CN110873571A - Intersection stop line data acquisition method, system and device - Google Patents

Intersection stop line data acquisition method, system and device Download PDF

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Publication number
CN110873571A
CN110873571A CN201811000260.3A CN201811000260A CN110873571A CN 110873571 A CN110873571 A CN 110873571A CN 201811000260 A CN201811000260 A CN 201811000260A CN 110873571 A CN110873571 A CN 110873571A
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China
Prior art keywords
intersection
stop line
vehicle track
track points
vehicle
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CN201811000260.3A
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Chinese (zh)
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CN110873571B (en
Inventor
李炎
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Beijing Didi Infinity Technology and Development Co Ltd
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Beijing Didi Infinity Technology and Development Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method, a system and a device for acquiring intersection stop line data, wherein the method comprises the following steps: acquiring a crossing range; acquiring vehicle track points passing through the intersection based on the intersection range; and determining the position of the stop line at the intersection based on the driving information of the vehicle track points passing through the intersection. The method provided by the invention can determine the position of the intersection stop line according to the vehicle track points passing through the intersection, and the position of the intersection stop line is used as the turn reminding point for navigation broadcasting, so that a driver can be reminded of completing turn action in time, and the navigation experience of a user is improved.

Description

Intersection stop line data acquisition method, system and device
Technical Field
The invention relates to the technical field of navigation service, in particular to a method and a system for acquiring intersection stop line data.
Background
With the development of urban traffic, driving or taxi-taking travel becomes one of the main travel modes of people at present. The navigation map is widely applied in the driving or taxi taking process due to the characteristics of rapid route planning, real-time voice broadcasting and the like. The driver uses the navigation service, and can smoothly drive to the destination according to the guidance of the navigation voice only by inputting the destination, thereby solving the problems of wrong walking or extra bus fare caused by the intentional detour of the driver, and the like.
Disclosure of Invention
The invention aims to provide a method for acquiring intersection stop line data, which takes the stop line position as an actual turning point of navigation broadcasting, so that the navigation broadcasting is more timely, and the user experience is improved.
In a first aspect, the invention discloses a method for acquiring intersection stop line data. The method comprises the following steps: acquiring a crossing range; acquiring vehicle track points passing through the intersection based on the intersection range; and determining the position of the stop line at the intersection based on the driving information of the vehicle track points passing through the intersection.
In some embodiments, the travel information for the trajectory coordinate point includes, but is not limited to, speed magnitude (i.e., speed), speed direction, location coordinates, heading angle, timestamp, and the like.
In some embodiments, said determining the location of a stop line at said intersection based on travel information of vehicle track points passing through said intersection comprises: screening out vehicle track points with the speed smaller than a first preset threshold value based on the speed of the vehicle track points passing through the intersection; and determining the position of the intersection stop line based on the position information of the vehicle track points with the speed less than a first preset threshold value.
In some embodiments, the determining the position of the intersection stop line based on the position information of the vehicle track points with the speed less than the first preset threshold comprises: mapping the vehicle track points with the speed less than a first preset threshold value to a road section of the intersection; determining a vehicle track point set of a stop line; and determining the position of the stop line at the intersection based on the set of the vehicle track points of the stop line.
In some embodiments, the vehicle trajectory points having a velocity less than the first preset threshold comprise vehicle trajectory points having a velocity of zero. In other embodiments, the first predetermined threshold may be a rate near zero (e.g., 0.01m/s, 0.001m/s, etc.).
In some embodiments, the obtaining the intersection range comprises: outwards expanding a circle by taking the center point of the intersection as the circle center to obtain the intersection range; or, a polygon is outwards expanded by taking the center point of the intersection as the center so as to obtain the intersection range.
In some embodiments, the radius of the circle or the distance between the centers of the polygon is any value from 0 to 100 meters (e.g., 10 meters, 20 meters, 50 meters, 80 meters, 100 meters, etc.).
In a second aspect, the present invention discloses an intersection stop line data acquisition system. The system comprises: the acquisition module is used for acquiring an intersection range and acquiring vehicle track points passing through the intersection based on the intersection range; and the intersection stop line position determining module is used for determining the position of the intersection stop line based on the running information of the vehicle track points passing through the intersection.
In some embodiments, the travel information for the trajectory coordinate point includes, but is not limited to, speed magnitude (i.e., speed), speed direction, location coordinates, heading angle, timestamp, and the like.
In some embodiments, the intersection stop line position determination module comprises: the vehicle track point screening unit is used for screening out vehicle track points with the speed smaller than a first preset threshold value based on the speed of the vehicle track points passing through the intersection; and the intersection stop line position determining unit is used for determining the position of the intersection stop line based on the position information of the vehicle track point with the speed less than the first preset threshold value.
In some embodiments, the intersection stop line position determination unit comprises: the vehicle track point mapping subunit is used for mapping the vehicle track points with the speed less than the first preset threshold value to a road section of the intersection; the parking line vehicle track point set determining subunit is used for determining a parking line vehicle track point set; and the stop line position determining subunit is used for determining the position of the stop line at the intersection based on the stop line vehicle track point set.
In some embodiments, the vehicle trajectory points having a velocity less than the first preset threshold comprise vehicle trajectory points having a velocity of zero. In other embodiments, the first predetermined threshold may be a rate near zero (e.g., 0.01m/s, 0.001m/s, etc.).
In some embodiments, the obtaining module for obtaining the intersection range includes: outwards expanding a circle by taking the center point of the intersection as the circle center to obtain the intersection range; or, a polygon is outwards expanded by taking the center point of the intersection as the center so as to obtain the intersection range.
In some embodiments, the radius of the circle or the distance between the centers of the polygon is any value from 0 to 100 meters (e.g., 10 meters, 20 meters, 50 meters, 80 meters, 100 meters, etc.).
In a third aspect, a computer-readable storage medium is disclosed. The storage medium stores computer instructions which, when executed, perform the method of intersection stop line data acquisition.
In a fourth aspect, the invention discloses an intersection stop line data acquisition device. The intersection stop line data acquisition device comprises a processor, wherein the processor is used for executing the intersection stop line data acquisition method.
Drawings
FIG. 1 is a schematic diagram of an intersection stop line data collection service system 100 according to some embodiments of the present invention;
FIG. 2 is a block diagram of an exemplary computing device 200 for implementing a system in accordance with aspects of the present invention;
FIG. 3 is a block diagram of an exemplary mobile device 300 for implementing a system in accordance with aspects of the present invention;
FIG. 4 is a schematic flow diagram illustrating a method of intersection stop line data collection in accordance with some embodiments of the present invention;
FIG. 5 is a flowchart illustrating a method for implementing step 403 in a method for collecting data of a stop line at an intersection according to an embodiment of the present invention;
FIG. 6 is a functional block diagram of an intersection stop line data collection device 1101 shown in accordance with some embodiments of the present invention;
FIG. 7 is a functional block diagram of an intersection stop line position determination module 620, shown in accordance with some embodiments of the present invention;
fig. 8 is a functional block diagram of an intersection stop line position determination unit 720 according to some embodiments of the present invention.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Although various references are made herein to certain modules or units in a system according to embodiments of the present application, any number of different modules or units may be used and run on a client and/or server. The modules are merely illustrative and different aspects of the systems and methods may use different modules.
Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that these operations are not necessarily performed in the exact order recited in the text or flow diagrams. Rather, various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Embodiments of the present application may be applied to different transportation systems including, but not limited to, one or a combination of terrestrial, marine, aeronautical, aerospace, and the like. For example, taxis, special cars, tailplanes, buses, designated drives, trains, railcars, high-speed rails, ships, airplanes, hot air balloons, unmanned vehicles, receiving/sending couriers, and the like employ management and/or navigation transportation systems. The application scenarios of the different embodiments of the present application include, but are not limited to, one or a combination of several of a web page, a browser plug-in, a client, a customization system, an intra-enterprise analysis system, an artificial intelligence robot, and the like. It should be understood that the application scenarios of the system and method of the present application are merely examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios without inventive effort based on these figures. Such as other similar tracked vehicles.
The "passenger", "navigation user", "service provider", "driver", "track provider", "service provider", "user" and "user" described in the present application may be a person, tool or other entity as a party needing or using the navigation service, or as a party providing the driving information of the vehicle track point or assisting in providing the driving information of the vehicle track point.
Fig. 1 is a schematic diagram of an intersection stop line data collection service system 100 according to some embodiments of the present invention.
The intersection stop line data collection service system 100 can include a server 110, a trajectory providing end 130, a memory 150, a navigation using end 140, and a network 120. The server 110 may include an intersection stop line data collection device 1101; in some embodiments, the server 110 may include both the intersection stop line data collection device 1101 and the navigation planning device 1102. The server 110 may be a terminal device or a server group. The server farm may be centralized, such as a data center. The server farm may also be distributed, such as a distributed system.
For convenience of description, the intersection stop line data collection device 1101 may also be referred to as an intersection stop line data collection system. The intersection stop line data acquisition system is used for determining the position of an intersection stop line. The intersection stop line data collection device 1101 may be local or remote. The intersection stop line data collection device 1101 may be a software module implemented by a computer program, or may be a hardware device including a processor and a memory, where the memory may include computer instructions (or program codes), and when the processor reads and executes the computer instructions, the positions of stop lines at different intersections are determined by a certain algorithm.
In some embodiments, the intersection stop line data collection device 1101 may be a system for analyzing and processing the collected information to generate an analysis result. For example, the intersection stop line data collection device 1101 obtains vehicle track points passing through the intersection range uploaded by the track providing end 130, and determines the position of the intersection stop line by screening and processing the driving information of the vehicle track points.
In some embodiments, the intersection stop line data collection device 1101 sends the obtained location of the intersection stop line to the navigation planning device 1102. The navigation planning device 1102 executes the computer instructions according to the navigation request and obtains path planning information through calculation of a certain algorithm. In some embodiments, the navigation planner 1102 transmits the path planning information to the navigation consumer 140. In some embodiments, the navigation consumer 140 may display a path planning map on the display screen. In some embodiments, the path planning map includes, but is not limited to: starting point, end point, planned path, navigation map where the path is located, and the like. In some embodiments, the navigation user terminal 140 can perform voice broadcast during the driving of the vehicle. In some embodiments, the navigation client 140 may use the stop line position as a prompt point for turning broadcast during the navigation voice broadcast. In some embodiments, the position of the parking line is used as a prompt point for turning broadcast, so that a driver can be reminded of completing turning action in time. In some embodiments, the navigation planner 1102 may be configured in the server 110 or in an existing navigation system.
In some embodiments, the server 110 communicates with an external navigation system, the intersection stop line data collection device 1101 transmits the stop line position data to the external navigation system, and the external navigation system executes computer instructions and processes the intersection stop line position data through an algorithm to navigate through a navigation map (e.g., Google map, grand map, Baidu map, etc.).
The trajectory provider 130 refers to a person, tool, or other entity that uploads vehicle trajectory points. In some embodiments, the trajectory-providing end 130 is the driver end of the uploaded vehicle trajectory points. In some embodiments, the driver uploads the driving information of the vehicle track points of the driving path to the memory 150 for storage, and the intersection stop line data collection device 1101 obtains the driving information of the vehicle track points and determines the positions of the intersection stop lines according to the driving information of the vehicle track points. In some embodiments, the trajectory provider 130 includes, but is not limited to, one or a combination of mobile devices 130-1, desktop computers 130-2, laptop computers 130-3, devices built in to the vehicle 130-4, and the like. In other embodiments, the trajectory provider 130 may be a vehicle-mounted terminal, or a mobile terminal of the driver and/or passenger.
The navigation consumer 140 is an individual, tool, or other entity that uses the navigation service. In some embodiments, the navigation consumer 140 is a driver-side user that uses navigation services. In some embodiments, the driver uses a navigation service (e.g., Google maps, grand maps, hundredth maps, etc.) to route to the destination, and the passenger may also use the navigation service to route. In some embodiments, the navigation client 140 includes, but is not limited to, one or a combination of mobile devices 140-1, desktop computers 140-2, notebook computers 140-3, built-in devices 140-4 of automobiles, and the like. For example, the navigation user terminal 140 may be a vehicle-mounted terminal, or a mobile terminal of a driver and/or a passenger. The intersection stop line data collection device 1101 can access the data information stored in the memory 150 directly or can access the information of the user 130/140 directly through the network 120. The information includes, but is not limited to, travel information for vehicle track points. Such as speed magnitude (i.e., speed), speed direction, location coordinates, heading angle, timestamp, etc.
In some embodiments, the trajectory provider 130 and the navigation consumer 140 may be the same individual, tool, or other entity. In some embodiments, the trajectory providing end 130 and the navigation using end 140 may be configured to provide route planning navigation and voice broadcast, and may also be configured to upload driving information of vehicle track points of a driving route to the memory 150, and the intersection stop line data collection device 1101 determines the position of an intersection stop line according to the driving information of the vehicle track points.
The memory 150 may generally refer to a device having a storage function. The memory 150 is mainly used for storing data collected from the trajectory providing end 130 and/or the navigation using end 140 and various data generated in the operation of the intersection stop line data collecting device 1101. The memory 150 may be local or remote. The connection or communication between the system database and other modules of the system may be wired or wireless.
Network 120 may be a conduit that provides for the exchange of information. The network 120 may be a single network or a combination of networks. Network 120 may include, but is not limited to, one or a combination of local area networks, wide area networks, public networks, private networks, wireless local area networks, virtual networks, metropolitan area networks, public switched telephone networks, and the like. Network 120 may include a variety of network access points, such as wired or wireless access points, base stations (e.g., 120-1, 120-2), or network switching points, through which data sources connect to network 120 and transmit information through the network.
Fig. 2 is a block diagram of an exemplary computing device 200 for implementing a system in accordance with aspects of the present invention.
As shown in fig. 2, computing device 200 may include a processor 210, a memory 220, input/output interfaces 230, and communication ports 240.
The processor 210 may execute the computing instructions (program code) and perform the functions of the intersection stop line data collection service system 100 described herein. The computing instructions may include programs, objects, components, data structures, procedures, modules, and functions (the functions refer to specific functions described in the present invention). For example, the processor 210 may process image or text data obtained from any other component of the intersection stop line data collection service system 100. In some embodiments, processor 210 may include microcontrollers, microprocessors, Reduced Instruction Set Computers (RISC), Application Specific Integrated Circuits (ASIC), application specific instruction set processors (ASIP), Central Processing Units (CPU), Graphics Processing Units (GPU), Physical Processing Units (PPU), microcontroller units, Digital Signal Processors (DSP), Field Programmable Gate Array (FPGA), Advanced RISC Machines (ARM), programmable logic devices, any circuit or processor capable of executing one or more functions, or the like, or any combination thereof. For illustration only, the computing device 200 in FIG. 2 depicts only one processor, but it is noted that the computing device 200 in the present invention may also include multiple processors.
The memory 220 may store data/information obtained from any other component of the intersection stop line data collection service system 100. In some embodiments, memory 220 may include mass storage, removable storage, volatile read and write memory, Read Only Memory (ROM), and the like, or any combination thereof. Exemplary mass storage devices may include magnetic disks, optical disks, solid state drives, and the like. Removable memory may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tape, and the like. Volatile read and write memory can include Random Access Memory (RAM). RAM may include Dynamic RAM (DRAM), double-data-rate synchronous dynamic RAM (DDR SDRAM), Static RAM (SRAM), thyristor RAM (T-RAM), zero-capacitance (Z-RAM), and the like. ROM may include Masked ROM (MROM), Programmable ROM (PROM), erasable programmable ROM (PEROM), Electrically Erasable Programmable ROM (EEPROM), compact disk ROM (CD-ROM), digital versatile disk ROM, and the like.
The input/output interface 230 may be used to input or output signals, data, or information. In some embodiments, the input/output interface 230 may enable a user to interface with the intersection stop line data collection service system 100. In some embodiments, input/output interface 230 may include an input device and an output device. Exemplary input devices may include a keyboard, mouse, touch screen, microphone, and the like, or any combination thereof. Exemplary output devices may include a display device, speakers, printer, projector, etc., or any combination thereof. Exemplary display devices may include Liquid Crystal Displays (LCDs), Light Emitting Diode (LED) based displays, flat panel displays, curved displays, television equipment, Cathode Ray Tubes (CRTs), and the like, or any combination thereof.
The communication port 240 may be connected to a network for data communication. The connection may be a wired connection, a wireless connection, or a combination of both. The wired connection may include an electrical cable, an optical cable, or a telephone line, etc., or any combination thereof. The wireless connection may include bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile networks (e.g., 3G, 4G, or 5G, etc.), etc., or any combination thereof. In some embodiments, the communication port 240 may be a standardized port, such as RS232, RS485, and the like. In some embodiments, the communication port 240 may be a specially designed port. For example, the communication port 240 may be designed in accordance with the digital imaging and medical communication protocol (DICOM).
Fig. 3 is a block diagram of an exemplary mobile device 300 for implementing a system in accordance with aspects of the present invention.
As shown in fig. 3, the mobile device 300 may include a communication platform 310, a display 320, a Graphics Processor (GPU)330, a Central Processing Unit (CPU)340, an input/output interface 350, a memory 360, a storage 370, and the like. In some embodiments, operating system 361 (e.g., iOS, Android, Windows Phone, etc.) and application programs 362 may be loaded from storage 370 into memory 360 for execution by CPU 340. The applications 362 may include a browser or application for receiving imaging, graphics processing, audio or other relevant information from the intersection stop line data collection service 100.
To implement the various modules, units and their functionality described in this disclosure, a computing device or mobile device may serve as a hardware platform for one or more of the components described in this disclosure. The hardware elements, operating systems and programming languages of these computers or mobile devices are conventional in nature and those skilled in the art will be familiar with these techniques to adapt them to the intersection stop line data collection service system described in this invention. A computer with user interface elements may be used to implement a Personal Computer (PC) or other type of workstation or terminal device, and if suitably programmed, may also act as a server.
Fig. 4 is a flow diagram illustrating a method for intersection stop line data collection according to some embodiments of the invention.
Step 401, obtaining an intersection range.
In some embodiments, the intersection range may be a circle outward from the center point of the intersection, or may be a polygon outward from the center point of the intersection. In some embodiments, the circle includes, but is not limited to: regular or irregular shapes such as circles, ovals, etc. In some embodiments, the polygons include, but are not limited to: regular or irregular shapes such as rectangular, hexagonal, octagonal, etc. In some embodiments, the radius of the circle and/or the distance between the centers of the polygon is any value from 0 to 100 meters (e.g., 10 meters, 20 meters, 50 meters, 80 meters, 100 meters, etc.).
In some embodiments, the intersection range may be preset in advance to be stored in the memory 150. Further, the intersection range can be preset in advance according to the actual situation of each intersection. For example, the intersection range radius or/and the center-to-center distance of an eight-lane intersection may be set to 100 meters, and the intersection range radius or/and the center-to-center distance of a one-lane intersection or/and a two-lane intersection may be set to 30 meters.
In some embodiments, the topological structure of the roads in the electronic map is formed by line segments, Link is a basic unit of a road model in the electronic map and can represent a section of a road; node represents the intersection point of the road and the road, and the Node and Link can represent the topological structure of the whole road; roads of a road model in the electronic map are directional, the road model being similar to a mesh structure.
In some embodiments, the road centerline may be a characteristic line formed by sequentially connecting center points of road webs from a start point to an end point of a road, and the road centerline may reflect a plane position and a curve change of the road; in traffic management, the center line of a road is a sign line for distinguishing a traveling space of a vehicle traveling in both directions. In some embodiments, at the intersection, the intersection center line may be a line represented by two links near the Node in the intersection range; or the central lines of the two roads can be crossed extension lines after extending towards the intersection direction. In some embodiments, the intersection center point may be a Node connected to Link, or may be an intersection point where two road center lines extend to the intersection direction and then intersect.
In some embodiments, the intersection may be an intersection in which a road Link entering and exiting the intersection in the electronic map is a bidirectional Link; or the intersection of at least two crossed roads as bidirectional lanes on the actual road. In some embodiments, the intersection may be an intersection controlled by traffic lights, such as an intersection, an x-shaped intersection, or a T-shaped intersection.
And 402, acquiring vehicle track points passing through the intersection based on the intersection range.
In some embodiments, the driving information of the vehicle track points is uploaded by the vehicle-mounted terminal. Further, the vehicle track points can be obtained by GPS or beidou positioning technology. In some embodiments, the vehicle trajectory points are trajectory coordinate points that discretize a continuous vehicle trajectory into a single trajectory. In some embodiments, the travel information for a vehicle track point includes, but is not limited to, speed magnitude (i.e., speed), speed direction, location coordinates, heading angle, timestamp, and the like. In some embodiments, based on the position coordinates of the intersection range, a set of vehicle track points having position coordinates within the intersection range is screened out. In some embodiments, the vehicle-mounted terminal may upload the vehicle track points to the memory 150 for storage, or may directly transmit the vehicle track points to the intersection stop line data collection device 1101. In some embodiments, the driving information of the vehicle track points can also be uploaded by the mobile terminal of the driver and/or passenger.
In some embodiments, the vehicle trajectory points may be trajectory point data over a period of time. For example, in the intersection range of a certain intersection in Changan street, vehicle track points passing through the intersection range in the period from 1 month and 1 day in 2018 to 1 month and 31 day in 2018 are acquired. In some embodiments, the period of time may be predetermined to be stored in the memory 150. For example, at an intersection where the traffic flow is large, the period of time may be set to 1 day, 3 days, 7 days, 10 days, or the like; at the intersection with low traffic flow, the period of time can be set to 1 month, 2 months, 3 months, 6 months and the like.
In some embodiments, the trajectory point data over the period of time may be updated once at fixed time intervals (e.g., 1 week, 1 month, 2 months, 3 months, etc.), or may be updated in real-time. For example, in a road section with infrequent road construction, the acquisition time of the vehicle track points is between 2017 and 9 and 1 month and 2017 and 9 and 30 months, and the acquisition time of the vehicle track points updated after 3 months is between 2017 and 12 and 1 month and 2017 and 12 and 31 months; and vehicle track points can be updated and obtained in real time on a road section which is frequently built on the road. In some embodiments, the updating manner and the updating time interval may be preset according to the actual condition of the road, and stored in the memory 150.
And step 403, determining the position of the stop line at the intersection based on the driving information of the vehicle track points passing through the intersection.
In some embodiments, the intersection stop line may be a white straight line located at the intersection's boundary with the road segment. In some embodiments, at a traffic light controlled intersection, a vehicle encounters a stop signal (i.e., a red light) before entering the intersection, must stop behind the stop line, and waits for the next traffic signal (i.e., a green light) to exit the stop line.
In one embodiment, step 403 determines the position of the intersection stop line based on the position information of the vehicle track points passing through the intersection and having a speed less than a first preset threshold. The first preset threshold may be 0.01m/s or 0.001m/s, etc. In yet another embodiment, step 403 determines the intersection stop line position based on the vehicle track points that pass through the intersection and have a stopping action. For example, the velocity of the vehicle trace points is zero.
In some embodiments, vehicle track points which go straight in the range of the intersection and have vehicle stopping actions in the range of the intersection are obtained, and the position of the intersection stopping line is determined. The track point of which the driving track is straight can be determined based on a map matching technology. For example, when A, B, C three vehicles pass through the intersection, the track of the vehicle a is left turn, the running track of the vehicle B is straight, and the track of the vehicle C is right turn, only the vehicle track point of the vehicle B at the intersection is obtained. In some embodiments, the straight-ahead vehicle trajectory points can be vehicle trajectory points having a speed direction parallel to at least one intersection centerline. The track point of which the driving track is straight can also be determined based on the speed direction of the vehicle track point.
Fig. 5 is a flowchart illustrating an implementation method of step 403 in the intersection stop line data collection method according to the embodiment of the present invention. It further comprises:
and step 501, screening out vehicle track points with the speed less than a first preset threshold value based on the speed of the vehicle track points passing through the intersection.
In some embodiments, the vehicle trajectory points having a velocity less than the first preset threshold may be trajectory points having a velocity of zero. In other embodiments, the first predetermined threshold may be a rate near zero (e.g., 0.01m/s, 0.001m/s, etc.). In one embodiment, the first preset threshold may be preset to be stored in the memory 150.
In some embodiments, based on the vehicle track point sets passing through the intersection, the speed values are sorted, and the track point sets with the speed less than a first preset threshold are screened out. For example, the first preset threshold is set to be 0.01m/s, and vehicle track points with the speed within the range of 0-0.01m/s are screened out and grouped together.
And 502, mapping the vehicle track points with the speed less than the first preset threshold value to a road section of the intersection.
In some embodiments, the intersection stop line data collection device 1101 maps the coordinates of the location of the vehicle trajectory points to corresponding road coordinates. For example, the longitude and latitude of the position coordinate of a certain vehicle track point are (104.071478, 30.663951), and the track point is mapped to the position coordinate corresponding to the map. In some embodiments, the coordinates may be the WGS-84 coordinate system, the Beijing coordinate system of 1954, the Seaman coordinate system of 1980, or the local coordinate system, among others.
In some embodiments, the topology of the roads in the electronic map is formed by line segments, and Link is a basic unit of a road model in the electronic map and can represent a section of a road. In some embodiments, the road segment may be a basic unit Link in an electronic map, or may be other road measurement units. For example, the units of measure may be latitude and longitude, location coordinates, and the like. In some embodiments, the maps include, but are not limited to, road networks, electronic maps (digital maps), navigation maps, general maps, topographical maps, and the like. In some embodiments, the map may be stored in advance in the memory 150.
And step 503, determining a parking line vehicle track point set.
In some embodiments, the intersection stop line data collection device 1101 collects the distance value X (e.g., χ) between the vehicle track point and the intersection centerline perpendicular or intersecting the vehicle travel direction1、χ2、χi、χnEtc.) are sorted.
In some embodiments, the total number of vehicle track points mapped onto the road segment in step 502 is N, and the distance value is χiNumber N of corresponding vehicle track pointsiIs pi. The number N of the vehicle track pointsiCorresponding to the percentage piCan be expressed by the following formula:
Figure BDA0001782804970000151
wherein n is an arbitrary value (e.g., 1, 2, 10, 100, etc.), and i is an arbitrary value from 1 to n (e.g., 1, 2, 10, 100, etc.).
In some embodiments, the distance value X and the percentage p of the number of vehicle trace pointsiThe correspondence in accordance with the following table:
X χ1 χ2 … χi … χn
P p1 p2 … pi … pn
in some embodiments, the distance value X and the percentage P of the number of vehicle trace points are in the form of a normal or near-normal distribution by statistical analysis. In some embodiments, the mean e (X) and variance d (X) of the normally distributed distance value X and percentage P of the number of vehicle trace points can be expressed by the following formula:
E(X)＝χ1p1+χ2p2+…+χipi+…+χnpn(2)
Figure BDA0001782804970000152
in some embodiments, the determining the set of stop line vehicle track points may be selecting vehicle track points within a distance (e (x) ± d (x)) from a center line of the intersection and grouping the vehicle track points into a set.
In other embodiments, the distance value X (e.g., χ) between the vehicle track point and the intersection centerline perpendicular or intersecting the vehicle's direction of travel is based on a clustering algorithm1、χ2、χi、χnEtc.) cluster the vehicle track points. In other embodiments, the polyThe category number of the classes can be set according to the number of the vehicle track points or/and the distribution condition of the distance value X. In other embodiments, according to the clustering result, the class with the largest number of vehicle track points is selected and is combined into a set, and the set is determined as a set of vehicle track points of the stop line. For example, there are eight points f, g, h, i, j, k, l, m of the vehicle track, and the distance values from the center line of the intersection are χ13.0 m, χ23.1 m, χ35.0 m, chi45.1 m, chi54.9 m, χ65.0 m, chi77.1 m, χ8And 7.0 meters, dividing the eight points into three types according to a clustering algorithm: and selecting the G classes to form a set, wherein the set is a set of the vehicle track points of the stop line.
And step 504, determining the position of the stop line at the intersection based on the stop line vehicle track point set.
In some embodiments, the set of stop line vehicle trajectory points exhibit a distribution of straight lines that are perpendicular to the at least one intersection centerline. In some embodiments, based on the straight line, the intersection stop line data collection device 1101 may determine that the straight line is an intersection stop line.
Fig. 6 is a functional block diagram of an intersection stop line data collection device 1101 shown in some embodiments according to the invention.
The intersection stop line data collection device 1101 includes an acquisition module 610 and an intersection stop line position determination module 620.
The acquisition module 610 can acquire an intersection range and acquire vehicle track points passing through the intersection based on the intersection range. In some embodiments, the intersection range may be a circle outward from the center point of the intersection, or may be a polygon outward from the center point of the intersection. In some embodiments, the circle includes, but is not limited to: regular or irregular shapes such as circles, ovals, etc. In some embodiments, the polygons include, but are not limited to: regular or irregular shapes such as rectangular, hexagonal, octagonal, etc. In some embodiments, the radius of the circle and/or the distance between the centers of the polygon is any value from 0 to 100 meters (e.g., 10 meters, 20 meters, 50 meters, 80 meters, 100 meters, etc.).
In some embodiments, the driving information of the vehicle track points is uploaded by the vehicle-mounted terminal. Further, the vehicle track points can be obtained by GPS or beidou positioning technology. In some embodiments, the vehicle trajectory points are trajectory coordinate points that discretize a continuous vehicle trajectory into a single trajectory. In some embodiments, the travel information for a vehicle track point includes, but is not limited to, speed magnitude (i.e., speed), speed direction, location coordinates, heading angle, timestamp, and the like. In some embodiments, based on the position coordinates of the intersection range, a set of vehicle track points having position coordinates within the intersection range is screened out.
The intersection stop line position determination module 620 may determine the position of the intersection stop line based on the driving information of the vehicle track points passing through the intersection. In some embodiments, the obtaining module 610 obtains driving information of vehicle track points passing through the intersection, and the intersection stop line position determining module 620 executes computer instructions (program code) on the driving information of the vehicle track points and determines the position of the intersection stop line through an algorithm.
Fig. 7 is a functional block diagram of an intersection stop line position determination module 620, according to some embodiments of the present invention.
The intersection stop line position determination module 620 may further include a vehicle track point screening unit 710, an intersection stop line position determination unit 720.
The vehicle track point screening unit 710 may screen out vehicle track points having a rate smaller than a first preset threshold value based on a rate of passing through the vehicle track points of the intersection. In some embodiments, the vehicle trajectory points having a velocity less than the first preset threshold may be trajectory points having a velocity of zero. In other embodiments, the first predetermined threshold may be a rate near zero (e.g., 0.01m/s, 0.001m/s, etc.). In some embodiments, based on the vehicle track point sets passing through the intersection, the speed values are sorted, and the track point sets with the speed less than a first preset threshold are screened out. For example, the first preset threshold is set to be 0.01m/s, and vehicle track points with the speed within the range of 0-0.01m/s are screened out and grouped together.
The intersection stop line position determination unit 720 may determine the position of the intersection stop line based on the position information of the vehicle track point whose speed is less than the first preset threshold. In some embodiments, the vehicle track point screening unit 710 screens out vehicle track points with a speed less than a first preset threshold, and the intersection stop line position determining unit 720 executes computer instructions (program codes) on position information of the vehicle track points and determines the position of the intersection stop line through a certain algorithm.
Fig. 8 is a functional block diagram of an intersection stop line position determination unit 720 according to some embodiments of the present invention.
The intersection stop line position determination unit 720 includes a vehicle track point mapping subunit 810, a stop line vehicle track point set determination subunit 820, and a stop line position determination subunit 830.
The vehicle track point mapping subunit 810 can map vehicle track points having a rate less than a first preset threshold onto a road segment of the intersection. In some embodiments, the road segment may be a basic unit Link in an electronic map, or may be other road measurement units. For example, the units of measure may be latitude and longitude, location coordinates, and the like. In some embodiments, the maps include, but are not limited to, road networks, electronic maps (digital maps), navigation maps, general maps, topographical maps, and the like. In some embodiments, the map may be stored in advance in the memory 150.
The stop line vehicle trajectory point set determination subunit 820 can determine a set of stop line vehicle trajectory points. In some embodiments, the stop line vehicle trajectory point set determination subunit 820 orders the distance values of the vehicle trajectory points from the intersection center line perpendicular or intersecting the vehicle travel direction. In some embodiments, the stop line vehicle track points are calculated by a certain algorithm (the algorithm is described in detail elsewhere herein) according to the distance values and the percentage of the number of the vehicle track points, and are grouped into a set.
The stop line position determining subunit 830 may determine the position of the intersection stop line based on the set of stop line vehicle track points. In some embodiments, the set of stop line vehicle trajectory points exhibit a distribution of straight lines that are parallel to at least one intersection centerline. In some embodiments, based on the straight line, the intersection stop line data collection device 1101 may determine that the straight line is an intersection stop line.
The beneficial effects that may be brought by the embodiments of the present application include, but are not limited to: through the vehicle track point of gathering through the crossing, select the stop line vehicle track point set that speed is zero, confirm the position of crossing stop line with the stop line position is as navigation broadcast's turn warning point to can in time remind the driver to accomplish the action of turning, improve user's navigation experience. It is to be noted that different embodiments may produce different advantages, and in different embodiments, any one or combination of the above advantages may be produced, or any other advantages may be obtained.
The various modules and units described above are not essential and it will be apparent to a person skilled in the art, having the benefit of the present disclosure and principles, that various modifications and changes in form and detail may be made to the system without departing from the principles and structure of the technology, and that the various modules may be combined in any desired manner or form subsystems coupled to other modules and still be within the scope of the claims of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is a general idea of the present application, which is presented by way of example only, and it will be apparent to those skilled in the art that various changes, modifications or improvements may be made in accordance with the present application. Such alterations, modifications, and improvements are intended to be suggested or suggested by the present application and are intended to be within the spirit and scope of the embodiments of the present application.
Reference throughout this specification to terms such as "one embodiment," "some embodiments," or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in the embodiment.
Moreover, it will be apparent to those skilled in the art that the embodiments of the present application may be directed to new processes, methods, machines, manufacture, or improvements related thereto. Accordingly, embodiments of the present application may be embodied in pure hardware or in pure software, including but not limited to operating systems, resident software, microcode, etc.; but may also be embodied in "systems," "modules," "sub-modules," "units," "sub-units," etc., which may include both hardware and software. In addition, embodiments of the present application may exist as computer programs that may be embodied on computer-readable media.

Claims (14)

1. A method for acquiring intersection stop line data, which is characterized by comprising the following steps:
acquiring a crossing range;
acquiring vehicle track points passing through the intersection based on the intersection range;
and determining the position of the stop line at the intersection based on the driving information of the vehicle track points passing through the intersection.
2. The method of claim 1, wherein determining the location of the intersection stop line based on the travel information of the vehicle track points passing through the intersection comprises:
screening out vehicle track points with the speed smaller than a first preset threshold value based on the speed of the vehicle track points passing through the intersection;
and determining the position of the intersection stop line based on the position information of the vehicle track points with the speed less than a first preset threshold value.
3. The method of claim 2, wherein determining the location of the intersection stop line based on the location information of the vehicle track points for which the velocity is less than the first preset threshold comprises:
mapping the vehicle track points with the speed less than a first preset threshold value to a road section of the intersection;
determining a vehicle track point set of a stop line;
and determining the position of the stop line at the intersection based on the set of the vehicle track points of the stop line.
4. The method of claim 2, wherein the vehicle trajectory points having a velocity less than a first preset threshold comprise vehicle trajectory points having a velocity of zero.
5. The method of claim 1, wherein the obtaining the intersection range comprises:
outwards expanding a circle by taking the center point of the intersection as the circle center to obtain the intersection range;
or, a polygon is outwards expanded by taking the center point of the intersection as the center so as to obtain the intersection range.
6. The method according to claim 5, wherein the radius of the circle or the distance between the centers of the polygon is any value from 0 to 100 m.
7. An intersection stop line data acquisition system, comprising:
the acquisition module is used for acquiring an intersection range and acquiring vehicle track points passing through the intersection based on the intersection range;
and the intersection stop line position determining module is used for determining the position of the intersection stop line based on the running information of the vehicle track points passing through the intersection.
8. The system of claim 7, wherein the intersection stop line position determination module comprises:
the vehicle track point screening unit is used for screening out vehicle track points with the speed smaller than a first preset threshold value based on the speed of the vehicle track points passing through the intersection;
and the intersection stop line position determining unit is used for determining the position of the intersection stop line based on the position information of the vehicle track point with the speed less than the first preset threshold value.
9. The system of claim 8, wherein the intersection stop line position determination unit comprises:
the vehicle track point mapping subunit is used for mapping the vehicle track points with the speed less than the first preset threshold value to a road section of the intersection;
the parking line vehicle track point set determining subunit is used for determining a parking line vehicle track point set;
and the stop line position determining subunit is used for determining the position of the stop line at the intersection based on the stop line vehicle track point set.
10. The system of claim 8, wherein the vehicle trajectory points having a velocity less than a first preset threshold comprise vehicle trajectory points having a velocity of zero.
11. The system of claim 7, wherein the obtaining module for obtaining the intersection range comprises:
outwards expanding a circle by taking the center point of the intersection as the circle center to obtain the intersection range;
or, a polygon is outwards expanded by taking the center point of the intersection as the center so as to obtain the intersection range.
12. The system of claim 11, wherein the radius of the circle or the distance between the centers of the polygon is any value between 0 and 100 meters.
13. A computer-readable storage medium, wherein the storage medium stores computer instructions that when executed perform the method of any of claims 1-6.
14. An intersection stop line data collection device comprising a processor configured to perform the method of any of claims 1-6.
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