CN108444487B - Navigation data processing method, navigation method and related device - Google Patents
Navigation data processing method, navigation method and related device Download PDFInfo
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- CN108444487B CN108444487B CN201810090787.3A CN201810090787A CN108444487B CN 108444487 B CN108444487 B CN 108444487B CN 201810090787 A CN201810090787 A CN 201810090787A CN 108444487 B CN108444487 B CN 108444487B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
Abstract
The embodiment of the invention provides a navigation data processing method, a navigation method and a related device, and relates to the field of navigation. The data processing method comprises the following steps: acquiring motion trail data; determining a motion track passing through a navigation grid according to the motion track data and the navigation grid covering a set geographic range; determining attributes of the navigation grid based on a trajectory of motion through the navigation grid, the attributes of the navigation grid including: and the passing direction and the passing time mean value of the navigation grid in different time segments. The technical scheme provided by the embodiment of the invention can provide modularized information for navigation, and is favorable for accurate navigation processing based on simple information.
Description
Technical Field
The embodiment of the invention relates to the field of navigation, in particular to a navigation data processing method, a navigation method and a related device.
Background
With the rapid development of the intelligent terminal device, rich and friendly experience is brought to the life of a user, and particularly, the intelligent terminal device is utilized to intelligently plan a route, so that the optimal navigation route is generated for the user, and the travel of the user is facilitated.
However, in order to achieve a relatively accurate navigation effect, a general navigation technology needs to acquire road condition information and travel information such as traffic conditions and average travel speed in real time on the basis of actual road planning information, so as to integrate a departure point and a destination point of a user for navigation. Therefore, the data on which the existing navigation technology is based is complex.
Disclosure of Invention
The embodiment of the invention provides a navigation data processing method, a navigation method and a related device, which are beneficial to accurate navigation processing based on simple information.
In a first aspect, an embodiment of the present invention provides a navigation data processing method, including:
acquiring motion trail data;
determining a motion track passing through a navigation grid according to the motion track data and the navigation grid covering a set geographic range;
determining attributes of the navigation grid based on a trajectory of motion through the navigation grid, the attributes of the navigation grid including: and the passing direction and the passing time mean value of the navigation grid in different time segments.
In a second aspect, an embodiment of the present invention provides a navigation data processing apparatus, including:
the data acquisition module is used for acquiring motion track data;
the track determining module is used for determining a motion track passing through a navigation grid according to the motion track data and the navigation grid covering a set geographic range;
an attribute determination module for determining attributes of the navigation grid based on a motion trajectory through the navigation grid, the attributes of the navigation grid including: and the passing direction and the passing time mean value of the navigation grid under different time slices.
In a third aspect, an embodiment of the present invention provides a navigation method, where the method includes:
determining a navigation grid passed by a navigation path;
determining a navigation time of the navigation path based on attributes of the navigation grid;
wherein the properties of the navigation grid are determined based on the navigation data processing method provided by the aforementioned embodiment.
In a fourth aspect, an embodiment of the present invention provides a navigation device, including:
the navigation grid determining module is used for determining the navigation grid passed by the navigation path;
a navigation time determination module for determining a navigation time of the navigation path based on an attribute of the navigation grid;
wherein the properties of the navigation grid are determined based on the navigation data processing method provided by the aforementioned embodiment.
In a fourth aspect, an embodiment of the present invention provides an electronic device, which includes
One or more memories for storing one or more computer instructions;
one or more processors for invoking and executing the one or more computer instructions to implement the navigation data processing method or the navigation method provided by the aforementioned embodiments.
In a fifth aspect, an embodiment of the present invention provides a computer storage medium storing one or more computer instructions, which when executed, implement the navigation data processing method or the navigation method provided in the foregoing embodiment.
The embodiment of the invention provides modular information for navigation, and is beneficial to navigation processing based on simple information (attributes of a navigation grid), such as navigation time calculation.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 shows a flow diagram of a navigation data processing method according to one embodiment of the invention;
FIG. 2 illustrates a flow diagram for determining attributes of a navigation grid according to one embodiment of the present invention;
FIG. 3 shows a flow diagram of a navigation data processing method according to another embodiment of the invention;
FIG. 4 shows a flow diagram of a navigation method according to an embodiment of the invention;
FIG. 5 shows a block diagram of a navigation data processing apparatus according to an embodiment of the invention;
FIG. 6 shows an example of a block diagram of an attribute determination module of the navigation data processing apparatus shown in FIG. 5;
FIG. 7 shows a block diagram of a navigation device according to one embodiment of the invention;
FIG. 8 shows a block diagram of an electronic device according to one embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In some of the flows described in the present specification and claims and in the above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being indicated as 101, 102, etc. merely to distinguish between the various operations, and the order of the operations by themselves does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other examples obtained based on the examples in the present invention are within the scope of the present invention.
Fig. 1 is a flow diagram illustrating a navigation data processing method according to an embodiment of the present invention, and referring to fig. 1, the method includes:
100: and acquiring motion trail data.
The motion trajectory data refers to position change data of a movable object such as a person, a vehicle, or the like. Taking the takeaway field as an example, the motion trajectory data refers to a series of dotting data uploaded by the knight. Illustratively, the motion trajectory data includes: location (e.g., in latitude and longitude), time, etc.
102: and determining the motion trail passing through the navigation grid according to the motion trail data and the navigation grid covering the set geographic range.
Optionally, in an implementation manner of this embodiment, the motion trajectory is generated according to the motion trajectory data. Because the movement track and the navigation grid both reflect the geographical position information, the movement track passing through the navigation grid can be determined by adopting a mode of judging whether the line is positioned in the plane.
104: determining attributes of the navigation grid based on a trajectory of motion through the navigation grid. Wherein the attributes of the navigation grid include: and the passing direction and the passing time mean value of the navigation grid in different time segments.
By adopting the method provided by the embodiment, the map is divided into the navigation grids covering the set geographic range (for example, the geographic area with the set area and the set longitude and latitude), and the passing direction and the passing time mean value of each navigation grid in different time segments are calculated according to the motion track passing through the navigation grids, so that the map is modularized, modularized information can be provided for navigation, and accurate navigation processing based on simple information is facilitated. For example, the method provided by the embodiment can provide a data base for accurately estimating the navigation time.
Optionally, in an implementation manner of this embodiment, in the processing 100, the motion trajectory data is motion trajectory data in a specified motion mode; the attributes of the navigation grid further include: and (4) a motion mode.
By adopting the implementation mode, the attributes of the navigation grids in each motion mode are determined according to the motion modes (such as walking, public transport, subway, self-driving and electric vehicle) in a classification mode, and the subsequent targeted navigation processing is facilitated. For example, it may be advantageous to determine the navigation time for a given movement pattern based on the movement pattern and the properties of the navigation grid.
Optionally, in an implementation manner of this embodiment, in the processing 102, the motion trajectory passing through the navigation grid includes the following information or equivalent information of the following information: a time to enter the navigation grid, a direction to enter the navigation grid, a time to exit the navigation grid, and a direction to exit the navigation grid. Wherein the transit time is obtained from the time of entering the navigation grid and the time of leaving the navigation grid, and therefore, when one of the time of entering the navigation grid and the time of leaving the navigation grid is known, the transit time can be used as equivalent information of the other of the two.
Optionally, in an implementation manner of this embodiment, the attributes of the navigation grid are expressed in the following form or a similar form: (time segment id 1-traffic direction 1-traffic time 1; time segment id 1-communication direction 2-traffic time 2; … … time segment id 2-traffic direction 1-traffic time 1 … …). Wherein the time (e.g., 24 hours) may be divided into different time segments according to a set time threshold (e.g., 10 minutes). Wherein, the traffic direction may include: an entry direction and an exit direction (e.g., in degrees).
Optionally, in an implementation manner of this embodiment, as shown in fig. 2, the process 104 is implemented by:
1040: and determining the passing direction contained in the navigation grid according to the motion track passing through the navigation grid. For example, the direction of passage contained by the navigation grid is determined from the direction in which the motion trajectory through the navigation grid enters and leaves the navigation grid.
1042: and determining a time segment corresponding to the motion trail passing through the navigation grid. For example, according to the time when the motion trail passing through the navigation grid enters or leaves the navigation grid, the time segment corresponding to each motion trail is determined.
1044: filtering the motion trajectory in time segments according to the transit direction and/or transit time of the motion trajectory through the navigation grid. In other words, for each time segment, the motion trajectory is filtered according to the transit direction and/or the communication time of the motion trajectory through the navigation grid at that time segment.
Optionally, in the processing 1044, performing aggregation processing on the passage directions of the motion trajectories passing through the navigation grid corresponding to the time slices according to the time slices to obtain the passage directions covering the set data amount; and taking the motion trail covered by the passing direction covering the set data volume as the filtered motion trail.
Optionally, in process 1044, ranking the motion trajectories through the navigation grid according to transit time; and deleting the motion tracks with the set amount in the front sequence and the motion tracks with the set amount in the back sequence.
1046: and calculating to obtain a passing time mean value corresponding to the passing direction of the navigation grid in each time segment according to the filtered motion trail in the time segment. In other words, for each time segment, the passing time mean value corresponding to the passing direction of the navigation grid in the time segment is calculated based on the motion trajectory filtered in the time segment.
By adopting the implementation mode, the relatively accurate attribute value of the navigation grid can be obtained after data filtering based on the motion track passing through the navigation grid.
Optionally, in an implementation manner of this embodiment, the passing time mean value corresponding to the passing direction in each time segment, which is obtained by the calculation in the processing 104, is used as the finally determined passing time mean value, and the passing time mean value corresponding to the passing direction in each time segment of the navigation grid may also be updated based on the passing time mean value and the historical passing time mean value corresponding to the passing direction in each time segment of the navigation grid. The method for calculating the historical transit time average is the same as the embodiment shown in fig. 1, and is not described herein again.
Fig. 3 is a flow chart of a navigation data processing method according to an embodiment of the present invention, which is described by taking a takeaway field as an example. Referring to fig. 3, the method includes:
300: and acquiring the dotting data of the knight, wherein the dotting data is the motion trail data of the knight. Specifically, the current rider's position is reported to the logistics system every x seconds. The data format stored is as follows: { reporting time: 1513680295, longitude: 116.3, latitude: 39.9, and knight id:100001 }. The reporting time is a timestamp for reporting the knight dotting data.
302: the map is divided into navigation grids covering a set geographical range. For example, the entire map is divided into rectangular minimum cells no larger than 100m x 100m, each of which may be referred to as a navigation grid. It should be noted that the areas of the geographic areas covered by the different navigation grids may be the same or different. It will be understood by those skilled in the art that 202 can be used as a preprocessing process, and the specific execution timing is not limited in the whole process.
Illustratively, the navigation grid is represented as: { navigation grid id:100001, source direction: 0, destination direction: 180, navigation time: 300s, time slice id:205 }.
Where the source (i.e., entry) and the departure (exit) directions are directions from 0 ° to 359 °, 0 ° representing the true north direction. The source and destination directions constitute the direction of travel, and the navigation time is the time in this direction through the grid. In this embodiment, a time (e.g., a day) is divided into several time slices, each time slice corresponding to a different time slice id.
304: data processing is performed based on the acquired dotting data (for example, dotting data for one day).
Specifically, in 304, two dotting data of the same rider in the vicinity time are connected, and the dotting data with the distance between the two points larger than the set distance threshold is discarded, so as to improve the accuracy of the data. Then, scattering the trajectory lines to the navigation grid, generating the communication direction of the navigation grid according to the direction of the trajectory lines, and determining the time slice according to the time of the trajectory lines. In other words, through the above processing, the passing direction of each navigation grid and the basic data corresponding to each passing direction in each time slice can be determined based on the dotting data of a plurality of knights, wherein the basic data is data for determining the attribute of the navigation grid.
Then, for each time slice of the navigation grid, angle aggregation is performed based on corresponding basic data, the first n sources and departure angles with the highest occurrence frequency are found, and it is ensured that the n angles plus and minus an angle threshold (preset value) can cover 9 x% (greater than 98%) of data volume (for example, the data volume can be represented by the number of trajectory lines). The specific implementation mode is that the occurrence times of all the angles of the source and the destination are firstly calculated and ranked, then the quantity of all the data which can be covered under the condition of adding and subtracting the angle threshold is calculated from the first maximum, if the quantity is more than 9 x%, the calculation is completed, otherwise, the next maximum value is found, and the covered data quantity is continuously calculated.
And then, filtering noise points, removing a part of data with the minimum navigation time (for example, the percentage is a set value) and a part of data with the maximum navigation time (for example, the percentage is a set value), and averaging to obtain a passing time average value of the navigation grid in a corresponding time segment and a corresponding passing direction.
306: and updating the traffic direction and the traffic time mean value of the navigation grid in each time segment by combining with historical data.
In this embodiment, process 306 is an optional process. In the case of execution 306, it amounts to determining the properties of the navigation grid based on more dotting data. In one implementation of the present embodiment, assuming that the transit time average value of the k +1 th day is determined based on the transit time of the first k (1,2,3 … … k) days, the transit time average value of the k +1 th day is (T1 × f1+ T2 × f2+ … + Tk × fk)/(f1+ f2+ … + fk), where Tk represents the navigation time of the k th day (T1 is the navigation time of the day farthest from the current time), and fk represents the weight of the k th day. Exemplarily, f1 ═ 1, f2 ═ 2, and … … fk ═ k.
Fig. 4 shows a flow chart of a navigation method according to an embodiment of the invention. Referring to fig. 4, the method includes:
400: a navigation grid through which the navigation path passes is determined. For example, after the navigation path is determined according to the existing method, the navigation mesh through which the navigation path passes is determined according to the division of the navigation mesh on the electronic map.
402: determining a navigation time of the navigation path based on the attributes of the navigation grid. For the description of the navigation grid, reference is made to the foregoing description, which is not repeated herein.
Optionally, in an implementation manner of this embodiment, a time segment is determined according to a time (estimated value or actual value) of entering the navigation grid, and the attribute of the navigation grid is queried based on the time segment and the passing direction to obtain the passing time. And accumulating the passing time of the navigation grid passed by the navigation path to obtain the navigation time.
By adopting the method provided by the embodiment, the navigation time can be accurately determined based on simple information. Moreover, the method provided by the embodiment can be applied to the movement mode with the limited coverage range. For example, there are many blocks or school districts that prohibit takeaway access and allow general vehicles to enter. In this case, the attribute of the navigation grid obtained based on the analysis of the knight's dotting data can sufficiently reflect the situation of motion limitation, so that the navigation time obtained based on the navigation grid is more accurate.
In one implementation manner of this embodiment, in the case that the attribute of the navigation grid includes a motion mode, an accurate navigation time may be determined in a targeted manner according to an actually adopted motion mode (e.g., public transportation, walking, self-driving, etc.).
Fig. 5 is a block diagram of a navigation data processing apparatus according to an embodiment of the present invention. Referring to fig. 5, the navigation data processing apparatus includes a data acquisition module 50, a trajectory determination module 52, and an attribute determination module 54. The details will be described below.
In the present embodiment, the data acquiring module 50 is used for acquiring motion trajectory data, for example, position change data uploaded by a knight in a takeaway scene.
In this embodiment, the trajectory determination module 52 is configured to determine a motion trajectory passing through a navigation grid according to the motion trajectory data and the navigation grid covering a set geographic range. Optionally, in an implementation manner of this embodiment, the motion trajectory is generated according to the motion trajectory data. Because the movement track and the navigation grid both reflect the geographical position information, the movement track passing through the navigation grid can be determined by adopting a mode of judging whether the line is positioned in the plane.
In this embodiment, the attribute determining module 54 is configured to determine the attributes of the navigation grid based on the motion trajectory passing through the navigation grid, where the attributes of the navigation grid include: and the passing direction and the passing time mean value of the navigation grid under different time slices.
By adopting the device provided by the embodiment, the map is divided into the navigation grids covering the set geographic range (for example, the geographic area with the set area and the set longitude and latitude), and the passing direction and the passing time mean value of each navigation grid in different time segments are calculated according to the motion track passing through the navigation grids, so that the map is modularized, modularized information can be provided for navigation, and accurate navigation processing based on simple information is facilitated. For example, the device provided by the embodiment can provide a data base for accurately estimating the navigation time.
Optionally, in an implementation manner of this embodiment, the motion trajectory data is motion trajectory data in a specified motion mode; the attributes of the navigation grid further include: a mode of motion (e.g., self-driving, walking, public transportation, etc.).
Optionally, in an implementation manner of this embodiment, the trajectory of the motion through the navigation grid includes: a time and direction of entry into the navigation grid and a time and direction of exit from the navigation grid.
Optionally, in an implementation manner of this embodiment, as shown in fig. 6, the attribute determining module 54 includes: a direction determination submodule 540, configured to determine a passing direction included in the navigation grid according to a motion trajectory passing through the navigation grid; a temporal segment determination submodule 542 for determining a temporal segment corresponding to a motion trajectory through the navigation grid; a filtering submodule 544 for filtering the motion trajectory according to the transit direction and/or transit time of the motion trajectory through the navigation grid, in time segments; the mean value determining submodule 546 is configured to calculate, in time segments, a passing time mean value corresponding to a passing direction of the navigation grid in each time segment based on the filtered motion trajectory.
In the above implementation, the filtering submodule 544 illustratively includes: the aggregation unit is used for carrying out aggregation processing on the time segments according to the passing direction of the motion track passing through the navigation grid corresponding to each time segment to obtain the passing direction covering the set data volume; and the data determining unit is used for taking the motion trail covered by the passing direction covering the set data volume as the filtered motion trail.
In the above implementation, the filtering submodule 544 illustratively includes: the sequencing unit is used for sequencing the motion trail passing through the navigation grid according to the length of the passing time; and the filtering unit is used for deleting the motion trail of the set amount sequenced at the front and the motion trail of the set amount sequenced at the back.
Optionally, in an implementation manner of this embodiment, the navigation data processing apparatus further includes an updating module, configured to update the passing time mean value corresponding to the passing direction of the navigation grid in each time segment according to the passing time mean value corresponding to the passing direction of the navigation grid in each time segment and the historical passing time mean value corresponding to the passing direction of the navigation grid in each time segment.
Fig. 7 shows a block diagram of a navigation device according to an embodiment of the invention. Referring to fig. 7, the navigation device includes: a navigation grid determining module 70 for determining a navigation grid through which the navigation path passes; a navigation time determination module 72 for determining a navigation time of the navigation path based on the properties of the navigation grid. For the description of the navigation grid, reference is made to the foregoing text, which is not repeated herein.
FIG. 8 shows a block diagram of an electronic device according to an embodiment of the invention. Referring to fig. 8, the electronic device includes one or more memories 80 and one or more processors 82. Wherein the memory 80 is configured to store one or more computer instructions; the processor 82 is configured to invoke and execute the one or more computer instructions to implement the navigation data processing method or the navigation method as described above. Optionally, in an implementation manner of this embodiment, as shown in a dashed box in fig. 8, the electronic device further includes an input/output interface for performing data communication.
Embodiments of the present invention also provide a computer storage medium storing one or more computer instructions, which when executed, implement the navigation data processing method or the navigation method as described above.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
The invention discloses A1. a navigation data processing method, which comprises the following steps:
acquiring motion trail data;
determining a motion track passing through a navigation grid according to the motion track data and the navigation grid covering a set geographic range;
determining attributes of the navigation grid based on a trajectory of motion through the navigation grid, the attributes of the navigation grid including: and the passing direction and the passing time mean value of the navigation grid in different time segments.
A2. The method as set forth in a1,
the motion trail data is motion trail data in a specified motion mode;
the attributes of the navigation grid further include: and (4) a motion mode.
A3. The method of a1, wherein the motion trajectory through the navigation grid contains the following information:
a time to enter the navigation grid, a direction to enter the navigation grid, a time to exit the navigation grid, and a direction to exit the navigation grid.
A4. The method of any one of a1-A3, the determining attributes of the navigation grid based on a motion trajectory through the navigation grid, comprising:
determining a passing direction contained in the navigation grid according to a motion track passing through the navigation grid;
determining a time segment corresponding to a motion track passing through the navigation grid;
filtering the motion trail according to the passing direction and/or the passing time of the motion trail passing through the navigation grid in time-sharing segments;
and calculating to obtain a passing time mean value corresponding to the passing direction of the navigation grid in each time segment according to the filtered motion trail in the time segment.
A5. The method of a4, wherein the filtering of the motion trajectory in time segments according to the transit direction and/or transit time of the motion trajectory through the navigation mesh comprises:
according to the time segments, carrying out aggregation processing on the traffic directions of the motion tracks passing through the navigation grid corresponding to the time segments to obtain the traffic directions covering the set data volume;
and taking the motion trail covered by the passing direction covering the set data volume as the filtered motion trail.
A6. The method of a4, filtering motion trajectories in time segments according to transit direction and/or transit time of the motion trajectories through the navigation grid, comprising:
sequencing the motion trail passing through the navigation grid according to the passing time;
and deleting the motion tracks with the set amount in the front sequence and the motion tracks with the set amount in the back sequence.
The invention discloses a B7. navigation data processing device, comprising:
the data acquisition module is used for acquiring motion track data;
the track determining module is used for determining a motion track passing through a navigation grid according to the motion track data and the navigation grid covering a set geographic range;
an attribute determination module for determining attributes of the navigation grid based on a motion trajectory through the navigation grid, the attributes of the navigation grid including: and the passing direction and the passing time mean value of the navigation grid under different time slices.
B8. The apparatus as set forth in claim B7,
the motion trail data is motion trail data in a specified motion mode;
the attributes of the navigation grid further include: and (4) a motion mode.
B9. The apparatus of B7, the trajectory of motion through the navigation grid, comprising:
a time and direction of entry into the navigation grid and a time and direction of exit from the navigation grid.
B10. The apparatus of any one of B7-B9, the attribute determination module comprising:
the direction determining submodule is used for determining the passing direction contained in the navigation grid according to the motion track passing through the navigation grid;
the time segment determining submodule is used for determining a time segment corresponding to the motion track passing through the navigation grid;
a filtering submodule for filtering the motion trajectory according to the transit direction and/or transit time of the motion trajectory through the navigation grid in time-sliced manner;
and the mean value determining submodule is used for calculating to obtain the passing time mean value corresponding to the passing direction of the navigation grid in each time segment according to the filtered motion trail in time segments.
B11. The apparatus of B10, the filter submodule comprising:
the aggregation unit is used for carrying out aggregation processing on the time segments according to the passing direction of the motion track passing through the navigation grid corresponding to each time segment to obtain the passing direction covering the set data volume;
and the data determining unit is used for taking the motion trail covered by the passing direction covering the set data volume as the filtered motion trail.
B12. The apparatus of B10, the filter submodule comprising:
the sequencing unit is used for sequencing the motion trail passing through the navigation grid according to the length of the passing time;
and the filtering unit is used for deleting the motion trail of the set amount sequenced at the front and the motion trail of the set amount sequenced at the back.
The invention discloses a C13 navigation method, which comprises the following steps:
determining a navigation grid passed by a navigation path;
determining a navigation time of the navigation path based on attributes of the navigation grid;
wherein the properties of the navigation grid are determined based on the method of any one of claims A1-A6.
The invention discloses a navigation device, comprising:
the navigation grid determining module is used for determining the navigation grid passed by the navigation path;
a navigation time determination module for determining a navigation time of the navigation path based on an attribute of the navigation grid;
wherein the properties of the navigation grid are determined based on the method of any one of claims A1-A6.
The present invention discloses an electronic device, comprising:
one or more memories for storing one or more computer instructions;
one or more processors to invoke and execute the one or more computer instructions to implement the method of any one of claims a1-a6 or the method of claim C13.
A computer storage medium storing one or more computer instructions that, when executed, implement the method of any one of claims a1-a6 or the method of claim C13.
Claims (16)
1. A navigation data processing method, characterized in that the method comprises:
acquiring motion trail data;
determining a motion track passing through the navigation grid according to the motion track data and the navigation grid covering a set geographic range, wherein the motion track passing through the navigation grid comprises information of a direction entering the navigation grid and a direction leaving the navigation grid;
determining attributes of the navigation grid based on a trajectory of motion through the navigation grid, the attributes of the navigation grid including: the transit direction and transit time mean of the navigation grid at different time slices,
wherein the determining attributes of the navigation grid based on the motion trajectory through the navigation grid comprises:
and updating the traffic direction and the traffic time mean value of the navigation grid in each time segment by combining with historical data.
2. The method of claim 1,
the motion trail data is motion trail data in a specified motion mode;
the attributes of the navigation grid further include: and (4) a motion mode.
3. The method of claim 1, wherein the trajectory of motion through the navigation grid contains the following information:
a time of entering the navigation grid and a time of exiting the navigation grid.
4. The method of any one of claims 1-3, wherein determining the attributes of the navigation grid based on the trajectory of motion through the navigation grid comprises:
determining a passing direction contained in the navigation grid according to a motion track passing through the navigation grid;
determining a time segment corresponding to a motion track passing through the navigation grid;
filtering the motion trail according to the passing direction and/or the passing time of the motion trail passing through the navigation grid in time-sharing segments;
and calculating to obtain a passing time mean value corresponding to the passing direction of the navigation grid in each time segment according to the filtered motion trail in the time segment.
5. The method of claim 4, wherein filtering motion trajectories in time segments according to transit direction and/or transit time of the motion trajectories through the navigation grid comprises:
according to the time segments, carrying out aggregation processing on the traffic directions of the motion tracks passing through the navigation grid corresponding to the time segments to obtain the traffic directions covering the set data volume;
and taking the motion trail covered by the passing direction covering the set data volume as the filtered motion trail.
6. The method of claim 4, wherein filtering motion trajectories in time segments according to transit direction and/or transit time of the motion trajectories through the navigation grid comprises:
sequencing the motion trail passing through the navigation grid according to the passing time;
and deleting the motion tracks with the set amount in the front sequence and the motion tracks with the set amount in the back sequence.
7. A navigation data processing apparatus, characterized by comprising:
the data acquisition module is used for acquiring motion track data;
the track determining module is used for determining a motion track passing through the navigation grid according to the motion track data and the navigation grid covering a set geographic range, wherein the motion track passing through the navigation grid comprises information of a direction entering the navigation grid and a direction leaving the navigation grid;
an attribute determination module for determining attributes of the navigation grid based on a motion trajectory through the navigation grid, the attributes of the navigation grid including: the transit direction and transit time mean of the navigation grid at different time slices,
wherein the determining attributes of the navigation grid based on the motion trajectory through the navigation grid comprises:
and updating the traffic direction and the traffic time mean value of the navigation grid in each time segment by combining with historical data.
8. The apparatus of claim 7,
the motion trail data is motion trail data in a specified motion mode;
the attributes of the navigation grid further include: and (4) a motion mode.
9. The apparatus of claim 7, wherein the trajectory of motion through the navigation grid comprises:
a time of entering the navigation grid and a time of exiting the navigation grid.
10. The apparatus of any of claims 7-9, wherein the attribute determination module comprises:
the direction determining submodule is used for determining the passing direction contained in the navigation grid according to the motion track passing through the navigation grid;
the time segment determining submodule is used for determining a time segment corresponding to the motion track passing through the navigation grid;
a filtering submodule for filtering the motion trajectory according to the transit direction and/or transit time of the motion trajectory through the navigation grid in time-sliced manner;
and the mean value determining submodule is used for calculating to obtain the passing time mean value corresponding to the passing direction of the navigation grid in each time segment according to the filtered motion trail in time segments.
11. The apparatus of claim 10, wherein the filtering submodule comprises:
the aggregation unit is used for carrying out aggregation processing on the time segments according to the passing direction of the motion track passing through the navigation grid corresponding to each time segment to obtain the passing direction covering the set data volume;
and the data determining unit is used for taking the motion trail covered by the passing direction covering the set data volume as the filtered motion trail.
12. The apparatus of claim 10, wherein the filtering submodule comprises:
the sequencing unit is used for sequencing the motion trail passing through the navigation grid according to the length of the passing time;
and the filtering unit is used for deleting the motion trail of the set amount sequenced at the front and the motion trail of the set amount sequenced at the back.
13. A method of navigation, the method comprising:
determining a navigation grid passed by a navigation path;
determining a navigation time of the navigation path based on attributes of the navigation grid;
wherein the properties of the navigation grid are determined based on the method according to any of claims 1-6.
14. A navigation device, characterized in that the device comprises:
the navigation grid determining module is used for determining the navigation grid passed by the navigation path;
a navigation time determination module for determining a navigation time of the navigation path based on an attribute of the navigation grid;
wherein the properties of the navigation grid are determined based on the method according to any of claims 1-6.
15. An electronic device, comprising:
one or more memories for storing one or more computer instructions;
one or more processors to invoke and execute the one or more computer instructions to implement the method of any one of claims 1-6 or the method of claim 13.
16. A computer storage medium having stored thereon one or more computer instructions which, when executed, implement the method of any one of claims 1-6 or the method of claim 13.
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| JP4466716B2 (en) * | 2007-11-01 | 2010-05-26 | トヨタ自動車株式会社 | Traveling locus generation method and traveling locus generation device |
| DE102010027775A1 (en) * | 2010-04-15 | 2011-10-20 | Robert Bosch Gmbh | Navigation system for use in motor vehicle, has reading device providing card information, and evaluation device determining movement path over grid points based on movement parameter and providing navigation information based on path |
| CN105258704B (en) * | 2014-06-16 | 2017-12-05 | 中国科学院沈阳自动化研究所 | Multiple dimensioned space-time hotspot path detection method based on through street net modeling |
| CN105808912B (en) * | 2014-12-31 | 2019-07-02 | 中国科学院深圳先进技术研究院 | A kind of visual analysis method, the system of traffic track data |
| CN104598992A (en) * | 2015-01-12 | 2015-05-06 | 北京中交兴路车联网科技有限公司 | Common route analysis method for vehicle |
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| CN104731963B (en) * | 2015-04-03 | 2018-06-15 | 重庆邮电大学 | Recommend method and system in a kind of gridding path based on car networking |
| CN104931062A (en) * | 2015-04-23 | 2015-09-23 | 骑记(厦门)科技有限公司 | Display method and device of track route map |
| CN104978420B (en) * | 2015-06-30 | 2018-09-07 | 百度在线网络技术（北京）有限公司 | Traffic route matching process and device |
| CN106441324A (en) * | 2015-08-13 | 2017-02-22 | 上海汽车集团股份有限公司 | Navigation method, navigation apparatus, road condition information collection method and road condition information collection system |
| CN105608505B (en) * | 2015-12-22 | 2020-02-11 | 重庆邮电大学 | Resident rail transit trip mode identification method based on mobile phone signaling data |
| CN106679683B (en) * | 2016-11-26 | 2018-06-29 | 深圳壹账通智能科技有限公司 | Obtain the method and device of trip information |
| CN107133269B (en) * | 2017-04-01 | 2021-06-18 | 中国人民解放军国防科技大学 | Frequent position track generation method and device based on moving target |
| CN107424410B (en) * | 2017-07-14 | 2018-06-05 | 中南大学 | A kind of accident detection method calculated based on route travel time |
| CN107491495B (en) * | 2017-07-25 | 2019-11-12 | 南京师范大学 | Storage method of the preferential space-time trajectory data file of space attribute in auxiliary storage device |
| CN107622085A (en) * | 2017-08-11 | 2018-01-23 | 河海大学 | A kind of adaptive method of trajectory clustering based on grid and density |
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