CN110473405B

CN110473405B - Driving state detection method and device, readable storage medium and electronic equipment

Info

Publication number: CN110473405B
Application number: CN201910910038.5A
Authority: CN
Inventors: 孙晓笛; 张伟
Original assignee: Rajax Network Technology Co Ltd
Current assignee: Rajax Network Technology Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2020-10-23
Anticipated expiration: 2039-09-25
Also published as: CN110473405A

Abstract

The embodiment of the invention discloses a driving state detection method and device, a readable storage medium and electronic equipment. The method comprises the steps of positioning a target terminal to obtain a motion track, dividing the motion track into a plurality of sub-tracks according to road network information, binding each sub-track with a corresponding road, and further determining the driving state of each sub-track by judging the driving state of a track coordinate point contained in each sub-track. The method can eliminate the interference caused by partial wrong track coordinate points or temporary change of the driving direction, and accurately judge whether the target terminal is in the wrong direction or not and whether the target terminal enters an area where the target terminal is forbidden to enter.

Description

Driving state detection method and device, readable storage medium and electronic equipment

Technical Field

The invention relates to the technical field of computers, in particular to a driving state detection method and device, a readable storage medium and electronic equipment.

Background

The punishment on the electric vehicle in the current traffic management is low, and the time is saved due to illegal driving under certain scenes, so that a lot of electric vehicles are illegally driven, and the negative effects of traffic jam, high risk and the like are caused. And the current traffic management system mainly aims at motor vehicles, and is difficult to monitor whether the electric vehicles violate the driving rules.

Disclosure of Invention

In view of this, embodiments of the present invention provide a driving state detection method, apparatus, readable storage medium and electronic device, which are intended to monitor a driving state of an electric vehicle.

In a first aspect, an embodiment of the present invention discloses a driving state detection method, including:

determining road network information, wherein the road network information comprises a plurality of roads and corresponding road attributes, and the roads are represented by a characteristic point sequence;

determining a motion track comprising a plurality of track coordinate points of a target terminal, wherein the track coordinate points are obtained by positioning according to a preset positioning frequency;

dividing the motion trail into a plurality of sub-trails according to the road network information;

binding each sub-track with a corresponding road in the road network information;

determining the running state of each track coordinate point in the sub-track according to the road bound by the sub-track and the corresponding road attribute;

and judging the running state of each sub-track according to the running state of each track coordinate point contained in each sub-track.

Further, the dividing the motion trajectory into a plurality of sub-trajectories according to the road network information includes:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

and dividing the motion trail according to the road where each trail coordinate point is located to determine a plurality of sub-trails, wherein the roads where all trail coordinate points in each sub-trail are located are the same.

Further, the determining the road on which the track coordinate points are located includes:

determining a characteristic point sequence with the minimum distance to each track coordinate point to determine a road identifier of each track coordinate point;

correcting the road mark where each track coordinate point is located according to the adjacent track coordinate point road mark of each track coordinate point;

and determining the road according to the corrected road mark of each track coordinate point.

Further, the correcting the road identifier where each track coordinate point is located according to the track coordinate point road identifier where each track coordinate point is adjacent includes:

and determining that the road mark is the road mark of the track coordinate point in response to that the road mark of the track coordinate point is the same as the road mark of the previous track coordinate point.

Further, the correcting the road identifier where each track coordinate point is located according to the track coordinate point road identifier where each track coordinate point is adjacent further includes:

and in response to that the road identification of the track coordinate point is different from the road identifications of the two adjacent track coordinate points, and the road identifications of the two adjacent track coordinate points are the same, correcting the road identification of the track coordinate point to be the road identification of the adjacent track coordinate point.

and determining that the road identifier of the track coordinate point is the road identifier of the next track coordinate point in response to the track coordinate point being different from the road identifier of the previous track coordinate point and being the same as the road identifier of the next track coordinate point.

Further, the determining the driving state of each track coordinate point in the sub-track according to the bound road of the sub-track and the corresponding road attribute comprises:

determining a first vector according to the position and the acquisition time of the target track coordinate point and an adjacent track coordinate point;

acquiring a characteristic point, of which the distance from the target track coordinate point or the adjacent track coordinate point is smaller than a distance threshold value, in a characteristic point sequence corresponding to a road bound by the sub-track;

determining a second vector according to each feature point;

and determining the driving state of the target track coordinate point according to the first vector and the second vector.

Further, the determining the driving state of the target trajectory coordinate point according to the first vector and the second vector includes:

calculating a cosine function of an included angle between the first vector and the second vector;

and determining the running state of the target track coordinate point as normal running in response to the cosine function being larger than zero.

Further, the determining the driving state of the target trajectory coordinate point according to the first vector and the second vector further includes:

and determining the driving state of the target track coordinate point as reverse driving in response to the cosine function being smaller than zero.

Further, the determining the driving state of each sub-track according to the driving state of each track coordinate point included in each sub-track includes:

determining the number of track coordinate points corresponding to each driving state in the sub-tracks;

and determining the running state with the maximum number of corresponding track coordinate points as the running state of the sub-track.

In a second aspect, an embodiment of the present invention discloses a driving state detection apparatus, including:

the information determining module is used for determining road network information, wherein the road network information comprises a plurality of roads and corresponding road attributes, and the roads are represented by the characteristic point sequence.

The system comprises a track determining module, a track determining module and a track judging module, wherein the track determining module is used for determining a motion track comprising a plurality of track coordinate points of a target terminal, and the track coordinate points are obtained by positioning according to a preset positioning frequency.

And the track dividing module is used for dividing the motion track into a plurality of sub-tracks according to the road network information.

And the road binding module is used for binding each sub-track with the corresponding road in the road network information.

And the first state marking module is used for determining the running state of each track coordinate point in the sub-track according to the road bound by the sub-track and the corresponding road attribute.

And the second state marking module is used for judging the running state of each sub-track according to the running state of each track coordinate point contained in each sub-track.

In a third aspect, an embodiment of the present invention discloses a computer-readable storage medium for storing computer program instructions, which when executed by a processor implement the method according to any one of the first aspect.

In a fourth aspect, an embodiment of the present invention discloses an electronic device, including a memory and a processor, where the memory is used to store one or more computer program instructions, where the one or more computer program instructions are executed by the processor to implement the following steps:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

determining a second vector according to each feature point;

The method provided by the embodiment of the invention comprises the steps of positioning a target terminal to obtain a motion track, dividing the motion track into a plurality of sub-tracks according to road network information, binding each sub-track with a corresponding road, and further determining the driving state of each sub-track by judging the driving state of a track coordinate point contained in each sub-track. The method can eliminate the interference caused by partial wrong track coordinate points or temporary change of the driving direction, and accurately judge whether the target terminal is in the wrong direction or not and whether the target terminal enters an area where the target terminal is forbidden to enter.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

fig. 1 is a flowchart of a driving state detection method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a motion trajectory according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of determining a track coordinate point road sign according to an embodiment of the invention;

FIG. 4 is a diagram illustrating the determination of a first vector and a second vector according to an embodiment of the present invention;

fig. 5 is a schematic view of a running state detecting apparatus according to an embodiment of the present invention;

fig. 6 is a schematic diagram of an electronic device according to an embodiment of the invention.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, and procedures have not been described in detail so as not to obscure the present invention.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout this specification, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Fig. 1 is a flowchart of a driving state detection method according to an embodiment of the present invention, and as shown in fig. 1, the method includes:

s100: and determining road network information.

Specifically, the road network information is used for representing a road system which is formed by interconnecting and interweaving various roads in a certain area and is distributed in a net shape, and comprises a plurality of roads and corresponding road attributes. The road attributes include road directions, allowed vehicles and the like, and because there are many roads in a road system and the route conditions are complex, representing the roads by using line segments leads to excessive data stored in the road network information, which results in huge calculation amount and complex processing process when data processing is performed. Therefore, the roads are represented by a feature point sequence composed of a series of feature points, one for each road.

Step S200: a motion trajectory including a plurality of trajectory coordinate points of the target terminal is determined.

Specifically, the track coordinate point is obtained by positioning according to a predetermined positioning frequency, that is, a positioning frequency is preset, the coordinate of the target terminal is obtained according to the time interval of the positioning frequency to determine the track coordinate point, and finally, the motion track is determined according to the plurality of obtained track coordinate points. The target terminal can be a terminal held by a riding person of an electric vehicle, and is positioned through a certain software platform with a positioning function. Or embedding or installing a terminal with an electric vehicle identifier on the electric vehicle, and identifying and positioning the electric vehicle.

For example, if the positioning frequency is set to 5 s/time, the target terminal is positioned every five seconds, and the coordinates of the target terminal at the moment are determined and recorded. The coordinates of each track coordinate point may be longitude and latitude of the track coordinate point, for example, the track coordinate point a is determined according to the longitude and latitude (39.9963090000,116.4806560000). Alternatively, the coordinates of the track coordinate point may be determined according to a distance between a certain preset coordinate point on a map or a starting track coordinate point of a motion track and the preset coordinate point, where the coordinates of the track coordinate point are determined according to a distance between the certain preset coordinate point and the preset coordinate point, for example, when the starting track coordinate point of the motion track is used as the standard, the coordinates of the starting track coordinate point are (0,0), and the coordinates of other track coordinate points are distances from the track coordinate point in the longitude direction and the latitude direction, respectively.

Fig. 2 is a schematic diagram of a movement track according to an embodiment of the present invention, and as shown in fig. 2, the road network information is used to represent a road system 20 formed by various roads interconnected and distributed in a mesh shape in a certain area, and the movement track 21 includes a plurality of track coordinate points.

Specifically, the motion trajectory 21 passes through a plurality of roads in the road system 20. During the driving process of the target terminal, the vehicle may run backwards or illegally on some roads and normally run on other roads. Therefore, the motion trajectory 21 needs to be divided into a plurality of sub-trajectories, each sub-trajectory corresponds to a road, and whether the target terminal drives in a wrong direction or in an illegal manner when driving on the road corresponding to each sub-trajectory is further determined.

Step S300: and dividing the motion trail into a plurality of sub-trails according to the road network information.

Specifically, the road network information is used for representing a road system which is formed by various roads and is interconnected and interwoven into a mesh distribution in a certain area, the road system comprises a plurality of roads and corresponding road attributes, and the motion trail is divided according to the road network information, namely, the part of the motion trail which runs on each road is divided into a sub-trail. In an embodiment of the present invention, the method for dividing the sub-tracks includes the following steps:

step S310: and preprocessing the track coordinate points contained in the motion track.

Specifically, when the trajectory coordinate points are obtained in step S200, positioning inaccuracy due to network reasons or other interference occasionally causes deviation in positioning of individual trajectory coordinate points, and further affects the process of dividing the motion trajectory, so that it is necessary to pre-process the trajectory coordinate points included in the motion trajectory, determine the trajectory coordinate points where the deviation occurs, and delete the trajectory coordinate points. The process of determining the track coordinate points with the deviation may be, for example, setting an adjacent threshold, determining the shortest distance from each track coordinate point to the motion track formed by other track coordinate points, determining that the track coordinate points have the deviation when the shortest distance is greater than the adjacent threshold, and deleting the track coordinate points.

Step S320: and determining the road where each track coordinate point is located.

Specifically, in the road network information, the roads are represented by a feature point sequence (i.e., a coordinate point sequence), and thus the road on which each trajectory coordinate point is located can be determined by determining the relationship between each trajectory coordinate point and each feature point sequence. The process comprises the following steps:

step S321: and determining the characteristic point sequence with the minimum distance to each track coordinate point to determine the road identification of each track coordinate point.

Specifically, the road identifier is a road identifier of the characteristic point sequences representing roads, and may be, for example, a name, a code, or a character, which are in one-to-one correspondence with each road. When determining the road mark of each track coordinate point, in order to prevent the feature point sequence 31 corresponding to a road with a longer distance from being used as reference calculation and reduce the efficiency of determining the road mark, a radius is preset, each track coordinate point is used as a circle center, a circle is made by taking the radius as the radius, when the feature point contained in the circle corresponding to the track coordinate point only belongs to one feature point sequence, the feature point sequence is determined to be the feature point sequence closest to the track coordinate point, and the road mark of the track coordinate point is determined to be the road mark of the road corresponding to the feature point sequence; when the characteristic points contained in the circle corresponding to the track coordinate point belong to a plurality of characteristic point sequences, calculating the distance from the track coordinate point to each characteristic point sequence to determine the characteristic point sequence closest to the track coordinate point, and then determining the road identification of the track coordinate point as the road identification of the road corresponding to the characteristic point sequence.

Fig. 3 is a schematic diagram of determining a road identifier of a track coordinate point according to an embodiment of the present invention, and as shown in fig. 3, a road included in a road system 30 represented by the road network information is represented by a characteristic point sequence 31, and the motion track includes a plurality of track coordinate points 32. When determining the road identifier of each track coordinate point 32 included in the motion track, determining the road identifier of the road corresponding to the feature point sequence 31 closest to each track coordinate point 32 as the road identifier of each track coordinate point 32.

Step S322: and correcting the road mark where each track coordinate point is located according to the adjacent track coordinate point road mark of each track coordinate point.

Specifically, when the distances between the track coordinate points and the plurality of track coordinate points are not very different, a certain deviation may occur, and the determined road identifier may be wrong due to the deviation. Therefore, it is necessary to determine whether the road identifier of each of the trajectory coordinate points is wrong, and correct the road identifier if the road identifier is wrong. The step is specifically that when the road mark of the track coordinate point is the same as the road mark of the previous track coordinate point, the road mark of the track coordinate point is judged to be correct, so that the road mark is determined to be the road mark of the track coordinate point; when the road identification of the track coordinate point is different from the road identifications of two adjacent track coordinate points and the road identifications of the two adjacent track coordinate points are the same, judging that the road identification of the track coordinate point is wrong, and correcting the road identification of the track coordinate point to be the road identification of the adjacent track coordinate point; and when the track coordinate point is different from the road mark of the previous track coordinate point and is the same as the road mark of the next track coordinate point, judging that the road mark of the track coordinate point is correct, and determining that the road mark of the track coordinate point is the road mark of the next track coordinate point.

Step S323: and determining the road according to the corrected road mark of each track coordinate point.

Specifically, after the step S322 corrects the road identifier of each track coordinate point, the road identifier of each track coordinate point is determined, and the road corresponding to the road identifier of each track coordinate point is further determined as the road where each track coordinate point is located.

Step S330: and dividing the motion trail according to the road where each trail coordinate point is located to determine a plurality of sub-trails, wherein the roads where all trail coordinate points in each sub-trail are located are the same.

Specifically, the motion trajectory is divided according to the road on which each trajectory coordinate point is located determined in step S320, that is, the trajectory coordinate points on the same road are divided into one sub-trajectory.

Step S400: and binding each sub track with the corresponding road in the road network information.

Specifically, each sub-track is bound with a corresponding road, where a track coordinate point included in the sub-track is located. For example, when the road on which the trajectory coordinate point included in the sub-trajectory is located is road a, it is considered that the target terminal always travels on road a in the represented traveling process of the sub-trajectory, and the sub-trajectory is bound to road a. The binding method may be, for example, creating a mapping table according to the sub-track identifier and the road identifier, for recording a binding relationship between the sub-track corresponding to the sub-track identifier and the road corresponding to the road identifier, for example, recording a corresponding relationship between the sub-track and the road through the mapping table { sub-track 1: road a, sub-track 2: road B, … }. Or, adding a corresponding road label to each sub-track.

Optionally, in the step, it may be determined whether the target terminal enters a no-driving area according to a road to which each sub-track is bound.

Step S500: and determining the running state of each track coordinate point in the sub-track according to the bound road of the sub-track and the corresponding road attribute.

Specifically, the target terminal occasionally makes a temporary turn on the same road during driving, which results in two driving states, namely a normal driving state and a reverse driving state, occurring on the same road at the same time, and it is difficult to directly determine the driving state of the sub-track. Therefore, the driving state of each track coordinate point in the sub-track may be determined in step S500, and then the driving state of the sub-track may be determined according to the driving state of each track coordinate point. The judging of the driving state of each track coordinate point comprises the following steps:

step S510: and determining a first vector according to the position and the acquisition time of the target track coordinate point and an adjacent track coordinate point.

Specifically, because the track coordinate points are obtained by positioning according to a predetermined positioning frequency, that is, the obtaining time of each track coordinate point is different, a first vector may be determined according to the coordinates and obtaining time of each track coordinate point and an adjacent track coordinate point, that is, the direction of the first vector is the direction of a track coordinate point obtained after the track coordinate point obtained first points. The target trajectory coordinate point is P (3,4), and the adjacent trajectory opposite point is Q (5, 8). When the time for acquiring the track coordinate point P is earlier than the time for acquiring the track coordinate point Q, the first vector PQ is (2,4), and the direction is the direction from the track coordinate point P to the track coordinate point Q; when the time for acquiring the trajectory coordinate point Q is earlier than the time for acquiring the trajectory coordinate point P, the first vector QP is (-2, -4), and the direction is a direction from the trajectory coordinate point Q to the trajectory coordinate point P.

Step S520: and acquiring a characteristic point with the distance from the target track coordinate point or the adjacent track coordinate point smaller than a distance threshold value in the characteristic point sequence corresponding to the road bound by the sub-track.

Specifically, the process may set a threshold in advance, where the threshold is greater than the farthest distances from the target trajectory coordinate point and the adjacent trajectory coordinate point to the feature point sequence. And respectively taking the target track coordinate point and the adjacent track coordinate point as circle centers and taking the threshold value as a radius to make a circle. And acquiring the characteristic points in the circle corresponding to the target track coordinate point or the adjacent track coordinate point in the characteristic point sequence.

Step S530: and determining a second vector according to the characteristic points.

Specifically, the second vector is determined according to the feature points determined in step S520, specifically, two feature points with the farthest distance may be determined in all the obtained feature points, and the second vector is determined according to the positions of the two feature points and the road attribute corresponding to the feature point sequence. The coordinates of the two feature points M and N are (4,6) and (6,8), respectively, for example. When the road attribute is that the vehicle is driven from right to left, obtaining that the second vector MN is (2,2), and the direction is the direction in which the characteristic point M points to the characteristic point N; and when the road attribute is driving from right to left, obtaining that the second vector NM is (-2, -2), and the direction is the direction in which the characteristic point N points to the characteristic point M.

Fig. 4 is a schematic diagram of determining a first vector and a second vector according to an embodiment of the present invention, and as shown in fig. 4, a first vector 40 may be determined according to the target track coordinate point, and a second vector 41 may be determined according to the feature points in the feature point sequence.

Specifically, the first vector 40 is determined according to the position and the acquisition time of the target track coordinate point and an adjacent track coordinate point, and the second vector 41 is determined according to a feature point in a feature point sequence corresponding to a road to which the target track coordinate point is bound. As shown, the process of determining the second vector 41 is specifically to preset a threshold value larger than the maximum distance from the target track coordinate point and the adjacent track coordinate point to the feature point sequence. And respectively taking the target track coordinate point and the adjacent track coordinate point as circle centers and taking the threshold value as a radius to make a circle. Feature points in a circle corresponding to the target track coordinate point or the adjacent track coordinate point in the feature point sequence are acquired, two feature points with the farthest distance are determined in all the acquired feature points, a second vector 41 is determined according to the positions of the two feature points and road attributes corresponding to the feature point sequence, and after the first vector 40 and the second vector 41 are determined, the motion state of the target track coordinate point can be determined according to the first vector 40 and the second vector 41.

Step S540: and determining the driving state of the target track coordinate point according to the first vector and the second vector.

Specifically, the driving state of the target track coordinate point may be determined according to the size of the included angle between the first vector and the second vector. When the included angle between the first vector and the second vector is greater than ninety degrees, the first vector and the second vector are proved to be opposite in direction, and the vehicle runs in the reverse direction; when the included angle between the first vector and the second vector is smaller than ninety degrees, the first vector and the second vector are proved to have the same direction and are in normal driving. The determination mode of the included angle between the first vector and the second vector may be a cosine function of the included angle between the first vector and the second vector, and the driving state of the target track coordinate point is determined to be normal driving in response to the cosine function being greater than zero. And determining the driving state of the target track coordinate point as reverse driving in response to the cosine function being smaller than zero. The target trajectory coordinate point is P (3,4), the adjacent trajectory punctuation point is Q (5,8), and the coordinates of the two feature points M and N are (4,6) and (6,8), respectively. When the time for obtaining the track coordinate point P is prior to the time for obtaining the track coordinate point Q, and the road attribute is driving from left to right, determining that the first vector PQ is (2,4), the second vector MN is (-2, -2), and calculating that a cosine function of the first vector and the second vector is 2 (-2) +4 (-2) — 4, thereby determining that the driving state of the target track coordinate point is reverse driving.

Step S600: and judging the running state of each sub-track according to the running state of each track coordinate point contained in each sub-track.

Specifically, when the target terminal travels on a road corresponding to one sub-track, the traveling state at a part of the road may be different from the traveling state at other positions due to an interfering phoneme such as a turn, a temporary stop, or the like, but the traveling state is not the main traveling state of the target terminal on the road. Therefore, when determining the driving state of each sub-track, the number of track coordinate points corresponding to each driving state may be determined in the sub-track, and then the driving state with the largest number of corresponding track coordinate points may be determined as the driving state of the sub-track. For example, when the sub-track includes 20 track coordinate points, wherein the driving state of 12 track coordinate points is normal driving, and the driving state of 8 track coordinate points is reverse driving, it is determined that the driving state of the target terminal on the road bound by the sub-track is normal driving; and when the sub-track comprises 20 track coordinate points, wherein the driving state of 12 track coordinate points is reverse driving, and the driving state of 8 track coordinate points is normal driving, judging that the driving state of the target terminal on the road bound by the sub-track is reverse driving.

Optionally, after the driving state of each sub-track is determined according to the method shown in fig. 1, an evaluation report of the current driving of the target terminal may be generated, where the evaluation report may include the number of reverse driving times, a road on which the target terminal is driven in the reverse direction, and which roads that are prohibited from entering the target terminal are entered.

The method comprises the steps of positioning through a target terminal to obtain a motion track, dividing the motion track into a plurality of sub tracks according to road network information, binding each sub track with a corresponding road, and further determining the driving state of each sub track by judging the driving state of a track coordinate point contained in each sub track. The method can eliminate the interference caused by partial wrong track coordinate points or temporary change of the driving direction, and accurately judge whether the target terminal is in the wrong direction or not and whether the target terminal enters an area where the target terminal is forbidden to enter.

Fig. 5 is a schematic diagram of a driving state detection apparatus according to an embodiment of the present invention, and as shown in fig. 5, the driving state detection apparatus includes an information determination module 50, a trajectory determination module 51, a trajectory division module 52, a road binding module 53, a first state flag module 54, and a second state flag module 55.

Specifically, the information determining module 50 is configured to determine road network information, where the road network information includes a plurality of roads and corresponding road attributes, and the roads are represented by a feature point sequence. The trajectory determination module 51 is configured to determine a motion trajectory including a plurality of trajectory coordinate points of the target terminal, where the trajectory coordinate points are obtained by positioning at a predetermined positioning frequency. The track dividing module 52 is configured to divide the motion track into a plurality of sub-tracks according to the road network information. The road binding module 53 is configured to bind the sub-tracks with the corresponding roads in the road network information. The first state marking module 54 is configured to determine a driving state of each track coordinate point in the sub-track according to the road bound by the sub-track and the corresponding road attribute. The second state marking module 55 is configured to determine the driving state of each sub-track according to the driving state of each track coordinate point included in each sub-track.

The device obtains a motion track by positioning a target terminal, divides the motion track into a plurality of sub tracks according to road network information, binds each sub track with a corresponding road, and further determines the driving state of each sub track by judging the driving state of a track coordinate point contained in each sub track. The device can eliminate the interference caused by partial wrong track coordinate points or temporary change of the driving direction, and accurately judge whether the target terminal drives in the wrong direction or not and whether the target terminal enters an area where the target terminal is forbidden to enter.

Fig. 6 is a schematic diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 6, in this embodiment, the electronic device includes a server, a terminal, and the like. As shown, the electronic device includes: at least one processor 62; a memory 61 communicatively coupled to the at least one processor; and a communication component 63 communicatively coupled to the storage medium, the communication component 63 receiving and transmitting data under control of the processor; wherein the memory 61 stores instructions executable by the at least one processor 62, the instructions being executable by the at least one processor 62 to implement the steps of:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

determining a second vector according to each feature point;

In particular, the memory 61, as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 62 executes various functional applications of the device and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory, that is, implements the above-described travel state detection method.

The memory 61 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 61 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 61 may optionally include memory located remotely from the processor 62, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 61 and, when executed by the one or more processors 62, perform the driving state detection method in any of the method embodiments described above.

The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.

The present invention also relates to a computer-readable storage medium for storing a computer-readable program for causing a computer to perform some or all of the above-described method embodiments.

That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

The embodiment of the invention discloses A1 and a driving state detection method, which comprises the following steps:

A2, the method according to A1, wherein the dividing the motion trail into a plurality of sub-trails according to the road network information comprises:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

A3, according to the method in A2, the determining the road where each track coordinate point is located includes:

A4, according to the method in A3, the correcting the road sign of each track coordinate point according to the road sign of the track coordinate point adjacent to each track coordinate point comprises:

A5, according to the method in A3, the correcting the road sign of each track coordinate point according to the road sign of the track coordinate point adjacent to the each track coordinate point further includes:

A6, according to the method in A3, the correcting the road sign of each track coordinate point according to the road sign of the track coordinate point adjacent to the each track coordinate point further includes:

A7, the method according to A1, wherein the determining the driving state of each track coordinate point in the sub-track according to the roads bound by the sub-track and the corresponding road attributes comprises the following steps:

determining a second vector according to each feature point;

A8, the method of A7, wherein the determining the driving state of the target trajectory coordinate point according to the first vector and the second vector comprises:

A9, the method of A8, wherein the determining the driving state of the target trajectory coordinate point according to the first vector and the second vector further comprises:

A10, the method according to a1, wherein the determining the driving state of each sub-track according to the driving state of each track coordinate point included in each sub-track comprises:

The embodiment of the invention also discloses B1 and a driving state detection device, which comprises:

the information determining module is used for determining road network information, wherein the road network information comprises a plurality of roads and corresponding road attributes, and the roads are represented by the characteristic point sequence;

the system comprises a track determining module, a track determining module and a track processing module, wherein the track determining module is used for determining a motion track comprising a plurality of track coordinate points of a target terminal, and the track coordinate points are obtained by positioning according to a preset positioning frequency;

the track dividing module is used for dividing the motion track into a plurality of sub-tracks according to the road network information;

the road binding module is used for binding each sub-track with a corresponding road in the road network information;

the first state marking module is used for determining the running state of each track coordinate point in the sub-track according to the road bound by the sub-track and the corresponding road attribute;

The embodiment of the invention also discloses C1 and a computer readable storage medium for storing computer program instructions, wherein the computer program instructions realize the method according to any one of A1-A10 when being executed by a processor.

The embodiment of the invention also discloses D1, an electronic device, comprising a memory and a processor, wherein the memory is used for storing one or more computer program instructions, and the one or more computer program instructions are executed by the processor to realize the following steps:

D2, the electronic device according to D1, the dividing the motion trail into a plurality of sub-trails according to the road network information includes:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

D3, according to the electronic device of D2, the determining the road where each track coordinate point is located includes:

D4, the electronic device according to D3, wherein the correcting the road sign of each track coordinate point according to the adjacent track coordinate point road sign of each track coordinate point comprises:

D5, the electronic device according to D3, wherein the correcting the road sign of each track coordinate point according to the road sign of the track coordinate point adjacent to the each track coordinate point further includes:

D6, the electronic device according to D3, wherein the correcting the road sign of each track coordinate point according to the road sign of the track coordinate point adjacent to the each track coordinate point further includes:

D7, the electronic device according to D1, wherein the determining the driving state of each track coordinate point in the sub-track according to the roads bound by the sub-track and the corresponding road attributes comprises:

determining a second vector according to each feature point;

D8, the electronic device of D7, the determining the driving state of the target trajectory coordinate point according to the first vector and the second vector comprising:

D9, the electronic device of D8, the determining the driving state of the target trajectory coordinate point according to the first vector and the second vector further comprising:

D10, the electronic device according to D1, wherein the determining the driving state of each sub-track according to the driving state of each track coordinate point included in each sub-track comprises:

Claims

1. A running state detection method, characterized by comprising:

judging the driving state of each sub-track according to the driving state of each track coordinate point contained in each sub-track;

wherein, the determining the driving state of each track coordinate point in the sub-track according to the roads bound by the sub-track and the corresponding road attributes comprises:

determining a second vector according to each feature point;

2. The method of claim 1, wherein said dividing said motion trajectory into a plurality of sub-trajectories according to said road network information comprises:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

3. The method of claim 2, wherein the determining the road on which each of the trajectory coordinate points is located comprises:

4. The method of claim 3, wherein the correcting the road sign of each track coordinate point according to the track coordinate point road sign adjacent to the track coordinate point comprises:

5. The method of claim 3, wherein the correcting the road sign of each track coordinate point according to the track coordinate point road sign adjacent to the each track coordinate point further comprises:

6. The method of claim 3, wherein the correcting the road sign of each track coordinate point according to the track coordinate point road sign adjacent to the each track coordinate point further comprises:

7. The method of claim 1, wherein the determining the travel state of the target trajectory coordinate point from the first vector and the second vector comprises:

8. The method of claim 7, wherein said determining a driving state of said target trajectory coordinate point based on said first vector and said second vector further comprises:

9. The method according to claim 1, wherein said determining the driving state of each sub-trajectory from the driving state of each trajectory coordinate point included in each sub-trajectory comprises:

10. A running state detection apparatus, characterized by comprising:

the second state marking module is used for judging the running state of each sub-track according to the running state of each track coordinate point contained in each sub-track;

determining a second vector according to each feature point;

11. A computer readable storage medium storing computer program instructions, which when executed by a processor implement the method of any one of claims 1-9.

12. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the steps of:

determining a second vector according to each feature point;

13. The electronic device of claim 12, wherein the dividing the motion trajectory into a plurality of sub-trajectories according to the road network information comprises:

preprocessing a track coordinate point contained in the motion track;

determining a road where each track coordinate point is located;

14. The electronic device of claim 13, wherein the determining the road on which the trajectory coordinate points are located comprises:

15. The electronic device according to claim 14, wherein the correcting the road identifier of each track coordinate point according to the track coordinate point road identifier adjacent to each track coordinate point comprises:

16. The electronic device according to claim 14, wherein the correcting the road identifier of each track coordinate point according to the track coordinate point road identifier adjacent to the each track coordinate point further comprises:

17. The electronic device according to claim 14, wherein the correcting the road identifier of each track coordinate point according to the track coordinate point road identifier adjacent to the each track coordinate point further comprises:

18. The electronic device of claim 12, wherein the determining the driving state of the target trajectory coordinate point from the first vector and the second vector comprises:

19. The electronic device of claim 18, wherein determining the travel state of the target trajectory coordinate point based on the first vector and the second vector further comprises:

20. The electronic device according to claim 14, wherein the determining the driving state of each sub-track according to the driving state of each track coordinate point included in each sub-track comprises: