CN111091156A - Intersection passing time estimation method and device and electronic equipment - Google Patents
Intersection passing time estimation method and device and electronic equipment Download PDFInfo
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Abstract
The invention provides a method and a device for estimating the passing time of an intersection, electronic equipment and a computer readable storage medium, wherein the method for estimating the passing time of the intersection comprises the following steps: respectively calculating the similarity between the sample intersections and the intersections to be passed; acquiring the shortest passing time of the intersection to be passed; obtaining the delay waiting time of each sample intersection; and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time. According to the method for estimating the crossing traffic time, the crossing traffic time with better real-time performance and accuracy can be obtained, and meanwhile, the method has the application capability of generalizing the crossing traffic time to the whole city.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a method and a device for estimating the passing time of an intersection, electronic equipment and a computer readable storage medium.
Background
The crossing (such as a signal lamp crossing and the like) passing time is used as an important content of ETA (driving time estimation) calculation of driving navigation, and relates to external influences such as urban road saturation, early and late trip peak crossing congestion, weather factors and the like.
The theoretical formula calculates the crossing delay time, because of variable factors such as crossing signal lamp phase period and real-time traffic flow, the real-time performance and the accuracy are poor, the empirical formula calculates the delay passing time of each crossing of the city, and the empirical formula is difficult to generalize at the city level because the city crossings are diversified and the passing time difference of different crossings is obvious.
Disclosure of Invention
In view of this, the present invention provides a method, an apparatus, an electronic device and a computer-readable storage medium for estimating crossing transit time, which can obtain crossing transit time with good real-time and accuracy, and have application capability of generalization to the whole city.
In order to solve the above technical problem, in one aspect, the present invention provides a method for estimating a crossing transit time, including the following steps:
respectively calculating the similarity between the sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
obtaining the delay waiting time of each sample intersection;
and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
Further, the calculation of the similarity between the sample intersection and the intersection to be passed comprises the following steps:
acquiring the characteristic attributes of the sample intersection and the intersection to be passed;
respectively extracting feature vectors based on the feature attributes;
and calculating the cosine distance of the characteristic vectors of the sample intersection and the intersection to be passed to obtain the similarity.
Further, the characteristic attribute comprises one or more of an intersection type, a road grade attribute and the number of lanes of the intersection.
Further, the shortest passing time of the intersection to be passed through is an average value of the shortest passing times of a plurality of vehicles passing through the intersection to be passed through at preset time stamps every day in the preset time period.
Further, the step of obtaining the delay waiting time of each sample intersection comprises the following steps:
acquiring the passing time of a plurality of vehicles passing through the sample intersection at a preset time stamp every day in the preset time period;
aiming at the passing time of a plurality of vehicles, respectively calculating mu through a double Gaussian distribution model and adopting an EM algorithm1，μ2；
Based on the μ1，μ2Calculating the delay waiting time by the following formula (1),
twait≈α(μ2-μ1) (1)
wherein, twaitRepresenting the delay latency, α representing empirical data and α ═ 0.4.
Further, determining the passing time of the intersection to be passed based on the similarity, the shortest passing time, and the delay waiting time includes:
sequencing the sample intersections from high to low according to the similarity of the sample intersections and the intersections to be passed;
according to the sequence of similarity from high to bottom, obtaining the delay waiting time of the sample intersection;
and determining the passing time of the intersection to be passed according to the delay waiting time and the shortest passing time of the sample intersection with the highest similarity.
Further, the delay waiting time and the shortest passing time of the sample intersection with the highest similarity are used for determining the passing time of the passing intersection according to the following formula (2):
tnode≈t0+twait(2)
wherein, tnodeIndicates the passing time, t, of the passing intersection0Representing the shortest transit time.
In a second aspect, the present invention provides an apparatus for estimating a transit time at an intersection, comprising:
the similarity calculation module is used for calculating the similarity between the sample intersections and the intersections to be passed;
the shortest passing time acquisition module is used for acquiring the shortest passing time of the intersection to be passed;
the delay waiting time acquisition module is used for acquiring the delay waiting time of each sample intersection;
and the passing time determining module of the intersection to be passed is used for determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
In a third aspect, the present invention provides an electronic device for estimating a transit time at an intersection, comprising:
one or more processors;
one or more memories having computer readable code stored therein, which when executed by the one or more processors, causes the processors to perform the steps of:
respectively calculating the similarity between the sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
obtaining the delay waiting time of each sample intersection;
and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
In a fourth aspect, the present invention provides a computer readable storage medium having computer readable code stored therein, which when executed by one or more processors, causes the processors to perform the steps of:
respectively calculating the similarity between the sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
obtaining the delay waiting time of each sample intersection;
and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
The technical scheme of the invention at least has one of the following beneficial effects:
according to the estimation of the crossing passing time, the passing time of the crossing for direct passing and the passing time of the delay waiting for passing are regarded as double Gaussian distribution, so that the crossing passing time with better real-time property and accuracy is obtained;
furthermore, intersection similarity calculation is introduced, and the passing time of the intersection to be passed (the intersection with insufficient data) is obtained based on the sample intersection (the intersection with sufficient data) with the highest similarity, so that the passing time of the sample intersection (the intersection with sufficient data) can be generalized to the estimation of the passing time of the intersection to be passed (the intersection with insufficient data).
Drawings
FIG. 1 is a flow chart of a method for estimating transit time at an intersection according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a double Gaussian distribution of a method for estimating the transit time at an intersection according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for estimating transit time at all intersections according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a device for estimating the transit time at an intersection according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an electronic device for transit time estimation at an intersection according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The traffic time of the intersection (such as a signal lamp intersection and the like) is used as an important content of ETA calculation of driving navigation, and relates to external influences such as urban road saturation, traffic jam at the high peak of early and late trips, weather factors and the like.
The theoretical formula calculates the crossing delay time, because of variable factors such as crossing signal lamp phase period and real-time traffic flow, the real-time performance and the accuracy are poor, the empirical formula calculates the delay passing time of each crossing of the city, and the empirical formula is difficult to generalize at the city level because the city crossings are diversified and the passing time difference of different crossings is obvious.
Based on the method, the similarity between different intersections and the data of the sample intersections are combined, the method has the application capability of generalizing to the whole city, aims to estimate the delay passing time of large-scale intersections (such as signal lamp intersections) and achieves the effects of real-time performance, accuracy and large-scale expanded application.
The sample intersection (the intersection with sufficient data) is the intersection where the preset amount of sample data meeting the requirement of calculating the passing time is acquired, and correspondingly, the intersection to be passed (the intersection with insufficient data) is the intersection where the preset amount of sample data meeting the requirement of calculating the passing time is not acquired.
In practical application, sufficient data can be collected at key intersections to obtain sample intersections (data sufficient intersections), non-key intersections adopt sample intersection data with the highest similarity, or the similarities of all intersections are directly compared to classify, the most representative intersections are selected from each category to collect sufficient data, so that sample intersections (data sufficient intersections) are obtained, and the other intersections adopt sample intersection data with the highest similarity. Therefore, the passing time of all the intersections can be efficiently and accurately acquired.
First, a method for estimating a transit time at an intersection according to an embodiment of the present invention is described with reference to fig. 1.
As shown in fig. 1, the method for estimating the transit time at an intersection according to the embodiment of the present invention includes:
and step S1, respectively calculating the similarity between the sample intersections and the intersections to be passed.
According to some embodiments of the invention, the calculating of the similarity between the sample intersection and the intersection to be passed comprises the following steps:
and S11, acquiring the characteristic attributes of the sample intersection and the intersection to be passed through.
The characteristic attributes may include one or more of: the type of the intersection (crossroad or T-shaped intersection), the road grade attribute (the road grade attribute of l i nk where the intersection is located (expressway intersection, urban expressway intersection, main road, secondary road, common road, provincial road intersection, county and county intersection, small road intersection, etc.), and the number of lanes (one-way lane, two-way lane, three-way lane or more) of the intersection.
It should be noted that the above is only an optional example, and may also include the degree of undulation of the intersection, etc., i.e., any characteristic attribute that affects the transit time should be understood to be within the scope of the present invention.
S12, feature vectors are extracted based on the feature attributes, respectively.
And S13, calculating the cosine distance of the characteristic vectors of the sample intersection and the intersection to be passed, and obtaining the similarity.
For example, X may be usediFeature vector, X, representing a sample intersectionjRepresenting the characteristic vector of the intersection to be passed, and adopting a calculation formula as follows:
Sij＝cos(Xi，Xj)
thereby obtaining XiAnd XjThe similarity of (c).
Of course, the above are only optional examples, and the similarity calculation may also use manhattan distance, euclidean distance, minkowski distance, pearson correlation coefficient, i.e. any method of calculating similarity should be understood to be within the scope of the present invention.
And step S2, obtaining the shortest passing time of the intersection to be passed.
According to some embodiments of the invention, the shortest transit time at the intersection to be passed is an average of shortest transit times of a plurality of vehicles passing through the intersection to be passed at predetermined time stamps every day in a previous predetermined time period.
For example, the traffic flow in the morning is relatively small, the vehicle passing time is relatively short, the average value of the passing time of a plurality of vehicles passing through the intersection to be passed from 2 point to 2 point 30 minutes (preset time stamp) in the morning in one week period (preset time period) is counted as the shortest passing time of the intersection, and the shortest passing time is calculatedCan count t0。
And step S3, obtaining the delay waiting time of each sample intersection.
According to some embodiments of the present invention, obtaining the delay waiting time of each of the sample intersections comprises the steps of:
and step S31, acquiring the passing time of a plurality of vehicles passing through the sample intersection at preset time stamps every day in the preset time period.
For example, 24 hours a day is divided into 720 time stamps, and the vehicle transit time t of the sample intersection at the time stamp τi τ(1 ≦ i ≦ N,0 ≦ τ ≦ 719), where N is the number of vehicle transit samples representing the respective τ timestamp for the respective intersection.
Step S32, aiming at the passing time of a plurality of vehicles, respectively calculating mu through a double Gaussian distribution model and adopting an EM algorithm1，μ2。
The crossing transit time is represented by direct transit and delayed waiting transit, and the transit time in each transit mode has a difference of high and low and can be regarded as Gaussian distribution, so that the overall delay time of the crossing is in double Gaussian distribution, and the average value of the double Gaussian distribution can be estimated to be mu by using posterior probability1(direct passage), μ2(delay waiting for pass).
Step S33, based on the μ1，μ2Calculating the delay waiting time by the following formula (1),
twait≈α(μ2-μ1) (1)
twaitrepresenting the delay latency.
The empirical coefficient α was found to be 0.4 using a regression method.
Therefore, the passing time of the direct passing of the intersection and the passing time of the delayed waiting passing are regarded as Gaussian distribution, and the delayed waiting time is calculated, so that the intersection passing time with better real-time performance and accuracy can be obtained subsequently.
It should be noted that the above is only an optional example, and the transit time of an intersection passing directly and waiting for delayed passing can also be regarded as a double laplacian distribution or a double beta distribution, so that the delayed waiting time can be calculated, i.e. any mixed distribution associated with the transit time should be understood to be within the scope of the present invention.
And step S4, determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
Therefore, intersection similarity calculation is introduced, and the passing time of the intersection to be passed (the intersection with insufficient data) is obtained based on the sample intersection (the intersection with sufficient data) passing time with the highest similarity, so that the passing time of the sample intersection (the intersection with sufficient data) can be generalized to the estimation of the passing time of the intersection to be passed (the intersection with insufficient data).
According to some embodiments of the present invention, determining the passing time of the intersection to be passed based on the similarity, the shortest passing time, and the delay waiting time includes:
and step S41, sequencing the sample intersections from high to low according to the similarity of the sample intersections and the intersections to be passed.
And step S42, obtaining the delay waiting time of the sample intersection according to the sequence of the similarity from top to bottom.
And step S43, determining the passing time of the intersection to be passed according to the delay waiting time and the shortest passing time of the sample intersection with the highest similarity.
Optionally, the passing time of the passing intersection is calculated by the following formula:
tnode≈t0+twait(2)
substituting the formula of the delay waiting time to obtain
tnode≈to+twait≈to+α(μ2-μ1)
Obtaining an empirical coefficient α which is 0.4 by adopting a regression method, wherein the final obtained intersection passing time is as follows:
tnode≈t0+twait≈t0+0.4(μ2-μ1)
wherein, tnodeIndicates the passing time, t, of the passing intersection0Representing the shortest transit time.
As an example of this, it is possible to provide,
1) collecting the shortest time t when a certain intersection passes through the green light in the morning0＝6.2s；
2) Mu is obtained based on Gaussian mixture model based on passing time data of a plurality of motor vehicles at a certain time1＝7.1，μ2＝114.8；
3) Substituting the above equation yields a transit time of about 55 s.
Accordingly, as the estimation result of the passing time at the moment of the intersection, the effect graph of the double gaussian distribution shown in fig. 2 is obtained, wherein the light lines represent the gaussian distribution of the passing time of the direct passing, and the dark lines represent the gaussian distribution of the passing time of the waiting delayed passing.
It should be noted that, the above is established that, under the condition of knowing the shortest passing time of the intersection to be passed, the delay waiting time of the sample intersection with the highest similarity is used as the delay waiting time of the intersection to be passed, so as to obtain the passing time of the intersection to be passed, or the shortest passing time of the intersection is not required to be obtained, and the sample intersection with the highest similarity is directly passed through the delay waiting time of the sample intersection with the highest similarity and the shortest passing time of the sample intersection, so as to determine the passing time of the intersection to be passed, which should be understood to be within the scope of the present invention.
By way of example, the time calculation method of all intersection passage method according to the embodiment of the present invention is explained by fig. 3.
As shown in fig. 3, the method for calculating the passing time of all intersections includes:
all intersections include: sample intersections (intersections with sufficient data) and intersections to be passed through (intersections with insufficient data).
First, the transit time of a sample intersection is calculated.
1) Obtaining the shortest passing time (theoretical shortest time t) of the intersection0)；
2) Calculation of the double mean (. mu.) by Gaussian mixture model1，μ2)；
3) Estimating the empirical coefficients α by a regression method;
4) and calculating the passing time of the single intersection.
And then, calculating the passing time of the intersection to be passed.
1) Acquiring attributes of a sample intersection and an intersection to be passed;
2) calculating pairwise similarity of urban intersections (pairwise similarity of intersections to be passed and all sample intersections);
3) and (5) sorting the similarity, recording the index of the corresponding intersection and storing the index offline.
And then, summarizing the data, namely summarizing the passing time of all the sample intersections and the passing time of all the intersections to be passed.
And finally, obtaining the passing time of all the intersections.
Next, referring to fig. 4, a traffic time estimation device 1000 of an intersection according to an embodiment of the present invention is described.
As shown in fig. 4, the device 1000 for estimating the transit time at an intersection according to the embodiment of the present invention includes:
the similarity calculation module 1001 is used for calculating the similarity between the sample intersections and the intersections to be passed;
a shortest passing time obtaining module 1002, configured to obtain a shortest passing time of the intersection to be passed;
a delay waiting time obtaining module 1003, configured to obtain a delay waiting time of each sample intersection;
a passing time determining module 1004 for determining the passing time of the intersection to be passed based on the similarity, the shortest passing time, and the delay waiting time.
Further, the crossing transit time estimation device 1000 can also be used for the corresponding steps in the crossing transit time estimation method, and the detailed description thereof is omitted here.
In addition, an electronic device for estimating the transit time at an intersection according to an embodiment of the present invention is described with reference to fig. 5.
As shown in fig. 5, the electronic device for estimating the transit time at an intersection according to an embodiment of the present invention includes:
a processor 1401 and a memory 1402, in which memory 1402 computer program instructions are stored, wherein the computer program instructions, when executed by the processor, cause the processor 1401 to perform the steps of:
step S1, respectively calculating the similarity between the sample intersections and the intersections to be passed;
step S2, obtaining the shortest passing time of the intersection to be passed;
step S3, obtaining the delay waiting time of each sample intersection;
and step S4, determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
The various interfaces and devices described above may be interconnected by a bus architecture. A bus architecture may be any architecture that may include any number of interconnected buses and bridges. Various circuits of one or more Central Processing Units (CPUs), represented in particular by processor 1401, and one or more memories, represented by memory 1402, are coupled together. The bus architecture may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like. It will be appreciated that a bus architecture is used to enable communications among the components. The bus architecture includes a power bus, a control bus, and a status signal bus, in addition to a data bus, all of which are well known in the art and therefore will not be described in detail herein.
The network interface 1403 may be connected to a network (e.g., the internet, a local area network, etc.), obtain relevant data from the network, and store the relevant data in the hard disk 1405.
The input device 1404 may receive various instructions from an operator and send them to the processor 1401 for execution. The input device 1404 may include a keyboard or a pointing device (e.g., a mouse, trackball, touch pad, or touch screen, among others.
The display device 1406 may display a result obtained by the processor 1401 executing the instruction.
The memory 1402 is used for storing programs and data necessary for operating the operating system, and data such as intermediate results in the calculation process of the processor 1401.
It will be appreciated that the memory 1402 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 1402 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
In some embodiments, memory 1402 stores elements, executable modules or data structures, or a subset thereof, or an expanded set thereof as follows: an operating system 14021 and application programs 14014.
The operating system 14021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 14014 includes various applications, such as a Browser (Browser), and the like, for implementing various application services. A program implementing a method according to an embodiment of the invention may be included in the application 14014.
When the processor 1401 calls and executes the application program and data stored in the memory 1402, specifically, the application program or the instruction stored in the application 14014, first, similarity between a plurality of sample intersections and intersections to be passed is calculated respectively; then, obtaining the shortest passing time of the intersection to be passed; then, obtaining the delay waiting time of each sample intersection; and finally, determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
The methods disclosed by the above-described embodiments of the present invention may be applied to the processor 1401, or may be implemented by the processor 1401. Processor 1401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 1401. The processor 1401 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, and may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 1402, and a processor 1401 reads information in the memory 1402 and performs the steps of the above method in combination with hardware thereof.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the processor is caused to execute the following steps:
step S1, respectively calculating the similarity between the sample intersections and the intersections to be passed;
step S2, obtaining the shortest passing time of the intersection to be passed;
step S3, obtaining the delay waiting time of each sample intersection;
and step S4, determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
Still further, the present invention also provides a program product comprising execution instructions stored in a readable storage medium. At least one processor of the electronic device (which may be, for example, a server, a cloud server, or a part of a server, etc.) may read the execution instructions from the readable storage medium, and execute the execution instructions to enable the transit time estimation apparatus 1000 to implement the various embodiments described above to provide the real-time transit speed prediction method.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for estimating the passing time of an intersection is characterized by comprising the following steps:
respectively calculating the similarity between the sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
obtaining the delay waiting time of each sample intersection;
and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
2. The transit time estimation method according to claim 1, wherein the calculation of the degree of similarity between the sample intersection and the intersection to be passed includes the steps of:
acquiring the characteristic attributes of the sample intersection and the intersection to be passed;
respectively extracting feature vectors based on the feature attributes;
and calculating the cosine distance of the characteristic vectors of the sample intersection and the intersection to be passed to obtain the similarity.
3. The transit time estimation method according to claim 2, wherein the characteristic attribute includes one or more of an intersection type, a road grade attribute, a number of lanes at the intersection.
4. The transit time estimation method according to claim 1, characterized in that the shortest transit time at the intersection to be passed is an average value of shortest transit times of a plurality of vehicles passing through the intersection to be passed at predetermined time stamps every day in a previous predetermined time period.
5. The transit time estimation method of claim 1, wherein obtaining the delay wait time for each of the sample intersections comprises the steps of:
acquiring the passing time of a plurality of vehicles passing through the sample intersection at a preset time stamp every day in the preset time period;
aiming at the passing time of a plurality of vehicles, respectively calculating mu through a double Gaussian distribution model and adopting an EM algorithm1，μ2；
Based on the μ1，μ2Calculating the delay waiting time by the following formula (1),
twait≈α(μ2-μ1) (1)
wherein, twaitRepresenting the delay latency, α representing empirical data and α ═ 0.4.
6. The transit time estimation method according to claim 1, wherein determining the transit time of the intersection to be passed based on the similarity, the shortest transit time, and the delay waiting time includes:
sequencing the sample intersections from high to low according to the similarity of the sample intersections and the intersections to be passed;
according to the sequence of similarity from high to bottom, obtaining the delay waiting time of the sample intersection;
and determining the passing time of the intersection to be passed according to the delay waiting time and the shortest passing time of the sample intersection with the highest similarity.
7. The transit time estimation method according to claim 6, wherein the transit time at the transit intersection is determined by the following formula (2) with respect to the delay waiting time and the shortest transit time at the sample intersection having the highest similarity:
tnode≈t0+twait(2)
wherein, tnodeIndicates the passing time, t, of the passing intersection0Representing the shortest transit time.
8. An intersection transit time estimation device, comprising:
the similarity calculation module is used for calculating the similarity between the sample intersections and the intersections to be passed;
the shortest passing time acquisition module is used for acquiring the shortest passing time of the intersection to be passed;
the delay waiting time acquisition module is used for acquiring the delay waiting time of each sample intersection;
and the passing time determining module of the intersection to be passed is used for determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
9. An electronic device for transit time estimation at an intersection, comprising:
one or more processors;
one or more memories having computer readable code stored therein, which when executed by the one or more processors, causes the processors to perform the steps of:
respectively calculating the similarity between the sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
obtaining the delay waiting time of each sample intersection;
and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
10. A computer readable storage medium having computer readable code stored therein, which when executed by one or more processors, causes the processors to perform the steps of:
respectively calculating the similarity between the sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
obtaining the delay waiting time of each sample intersection;
and determining the passing time of the intersection to be passed based on the similarity, the shortest passing time and the delay waiting time.
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