CN111091156B - 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 traffic time of an intersection, electronic equipment and a computer readable storage medium, wherein the method for estimating the traffic time of the intersection comprises the following steps: respectively calculating the similarity between a plurality of sample intersections and the intersections to be passed; acquiring the shortest passing time of the intersection to be passed; acquiring the delay waiting time of each sample intersection; and determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time. According to the intersection traffic time estimation method, intersection traffic time with good instantaneity and accuracy can be obtained, and meanwhile, the intersection traffic time estimation method has application capability of being generalized to the whole city.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a method and apparatus for estimating a traffic time at an intersection, an electronic device, and a computer readable storage medium.
Background
The traffic time of an intersection (such as a signal lamp intersection) is taken as an important content of driving navigation ETA (driving time estimation) calculation, the actual calculation is complex, the theoretical formula of the intersection delay is obtained according to the prior art scheme or the traffic flow theory, or the data of the specific time of the specific intersection is sampled for fitting, and a linear or nonlinear empirical formula is obtained for estimating the delay traffic time of the specific intersection in a small range.
The theoretical formula calculates the delay time of the intersection, the real-time performance and the accuracy are poor due to the fact that the phase period of the intersection signal lamp and the time-varying factors such as real-time traffic flow are involved, the empirical formula calculates the delay passing time of each intersection of the city, the passing time difference of different intersections is obvious due to the diversification of the city intersection, and the empirical formula is difficult to generalize in city level.
Disclosure of Invention
In view of the above, the present invention provides a method, apparatus, electronic device and computer readable storage medium for estimating the traffic time of an intersection, which can obtain the traffic time of the intersection with good real-time and accuracy, and has application capability of generalizing to the whole city.
In order to solve the technical problems, in one aspect, the invention provides a traffic time estimation method for an intersection, which comprises the following steps:
respectively calculating the similarity between a plurality of sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
acquiring the delay waiting time of each sample intersection;
and determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic 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 characteristic attributes of the sample intersection and the intersection to be passed;
extracting feature vectors based on the feature attributes respectively;
and calculating the cosine distance between the feature vector of the sample intersection and the feature vector of the intersection to be passed, and obtaining the similarity.
Further, the characteristic attribute includes one or more of an intersection type, a road class attribute, and a lane number of the intersection.
Further, the shortest passing time of the crossing to be passed is an average value of the shortest passing times of a plurality of vehicles passing through the crossing to be passed by a daily preset time stamp within a previous 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 by a preset time stamp every day in a preset time period;
for the passing time of a plurality of vehicles, mu is calculated respectively through a double Gaussian distribution model and an EM algorithm 1 ，μ 2 ；
Based on the mu 1 ，μ 2 The delay waiting time is calculated by the following formula (1),
t wait ≈α(μ 2 -μ 1 ) (1)
wherein t is wait Representing the delay latency, α represents empirical data and α=0.4.
Further, determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time, and the delay waiting time includes:
sequencing a plurality of sample intersections from high to low according to the similarity with the intersections to be passed;
acquiring the delay waiting time of the sample intersection according to the sequence of similarity from high to low;
and determining the traffic time of the intersection to be crossed according to the delay waiting time and the shortest traffic time of the sample intersection with the highest similarity.
Further, the transit time of the transit intersection is determined by the following formula (2) according to the delay waiting time and the shortest transit time of the sample intersection with the highest similarity:
t node ≈t 0 +t wait (2)
wherein t is node Indicating the traffic time of the traffic intersection, t 0 Representing the shortest transit time.
In a second aspect, the present invention provides a traffic time estimation device for an intersection, including:
the similarity calculation module is used for calculating the similarity between the plurality of sample intersections and the intersections to be passed respectively;
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 traffic time determining module is used for determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
In a third aspect, the present invention provides an electronic device for traffic 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 a plurality of sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
acquiring the delay waiting time of each sample intersection;
and determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
In a fourth aspect, the 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 a plurality of sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed;
acquiring the delay waiting time of each sample intersection;
and determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
The technical scheme of the invention has at least one of the following beneficial effects:
according to the intersection traffic time estimation method, the intersection traffic time with good instantaneity and accuracy is obtained by regarding the intersection direct traffic time and the traffic time waiting for traffic in a delayed manner as double-Gaussian distribution;
further, intersection similarity calculation is introduced, and the traffic time of the intersection to be crossed (the intersection with insufficient data) is obtained based on the traffic time of the sample intersection with the highest similarity (the intersection with sufficient data), so that the traffic time of the sample intersection (the intersection with sufficient data) can be generalized to the estimation of the traffic time of the intersection to be crossed (the intersection with insufficient data).
Drawings
FIG. 1 is a flow chart of a method for estimating the transit time of an intersection according to an embodiment of the invention;
FIG. 2 is a diagram of a two-Gaussian distribution of a method for estimating transit time of an intersection according to an embodiment of the invention;
FIG. 3 is a flow chart of a method for estimating transit time for all intersections according to an embodiment of the present invention;
FIG. 4 is a schematic view of an intersection transit time estimation device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an electronic device for traffic time estimation at an intersection according to an embodiment of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
The traffic time of an intersection (such as a signal lamp intersection and the like) is taken as an important content of ETA calculation of driving navigation, and relates to the external influences such as urban road saturation, traffic congestion of the intersection at the peak of the early and late states, weather factors and the like, the actual calculation is complex, the prior art scheme obtains a theoretical formula of intersection delay according to traffic flow theory, or data of specific time of a specific intersection is sampled for fitting, and a linear or nonlinear empirical formula is obtained for estimating the delay traffic time of the specific intersection in a small range.
The theoretical formula calculates the delay time of the intersection, the real-time performance and the accuracy are poor due to the fact that the phase period of the intersection signal lamp and the time-varying factors such as real-time traffic flow are involved, the empirical formula calculates the delay passing time of each intersection of the city, the passing time difference of different intersections is obvious due to the diversification of the city intersection, and the empirical formula is difficult to generalize in city level.
Based on the method, the method has the application capability of generalizing to the whole city by combining the similarity among different roads and the data of the sample road junctions, and aims to solve the estimation of the delay transit time of the large-scale road junctions (such as signal lamp road junctions and the like) so as to achieve the effects of instantaneity, accuracy and large-scale expansion application.
The sample intersections (data sufficient intersections) are intersections where a preset number of sample data meeting the calculated passing time requirement are acquired, and the corresponding intersections to be passed (data insufficient intersections) are intersections where a preset number of sample data meeting the calculated passing time requirement are 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 highest similarity, or the similarity of all intersections is directly compared to classify, the most representative intersections are selected from each class to collect sufficient data, sample intersections (data sufficient intersections) are obtained, and the rest intersections adopt sample intersection data with highest similarity. Therefore, the traffic time of all intersections can be obtained efficiently and accurately.
First, a traffic time estimation method of an intersection according to an embodiment of the present invention will be described with reference to fig. 1.
As shown in fig. 1, the method for estimating the traffic time of the intersection according to the embodiment of the invention includes:
and S1, respectively calculating the similarity between a plurality of sample intersections and the intersections to be passed.
According to some embodiments of the present invention, the calculating of the similarity between the sample intersection and the intersection to be passed includes the following steps:
s11, obtaining characteristic attributes of the sample intersection and the intersection to be passed.
The characteristic attributes may include one or more of the following: the type of intersection (crossroad or T-shaped intersection), the road grade attribute (the road grade attribute of i nk where the entrance intersection and the exit intersection are located (expressway, urban expressway, main road, secondary road, common road, provincial road intersection, county rural road, small road intersection, etc.), the number of lanes of the intersection (one-way lane, two-way lane, three-way lane or more).
It should be noted that the above is only an optional example, and the degree of fluctuation of the intersection, etc. may be included, that is, any characteristic attribute affecting the transit time should be understood to be within the scope of the present invention.
And S12, respectively extracting feature vectors based on the feature attributes.
And S13, calculating cosine distances between the feature vectors of the sample intersection and the intersection to be passed, and obtaining the similarity.
For example, X can be used i Feature vector, X representing sample intersection j The characteristic vector representing the crossing to be passed adopts the following calculation formula:
S ij ＝cos(X i ，X j )
thereby obtaining X i And X j Is a similarity of (3).
Of course, the above is an alternative example, and the similarity calculation may also use Manhattan distance, euclidean distance, min Kefu Stokes distance, and pearson correlation coefficient, i.e., any method of calculating similarity is understood to be within the scope of the present invention.
And S2, acquiring the shortest passing time of the intersection to be passed.
According to some embodiments of the invention, the shortest transit time of an intersection to be transit is an average of the shortest transit times of a plurality of vehicles passing through the intersection to be transit with a predetermined timestamp per day within a previous predetermined period of time.
For example, the early morning traffic flow is relatively low, the vehicle passing time is relatively short, the average value of the passing time of a plurality of vehicles passing through the crossing to be passed for 2 to 2 hours (predetermined time stamp) per day in the early morning for one week period (predetermined time period) is counted as the shortest passing time of the crossing, and the shortest time can be counted as t 0 。
And step S3, obtaining the delay waiting time of each sample intersection.
According to some embodiments of the invention, obtaining the delay latency of each of the sample intersections comprises the steps of:
step S31, the passing time of a plurality of vehicles passing through the sample intersection by a preset time stamp every day in the preset time period is obtained.
For example, 24 hours of the whole day is divided into 720 time stamps, and the vehicle passing time t of the sample intersection at tau time stamp i τ (1.ltoreq.i.ltoreq.N, 0.ltoreq.τ719), where N is the number of vehicle traffic samples representing the corresponding τ time stamps for the respective intersections.
Step S32, calculating mu respectively according to the passing time of a plurality of vehicles through a double Gaussian distribution model and an EM algorithm 1 ，μ 2 。
The crossing passing time is expressed as direct passing and delay waiting passing, and the passing time in each passing mode is different in height and can be regarded as Gaussian distribution, so that the whole delay time of the crossing is in double Gaussian distribution, and the average value of the double Gaussian distribution can be estimated as mu by adopting posterior probability 1 (direct pass through), μ 2 (delay waiting to pass).
Step S33, based on the μ 1 ，μ 2 The delay waiting time is calculated by the following formula (1),
t wait ≈α(μ 2 -μ 1 ) (1)
t wait representing the delay latency.
The empirical coefficient α=0.4 was obtained using a regression method.
Therefore, the traffic time of the intersection direct traffic and the traffic time of the delayed waiting traffic are regarded as Gaussian distribution, and the delayed waiting time is calculated, so that the intersection traffic time with good instantaneity and accuracy can be obtained conveniently.
It should be noted that the above is an alternative example, and the intersection transit time for direct passing and delayed waiting passing may also be considered as a double laplace distribution or a double beta distribution, so that the delayed waiting time is calculated, i.e. any mixed distribution associated with the transit time is understood to be within the scope of the present invention.
And S4, determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
Therefore, intersection similarity calculation is introduced, and the traffic time of the intersection to be crossed (the intersection with insufficient data) is obtained based on the traffic time of the sample intersection with the highest similarity (the intersection with sufficient data), so that the traffic time of the sample intersection (the intersection with sufficient data) can be generalized to the estimation of the traffic time of the intersection to be crossed (the intersection with insufficient data).
According to some embodiments of the invention, determining the transit time of the intersection to be transit based on the similarity, the shortest transit time, and the delay waiting time includes:
and S41, sorting the plurality of sample intersections from high to low according to the similarity with the intersections to be passed.
Step S42, obtaining the delay waiting time of the sample intersection according to the sequence of the similarity from high to low.
And S43, determining the traffic time of the intersection to be passed according to the delay waiting time and the shortest traffic time of the sample intersection with the highest similarity.
Optionally, the traffic time of the traffic intersection is calculated by the following formula:
t node ≈t 0 +t wait (2)
substituting the formula of delay waiting time to obtain
t node ≈t o +t wait ≈t o +α(μ 2 -μ 1 )
The empirical coefficient alpha=0.4 is obtained by adopting a regression method, and the intersection passing time is finally obtained as follows:
t node ≈t 0 +t wait ≈t 0 +0.4(μ 2 -μ 1 )
wherein t is node Indicating the traffic time of the traffic intersection, t 0 Representing the shortest transit time.
As an example of this, in one embodiment,
1) Collecting the shortest time t when a direct green light passes through a certain intersection in the early morning 0 ＝6.2s；
2) Mu is obtained based on Gaussian mixture model based on the passing time data of a plurality of motor vehicles at a certain moment 1 ＝7.1，μ 2 ＝114.8；
3) The time of passage obtained by taking into the above formula is about 55s.
Accordingly, as a result of estimating the passing time of the intersection at the moment, a double-Gaussian distribution effect diagram shown in FIG. 2 is obtained, wherein the light-colored line represents the Gaussian distribution of the passing time of the direct passing, and the dark-colored line represents the Gaussian distribution of the passing time of the waiting time delay passing.
It should be noted that under the condition that the shortest traffic time of the intersection to be passed is known, 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 traffic time of the intersection to be passed, or the shortest traffic time of the intersection is not required to be obtained, and the delay waiting time of the sample intersection with the highest similarity and the shortest traffic time of the sample intersection are directly used to obtain the traffic time of the sample intersection with the highest similarity, so that the traffic time of the intersection to be passed is determined, which is understood to be within the scope of the invention.
As an example, the method for calculating the time of all the intersection passing methods according to the embodiment of the present invention is described by fig. 3.
As shown in fig. 3, the method for calculating the transit time of all intersections is as follows:
all intersections include: sample intersections (data sufficient intersections) and intersections to be passed (data insufficient intersections).
First, the transit time of the sample intersection is calculated.
1) Obtaining the shortest transit time of the crossing (theoretical shortest time t 0 )；
2) Double mean (mu) was calculated by means of a gaussian mixture model 1 ，μ 2 )；
3) Estimating an empirical coefficient alpha by a regression method;
4) And calculating the passing time of the single intersection.
And then, calculating the traffic time of the intersection to be passed.
1) Acquiring attributes of a sample intersection and an intersection to be passed;
2) Calculating the pairwise similarity of the urban intersections (pairwise similarity of the intersections to be passed and all sample intersections);
3) And (5) sorting the similarity, recording index of the corresponding intersection and storing the index offline.
And then, summarizing the data, and summarizing the traffic time of all the sample intersections and the traffic time of all the intersections to be passed.
Finally, the transit time of all the intersections is obtained.
Next, a traffic time estimation device 1000 for an intersection according to an embodiment of the present invention will be described with reference to fig. 4.
As shown in fig. 4, the traffic time estimation device 1000 of the intersection according to the embodiment of the present invention includes:
the similarity calculation module 1001 is configured to calculate similarities between the plurality of sample intersections and the intersection to be passed respectively;
a shortest passing time obtaining module 1002, configured to obtain a shortest passing time of the intersection to be passed;
a delay waiting time acquisition module 1003, configured to acquire a delay waiting time of each of the sample intersections;
the traffic time determining module 1004 of the intersection to be passed is configured to determine the traffic time of the intersection to be passed based on the similarity, the shortest traffic time, and the delay waiting time.
Further, the traffic time estimation device 1000 of the intersection may be used for corresponding steps in the traffic time estimation method of the intersection, respectively, and detailed description thereof will be omitted herein.
In addition, an electronic device for traffic time estimation at an intersection according to an embodiment of the present invention is described with reference to fig. 5.
As shown in fig. 5, an electronic device for estimating a traffic time of an intersection according to an embodiment of the present invention includes:
a processor 1401 and a memory 1402, the memory 1402 storing computer program instructions, wherein the computer program instructions, when executed by the processor, cause the processor 1401 to perform the steps of:
step S1, calculating the similarity between a plurality of sample intersections and intersections to be passed respectively;
s2, acquiring the shortest passing time of the intersection to be passed;
step S3, obtaining the delay waiting time of each sample intersection;
and S4, determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
The interfaces and devices described above may be interconnected by a bus architecture. The bus architecture may be a bus and bridge that may include any number of interconnects. One or more Central Processing Units (CPUs), in particular, represented by processor 1401, and various circuits of one or more memories, represented by memory 1402, are connected together. The bus architecture may also connect various other circuits together, such as peripheral devices, voltage regulators, and power management circuits. It is understood that a bus architecture is used to enable connected communications between these components. The bus architecture includes, in addition to a data bus, a power bus, a control bus, and a status signal 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.), and related data may be obtained from the network and stored 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 pointing device (e.g., a mouse, a trackball, a touch pad, or a 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 system, and data such as intermediate results in the computing process of the processor 1401.
It is to be appreciated that memory 1402 in embodiments of the present invention can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM), erasable Programmable Read Only Memory (EPROM), electrically Erasable Programmable Read Only Memory (EEPROM), or flash memory, among others. 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 implementations, memory 1402 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof: 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 application programs such as a Browser (Browser) and the like for realizing various application services. A program for implementing the method of the embodiment of the present invention may be included in the application 14014.
When the processor 1401 invokes and executes the application program and the data stored in the memory 1402, specifically, the program or the instruction stored in the application program 14014, firstly, the similarity between the plurality of sample intersections and the intersection to be passed is calculated; next, acquiring the shortest passing time of the intersection to be passed; then, obtaining the delay waiting time of each sample intersection; and finally, determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
The method disclosed in the above embodiments of the present invention may be applied to the processor 1401 or implemented by the processor 1401. The processor 1401 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry of hardware in the processor 1401 or instructions in the form of software. 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, or discrete hardware components, which 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 embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in memory 1402 and processor 1401 reads information in memory 1402 and performs the steps of the method described above in conjunction with its hardware.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a 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, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor, and causes the processor to execute the following steps:
step S1, calculating the similarity between a plurality of sample intersections and intersections to be passed respectively;
s2, acquiring the shortest passing time of the intersection to be passed;
step S3, obtaining the delay waiting time of each sample intersection;
and S4, determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time.
Still further, the present invention provides a program product comprising execution instructions stored in a readable storage medium. At least one processor of an electronic device (which may be, for example, a server, a cloud server, or a portion of a server, etc.) may read the execution instructions from a readable storage medium, and execute the execution instructions to cause the transit time estimation device 1000 to implement the various embodiments described above to provide a real-time transit speed prediction method.
In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the transceiving method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (6)
1. The traffic time estimation method for the intersection is characterized by comprising the following steps of:
respectively calculating the similarity between a plurality of sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed; the shortest passing time of the crossing to be passed is the average value of the shortest passing time of a plurality of vehicles passing through the crossing to be passed by a preset time stamp per day in the preset time period before the shortest passing time;
acquiring the delay waiting time of each sample intersection; 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 by a preset time stamp every day in a preset time period; aiming at the passing time of a plurality of vehicles, respectively calculating mu 1 and mu 2 by a double Gaussian distribution model and an EM algorithm; based on the μ1, μ2, the delay waiting time is calculated by the following formula (1):
t wait ≈α(μ2-μ1)(1)
wherein t is wait Representing the delay latency, α represents empirical data and α=0.4;
determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time; the determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time comprises: sequencing a plurality of sample intersections from high to low according to the similarity with the intersections to be passed; acquiring the delay waiting time of the sample intersection according to the sequence of similarity from high to low; determining the traffic time of the intersection to be crossed according to the delay waiting time and the shortest traffic time of the sample intersection with the highest similarity by the following formula (2):
t node ≈t 0 +t wait (2)
wherein t is node Indicating the traffic time of the traffic intersection, t 0 Representing the shortest transit time.
2. The transit time estimation method according to claim 1, wherein the calculation of the similarity between the sample intersection and the intersection to be transit comprises the steps of:
acquiring characteristic attributes of the sample intersection and the intersection to be passed;
extracting feature vectors based on the feature attributes respectively;
and calculating the cosine distance between the feature vector of the sample intersection and the feature vector of the intersection to be passed, and obtaining 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 class attribute, and a number of lanes of an intersection.
4. An intersection transit time estimation device, comprising:
the similarity calculation module is used for calculating the similarity between the plurality of sample intersections and the intersections to be passed respectively;
the shortest passing time acquisition module is used for acquiring the shortest passing time of the intersection to be passed; the shortest passing time of the crossing to be passed is the average value of the shortest passing time of a plurality of vehicles passing through the crossing to be passed by a preset time stamp per day in the preset time period before the shortest passing time;
the delay waiting time acquisition module is used for acquiring the delay waiting time of each sample intersection; 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 by a preset time stamp every day in a preset time period; aiming at the passing time of a plurality of vehicles, respectively calculating mu 1 and mu 2 by a double Gaussian distribution model and an EM algorithm; based on the μ1, μ2, the delay waiting time is calculated by the following formula (1):
t wait ≈α(μ2-μ1)(1)
wherein t is wait Representing the delay latency, α represents empirical data and α=0.4;
the traffic time determining module of the intersection to be passed is used for determining the traffic time of the intersection to be passed based on the similarity, the shortest traffic time and the delay waiting time; the determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time comprises: sequencing a plurality of sample intersections from high to low according to the similarity with the intersections to be passed; acquiring the delay waiting time of the sample intersection according to the sequence of similarity from high to low; determining the traffic time of the intersection to be crossed according to the delay waiting time and the shortest traffic time of the sample intersection with the highest similarity by the following formula (2):
t node ≈t 0 +t wait (2)
wherein t is node Indicating the traffic time of the traffic intersection, t 0 Representing the shortest transit time.
5. An electronic device for traffic 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 a plurality of sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed; the shortest passing time of the crossing to be passed is the average value of the shortest passing time of a plurality of vehicles passing through the crossing to be passed by a preset time stamp per day in the preset time period before the shortest passing time;
acquiring the delay waiting time of each sample intersection; 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 by a preset time stamp every day in a preset time period; aiming at the passing time of a plurality of vehicles, respectively calculating mu 1 and mu 2 by a double Gaussian distribution model and an EM algorithm; based on the μ1, μ2, the delay waiting time is calculated by the following formula (1):
t wait ≈α(μ2-μ1)(1)
wherein t is wait Representing the delay latency, α represents empirical data and α=0.4;
determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time; the determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time comprises: sequencing a plurality of sample intersections from high to low according to the similarity with the intersections to be passed; acquiring the delay waiting time of the sample intersection according to the sequence of similarity from high to low; determining the traffic time of the intersection to be crossed according to the delay waiting time and the shortest traffic time of the sample intersection with the highest similarity by the following formula (2):
t node ≈t 0 +t wait (2)
wherein t is node Indicating the traffic time of the traffic intersection, t 0 Representing the shortest transit time.
6. A computer-readable storage medium having stored therein computer-readable code which, when executed by one or more processors, causes the processors to perform the steps of:
respectively calculating the similarity between a plurality of sample intersections and the intersections to be passed;
acquiring the shortest passing time of the intersection to be passed; the shortest passing time of the crossing to be passed is the average value of the shortest passing time of a plurality of vehicles passing through the crossing to be passed by a preset time stamp per day in the preset time period before the shortest passing time;
acquiring the delay waiting time of each sample intersection; 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 by a preset time stamp every day in a preset time period; aiming at the passing time of a plurality of vehicles, respectively calculating mu 1 and mu 2 by a double Gaussian distribution model and an EM algorithm; based on the μ1, μ2, the delay waiting time is calculated by the following formula (1):
t wait ≈α(μ2-μ1)(1)
wherein t is wait Representing the delay latency, α represents empirical data and α=0.4;
determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time; the determining the traffic time of the intersection to be crossed based on the similarity, the shortest traffic time and the delay waiting time comprises: sequencing a plurality of sample intersections from high to low according to the similarity with the intersections to be passed; acquiring the delay waiting time of the sample intersection according to the sequence of similarity from high to low; determining the traffic time of the intersection to be crossed according to the delay waiting time and the shortest traffic time of the sample intersection with the highest similarity by the following formula (2):
t node ≈t 0 +t wait (2)
wherein t is node Indicating the traffic time of the traffic intersection, t 0 Representing the shortest transit time.
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