do not exist in the electronic map at present; determining road information according to the clustering result; and determining the road attribute corresponding to the clustering result according to the road information.
In one embodiment, the road information may include one or more of the following: traffic volume; the running speed; the length of the road.
In one embodiment, the road attribute may include one or more of the following: the design speed of the road; the width of the road; the grade of the road.
In one embodiment, the apparatus may further comprise: the supplementary information unit 24 may be configured to supplement the electronic map with road information that is not currently present in the estimated electronic map.
In one embodiment, when the speculation information unit 23 is located at the first terminal, the supplemental information unit 24 may be configured to: and directly supplementing the road information which does not exist in the electronic map which is supposed to be currently in the electronic map into the local electronic map of the first terminal.
In one embodiment, when the device is a server; when the positioning information is sent by the first terminal to the server, the supplementary information unit 24 may be configured to: road information which is supposed not to exist in the electronic map at present is supplemented in the electronic map.
In one embodiment, the apparatus may further comprise: the transmission information unit 25 may be configured to transmit road information that is estimated to be not present in the electronic map to the terminal.
In one embodiment, when the speculation information unit 23 is provided at the first terminal, the transmission information unit 25 may be configured to: directly sending the road information which is not present in the electronic map and is supposed to be present to a second terminal; or the server sends the estimated road information which does not exist in the electronic map to the second terminal.
In one embodiment, when the device is a server; when the positioning information is sent by the first terminal to the server, the sending information unit 25 may be configured to: and sending the road information which is not currently existed in the electronic map to the second terminal.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.