CN112907945A

CN112907945A - Road state determination and navigation route planning method and equipment

Info

Publication number: CN112907945A
Application number: CN202110064821.1A
Authority: CN
Inventors: 栾涛
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-06-04

Abstract

The embodiment of the application provides a road state determining and navigation route planning method and equipment. In the embodiment of the application, a driving data set generated by driving of vehicles on a target road in a target time period can be acquired, and driving data of specific vehicles in the vehicles can be excluded from the driving data set on the basis of predetermined characteristic data of the specific vehicles, so as to obtain driving data of unspecified vehicles in the vehicles; and determining the passing state of the target road in the target time period according to the driving data of the unspecified vehicle. According to the method and the device, when the road passing state is determined, the driving data of the specific vehicle is removed, the passing state of the road is determined by using the driving data of the non-specific vehicle, and the scene that the road is opened only for the specific vehicle in practical application is considered, so that the accuracy of determining the passing state of the road is improved, and the accuracy of subsequent navigation route planning is improved.

Description

Road state determination and navigation route planning method and equipment

Technical Field

The application relates to the technical field of navigation, in particular to a road state determining and navigation route planning method and equipment.

Background

With the popularization of the mobile internet, the functions of application programs providing map navigation functions for users are more and more abundant through devices such as mobile phones and car machines, and great convenience is brought to the users for going out. Such applications and their technical service systems are required to avoid roads in a closed state, i.e. impassable roads, when planning a navigation route for a user.

However, how to accurately determine the traffic state of the road is a problem that those skilled in the art face. The inventor of the application finds that the road traffic state of the real world is complex, for example, some roads are closed to social vehicles, but part of specific vehicles can pass (special vehicles, internal vehicles of a cell or a unit, and the like). In this case, if the traffic status of the road is marked as the traffic status, it may cause that the navigation route planned for the general user (not the driver of the specific vehicle) includes the road for the specific vehicle to travel, and further cause that the general user faces a situation that the vehicle cannot travel when driving to such a road according to the navigation route, which may greatly affect the user experience.

Disclosure of Invention

Aspects of the present application provide a method and apparatus for determining a road state and planning a navigation route, so as to improve accuracy of determining a road state, thereby facilitating improvement of accuracy of subsequently planning a navigation route for a user.

The embodiment of the application provides a road state determination method, which comprises the following steps:

acquiring a driving data set generated by driving a vehicle on a target road in a target time period;

on the basis of the characteristic data of a specific vehicle determined in advance, driving data of a specific vehicle in the vehicles are excluded from the driving data set so as to obtain driving data of a non-specific vehicle in the vehicles;

and determining the passing state of the target road in the target time period according to the driving data of the non-specific vehicle.

The embodiment of the present application further provides a navigation route planning method, including:

and planning a navigation route for the navigated object according to the start-stop position information and the end-stop position information of the navigated object and the dynamic road traffic information, wherein the road traffic state included in the dynamic road traffic information is determined according to the road state determination method.

An embodiment of the present application further provides a computer device, including: a memory and a processor; wherein the memory is used for storing a computer program;

the processor is coupled to the memory for executing the computer program for performing the steps of the above-mentioned road state determination method and/or navigation route planning method.

Embodiments of the present application also provide a computer-readable storage medium storing computer instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of the above-mentioned road state determination method and/or navigation route planning method.

In the embodiment of the application, in order to obtain the passing state of the target road in the target time period, a driving data set generated by driving the vehicle on the target road in the target time period can be obtained, and driving data of a specific vehicle in the vehicles is excluded from the driving data set based on the predetermined characteristic data of the specific vehicle, so as to obtain driving data of an unspecified vehicle in the vehicles; and determining the passing state of the target road in the target time period according to the driving data of the unspecified vehicle. According to the method and the device, when the road passing state is determined, the driving data of the specific vehicle is removed, the passing state of the road is determined by using the driving data of the non-specific vehicle, and the scene that the road is opened only for the specific vehicle in practical application is considered, so that the accuracy of determining the passing state of the road is improved, and the accuracy of subsequent navigation route planning is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1a is a schematic structural diagram of a navigation system according to an embodiment of the present application;

FIG. 1b is a schematic view of a road provided by an embodiment of the present application;

fig. 2 is a schematic flowchart of a road state determination method according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a navigation route planning method according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The inventor of the application finds that the road traffic state of the real world is complex, for example, some roads are closed to social vehicles, but part of specific vehicles can pass (special vehicles, internal vehicles of a cell or a unit, and the like). In this case, if the traffic status of the road is marked as the traffic status, it may cause that the navigation route planned for the general user (not the driver of the specific vehicle) includes the road for the specific vehicle to travel, and further cause that the general user faces a situation that the vehicle cannot travel when driving to such a road according to the navigation route, which may greatly affect the user experience.

In order to solve the above problem, in some embodiments of the present application, a driving data set generated when a vehicle drives on a target road in a target time period may be acquired, and driving data of a specific vehicle in the vehicles may be excluded from the driving data set based on predetermined characteristic data of the specific vehicle to obtain driving data of an unspecific vehicle in the vehicles, so as to obtain driving data of the unspecific vehicle; and determining the traffic state of the target road in the target time period according to the driving data of the unspecified vehicle. According to the method and the device, when the road passing state is determined, the driving data of the specific vehicle is removed, the passing state of the road is determined according to the driving data of the non-specific vehicle, the scene that the road is only opened for the specific vehicle in practical application is considered, the accuracy of determining the passing state of the road is improved, and the accuracy of subsequent navigation route planning is improved.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

It should be noted that: like reference numerals refer to like objects in the following figures and embodiments, and thus, once an object is defined in one figure or embodiment, further discussion thereof is not required in subsequent figures and embodiments.

Fig. 1a is a schematic structural diagram of a navigation system according to an embodiment of the present application. As shown in fig. 1a, the navigation system includes: a navigation terminal 11 and a server device 12. In this embodiment, the navigation terminal 11 may be mounted on the object to be navigated and move along with the movement of the object to be navigated. The navigated object can be any object that can move. For example, the navigated object may be a person or a bicycle, or the like, or may be a motor vehicle, such as a car, a taxi, a van, a motorcycle, an electric car, or the like, or an autonomous mobile device, such as a robot, an unmanned vehicle, or the like. Fig. 1a illustrates only a motor vehicle as a target to be navigated mounted on the navigation terminal 11, but the present invention is not limited thereto.

Wherein, the server device 12 and the navigation terminal 11 can be connected wirelessly or by wire. Optionally, the service-side device 12 may be communicatively connected to the navigation terminal 11 through a mobile network, and accordingly, the network format of the mobile network may be any one of 2G (gsm), 2.5G (gprs), 3G (WCDMA, TD-SCDMA, CDMA2000, UTMS), 4G (LTE), 4G + (LTE +), 5G, WiMax, and the like. Optionally, the server device 12 may also be communicatively connected to the navigation terminal 11 through bluetooth, WiFi, infrared, or the like.

In this embodiment, the server device 12 refers to a computer device capable of responding to a service request of the navigation terminal 11 and providing a navigation-related service for a user, and generally has the capability of undertaking and securing the service. The server device 12 may be a single server device, a cloud server array, or a Virtual Machine (VM) running in the cloud server array. The server device 12 may also refer to other computing devices having corresponding service capabilities, such as a terminal device (running a service program) such as a computer.

In the present embodiment, the navigation terminal 11 refers to an electronic device that can provide a navigation function for a navigated object. For example, the system can be a smart phone, a tablet computer, a personal computer, an intelligent wearable device and the like, and can also be a special navigation device. For example, an in-vehicle navigation apparatus, and the like. In the present embodiment, the navigation terminal 11 may be installed with software such as a navigation-related Application (APP), which may provide an electronic map to the user.

In this embodiment, the navigated object may also be equipped with a positioning component. In the embodiments of the present application, the specific implementation form of the positioning assembly is not limited. Optionally, the positioning component may use a GPS positioning technology, a compass positioning technology, a base station positioning technology, a WiFi positioning technology, or a visual positioning technology, etc. to position the navigated object, that is, to obtain real-time positioning information of the navigated object. Alternatively, the positioning component may be an internal component of the navigation terminal 11. In this manner, the positioning component may be electrically connected to the processor of the navigation terminal 11 and provide real-time positioning information of the navigated object to the processor of the navigation terminal 11. Alternatively, the positioning component may be a separate positioning device and communicatively connected to the server device 11. For the communication connection between the positioning component and the server device 12, reference may be made to the communication connection between the navigation terminal 11 and the server device 12, which is not described herein again.

In this embodiment, the navigation terminal 11 may provide the address information of the navigated object to the server device, where the address information of the navigated object includes the start address information and the destination address information, i.e., the start and end point position information. Alternatively, the navigation terminal 11 may locate the location position information where the navigated object is currently located, as the start address information of the navigated object, and provide its destination address information by the user. Alternatively, the user may select or enter destination address information. The navigation terminal 11 can provide the start and end point position information of the navigated object to the server device 12. The server device 12 receives the start and end point position information of the navigated object, plans a navigation path for the navigated object according to the start and end point position information of the navigated object and the road dynamic traffic information, and provides the navigation path to the navigation terminal 11. Accordingly, the navigation terminal 11 receives the navigation path and renders the navigation path on the navigation interface. In this way, the navigated object may follow the navigation path from the start address to the destination address. Wherein, the road dynamic traffic information may include: and the current passing state of each road in the electronic map. The passing state of the road mainly refers to: the road is in a closed state (which may also be referred to as a closed state) or an open state.

Based on this, when planning a route for the navigated object, the server device 12 needs to acquire the traffic status of the roads included in the electronic map. In this embodiment, for a road, the traffic state of the road may be determined according to the driving data generated by the vehicle driving on the road in the historical time period. In consideration of the fact that in some application scenarios, traffic road state scenarios are complex, vehicles on the road need to be distinguished with finer granularity, and if all vehicles are viewed identically, a fault in judging the traffic state of the road may be caused. For example, some roads are closed for normal vehicles, but some specific vehicles may pass. For example, in some application scenarios, some roads are open for special-purpose vehicles such as police cars, ambulances, fire-fighting vehicles, etc., but closed for general social vehicles; for another example, some roads are bus lanes, and other vehicles are not allowed to run; for example, in a place such as a residential district or an industrial park, only inside vehicles are allowed to pass through. Under these scenes, if the traffic status of the roads is determined to be open according to all the driving data on the roads involved in these scenes, as a result, for other unspecified vehicles, the judgment of the road status is undoubtedly wrong, which causes the subsequent server device 12 to make navigation route planning mistakes for other unspecified vehicles, and the like.

In order to solve the above problem and improve the accuracy of the determination of the road traffic status, the server device 12 may acquire the traffic data generated when the vehicle travels on any one road in the historical time period when determining the traffic status of the road on the electronic map. In the embodiment of the present application, for convenience of description, a road for which a traffic state is determined is defined as a target road. The target road is any road in the electronic map. In the embodiment of the present application, a road segment having an entrance and an exit in an actual geographic space is defined as a road. For example, as shown in fig. 1b, the road may be a section AC, BC, CD, DE, AB, and the like.

Further, a time period related to the adopted driving data is defined as a target time period. Preferably, the target time period is a time period closest to the current time. For example, it may be the first 5min, the first 10min, the first 30min, the first 1 hour, and the like.

In the embodiment of the present application, for convenience of description, a vehicle that travels on a target road during a target time period is defined as a first vehicle. The number of the first vehicles can be 1 or more, and the number of the first vehicles is 2 or more than 2. The specific number of first vehicles is determined by the number of vehicles actually traveling on the target road for the target time period. That is, the server device 12 may obtain driving data generated when the vehicle drives on the target road in the target time period, and in the embodiment of the present application, the driving data may be defined as a driving data set.

Further, the server device 12 may identify the traveling data of the unspecified vehicle from the traveling data set generated when the vehicle travels on the target road in the target time period. Wherein the specific vehicle is a vehicle that allows passage through the target road; the non-specific vehicle means a vehicle other than the specific vehicle in the first vehicle. In different application scenarios, the definition of a particular vehicle is different. For example, in some application scenarios, the specific vehicle is a special-purpose vehicle such as an ambulance, a police vehicle, a fire truck, a construction vehicle, and the like; in other application scenarios, the specific vehicle is an interior vehicle of a certain location, such as a resident vehicle of a certain cell, a staff vehicle of a certain company, a staff vehicle of a certain industrial park, and the like.

Alternatively, the server-side device 12 may exclude the traveling data of the specific vehicle of the first vehicles from the traveling data set based on the predetermined characteristic data of the specific vehicle to obtain the traveling data of the unspecified vehicle of the first vehicles.

In the embodiment of the present application, the specific implementation of the server device 12 determining the specific vehicle is not limited. Several alternative embodiments are exemplified below for illustrative purposes.

Embodiment 1: assuming that a certain road is a road allowing only a specific vehicle to pass through and not allowing other non-specific vehicles to pass through, since the number of specific vehicles is smaller than that of ordinary social vehicles in real life, when the service-side device 12 determines its passing state based on the driving data generated by the vehicles running on the road, the road is considered to be in an open state if a certain number of vehicles pass through the road for some time period; in other time periods, if no vehicles pass through the road or the number of vehicles passing through the road is small, the road is considered to be in a closed state, namely, in a road closing state, so that the passing state of the road is changed frequently.

Based on the above analysis, in embodiment 1, the server-side device 12 may acquire historical driving data generated when the historical vehicle is driving on the road; wherein, the generation time of the historical driving data is earlier than the target time period. Optionally, the generation time of the historical driving data is a time period closest to the target time period. For example, the current time may be 09/month 09/day 13:50 in 2020, the target time period may be 09/month 09/day 13:45-13:50 in 2020, and the generation time of the historical driving data may be 09/month 09/day 13:42-13:45 in 2020; and so on. In the present embodiment, the generation time of the historical driving data and the duration of the target time period are not limited. Optionally, the time length of the generation time of the historical driving data and the time length of the target time period may be equal or unequal. The time duration of the generation time of the historical driving data may be greater than or less than the time duration of the target time period.

In the present embodiment, the roads on which the history vehicle travels may include: the target road may not include the target road, that is, the target road includes: and other roads except the target road in the electronic map. Wherein, the number of the roads traveled by the historical vehicles can be 1 or more. The plurality of strands means 2 or more than 2 strands. If the number of the roads traveled by the historical vehicle is 1, the road traveled by the historical vehicle may be a target road, or may be another road in the electronic map besides the target road. If the plurality of roads on which the historical vehicles travel, the roads on which the historical vehicles travel may include: the target road and/or other roads in the electronic map except the target road.

The historical driving data generated by the historical vehicle during road driving can include: historical trajectory data of the historical vehicle and a generation time of the historical trajectory data.

Accordingly, the server device 12 may determine the traffic state of the road traveled by the historical vehicle at the corresponding time according to the historical trajectory data of the historical vehicle and the generation time of the historical trajectory data; and determining the change frequency of the traffic state of the same road according to the traffic state of the road passed by the historical vehicles at the corresponding time. Alternatively, the server-side device 12 may calculate a time length between two adjacent traffic states of the same road, and use an average value of the time lengths between two adjacent traffic states of the same road in the corresponding time as a traffic state change period of the same road in the corresponding time, where an inverse of the traffic state change period is a traffic state change frequency of the road in the corresponding time.

Further, the server-side device 12 may determine whether the vehicle running on the same road at the corresponding time is the specific vehicle, according to the change frequency of the traffic state of the same road. Alternatively, if the frequency of change of the traffic state of the same road is greater than the set threshold, the server device 12 determines the historical vehicles passing the road whose frequency of change of the traffic state is greater than the set threshold at the corresponding time as the predetermined specific vehicles, and stores the feature data of the specific vehicles.

In the embodiment of the present application, a specific implementation manner in which the server-side device 12 determines the frequency of the change of the traffic state of the road traveled by the historical vehicle at the corresponding time is not limited. Alternatively, the server-side device 12 may calculate road passing characteristics of a road traveled by the historical vehicle at corresponding times according to the historical trajectory data of the historical vehicle and the generation time of the historical trajectory data; and determining the passing state of the road driven by the historical vehicle at the corresponding time according to the road passing characteristics of the road driven by the historical vehicle at the corresponding time.

Optionally, the server-side device 12 may obtain historical track data of each sub-time period from the historical track data of the historical vehicle; and calculating the road passing characteristics of the road which is traveled by the historical vehicle in the sub-time period according to the historical track data of each sub-time period and the corresponding sub-time period.

It is worth mentioning that in the embodiment of the present application, the road passing feature may include: one or more of the traffic flow of the road in the set time period, the speed of the vehicle passing through the road in the set time period, the consumed time, the number of vehicles traveling on the road according to the original navigation planning route in the set time period and the like. The following description will exemplarily describe a specific implementation process of calculating the road passing characteristics of the road traveled by the historical vehicle in the sub-time period in the first time period in the generation time of the historical driving data. The first time period is any time period in the generation time of the historical driving data. The generation time of the historical driving data may include: a plurality of first time periods. Plural means 2 or more. The durations of the plurality of first sub-periods may be the same or different.

Embodiment A: for the traffic flow of the road in the set time period, the server-side device 12 may obtain the historical track data of the historical vehicle in the first time period from the historical driving data of the historical vehicle according to the historical track data of the historical vehicle and the generation time of the historical track data; and calculating the traffic flow of the road which is driven by the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period, wherein the traffic flow is used as the road passing characteristic of the road which is driven by the historical vehicle in the first time period.

Embodiment B: the server-side device 12 may obtain the navigation planned route of the historical vehicle for the number of vehicles traveling on the road according to the original navigation planned route within a set time period; calculating the number of vehicles which run according to the corresponding navigation planning route in the first time period in the historical vehicles according to the navigation planning route of the historical vehicles and the historical track data of the historical vehicles in the first time period, and taking the number of the vehicles as the road passing characteristics of the road which the historical vehicles run on in the first time period; wherein the navigation planning route comprises a target road. Optionally, the server-side device 12 may match the historical trajectory data of each historical vehicle in the first time period in its corresponding navigation plan route; and if the historical track data of the historical vehicle in the first time period is matched with the navigation planning route, determining that the historical vehicle runs according to the navigation planning route in the first time period.

Embodiment C: for the speed of the vehicle passing through the road in the set time period, the server-side device 12 may calculate the speed of the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period and the first time period, as the road passing characteristic of the road passed by the historical vehicle in the first time period. Alternatively, the server-side device 12 may calculate the average value of the vehicle speeds of the plurality of historical vehicles in the first time period as the vehicle speeds of the historical vehicles in the first time period.

Embodiment D: for the elapsed time of the vehicle passing through the road in the set time period, the elapsed time of the road passed by the historical vehicle in the first time period can be calculated according to the historical track data of the historical vehicle in the first time period and the first time period, and the elapsed time is used as the road passing characteristic of the road passed by the historical vehicle in the first time period. Alternatively, the server-side device 12 may calculate an average of the elapsed time periods of the roads traveled by the plurality of historical vehicles during the first time period as the elapsed time periods of the roads traveled by the historical vehicles during the first time period.

It is to be noted that the above embodiments a to D may be implemented individually or in combination of a plurality of embodiments. When implemented in various combinations, any 2, 3 or all of the embodiments may be employed.

Further, after calculating the road traffic characteristics of the road traveled by the historical vehicle in each first time period, the server-side device 12 may determine the traffic state of the road traveled by the historical vehicle in each first time period according to the road traffic characteristics of the road traveled by the historical vehicle in each first time period. Optionally, based on the above embodiments a to D, the server device 12 may perform at least one of the following determination operations:

judgment operation 1: judging whether the traffic flow of a road which is driven by the historical vehicle in a first time period is greater than or equal to a set traffic flow threshold value or not;

judgment operation 2: judging whether the number of vehicles running according to the navigation planning route in the historical vehicles in the first time period is larger than or equal to a set number threshold value or not;

judgment operation 3: judging whether the speed of the historical vehicle in a first time period is greater than or equal to a set speed threshold value;

judgment operation 4: judging whether the consumed time length of a road through which the historical vehicle passes in the first time period is less than or equal to a set time length;

further, if the result of the at least one judgment operation is yes, it is determined that the road traveled by the historical vehicle in the first time period is in the open state in the first time period. Correspondingly, if the judgment result of the at least one judgment operation is negative, the road traveled by the historical vehicle in the first time period is determined to be in a closed state, namely a road closing state, in the first time period.

It is worth noting that the number of determination operations performed by the server-side device and which determination operation is performed may be determined by the implementation of the road traffic characteristics calculated by the server-side device 12. That is, which embodiment or embodiments the server-side device 12 adopts to calculate the road passing characteristic, the server-side device 12 performs the judgment operation corresponding to the road passing characteristic. For example, if the server-side device 12 only calculates the road traffic characteristics by using the embodiment a, the server-side device 12 only needs to execute the determination operation 1; if the server-side device 12 calculates the road traffic characteristics by combining the implementation modes a and B, the server-side device 12 performs the judgment operations 1 and 2; and so on.

In other embodiments, the server-side device 12 may also perform feature fusion on multiple road traffic features, and determine the traffic state of the road according to the road traffic features after feature fusion. Based on the above, the server device 12 may perform feature fusion on multiple road traffic characteristics of the road that the historical vehicle has traveled in the first time period in the second time period, and determine the traffic state of the road that the historical vehicle has traveled in the first time period according to the road traffic characteristics of the road that the historical vehicle has traveled in the first time period after the feature fusion in the first time period. Optionally, the server device 12 may input various road traffic characteristics into a pre-trained neural network model, and perform characteristic fusion on the various road traffic characteristics by using the neural network model and determine the traffic state of the road that the historical vehicle has traveled in the first time period.

Embodiment 2: the server device 12 may provide a specific vehicle registration function to the user, and the user autonomously reports the specific vehicle. The user may report the identity of the registered vehicle. Accordingly, the server device 12 may acquire the identification of the registered specific vehicle as the above-described predetermined identification of the specific vehicle in response to the registration operation for the specific vehicle.

Embodiment 3: the server device 12 may provide a vehicle usage registration function for the user, and the user autonomously reports the usage and the identifier of the vehicle. The vehicles can be classified into ambulances, police cars, fire trucks, construction vehicles, taxies or common social vehicles according to purposes. In the present embodiment, a vehicle having a specific use may be used as the specific vehicle. Such as an ambulance, fire truck, police vehicle, or construction vehicle. Wherein, the application scene is different, and the specific vehicle is different. For example, for a construction scenario, the construction vehicle may be a particular vehicle; as another example, for some emergencies, an ambulance, fire truck, or police vehicle is a particular vehicle, and so on.

The server device 12 may acquire the vehicle use and the identification of the registered vehicle in response to the registration operation for the vehicle use; and determines the registered vehicle of the specific use as a predetermined specific vehicle.

Embodiment 4: in some application scenarios, only vehicles with a certain social relationship to a certain area may enter a road in the area. For example, during some epidemic prevention and control, a certain village only allows vehicles of residents of the village to enter, and the like. Based on this, the server device 12 may further obtain the geographic location information of the target road-related area, and determine that the vehicle with the used address information belonging to the target road-related area is the predetermined specific vehicle. The target road may be a road set in the associated area, or only the associated area may be accessed through the target road, that is, the target road is closed, and the vehicle is not affected to enter or exit from other areas except the associated area. The target road association areas are different, and the user address information is different. For example, in some embodiments, the target road-related area is a residential area such as a village or a cell, and the user address information may be a user residential address. In some embodiments, the target road-related area is an office area where the user is located, and the user address information may be a user office address, and the like.

Based on the above embodiments 1 to 4, the characteristic data of the specific vehicle includes: a particular vehicle identification. The vehicle identifier is information that can uniquely identify a vehicle, such as a license plate number. The driving data set generated by driving the vehicle on the target road in the target time period comprises: vehicle identification and trajectory data. The vehicle identification is a vehicle which runs on the target road in the target time period, namely the first vehicle. The trajectory data is trajectory data generated when the first vehicle travels on the target road for the target time period. Accordingly, when excluding the driving data of a specific vehicle in the first vehicles, the server device 12 may match the specific vehicle identifier in the driving data set to determine the trajectory data corresponding to the specific vehicle identifier in the driving data set as the driving data of the specific vehicle in the vehicles; and the driving data of the specific vehicle in the first vehicles is excluded from the driving data set so as to obtain the driving data of the non-specific vehicle in the first vehicles.

Further, the server-side device 12 may determine the traffic state of the target road in the target time period according to the driving data of the unspecified vehicle. When the communication state of the target road in the target time period is determined, the server-side device 12 rejects the driving data of the specific vehicle, determines the passing state of the target road only by using the driving data of the non-specific vehicle, and considers the scene that the road is only opened for the specific vehicle in practical application, thereby being beneficial to improving the accuracy of determining the passing state of the road and further being beneficial to improving the accuracy of subsequent navigation route planning.

Alternatively, the server-side device 12 may calculate the road traffic characteristics of the target road in the target time period according to the generation time of the track data of the non-specific vehicle and the track data of the non-specific vehicle by the server-side device 12; and determining the passing state of the target road in the target time period according to the road passing characteristics of the target road in the target time period. For a specific implementation manner of the server device 12 determining the road traffic characteristics and the traffic state of the target road in the target time period, reference may be made to the above-mentioned contents of the server device 12 determining the road traffic characteristics and the traffic state of the road traveled by the historical vehicle at the corresponding time, which are not described herein again.

In the embodiment of the application, the target road is any road in the electronic map, and the traffic states of all roads in the electronic map in the target time period can be determined in the same or similar manner. Accordingly, the server-side device 12 may update the electronic map data after determining the traffic states of all the roads in the electronic map in the target time slot, and update the road states in the electronic map data to the traffic states of the roads in the target time slot. Preferably, the target time period is a time period closest to the current time, and therefore, the traffic state of the target road in the target time period may reflect the traffic state of the target road in the current time to some extent. In this way, when planning a navigation route for the navigated object, the server device 12 may obtain updated electronic map data, which includes: road dynamic traffic information. Wherein, the road dynamic traffic information may include: real-time dynamic traffic status of each target road. Further, the server device 12 may plan a navigation route for the navigated object according to the start-stop position information and the dynamic road traffic information of the navigated object. When the passing state of the road is determined, the driving data of the specific vehicle is removed, the scene that the road is only opened for the specific vehicle in practical application is considered, and the accuracy of determining the passing state of the road is improved.

In addition to the above navigation system embodiments, the embodiments of the present application further provide a road state determination method and a navigation route planning method, which are respectively exemplarily described below.

Fig. 2 is a schematic flowchart of a road state determination method according to an embodiment of the present application. As shown in fig. 2, the method includes:

201. and acquiring a driving data set generated by driving the vehicle on the target road in the target time period.

202. The running data of a specific vehicle in the vehicles is excluded from the running data set based on the predetermined characteristic data of the specific vehicle to acquire the running data of a non-specific vehicle in the vehicles.

203. And determining the passing state of the target road in the target time period according to the driving data of the unspecified vehicle.

In this embodiment, for the explanation of the target road, the target time period, the specific vehicle and the non-specific vehicle, reference may be made to the related contents of the above system embodiments, and details are not repeated herein.

In the present embodiment, in order to improve the accuracy of determining the road traffic state, for the target road, in step 201, the driving data generated when the vehicle travels on the target road in the target time period may be acquired. In the embodiment of the present application, the driving data may be defined as a driving data set.

In the embodiment of the present application, for convenience of description, a vehicle that generates traveling data on a target road during a target time period is defined as a first vehicle. The number of the first vehicles can be 1 or more, and the number of the first vehicles is 2 or more than 2. The specific number of first vehicles is determined by the number of vehicles actually traveling on the target road for the target time period.

Further, in step 202, the driving data of the unspecified vehicle may be identified from the driving data set generated by the vehicle driving on the target road in the target time period. Wherein the specific vehicle is a vehicle that allows passage through the target road; the non-specific vehicle means a vehicle other than the specific vehicle in the first vehicle.

Alternatively, the traveling data of the specific vehicle of the first vehicles may be excluded from the traveling data sets based on the predetermined characteristic data of the specific vehicle to acquire the traveling data of the unspecified vehicle of the first vehicles.

Further, in step 203, the traffic state of the target road in the target time period may be determined according to the driving data of the unspecified vehicle.

In the embodiment, when the communication state of the target road in the target time period is determined, the driving data of the specific vehicle is removed, the passing state of the target road is determined only by using the driving data of the non-specific vehicle, and the scene that the road is opened only for the specific vehicle in practical application is considered, so that the accuracy of determining the passing state of the road is improved, and the accuracy of subsequent navigation route planning is improved.

In an embodiment of the present application, the characteristic data of the specific vehicle includes: a particular vehicle identification. The driving data set generated by driving the vehicle on the target road in the target time period comprises: vehicle identification and trajectory data. The vehicle identification is a vehicle which runs on the target road in the target time period, namely the first vehicle. The trajectory data is trajectory data generated when the first vehicle travels on the target road for the target time period. Accordingly, an alternative implementation of step 202 is: matching the specific vehicle identification in the driving data set to determine the track data corresponding to the specific vehicle identification in the driving data set as the driving data of the specific vehicle in the vehicle; and the driving data of the specific vehicle in the first vehicles is excluded from the driving data set so as to obtain the driving data of the non-specific vehicle in the first vehicles.

In the embodiments of the present application, the specific implementation of determining a specific vehicle is not limited. Several alternative embodiments are exemplified below for illustrative purposes.

Embodiment 1: historical driving data generated when a historical vehicle runs on a road can be acquired; wherein, the generation time of the historical driving data is earlier than the target time period. Optionally, the generation time of the historical driving data is a time period closest to the target time period. Then, determining the passing state of the road traveled by the historical vehicle at the corresponding time according to the historical track data of the historical vehicle and the generation time of the historical track data; and determining the change frequency of the traffic state of the same road according to the traffic state of the road passed by the historical vehicles at the corresponding time.

Further, it is possible to determine whether or not the vehicle running on the same road at the corresponding time is the specific vehicle, based on the frequency of change in the traffic state of the same road. Alternatively, if the frequency of change in the traffic state of the same road is greater than a set threshold, the historical vehicles passing through the road whose frequency of change in the traffic state is greater than the set threshold at the corresponding time are determined as the predetermined specific vehicles, and the feature data of the specific vehicles are stored.

In the embodiment of the present application, a specific implementation manner of determining the frequency of the change of the traffic state of the road traveled by the historical vehicle at the corresponding time is not limited. Optionally, the road passing characteristics of the road passed by the historical vehicle at the corresponding time can be calculated according to the historical track data of the historical vehicle and the generation time of the historical track data; and determining the passing state of the road driven by the historical vehicle at the corresponding time according to the road passing characteristics of the road driven by the historical vehicle at the corresponding time.

Optionally, historical track data of each sub-time period can be acquired from historical track data of historical vehicles; and calculating the road passing characteristics of the road which is traveled by the historical vehicle in the sub-time period according to the historical track data of each sub-time period and the corresponding sub-time period.

It is worth mentioning that in the embodiment of the present application, the road passing feature may include: one or more of the traffic flow of the road in the set time period, the speed of the vehicle passing through the road in the set time period, the consumed time, the number of vehicles traveling on the road according to the original navigation planning route in the set time period and the like. The following description will exemplarily describe a specific implementation process of calculating the road passing characteristics of the road traveled by the historical vehicle in the sub-time period in the first time period in the generation time of the historical driving data. For the description of the first time period, reference may be made to the relevant contents of the above embodiments, and details are not repeated here.

Embodiment A: acquiring historical track data of a historical vehicle in a first time period from historical driving data of the historical vehicle according to the historical track data of the historical vehicle and the generation time of the historical track data; and calculating the traffic flow of the road which is driven by the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period, wherein the traffic flow is used as the road passing characteristic of the road which is driven by the historical vehicle in the first time period.

Embodiment B: acquiring a navigation planning route of a historical vehicle; calculating the number of vehicles which run according to the corresponding navigation planning route in the first time period in the historical vehicles according to the navigation planning route of the historical vehicles and the historical track data of the historical vehicles in the first time period, and taking the number of the vehicles as the road passing characteristics of the road which the historical vehicles run on in the first time period; wherein the navigation planning route comprises a target road. Embodiment C: and calculating the speed of the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period and the first time period, wherein the speed is used as the road passing characteristic of the road which is passed by the historical vehicle in the first time period. Embodiment D: the elapsed time of the road passed by the historical vehicle in the first time period can be calculated according to the historical track data of the historical vehicle in the first time period and the first time period, and the elapsed time is taken as the road passing characteristic of the road passed by the historical vehicle in the first time period. It is to be noted that the above embodiments a to D may be implemented individually or in combination of a plurality of embodiments. When implemented in various combinations, any 2, 3 or all of the embodiments may be employed. For detailed description of the embodiments a to D, reference may be made to the related contents of the above system embodiments, which are not described herein again.

Further, after the road passing characteristics of the road traveled by the historical vehicle in each first time period are calculated, the passing state of the road traveled by the historical vehicle in each first time period can be determined according to the road passing characteristics of the road traveled by the historical vehicle in each first time period. Optionally, based on the above embodiments a-D, when determining the traffic status of the first road in each first sub-time period, at least one of the following determination operations may be performed:

judgment operation 1: judging whether the traffic flow of a road which is driven by the historical vehicle in a first time period is greater than or equal to a set traffic flow threshold value or not; judgment operation 1: judging whether the number of vehicles running according to the navigation planning route in the historical vehicles in the first time period is larger than or equal to a set number threshold value or not;

judgment operation 3: judging whether the speed of the historical vehicle in a first time period is greater than or equal to a set speed threshold value; judgment operation 4: judging whether the consumed time length of a road through which the historical vehicle passes in the first time period is less than or equal to a set time length; further, if the result of the at least one judgment operation is yes, it is determined that the road traveled by the historical vehicle in the first time period is in the open state in the first time period. Correspondingly, if the judgment result of the at least one judgment operation is negative, the road traveled by the historical vehicle in the first time period is determined to be in a closed state, namely a road closing state, in the first time period.

It is worth mentioning that the number of determination operations performed by the server device and which determination operation is performed may be determined by the implementation of the calculated road traffic characteristics. That is, which embodiment or embodiments are employed to calculate the road passing characteristic, a determination operation corresponding to the road passing characteristic is performed.

Embodiment 2: in response to the registration operation for the specific vehicle, the identification of the registered specific vehicle is acquired as the identification of the specific vehicle determined in advance above.

Embodiment 3: in response to a registration operation for vehicle use, vehicle use and identification of a registered vehicle are acquired, and the registered vehicle of a specific use is determined to be a predetermined specific vehicle.

Embodiment 4: acquiring geographical position information of a target road associated area; and determining the vehicle of which the used address information belongs to the target road associated area as the predetermined specific vehicle.

For detailed description of the embodiments 1 to 4, reference may be made to the related contents of the above system embodiments, which are not described herein again.

Further, matching the specific vehicle identifier in the driving data set to determine the track data corresponding to the specific vehicle identifier in the driving data set as the driving data of the specific vehicle in the vehicle; and the driving data of a specific vehicle in the vehicles is excluded from the driving data set so as to obtain the driving data of a non-specific vehicle in the vehicles. Further, the traffic state of the target road in the target time period can be determined according to the driving data of the unspecified vehicle. Optionally, an optional implementation manner of step 203 is: determining road traffic characteristics of a target road in a target time period according to the driving data of the unspecified vehicle; and determining the passing state of the target road in the target time period according to the road passing characteristics of the target road in the target time period.

In the embodiment of the application, the target road is any road in the electronic map, and the traffic states of all roads in the electronic map in the target time period can be determined in the same or similar manner. Accordingly, after the traffic states of all roads in the electronic map in the target time period are determined, the electronic map data can be updated, and the road states in the electronic map data are updated to the traffic states of the roads in the target time period. Preferably, the target time period is a time period closest to the current time, and therefore, the traffic state of the target road in the target time period may reflect the traffic state of the target road in the current time to some extent. Thus, when planning a navigation route for a navigated object, updated electronic map data can be obtained, the electronic map data comprising: road dynamic traffic information. Wherein, the road dynamic traffic information may include: and the passing state of each target road in the target time period. Furthermore, a navigation route can be planned for the navigated object according to the start-stop position information and the road dynamic traffic information of the navigated object. The driving data of the specific vehicle is removed when the passing state of the road is judged, the scene that the road is only opened for the specific vehicle in practical application is considered, and the accuracy of judging the passing state of the road is improved.

Correspondingly, an embodiment of the present application further provides a navigation route planning method, as shown in fig. 3, the navigation route planning method includes:

301. and acquiring a driving data set of the vehicle on the target road in the target time period.

302. And on the basis of the predetermined characteristic data of the specific vehicle, excluding the driving data of the specific vehicle from the driving data set to obtain the driving data of the non-specific vehicle in the vehicle.

303. And determining the passing state of each target road in the target time period according to the driving data of unspecified vehicles on each target road in the electronic map.

304. And planning a navigation route for the navigated object according to the starting and ending point position information of the navigated object and the passing state of each target road in the target time period.

The target road in fig. 2 is any road in the electronic map in the embodiment. For the description of steps 301-303, reference may be made to the related contents in the above-mentioned fig. 2 and system embodiment, which are not described herein again.

Further, in step 304, a navigation route for the navigated object may be planned according to the start and end point position information of the navigated object and the traffic status of each target road in the electronic map in the target time period. Preferably, the target time period is a time period closest to the current time. E.g., the first 2min, 5min, 10min, 30min, or 1 hour, etc.

In the embodiment, when the passing state of the road is determined, the driving data of the specific vehicle is removed, the scene that the road is opened only for the specific vehicle in practical application is considered, and the accuracy of determining the passing state of the road is improved.

It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of

steps

201 and 202 may be device a; for another example, the execution subject of step 201 may be device a, and the execution subject of step 202 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations are included in a specific order, but it should be clearly understood that the operations may be executed out of the order presented herein or in parallel, and the sequence numbers of the operations, such as 201, 202, etc., are merely used for distinguishing different operations, and the sequence numbers do not represent any execution order per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel.

Accordingly, embodiments of the present application also provide a computer-readable storage medium storing computer instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of the above-described road state determination and/or navigation route planning method.

Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in fig. 4, the computer apparatus includes: a memory 40a and a processor 40 b. Wherein, the memory 40a is used for storing computer programs;

the processor 40b is coupled to the memory 40a for executing a computer program for: acquiring a driving data set generated by driving a vehicle on a target road in a target time period; based on the characteristic data of the specific vehicle determined in advance, the driving data of the specific vehicle in the vehicles are excluded from the driving data set so as to obtain the driving data of the non-specific vehicle in the vehicles; and determining the traffic state of the target road in the target time period according to the driving data of the unspecified vehicle.

In some embodiments, the characteristic data of the specific vehicle includes: a specific vehicle identification, the driving data set comprising: vehicle identification and trajectory data. Accordingly, the processor 40b, when excluding driving data generated by a specific vehicle of the vehicles, is specifically configured to: matching the specific vehicle identification in the driving data set to determine the track data corresponding to the specific vehicle identification in the driving data set as the driving data of the specific vehicle in the vehicle; the driving data of a specific vehicle in the vehicles is excluded from the driving data set to obtain the driving data of a non-specific vehicle in the vehicles.

In some embodiments, the processor 40b is further configured to: acquiring historical driving data generated when a historical vehicle runs on a road; the generation time of the historical driving data is earlier than the target time period; the historical driving data includes: historical trajectory data of the historical vehicle and generation time of the historical trajectory data; determining the traffic state of a road which is driven by the historical vehicle at corresponding time according to the historical track data of the historical vehicle and the generation time of the historical track data; determining the change frequency of the traffic state of the same road according to the traffic state of the road driven by the historical vehicles at the corresponding time; if the change frequency of the passing state of the same road is greater than the set threshold value, determining historical vehicles passing the road with the change frequency of the passing state greater than the set threshold value at the corresponding time as predetermined specific vehicles; and stores predetermined characteristic data of the specific vehicle.

Further, the processor 40b, when determining the traffic status of the road traveled by the historical vehicle at the corresponding time, is specifically configured to: calculating road passing characteristics of a road which is driven by the historical vehicle at corresponding time according to the historical track data of the historical vehicle and the generation time of the historical track data; and determining the passing state of the road driven by the historical vehicle at the corresponding time according to the road passing characteristics of the road driven by the historical vehicle at the corresponding time.

Optionally, the processor 40b, when calculating the road passing characteristics of the road traveled by the historical vehicle at the corresponding time, is specifically configured to: acquiring historical track data of the historical vehicle in a first time period from the historical driving data of the historical vehicle according to the historical track data of the historical vehicle and the generation time of the historical track data in the first time period of the generation time of the historical driving data; calculating the traffic flow of the road which is driven by the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period, and taking the traffic flow as the road passing characteristics of the road which is driven by the historical vehicle in the first time period;

and/or the presence of a gas in the gas,

acquiring a navigation planning route of a historical vehicle; calculating the number of vehicles which run by the historical vehicle according to the navigation planned route of the historical vehicle in the first time period according to the navigation planned route of the historical vehicle and the historical track data of the historical vehicle in the first time period, wherein the number of vehicles is used as the road passing characteristics of the road which the historical vehicle runs on in the first time period; the navigation planning route comprises a target road;

and/or the presence of a gas in the gas,

calculating the speed of the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period and the first time period, wherein the speed is used as the road passing characteristic of the road which the historical vehicle passes through in the first time period;

and/or the presence of a gas in the gas,

and calculating the elapsed time of the historical vehicle passing through the road traveled by the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period and the first time period, and taking the elapsed time as the road passing characteristic of the road traveled by the historical vehicle in the first time period.

Accordingly, the processor 40b is specifically configured to perform at least one of the following determination operations when determining the traffic state of the road traveled by the historical vehicle at the corresponding time:

judging whether the traffic flow of a road which is driven by the historical vehicle in the first time period is greater than or equal to a set traffic flow threshold value or not;

judging whether the number of the vehicles driven by the historical vehicles according to the navigation planning route in the first time period is larger than or equal to a set number threshold value or not;

judging whether the speed of the historical vehicle in a first time period is greater than or equal to a set speed threshold value;

judging whether the consumed time of the historical vehicle passing through the road running in the first time period is less than or equal to the set time;

and if the result of the at least one judgment operation is yes, determining that the passing state of the road passed by the historical vehicle in the first time period is the opening state.

In other embodiments, processor 40b is further configured to: acquiring an identification of the registered specific vehicle as a predetermined identification of the specific vehicle in response to a registration operation for the specific vehicle; and/or, in response to a registration operation for vehicle usage, acquiring vehicle usage and identification of a registered vehicle; determining a registered vehicle of a specific use as a predetermined specific vehicle; and/or acquiring the geographical position information of the target road associated area; and determining the vehicles of which the user address information belongs to the target road associated area as the predetermined specific vehicles.

In still other embodiments, the driving data of the unspecified vehicle includes: the generation time of the trajectory data of the non-specific vehicle and the trajectory data of the non-specific vehicle. Accordingly, the processor 40b, when determining the traffic status of the target road in the target time period, is specifically configured to: calculating road traffic characteristics of the target road in the target time period according to the track data of the non-specific vehicle and the generation time of the track data of the non-specific vehicle; and determining the passing state of the target road in the target time period according to the road passing characteristics of the target road in the target time period.

In the embodiment of the present application, the processor 40b is further configured to: and planning a navigation route for the navigated object according to the start-stop position information and the end-stop position information of the navigated object and the dynamic road traffic information, wherein the road traffic state included in the dynamic road traffic information is determined according to the road state determination method.

In some optional embodiments, as shown in fig. 4, the computer device may further include: communication component 40c, power component 40d, etc. If the computer equipment is terminal equipment such as a computer, a smart phone and the like, the method can also comprise the following steps: a display component 40e, an audio component 40f, and the like. Only some of the components shown in fig. 4 are schematically shown, and it is not meant that the computer device must include all of the components shown in fig. 4, nor that the computer device only includes the components shown in fig. 4.

In embodiments of the present application, the memory is used to store computer programs and may be configured to store other various data to support operations on the device on which it is located. Wherein the processor may execute a computer program stored in the memory to implement the corresponding control logic. The memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

In the embodiments of the present application, the processor may be any hardware processing device that can execute the above described method logic. Alternatively, the processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a Micro Controller Unit (MCU); programmable devices such as Field-Programmable Gate arrays (FPGAs), Programmable Array Logic devices (PALs), General Array Logic devices (GAL), Complex Programmable Logic Devices (CPLDs), etc. may also be used; or Advanced Reduced Instruction Set (RISC) processors (ARM), or System On Chips (SOC), etc., but is not limited thereto.

In embodiments of the present application, the communication component is configured to facilitate wired or wireless communication between the device in which it is located and other devices. The device in which the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G, 5G or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may also be implemented based on Near Field Communication (NFC) technology, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, or other technologies.

In the embodiment of the present application, the display assembly may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display assembly includes a touch panel, the display assembly may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

In embodiments of the present application, a power supply component is configured to provide power to various components of the device in which it is located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

In embodiments of the present application, the audio component may be configured to output and/or input audio signals. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals. For example, for devices with language interaction functionality, voice interaction with a user may be enabled through an audio component, and so forth.

The computer device provided by the embodiment can acquire a driving data set generated by driving of vehicles on a target road in a target time period, and exclude driving data of a specific vehicle in the vehicles from the driving data set based on predetermined characteristic data of the specific vehicle to obtain driving data of a non-specific vehicle in the vehicles; and determining the passing state of the target road in the target time period according to the driving data of the unspecified vehicle. According to the method and the device, when the road passing state is determined, the driving data of the specific vehicle is removed, the passing state of the road is determined by using the driving data of the non-specific vehicle, and the scene that the road is opened only for the specific vehicle in practical application is considered, so that the accuracy of determining the passing state of the road is improved, and the accuracy of subsequent navigation route planning is improved.

It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

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 present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A road condition determining method, comprising:

2. The method of claim 1, wherein the vehicle-specific characteristic data comprises: a specific vehicle identification, the driving data set comprising: vehicle identification and trajectory data; the method for excluding the driving data generated by a specific vehicle in the vehicles from the driving data set based on the predetermined characteristic data of the specific vehicle comprises the following steps:

matching the specific vehicle identification in the driving data set to determine track data corresponding to the specific vehicle identification in the driving data set as driving data of a specific vehicle in the vehicles;

and excluding the driving data of a specific vehicle from the driving data sets to obtain the driving data of a non-specific vehicle from the vehicles.

3. The method of claim 2, further comprising:

acquiring historical driving data generated when a historical vehicle runs on a road; the generation time of the historical driving data is earlier than the target time period; the historical driving data comprises: historical trajectory data of the historical vehicle and a generation time of the historical trajectory data;

determining the passing state of a road which is driven by the historical vehicle at corresponding time according to the historical track data of the historical vehicle and the generation time of the historical track data;

determining the change frequency of the traffic state of the same road according to the traffic state of the road driven by the historical vehicle at the corresponding time;

if the change frequency of the passing state of the same road is greater than the set threshold value, determining historical vehicles passing the road with the change frequency of the passing state greater than the set threshold value in the corresponding time as the predetermined specific vehicles; and storing the predetermined characteristic data of the specific vehicle.

4. The method of claim 3, wherein the determining the traffic state of the road traveled by the historical vehicle at the corresponding time according to the historical trajectory data of the historical vehicle and the generation time of the historical trajectory data comprises:

calculating road passing characteristics of a road which is driven by the historical vehicle at corresponding time according to the historical track data of the historical vehicle and the generation time of the historical track data;

and determining the passing state of the road driven by the historical vehicle at the corresponding time according to the road passing characteristics of the road driven by the historical vehicle at the corresponding time.

5. The method of claim 4, wherein the step of calculating road passing characteristics of the road traveled by the historical vehicle at corresponding times according to the historical track data of the historical vehicle and the generation time of the historical track data comprises the steps of:

acquiring historical track data of the historical vehicle in a first time period from historical driving data of the historical vehicle according to the historical track data of the historical vehicle and the generation time of the historical track data in the first time period in the generation time of the historical driving data; calculating the traffic flow of the road which is driven by the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period, wherein the traffic flow is used as the road passing characteristic of the road which is driven by the historical vehicle in the first time period;

and/or the presence of a gas in the gas,

acquiring a navigation planning route of the historical vehicle; according to the navigation planned route of the historical vehicle and the historical track data of the historical vehicle in the first time period, calculating the number of vehicles which run by the historical vehicle according to the navigation planned route in the first time period as the road passing characteristics of the road which the historical vehicle runs on in the first time period; the navigation plan route includes the target road;

and/or the presence of a gas in the gas,

and calculating the elapsed time of the historical vehicle passing through the road traveled by the historical vehicle in the first time period according to the historical track data of the historical vehicle in the first time period and the first time period, wherein the elapsed time is used as the road passing characteristic of the road traveled by the historical vehicle in the first time period.

6. The method according to claim 5, wherein the determining the traffic state of the road traveled by the historical vehicle at the corresponding time according to the road traffic characteristics of the road traveled by the historical vehicle at the corresponding time respectively comprises performing at least one of the following judging operations:

judging whether the vehicle speed of the historical vehicle in the first time period is greater than or equal to a set vehicle speed threshold value or not;

judging whether the consumed time of the historical vehicle passing through the road running in the first time period is less than or equal to a set time;

and if the result of the at least one judgment operation is yes, determining that the passing state of the road passed by the historical vehicle in the first time period is an opening state.

7. The method of claim 2, further comprising:

acquiring an identification of the registered specific vehicle as the predetermined identification of the specific vehicle in response to a registration operation for the specific vehicle;

and/or the presence of a gas in the gas,

acquiring the vehicle use and identification of the registered vehicle in response to the registration operation for the vehicle use; determining a specific-purpose registered vehicle as the predetermined specific vehicle;

and/or

Acquiring geographical position information of the target road associated area; and determining the vehicles of which the user address information belongs to the target road associated area as the predetermined specific vehicles.

8. The method of any of claims 1-7, wherein the driving data of the non-specific vehicle comprises: a generation time of the non-vehicle-specific trajectory data and the non-vehicle-specific trajectory data; the determining the traffic state of the target road in the target time period according to the driving data of the non-specific vehicle comprises:

calculating road passing characteristics of the target road in the target time period according to the track data of the non-specific vehicle and the generation time of the track data of the non-specific vehicle;

and determining the passing state of the target road in the target time period according to the road passing characteristics of the target road in the target time period.

9. A method of navigation routing, comprising:

planning a navigation route for a navigated object according to start and end point position information of the navigated object and road dynamic traffic information, wherein a road traffic state included in the road dynamic traffic information is determined according to the method of any one of claims 1-8.

10. A computer device, comprising: a memory and a processor; wherein the memory is used for storing a computer program;

the processor is coupled to the memory for executing the computer program for performing the steps in the method of any of claims 1-9.