CN110784825B - Method and device for generating vehicle running track - Google Patents
Method and device for generating vehicle running track Download PDFInfo
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- CN110784825B CN110784825B CN201910792585.8A CN201910792585A CN110784825B CN 110784825 B CN110784825 B CN 110784825B CN 201910792585 A CN201910792585 A CN 201910792585A CN 110784825 B CN110784825 B CN 110784825B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The embodiment of the application provides a method and a device for generating a vehicle running track. The prediction method comprises the following steps: acquiring real-time positioning information of the vehicle to detect a target vehicle with lost positioning information; determining a historical driving track of the target vehicle before the positioning information disappears and a road corresponding to the historical driving track based on the real-time positioning information; if the road condition which is released last time in history of the road corresponding to the historical driving track is a congested road condition, calculating the congestion distance of the road corresponding to the historical driving track; and generating a target running track of the target vehicle after the positioning information disappears on the basis of the congestion distance. According to the technical scheme of the embodiment of the application, the authenticity of the vehicle running track can be improved, and particularly the authenticity of the vehicle running track in a congested road condition scene is improved.
Description
Technical Field
The application relates to the field of intelligent traffic, in particular to a method and a device for generating a vehicle driving track.
Background
In the field of intelligent traffic, the vehicle running track has an important reference function for calculating road conditions. In the prior art, the driving track of the vehicle is mainly generated according to real-time positioning data uploaded by a vehicle-mounted device or other mobile devices placed on the vehicle. However, under some special conditions, the real-time positioning data of the vehicle may not be stably obtained, which may result in that the authenticity of the driving track of the vehicle cannot be guaranteed, and further the real road condition cannot be calculated, resulting in poor user experience.
Disclosure of Invention
The embodiment of the application provides a method and a device for generating a vehicle running track, and therefore the authenticity of the vehicle running track can be improved at least to a certain extent.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, there is provided a method for generating a vehicle driving track, including: acquiring real-time positioning information of the vehicle to detect a target vehicle with lost positioning information; determining a historical driving track of the target vehicle before the positioning information disappears and a road corresponding to the historical driving track based on the real-time positioning information; if the road condition which is released last time in history of the road corresponding to the historical driving track is a congested road condition, calculating the congestion distance of the road corresponding to the historical driving track; and generating a target running track of the target vehicle after the positioning information disappears on the basis of the congestion distance.
According to an aspect of the embodiments of the present application, there is provided a vehicle travel track generation apparatus including: an acquisition unit configured to acquire real-time positioning information of a vehicle to detect a target vehicle for which the positioning information disappears; the determining unit is used for determining a historical driving track of the target vehicle before the disappearance of the positioning information and a road corresponding to the historical driving track based on the real-time positioning information; the calculation unit is used for calculating the congestion distance of the road corresponding to the historical driving track if the road condition which is released last time in the history is the congestion road condition; and a generation unit configured to generate a target travel track of the target vehicle after the positioning information disappears, based on the congestion distance.
In some embodiments of the present application, based on the foregoing solution, the obtaining unit is configured to detect whether a time interval between a time when the real-time positioning information of the vehicle is obtained last time and a time when disappearance of the positioning information of the vehicle is detected last time is lower than a preset threshold; and if the time interval between the moment of the last acquired real-time positioning information of the vehicle and the moment of the last detected disappearance of the positioning information of the vehicle is not lower than a preset threshold value, taking the vehicle as a target vehicle with disappeared positioning information.
In some embodiments of the present application, based on the foregoing, the determination unit is configured to determine, based on the real-time positioning information, a historical travel track of the target vehicle in a recent period of time before the disappearance of the positioning information.
In some embodiments of the present application, based on the foregoing solution, the generating unit is configured to detect whether a congestion distance of a road corresponding to the historical travel track exceeds a congestion threshold; and if the congestion distance of the road corresponding to the historical driving track exceeds a congestion threshold, generating a target driving track of the target vehicle after the positioning information disappears according to the congestion distance.
In some embodiments of the present application, based on the foregoing solution, the generating unit is configured to obtain a time when the real-time positioning information of the target vehicle is obtained last time; and calculating time span information and distance span information corresponding to the time span information of the target vehicle after the positioning information disappears on the basis of the congestion distance and the time when the real-time positioning information of the target vehicle is obtained last time, wherein the time span information and the distance span information are used for representing a target driving track of the target vehicle after the positioning information disappears.
In some embodiments of the present application, based on the foregoing scheme, the generating unit is configured to calculate the time span information by the following formula:
ΔT＝min(A,max(B,tnow-tlatest))
the generating unit is further configured to calculate the distance span information by the following formula:
wherein Δ T represents time span information of the target vehicle after the disappearance of the positioning information, Δ L represents distance span information corresponding to the time span information of the target vehicle after the disappearance of the positioning information, TnowIndicating the time when the time span information of the target vehicle after the disappearance of the positioning information is calculated, tlatestIndicating the time when the real-time positioning information of the target vehicle was last acquired, ljamThe congestion distances of the roads corresponding to the congestion road conditions are represented, A, B, C, D and E represent preset parameters related to the formula.
In some embodiments of the present application, based on the foregoing solution, the generating unit is configured to calculate speed data of the target vehicle on a road corresponding to a target running track based on the target running track of the target vehicle after the positioning information disappears; and generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicle on the road corresponding to the target driving track.
In some embodiments of the present application, based on the foregoing solution, the generating unit is configured to obtain speed data of a non-target vehicle on a road corresponding to the target driving track; calculating speed data of the target vehicle on a road corresponding to the target running track based on the target running track of the target vehicle after the positioning information disappears; and generating the road condition on the road corresponding to the target running track based on the speed data of the target vehicle on the road corresponding to the target running track and the speed data of the non-target vehicle on the road corresponding to the target running track.
In some embodiments of the present application, based on the foregoing solution, the generating unit is configured to query the number of target vehicles and the number of non-target vehicles on a road corresponding to the target driving track; detecting whether the number of the non-target vehicles exceeds a preset multiple of the number of the target vehicles; if the number of the non-target vehicles exceeds the preset multiple of the number of the target vehicles, generating road conditions of roads corresponding to the target driving track based on the speed data of the non-target vehicles on the roads corresponding to the target driving track; and if the number of the non-target vehicles is not more than the preset multiple of the number of the target vehicles, generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicles on the road corresponding to the target driving track and the speed data of the non-target vehicles on the road corresponding to the target driving track.
In the technical scheme provided by some embodiments of the application, a target vehicle with lost positioning information is determined by acquiring real-time positioning information of the vehicle, and a historical driving track of the target vehicle before the lost positioning information and a road corresponding to the historical driving track are determined according to the positioning information of the target vehicle. Since the road condition of the road before the disappearance of the positioning information and the road condition of the road after the disappearance of the positioning information have strong correlation, that is, the congestion of the road before the disappearance of the positioning information means that the road after the disappearance of the positioning information is also likely to be congested, the driving track of the vehicle on the congested road after the disappearance of the positioning information is predictable. Therefore, according to the technical scheme provided by this embodiment, whether a road corresponding to a historical travel track of a vehicle is a congested road condition is judged, and a target travel track of the target vehicle after the positioning information disappears is generated according to a congestion distance of the congested road condition. Based on the scheme, even if the real-time positioning information of the vehicle disappears and cannot be obtained under some special conditions, for example, under the condition that the road condition is congested, the target running track of the target vehicle after the disappearance of the positioning information can be generated, so that the real road condition of the road can be calculated, and the technical problems that the authenticity of the vehicle running track cannot be ensured due to the disappearance of the real-time positioning information of the vehicle and the real road condition cannot be calculated in the prior art, and the extremely poor user experience is caused are solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 shows a schematic diagram of an exemplary system architecture to which aspects of embodiments of the present application may be applied;
fig. 2 shows a schematic view of an application scenario of a solution according to an embodiment of the present application;
FIG. 3 shows a flow chart of a method of generating a vehicle travel track according to an embodiment of the present application;
FIG. 4 illustrates a detailed flow diagram of a target vehicle detecting disappearance of positioning information according to one embodiment of the present application;
FIG. 5 shows a detailed flow diagram for generating a target travel trajectory for a target vehicle according to one embodiment of the present application;
FIG. 6 shows a detailed flow diagram for generating a target travel trajectory for a target vehicle according to one embodiment of the present application;
fig. 7 shows a detailed flowchart of road conditions of a road corresponding to a target driving track of a target vehicle according to an embodiment of the present application;
fig. 8 shows a detailed flowchart of the road condition of a road corresponding to a target driving track of a target vehicle according to an embodiment of the present application;
fig. 9 is a detailed flowchart illustrating a road condition of a road corresponding to a target driving track of a target vehicle according to an embodiment of the present application;
FIG. 10 shows a detailed flowchart for generating road conditions for all roads according to one embodiment of the present application;
fig. 11 is a graph illustrating a comparison of a road condition in a scenario in which a target travel rail of a target vehicle is considered and a scenario in which the target travel rail of the target vehicle is not considered according to an embodiment of the present application;
fig. 12 shows a block diagram of a vehicle travel track generation apparatus according to an embodiment of the present application;
FIG. 13 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Fig. 1 shows a schematic diagram of an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied.
As shown in fig. 1, the system architecture may include a terminal device (e.g., one or more of a smartphone 101, a tablet computer 102, and a portable computer 103 shown in fig. 1, but may also be a desktop computer, etc.), a network 104, and a server 105. The network 104 serves as a medium for providing communication links between terminal devices and the server 105. Network 104 may include various connection types, such as wired communication links, wireless communication links, and so forth.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation. For example, server 105 may be a server cluster comprised of multiple servers, or the like.
In one embodiment of the present application, the server 105 may be a server that provides various services. For example, a user sends a request for generating a vehicle driving track to the server 105 through a terminal device such as the devices 101, 102, and 103, and the server 105 provides a service for generating the vehicle driving track by implementing the method for generating the vehicle driving track proposed in the present application. Specifically, after the user sends a request for generating a vehicle travel track to the server 105, the server 105 may obtain real-time positioning information of the vehicle, and if the real-time positioning information disappears, the server 105 predicts the vehicle travel track of the vehicle on the downstream road according to a road condition of an upstream road of the position where the real-time positioning information of the vehicle disappears, and sends information related to the vehicle travel track of the downstream road to terminal devices such as the devices 101, 102, and 103 through the network 104.
In addition, the server 105 may also obtain real-time positioning information of all vehicles at the same time, and predict a traveling track of a vehicle with lost positioning information on a downstream road according to a road condition of an upstream road at a position where the real-time positioning information is lost. Further, the server may generate the road condition of the downstream road at the location where the positioning information disappears according to the travel track of the vehicle where the positioning information disappears and/or the travel track of the vehicle where the positioning information does not disappear, and send the road condition to the user.
It should be noted that the method for generating the vehicle travel track provided in the embodiment of the present application is generally executed by the server 105, and accordingly, the device for generating the vehicle travel track is generally disposed in the server 105. However, in other embodiments of the present application, the terminal device may also have a similar function as the server, so as to execute the scheme for generating the vehicle driving track provided by the embodiments of the present application.
Fig. 2 shows a schematic implementation scenario of a technical solution according to an embodiment of the present application.
As shown in fig. 2, an application scenario of the technical solution of an embodiment of the present application may be generation of a driving track of a motor vehicle on a motor vehicle lane, especially a driving track in a case where a server cannot obtain real-time positioning information of the motor vehicle. Specifically, the vehicle shown in fig. 2 can normally upload its own real-time positioning information to a server in a positioning information existing area including the road 1 and the road 2, and based on the real-time positioning information of the vehicle in the road, the driving track of the vehicle on the road 1 and the road 2 shown in fig. 2 can be directly generated. When the vehicle enters the road 3 shown in fig. 2, the server cannot directly generate the driving track of the vehicle on the road 2 shown in fig. 2 according to the real-time positioning information of the vehicle because the positioning information of the vehicle disappears, and then according to the technical scheme provided by the application, the server can generate the driving track of the vehicle on the road 3 shown in fig. 2 according to the specific road conditions of the road 1 and the road 2 shown in fig. 2.
It should be noted that there may be various reasons for causing the vehicle to disappear the positioning information in the positioning information disappearing area. For example, the reason may be that network service is interrupted in the area where the positioning information disappears, and the positioning device entering the area cannot connect to the network, so that the positioning device cannot upload the real-time positioning information of the vehicle to the server. Also for example, the reason may be that the vehicle user has turned off the device with the location function, thereby causing the server to not obtain real-time location information for the vehicle.
The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:
according to a first aspect of the present disclosure, a method of generating a vehicle travel track is provided.
Referring to fig. 3, a flowchart of a method for generating a vehicle travel track according to an embodiment of the present application is shown, which may be performed by a device having a calculation processing function, such as the server 105 shown in fig. 1. The prediction method may include steps 310 to 340:
And 320, determining a historical driving track of the target vehicle before the positioning information disappears and a road corresponding to the historical driving track based on the real-time positioning information.
And 340, generating a target running track of the target vehicle after the positioning information disappears on the basis of the congestion distance.
The steps carried out as above will be explained in detail below:
in step 310, real-time location information of the vehicle is obtained to detect a target vehicle with the location information disappeared.
In the present application, the real-time positioning information mainly refers to a specific position of the vehicle on the road as shown in fig. 2 and a specific time point when the vehicle is at the specific position, for example, the time when the vehicle is at the first position in the positioning information existence area is 8 points 46 minutes, and the time when the vehicle is at the 6 th position is 8 points 51 minutes.
The specific position of the vehicle in the road can be represented in the form of latitude and longitude, and also can be represented in the form of coordinate points, wherein the coordinate points can be coordinate points in a one-dimensional coordinate system, coordinate points in a two-dimensional coordinate system, and coordinate points in a three-dimensional coordinate system. In the present application, how to embody the position information of the vehicle is not particularly limited.
In one embodiment of the present application, detecting a target vehicle with missing positioning information may be implemented by the steps shown in fig. 4.
Referring to fig. 4, a detailed flowchart of detecting a target vehicle with missing positioning information according to an embodiment of the present application is shown, which may specifically include steps 311 to 312:
in step 312, if the time interval between the time of the last acquired real-time positioning information of the vehicle and the time of the last detected disappearance of the positioning information of the vehicle is not lower than the preset threshold, the vehicle is used as a target vehicle with disappeared positioning information.
In the case that the real-time positioning information of the vehicle does not disappear, the real-time positioning information of the vehicle may be uploaded regularly, for example, the positioning information is uploaded every 10 seconds, for example, the positioning information is uploaded every 1 minute, and the like. When the server cannot acquire the real-time positioning information of the vehicle for a long time, the server can determine that the positioning information of the vehicle disappears. Therefore, the present embodiment detects the target vehicle with the disappeared positioning information by detecting the vehicle with the time interval between the time of last acquiring the real-time positioning information of the vehicle and the time of last detecting that the positioning information of the vehicle disappeared not lower than the preset threshold.
In step 320, based on the real-time positioning information, a historical driving track of the target vehicle before the disappearance of the positioning information and a road corresponding to the historical driving track are determined.
Specifically, the positioning information of the target vehicle before the disappearance of the real-time positioning information can reflect the position information of the vehicle at different times before the disappearance of the positioning information, so that the historical driving track of the target vehicle before the disappearance of the positioning information and the road corresponding to the historical driving track can be further determined according to the real-time positioning information.
Further, in determining the historical travel locus of the target vehicle before the disappearance of the positioning information, it may be only that the historical travel locus of the target vehicle in the latest period of time before the disappearance of the positioning information is determined.
In step 330, if the traffic information that was released last time in the history of the road corresponding to the historical driving track is a congested traffic information, the congestion distance of the road corresponding to the historical driving track is calculated.
In an embodiment of the present application, the congested road condition may be defined as follows: the road condition when the number of vehicles in the lane within one unit length exceeds a preset threshold is considered as a congested road condition.
In an embodiment of the present application, the congested road condition may be further defined as follows: and the road condition when the average driving speed of all vehicles in the road is lower than the preset threshold value is considered as the congestion road condition.
In an embodiment of the present application, the congested road condition may also be defined by combining a characteristic of the number of vehicles in a lane within a unit length and an average traveling speed characteristic of all vehicles in the road.
It is to be understood that the definition of road congestion conditions may be arbitrary and is not limited to those indicated above.
And when the road condition which is published on the road corresponding to the historical driving track last time in the history is a congested road condition, counting and calculating the congestion distance of the road corresponding to the historical driving track according to the head and tail position information of the congested road section on the road corresponding to the historical driving track.
In step 340, a target travel track of the target vehicle after the disappearance of the positioning information is generated based on the congestion distance.
In one embodiment of the present application, generating the target traveling track of the target vehicle after the disappearance of the positioning information based on the congestion distance may be implemented by the steps as described in fig. 5.
Referring to fig. 5, a detailed flowchart for generating a target driving trajectory of a target vehicle according to an embodiment of the present application is shown, which may specifically include steps 341 to 342:
in step 342, if the congestion distance of the road corresponding to the historical travel track exceeds the congestion threshold, a target travel track of the target vehicle after the positioning information disappears is generated according to the congestion distance.
Specifically, the road condition of the road section corresponding to the historical driving track is closely related to the road condition of the road section corresponding to the target driving track, that is, the road condition of the road segment corresponding to the historical driving track is greatly influenced by the road condition of the road segment corresponding to the target driving track, for example, when the road segment corresponding to the historical driving track is congested, it can be considered that the road section corresponding to the target driving track is congested to a great extent, and the more serious the congestion degree of the road section corresponding to the historical driving track is, the greater the possibility that the congestion occurs in the road section corresponding to the target driving track is, and if the congestion degree of the road section corresponding to the historical driving track is very small, it can be considered that the congestion does not occur in the road section corresponding to the target driving track.
Based on this, the technical solution of the present embodiment sets the congestion threshold of the congestion distance of the road segment corresponding to the historical travel track as a reference standard for determining whether the road segment corresponding to the target travel track is congested. That is, if the congestion distance of the road corresponding to the historical travel track exceeds the congestion threshold, it is determined that the road section corresponding to the target travel track is congested, and a target travel track of the target vehicle after the positioning information disappears is generated according to the congestion distance. For example, when the congestion threshold of the congestion distance of the road segment corresponding to the historical travel track is set to be 100 meters, and when the congestion distance of the road corresponding to the historical travel track is 110 meters, it is considered that the road segment corresponding to the target travel track is congested, and a target travel track of the target vehicle after the positioning information disappears is generated according to the congestion distance of 110 meters
The embodiment as described above has the advantage that by excluding the situation that the congestion distance of the road corresponding to the historical driving track is short, the misjudgment of the road condition of the road section corresponding to the target driving track can be reduced to a certain extent, and the generated target driving track is prevented from being inaccurate.
In one embodiment of the present application, generating the target traveling track of the target vehicle after the disappearance of the positioning information based on the congestion distance may be implemented by the steps as described in fig. 6.
Referring to fig. 6, a detailed flowchart for generating a target driving trajectory of a target vehicle according to an embodiment of the present application is shown, which may specifically include steps 343 to 344:
the time when the real-time positioning information of the target vehicle is obtained last time may be the time when the server receives the real-time positioning information of the target vehicle, and may also be a timestamp when the real-time positioning information of the target vehicle is uploaded.
And 344, calculating time span information of the target vehicle after the positioning information disappears and distance span information corresponding to the time span information based on the congestion distance and the time when the real-time positioning information of the target vehicle is obtained last time, wherein the time span information and the distance span information are used for representing a target driving track of the target vehicle after the positioning information disappears.
It should be noted that the time span information specifically indicates the extension of the target vehicle in the time dimension after the disappearance of the positioning information, the distance span information specifically indicates the extension of the target vehicle in the space dimension after the disappearance of the positioning information, and the time span information and the distance span information are in one-to-one correspondence. I.e. one time span information corresponds to one distance span information. For example, the position of the target vehicle corresponding to the 50 th second after the disappearance of the positioning information is 50 meters away from the position where the positioning information disappears in the road direction. As can be seen, a plurality of two-dimensional coordinates formed by the one-to-one correspondence of the time span information and the distance span information may form the target driving trajectory of the target vehicle after the disappearance of the positioning information.
In a specific implementation of an embodiment, the time span information is calculated by the following formula:
ΔT＝min(A,max(B,tnow-tlatest))
the distance span information is calculated by the following formula:
wherein Δ T represents time span information of the target vehicle after the disappearance of the positioning information, Δ L represents distance span information corresponding to the time span information of the target vehicle after the disappearance of the positioning information, TnowIndicating the time when the time span information of the target vehicle after the disappearance of the positioning information is calculated, tlatestIndicating the time when the real-time positioning information of the target vehicle was last acquired, ljamThe congestion distances of the roads corresponding to the congestion road conditions are represented, A, B, C, D and E represent preset parameters related to the formula.
Specifically, the A, B, C, D and the E may take the following values: 1800. 60, 2, 0.3, and 900, the time span information is calculated by the following formula:
ΔT＝min(1800,max(60,tnow-tlatest))
the distance span information is calculated by the following formula:
in order to make the present embodiment more clearly understood by those skilled in the art, the above embodiment is described below with a specific scenario. For example, in an embodiment of generating the target travel track of the target vehicle after the disappearance of the positioning information, the congestion threshold value of the congestion distance is set to 50 meters, and if the actual congestion distance is 100 meters and the time when the real-time positioning information of the target vehicle is acquired last time is 8 hours 00 minutes and 00 seconds, the time span information and the distance span information indicating the target travel track of the target vehicle after the disappearance of the positioning information may be calculated according to the above formulas, and the calculation results are shown in table 1.
TABLE 1
The advantage of generating the target driving track of the target vehicle after the disappearance of the positioning information through the above embodiment is that the influence of the road condition of the road section corresponding to the historical driving track on the target driving track of the target vehicle after the disappearance of the positioning information can be fully considered according to the time span information calculation formula and the distance span information calculation formula designed as above, so that the generated target driving track of the target vehicle after the disappearance of the positioning information is more accurate.
In another specific implementation, the time span information and the distance span information may be calculated by the following formulas:
ΔT＝min(A,max(B,tnow-tlatest))
wherein Δ T represents time span information of the target vehicle after the disappearance of the positioning information, Δ L represents distance span information corresponding to the time span information of the target vehicle after the disappearance of the positioning information, TnowIndicating the time when the time span information of the target vehicle after the disappearance of the positioning information is calculated, tlatestIndicating the time when the real-time positioning information of the target vehicle was last acquired, ljamThe congestion distance of the road corresponding to the congestion road condition is represented, A, B, C, D, E and F represent preset parameters related to the formula.
For the sake of brevity, this embodiment will not be described in detail herein, and it will be understood by those skilled in the art.
Further, in the present application, after the target driving track of the target vehicle is generated, the road condition of the road corresponding to the target driving track may be generated based on the target driving track of the target vehicle.
In an embodiment of the present application, generating a road condition of a road corresponding to a target driving track based on the target driving track of the target vehicle may be implemented by the steps illustrated in fig. 7.
Referring to fig. 7, a detailed flowchart of the road condition of the road corresponding to the target driving track of the target vehicle according to an embodiment of the present application is shown, which specifically includes steps 710 to 720:
since the target travel track of the target vehicle includes time information and space (position or distance) information of the target vehicle in the target travel track, it is possible for those skilled in the art to calculate speed data of the target vehicle on a road corresponding to the target travel track based on the target travel track.
The degree of smoothness or congestion of the road is closely related to the speed of vehicles on the road, so that the road condition of the road can be calculated and reflected by the speed data of the vehicles, for example, the slower the speed of the vehicles is, the more the road is biased to the congested road condition. In this embodiment, the speed data of the target vehicle on the road corresponding to the target driving track may be a driving speed of one target vehicle on the road corresponding to the target driving track, or may be an average driving speed of a plurality of target vehicles on the road corresponding to the target driving track.
In an embodiment of the present application, generating a road condition of a road corresponding to a target driving track based on the target driving track of the target vehicle may be implemented by the steps illustrated in fig. 8.
Referring to fig. 8, a detailed flowchart of a road condition of a road corresponding to a target driving track of a target vehicle according to an embodiment of the present application is shown, which may specifically include steps 810 to 830:
it should be noted that the non-target vehicle refers to a vehicle whose real-time positioning information does not disappear in the present application, and therefore, the speed data of the non-target vehicle can be obtained according to the real driving track of the non-target vehicle.
The embodiment has the advantage that the generated target driving track corresponds to a more accurate road condition on the road by comprehensively considering the speed data of the target vehicle and the speed data of the non-target vehicle.
In a specific implementation of an embodiment of the present application, before generating a road condition on a road corresponding to the target driving track based on speed data of the target vehicle on the road corresponding to the target driving track and speed data of non-target vehicles on the road corresponding to the target driving track, the steps shown in fig. 9 may be further implemented.
Referring to fig. 9, a detailed flowchart of the road condition of the road corresponding to the target driving track of the target vehicle according to an embodiment of the present application is shown, which specifically includes steps 910 to 940:
step 910, inquiring the number of target vehicles and the number of non-target vehicles on a road corresponding to the target driving track;
step 920, detecting whether the number of the non-target vehicles exceeds a preset multiple of the number of the target vehicles;
step 930, if the number of the non-target vehicles exceeds a predetermined multiple of the number of the target vehicles, generating road conditions of a road corresponding to the target driving track based on speed data of the non-target vehicles on the road corresponding to the target driving track;
step 940, if the number of the non-target vehicles is not more than the preset multiple of the number of the target vehicles, generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicles on the road corresponding to the target driving track and the speed data of the non-target vehicles on the road corresponding to the target driving track.
The advantage of the above embodiment is that when the road condition of the road corresponding to the target driving track of the target vehicle is generated, whether to consider using the speed data of the target vehicle or not is determined by analyzing the proportional relationship between the number of the target vehicles and the number of the non-target vehicles, and computer resources can be reasonably used. That is, if the number of the target vehicles is small, the influence of the speed data of the target vehicles on the generation result of the road condition can be ignored, and further, the speed data of the target vehicles does not need to be called by consuming computer resources.
In addition, in order to further understand the overall implementation details of the present solution, the present solution is illustrated by the steps shown in fig. 10.
Referring to fig. 10, a detailed flowchart of generating road conditions of all roads according to an embodiment of the present application is shown, which may specifically include steps 1010 to 1060:
In step 1040, the trajectories of the other vehicles except the target vehicle are determined, and the speed data of each vehicle in all roads is calculated from the trajectories of all vehicles including the trajectory of the target vehicle expanding in the L downstream road.
In step 1050, the road conditions of all roads are calculated based on the speed data of each vehicle in all roads.
By implementing the overall implementation details as described in fig. 10, the implementation effect as shown in fig. 11 can be obtained:
referring to fig. 11, a comparison graph of a road condition in a scenario in which a target travel rail of a target vehicle is considered and a scenario in which the target travel rail of the target vehicle is not considered according to an embodiment of the present application is shown;
specifically, as shown in fig. 11, a scenario 1 is a road condition in a scenario in which the target travel rail of the target vehicle is not considered, and a scenario 2 is a road condition in a scenario in which the target travel rail of the target vehicle is considered. As can be seen from the figure, in the location information existing area, since both can upload the implementation location information of the vehicle normally, the road condition in the scene 1 and the road condition in the scene 2 are both released as congestion, but in the location information disappearance area, since the target running track of the target vehicle is not considered in the scene 1, the released information of the smooth road condition is not in line with the reality. And because the target running rail of the target vehicle is considered in the scene 2, the information of road condition congestion is issued, which is consistent with the reality.
Moreover, the inventor of the application discovers through experiments that the road condition of 35 ten thousand roads is published by a whole road network about every minute by taking the Beijing late peak as an example, 1.4 ten thousand roads with congested road conditions can be published before the scheme of the application is introduced, and after the scheme of the application is introduced, the number of the roads with congested road conditions is increased by about 420, the newly increased range is about 3%, the recall rate of the real congested road conditions is greatly improved, the missed publication is avoided, more accurate road condition information is finally brought to a user, and the user experience is improved.
In the technical scheme provided by some embodiments of the application, a target vehicle with lost positioning information is determined by acquiring real-time positioning information of the vehicle, and a historical driving track of the target vehicle before the lost positioning information and a road corresponding to the historical driving track are determined according to the positioning information of the target vehicle. Since the road condition of the road before the disappearance of the positioning information and the road condition of the road after the disappearance of the positioning information have strong correlation, that is, the congestion of the road before the disappearance of the positioning information means that the road after the disappearance of the positioning information is also likely to be congested, the driving track of the vehicle on the congested road after the disappearance of the positioning information is predictable. Therefore, according to the technical scheme provided by this embodiment, whether a road corresponding to a historical travel track of a vehicle is a congested road condition is judged, and a target travel track of the target vehicle after the positioning information disappears is generated according to a congestion distance of the congested road condition. Based on the scheme, even if the real-time positioning information of the vehicle disappears and cannot be obtained under some special conditions, for example, under the condition that the road condition is congested, the target running track of the target vehicle after the disappearance of the positioning information can be generated, so that the real road condition of the road can be calculated, and the technical problems that the authenticity of the vehicle running track cannot be ensured due to the disappearance of the real-time positioning information of the vehicle and the real road condition cannot be calculated in the prior art, and the extremely poor user experience is caused are solved.
The following describes embodiments of the apparatus of the present application, which can be used to execute the method for generating the vehicle driving trajectory in the above embodiments of the present application. For details that are not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method for generating a driving trajectory of a vehicle described above in the present application.
Fig. 12 shows a block diagram of a vehicle travel track generation device according to an embodiment of the present application.
Referring to fig. 12, a vehicle travel track generation device 1200 according to an embodiment of the present application includes: an acquisition unit 1210, a determination unit 1220, a calculation unit 1230, and a generation unit 1240.
The obtaining unit 1210 is used for obtaining real-time positioning information of the vehicle to detect a target vehicle with lost positioning information; the determining unit 1220 is configured to determine, based on the real-time positioning information, a historical driving track of the target vehicle before the positioning information disappears and a road corresponding to the historical driving track; the calculating unit 1230 is configured to calculate a congestion distance of the road corresponding to the historical driving track if the traffic information that was released last time in the history of the road corresponding to the historical driving track is a congested traffic information; the generation unit 1240 is used to generate a target travel track of the target vehicle after the disappearance of the positioning information based on the congestion distance.
In some embodiments of the present application, based on the foregoing solution, the obtaining unit 1210 is configured to: detecting whether a time interval between a time when the real-time positioning information of the vehicle is acquired last time and a time when the positioning information of the vehicle is detected to disappear last time is lower than a preset threshold value or not; and if the time interval between the moment of the last acquired real-time positioning information of the vehicle and the moment of the last detected disappearance of the positioning information of the vehicle is not lower than a preset threshold value, taking the vehicle as a target vehicle with disappeared positioning information.
In some embodiments of the present application, based on the foregoing scheme, the determining unit 1210 is configured to: and determining the historical driving track of the target vehicle in the latest period of time before the disappearance of the positioning information based on the real-time positioning information.
In some embodiments of the present application, based on the foregoing scheme, the generating unit 1040 is configured to: detecting whether the congestion distance of a road corresponding to the historical driving track exceeds a congestion threshold value; and if the congestion distance of the road corresponding to the historical driving track exceeds a congestion threshold, generating a target driving track of the target vehicle after the positioning information disappears according to the congestion distance.
In some embodiments of the present application, based on the foregoing scheme, the generating unit 1040 is configured to: acquiring the time when the real-time positioning information of the target vehicle is acquired for the last time; and calculating time span information and distance span information corresponding to the time span information of the target vehicle after the positioning information disappears on the basis of the congestion distance and the time when the real-time positioning information of the target vehicle is obtained last time, wherein the time span information and the distance span information are used for representing a target driving track of the target vehicle after the positioning information disappears.
In some embodiments of the present application, based on the foregoing scheme, the generating unit 1040 is configured to calculate the time span information by the following formula:
ΔT＝min(A,max(B,tnow-tlatest))
the generating unit 1040 is further configured to calculate the distance span information by the following formula:
wherein Δ T represents time span information of the target vehicle after the disappearance of the positioning information, Δ L represents distance span information corresponding to the time span information of the target vehicle after the disappearance of the positioning information, TnowIndicating the time when the time span information of the target vehicle after the disappearance of the positioning information is calculated, tlatestIndicating the time when the real-time positioning information of the target vehicle was last acquired, ljamThe congestion distances of the roads corresponding to the congestion road conditions are represented, A, B, C, D and E represent preset parameters related to the formula.
In some embodiments of the present application, based on the foregoing scheme, the generating unit 1040 is configured to: calculating speed data of the target vehicle on a road corresponding to the target running track based on the target running track of the target vehicle after the positioning information disappears; and generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicle on the road corresponding to the target driving track.
In some embodiments of the present application, based on the foregoing scheme, the generating unit 1040 is configured to: acquiring speed data of a non-target vehicle on a road corresponding to the target running track; calculating speed data of the target vehicle on a road corresponding to the target running track based on the target running track of the target vehicle after the positioning information disappears; and generating the road condition on the road corresponding to the target running track based on the speed data of the target vehicle on the road corresponding to the target running track and the speed data of the non-target vehicle on the road corresponding to the target running track.
In some embodiments of the present application, based on the foregoing scheme, the generating unit 1040 is configured to: inquiring the number of target vehicles and the number of non-target vehicles on a road corresponding to the target driving track; detecting whether the number of the non-target vehicles exceeds a preset multiple of the number of the target vehicles; if the number of the non-target vehicles exceeds the preset multiple of the number of the target vehicles, generating road conditions of roads corresponding to the target driving track based on the speed data of the non-target vehicles on the roads corresponding to the target driving track; and if the number of the non-target vehicles is not more than the preset multiple of the number of the target vehicles, generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicles on the road corresponding to the target driving track and the speed data of the non-target vehicles on the road corresponding to the target driving track.
FIG. 13 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
It should be noted that the computer system 1300 of the electronic device shown in fig. 13 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 13, a computer system 1300 includes a Central Processing Unit (CPU)1301 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 1302 or a program loaded from a storage portion 1308 into a Random Access Memory (RAM) 1303. In the RAM 1303, various programs and data necessary for system operation are also stored. The CPU 1301, the ROM 1302, and the RAM 1303 are connected to each other via a bus 1304. An Input/Output (I/O) interface 1305 is also connected to bus 1304.
The following components are connected to the I/O interface 1305: an input portion 1306 including a keyboard, a mouse, and the like; an output section 1307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 1308 including a hard disk and the like; and a communication section 1309 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 1309 performs communication processing via a network such as the internet. A drive 1310 is also connected to the I/O interface 1305 as needed. A removable medium 1313 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1310 as necessary, so that a computer program read out therefrom is mounted into the storage portion 1308 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications component 1309 and/or installed from removable media 1311. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 1301.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method for generating a vehicle travel track, the method comprising:
acquiring real-time positioning information of the vehicle to detect a target vehicle with lost positioning information;
determining a historical driving track of the target vehicle before the positioning information disappears and a road corresponding to the historical driving track based on the real-time positioning information;
if the road condition which is released last time in history of the road corresponding to the historical driving track is a congested road condition, calculating the congestion distance of the road corresponding to the historical driving track;
and generating a target running track of the target vehicle after the positioning information disappears on the basis of the congestion distance.
2. The method of claim 1, wherein the obtaining real-time location information of the vehicle to detect a target vehicle with lost location information comprises:
detecting whether a time interval between a time when the real-time positioning information of the vehicle is acquired last time and a time when the positioning information of the vehicle is detected to disappear last time is lower than a preset threshold value or not;
and if the time interval between the moment of the last acquired real-time positioning information of the vehicle and the moment of the last detected disappearance of the positioning information of the vehicle is not lower than a preset threshold value, taking the vehicle as a target vehicle with disappeared positioning information.
3. The method of claim 1, wherein determining the historical travel trajectory of the target vehicle before the disappearance of the positioning information based on the real-time positioning information comprises:
and determining the historical driving track of the target vehicle in the latest period of time before the disappearance of the positioning information based on the real-time positioning information.
4. The method of claim 1, wherein generating the target travel track of the target vehicle after disappearance of positioning information based on the congestion distance comprises:
detecting whether the congestion distance of a road corresponding to the historical driving track exceeds a congestion threshold value;
and if the congestion distance of the road corresponding to the historical driving track exceeds a congestion threshold, generating a target driving track of the target vehicle after the positioning information disappears according to the congestion distance.
5. The method of claim 1, wherein generating the target travel track of the target vehicle after disappearance of positioning information based on the congestion distance comprises:
acquiring the time when the real-time positioning information of the target vehicle is acquired for the last time;
and calculating time span information and distance span information corresponding to the time span information of the target vehicle after the positioning information disappears on the basis of the congestion distance and the time when the real-time positioning information of the target vehicle is obtained last time, wherein the time span information and the distance span information are used for representing a target driving track of the target vehicle after the positioning information disappears.
6. The method of claim 5, wherein the time span information is calculated by the following formula:
ΔT＝min(A,max(B,tnow-tlatest))
the distance span information is calculated by the following formula:
wherein Δ T represents time span information of the target vehicle after the disappearance of the positioning information, Δ L represents distance span information corresponding to the time span information of the target vehicle after the disappearance of the positioning information, TnowIndicating the time when the time span information of the target vehicle after the disappearance of the positioning information is calculated, tlatestIndicating the time when the real-time positioning information of the target vehicle was last acquired, ljamThe congestion distances of the roads corresponding to the congestion road conditions are represented, A, B, C, D and E represent preset parameters related to the formula.
7. The method according to claim 1, wherein after generating a target travel track of the target vehicle after disappearance of positioning information based on the congestion distance, the method further comprises:
calculating speed data of the target vehicle on a road corresponding to the target running track based on the target running track of the target vehicle after the positioning information disappears;
and generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicle on the road corresponding to the target driving track.
8. The method according to claim 1, wherein after generating a target travel track of the target vehicle after disappearance of positioning information based on the congestion distance, the method further comprises:
acquiring speed data of a non-target vehicle on a road corresponding to the target running track; a
Calculating speed data of the target vehicle on a road corresponding to the target running track based on the target running track of the target vehicle after the positioning information disappears;
and generating the road condition on the road corresponding to the target running track based on the speed data of the target vehicle on the road corresponding to the target running track and the speed data of the non-target vehicle on the road corresponding to the target running track.
9. The method according to claim 8, wherein before generating the road condition on the road corresponding to the target driving track based on the speed data of the target vehicle on the road corresponding to the target driving track and the speed data of the non-target vehicle on the road corresponding to the target driving track, the method further comprises:
inquiring the number of target vehicles and the number of non-target vehicles on a road corresponding to the target driving track;
detecting whether the number of the non-target vehicles exceeds a preset multiple of the number of the target vehicles;
if the number of the non-target vehicles exceeds the preset multiple of the number of the target vehicles, generating road conditions of roads corresponding to the target driving track based on the speed data of the non-target vehicles on the roads corresponding to the target driving track;
and if the number of the non-target vehicles is not more than the preset multiple of the number of the target vehicles, generating the road condition of the road corresponding to the target driving track based on the speed data of the target vehicles on the road corresponding to the target driving track and the speed data of the non-target vehicles on the road corresponding to the target driving track.
10. A vehicle travel track generation device, characterized by comprising:
an acquisition unit configured to acquire real-time positioning information of a vehicle to detect a target vehicle for which the positioning information disappears;
the determining unit is used for determining a historical driving track of the target vehicle before the disappearance of the positioning information and a road corresponding to the historical driving track based on the real-time positioning information;
the calculation unit is used for calculating the congestion distance of the road corresponding to the historical driving track if the road condition which is released last time in the history is the congestion road condition;
and a generation unit configured to generate a target travel track of the target vehicle after the positioning information disappears, based on the congestion distance.
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| CN111798661A (en) * | 2020-07-13 | 2020-10-20 | 腾讯科技（深圳）有限公司 | Overtaking early warning method and device during vehicle running |
| CN112417953B (en) * | 2020-10-12 | 2022-07-19 | 腾讯科技（深圳）有限公司 | Road condition detection and map data updating method, device, system and equipment |
| CN112380448B (en) * | 2020-12-03 | 2022-02-22 | 腾讯科技（深圳）有限公司 | Vehicle data processing method and device, computer equipment and storage medium |
| CN112255653A (en) * | 2020-12-22 | 2021-01-22 | 长沙树根互联技术有限公司 | Driving track generation method and device |
| CN112508310B (en) * | 2021-02-01 | 2021-06-29 | 智道网联科技(北京)有限公司 | Driving track simulation method and device and storage medium |
| CN113015243A (en) * | 2021-03-19 | 2021-06-22 | 恒大新能源汽车投资控股集团有限公司 | Vehicle positioning method and device and vehicle |
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