CN113706578A - Method and device for determining mobile object accompanying relation based on track - Google Patents
Method and device for determining mobile object accompanying relation based on track Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
Abstract
The application provides a method and a device for determining a mobile object accompanying relation based on a track. A method for determining a mobile object accompanying relation based on a track comprises the following steps: according to a preset time interval, segmenting based on a time period covered by a first track to obtain a plurality of time intervals; dividing the first track point and the second track point into corresponding time intervals based on the time information; for each time interval, determining an accompanying relation of the first moving object and the second moving object in the time interval based on position information corresponding to a first track point and position information corresponding to a second track point in the time interval; determining an accompanying relationship of the first moving object and the second moving object based on the accompanying relationship in each time interval. By adopting the method, the accompanying degree of the moving object can be obtained based on the track calculation, compared with the related technology, the calculation method is simpler and more convenient, the calculation amount can be reduced, and the efficiency is improved.
Description
Technical Field
The present application relates to the field of data processing, and in particular, to a method and an apparatus for determining a mobile object accompanying relationship based on a trajectory.
Background
With the development of satellites, wireless networks and positioning devices, the trajectory data of a large number of moving objects tends to increase rapidly, such as traffic trajectory data and personnel movement data. The trajectory data at least can cover the information of the moving object in two dimensions of time and space, the trajectory data can be analyzed to obtain the information related to the motion of the moving object, and the information can solve various problems in the actual application scene.
In the related art, there is a scene of analyzing the accompanying relationship of users based on trajectory data, for example, whether two users appear in the same place at the same time or not and how long two users exist in a certain place at the same time are analyzed, and the behaviors of the users can be analyzed according to the data, so that the method has great value in multiple fields of epidemiological investigation, public security organs capturing suspicious criminals, social media constructing user portraits and the like. However, in practical situations, the track data volume is large, the calculation method is complex, and the efficiency of calculating the user association relationship based on the track is low.
Disclosure of Invention
In view of the above, the present application provides a method and an apparatus for determining a mobile object accompanying relationship based on a track.
Specifically, the method is realized through the following technical scheme:
in a first aspect of the present application, a method for determining an accompanying relationship between a first moving object and a second moving object based on a first track generated by movement of the first moving object and a second track generated by movement of the second moving object is provided, where the first track includes a plurality of first track points, the second track includes a plurality of second track points, and the first track point and the second track point are associated with corresponding time information and position information, including:
according to a preset time interval, segmenting based on a time period covered by a first track to obtain a plurality of time intervals;
dividing the first track point and the second track point into corresponding time intervals based on the time information;
for each time interval, determining an accompanying relation of the first moving object and the second moving object in the time interval based on position information corresponding to a first track point and position information corresponding to a second track point in the time interval;
determining an accompanying relationship of the first moving object and the second moving object based on the accompanying relationship in each time interval.
In a second aspect of the present application, there is provided an apparatus for determining a mobile object accompanying relationship based on a trajectory, including:
the segmentation unit is used for segmenting a time period covered based on the first track according to a preset time interval to obtain a plurality of time intervals;
the dividing unit is used for dividing the first track point and the second track point into corresponding time intervals based on the time information;
a first determining unit, configured to determine, for each time interval, an accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval;
a second determination unit configured to determine an accompanying relationship between the first moving object and the second moving object based on the accompanying relationship in each time interval.
As can be seen from the above description, in an embodiment of the present application, a plurality of time intervals can be obtained by segmenting based on a time period covered by a first track according to a preset time interval, and each track point is divided into a corresponding time interval according to time information associated with the first track point and the second track point. And for each time interval, determining the accompanying relation of the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the second track point in the time interval. Then, the accompanying relation of the first moving object and the second moving object in the first track coverage time period is determined based on the accompanying relation in each time interval.
By adopting the method, the time period covered by the track can be divided into a plurality of time intervals, and the track is divided into the corresponding time intervals. When calculating the distance between the track points of the two tracks, the distance can be calculated only for the track points in the same time interval, the distance does not need to be calculated for the track points across the time interval, and compared with the method of calculating the distance of each track point in the tracks one by one in the related art, the method can reduce the calculation amount and greatly improve the efficiency.
Drawings
FIG. 1 is a flowchart illustrating a method for determining a mobile object accompanying relationship based on a track according to an exemplary embodiment of the present application;
fig. 2 is a flowchart illustrating another method for determining a mobile object accompanying relationship based on a track according to an exemplary embodiment of the present application;
FIG. 3 is a schematic diagram of a trace point process shown in an exemplary embodiment of the present application;
FIG. 4 is a schematic diagram of another trace point process shown in an exemplary embodiment of the present application;
FIG. 5 is a schematic diagram of another trace point process shown in an exemplary embodiment of the present application;
fig. 6 is a hardware structure diagram of an electronic device where a determination apparatus for determining an accompanying relationship of a moving object based on a track according to an exemplary embodiment of the present application is located;
fig. 7 is a block diagram of an apparatus for determining a mobile object accompanying relationship based on a track according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The trajectory data refers to data information obtained by sampling the motion process of one or more moving objects under a space-time environment, and comprises sampling point positions, sampling time, speed and the like, and the data information of the sampling points forms trajectory data according to the sampling sequence. The track data covers the information related to the motion of the moving object, and has great value.
In the related art, the trajectory data may be analyzed to measure the degree of accompaniment between moving objects. For example, whether two users appear at the same place at the same time or not and how long two users exist at a certain place at the same time can be analyzed, the behaviors of the users can be analyzed according to the data, and the method has great value in a plurality of fields such as epidemiological investigation, public security organization arrest of suspicious criminals, social media construction of user portraits and the like.
The conventional method for analyzing the degree of association between moving objects based on track data may be, for example, a method based on track clustering, which may cluster track points based on position information to obtain cluster clusters, and take an intersection for adjacent cluster clusters. However, on a large data scale, the calculation efficiency of the algorithm is low, the expansibility is poor, and the calculation and storage resources of the equipment are consumed greatly.
Based on the method, the method for determining the mobile object accompanying relation based on the track is provided, the calculation method is more convenient and faster, the calculation efficiency can be improved, and the calculation and storage resources of the equipment can be saved.
The following describes an embodiment of a method for determining a mobile object accompanying relationship based on a track provided by the present application.
In this embodiment, a first track generated by the first moving object and a second track generated by the second moving object are included, and the two tracks may be analyzed to determine an accompanying relationship between the first moving object and the second moving object. The first moving object and the second moving object may be any entity, such as a user, an animal, a robot, a car, and the like, and are not limited in particular.
Each track can comprise a plurality of track points, the track points in the first track are called first track points, and the track points in the second track are called second track points. And each track point can be associated with corresponding time information and position information. Referring to table 1 below, table 1 below shows an exemplary manner in which the first track includes several first track points and their associated time information and location information:
TABLE 1
Of course, table 1 above is merely illustrative and not intended to limit the present application.
In this embodiment, before performing the analysis of the association relationship between the moving object and the first track point, preprocessing such as noise reduction and smoothing may be performed on the two tracks, which may specifically refer to related technologies, and this embodiment is not described herein.
The following describes a method for determining a mobile object association relationship based on a trajectory according to the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for determining a mobile object accompanying relationship based on a track according to an exemplary embodiment of the present application.
The method can be applied to an electronic device with a memory and a processor, such as a server or a server cluster. The method may comprise the steps of:
and step 102, segmenting according to a preset time interval and based on a time period covered by the first track to obtain a plurality of time intervals.
In this embodiment, when analyzing the accompanying relationship between the first track and the moving object corresponding to the second track, one of the tracks may be used as a reference for analysis, for example, the first track is used as a reference. For example, if the accompanying situation of the classmate and other classmates after leaving home is analyzed, the accompanying situations of the classmate and the classmates of small fragrance, small white and small black can be respectively analyzed by taking the small bright locus as a reference. Then in this example, the small bright track is the first track and the small fragrant, white, black track is the second track.
In this embodiment, a time period covered by the first track may be acquired. Still taking the above example as an example, assuming that the time period from school to home after the miniatures are school is 4:00-4:30, the time period covered by the miniatures trajectory is 30 minutes.
In this embodiment, a plurality of time intervals may be obtained by segmenting based on the time period covered by the first trajectory according to a preset time interval. The time interval can be set by self according to the actual application scene. Still taking the above example as an example, assuming the preset time interval is 5 minutes, the time period covered by the small track can be divided into 6 time intervals, i.e. 4:00-4:05, 4:05-4:10, 4:10-4:15, 4:15-4:20, 4:20-4:25, 4:25-4: 30. Of course, the preset time interval may be 1 minute, 10 seconds, etc., and is not particularly limited thereto.
In other embodiments, other time periods may be selected for time interval division. For example, the time period covered by the second track, the intersection or union of the time periods covered by the first track and the time periods covered by the second track, or the time period specified by the user may also be selected, which is not particularly limited.
And 104, dividing the first track point and the second track point into corresponding time intervals based on the time information.
In this embodiment, for each track, the track points may be divided into corresponding time intervals according to the time information associated with the track points in the track.
Taking the example in table 1 as an example, if the first track includes a first track p1, a first track point p2, a first track point p3, and a first track point p4, and the time period covered by the first track is 4:00-4:30, and the first track is divided into 6 time intervals according to a time interval of 5 minutes, then: the first trace point p1 may be scribed in a time interval 4:00-4: 05; the first trace point p2 can be divided into a time interval of 4:10-4: 15; the first trace point p3 may be divided into a time interval of 4:20-4: 25; the first trace point p4 may be drawn into the time interval 4:25-4: 30.
Similarly, each track point included in the second track may also be scribed into a corresponding time interval.
And 106, determining the accompanying relation of the first moving object and the second moving object in the time interval according to the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval.
In this embodiment, after dividing each trace point into corresponding time intervals according to the above steps, the accompanying relationship between the first moving object and the second moving object in each time interval may be calculated based on the trace points included in each time interval.
Specifically, for each time interval, a first track point of a first track and a second track point of a second track included in the time interval may be determined, and then a distance between the first track point and the second track point may be calculated based on position information associated with the track points. The specific method for calculating the distance may refer to related technologies, and this embodiment is not particularly limited thereto.
An accompanying relationship of the first moving object and the second moving object within the time interval may then be determined from the distance. For example, a distance threshold may be preset according to an actual scene, and if the calculated distance is greater than the distance threshold, it may be determined that the distance is not accompanied in the time interval; if the time interval is less than the threshold value, the method determines that the time interval is accompanied.
Of course, it is also possible to include only the first trace point of the first trace, and not the second trace point of the second trace within the time interval; alternatively, only the second track points of the second track may be included, and the first track points of the first track may not be included; still alternatively, it is also possible to include a plurality of trace points per trace. The specific processing method for these cases will be described in detail in the following examples.
And 108, determining the accompanying relation of the first moving object and the second moving object in the first track coverage time period based on the accompanying relation in each time interval.
In this embodiment, the accompanying relationship of the first moving object and the second moving object in the first track coverage time period may be determined according to the accompanying relationship in each time interval. For example, it may be determined whether the number of time intervals in which the association relationship is "is reached or not and the occupancy have reached a threshold value, and if so, it may be determined that the first moving object and the second moving object are associated.
As can be seen from the above description, in an embodiment of the present application, a plurality of time intervals can be obtained by segmenting based on a time period covered by a first track according to a preset time interval, and each track point is divided into a corresponding time interval according to time information associated with the first track point and the second track point. And for each time interval, determining the accompanying relation of the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the second track point in the time interval. Then, the accompanying relation of the first moving object and the second moving object in the first track coverage time period is determined based on the accompanying relation in each time interval.
By adopting the method, the time period covered by the track can be divided into a plurality of time intervals, and the track is divided into the corresponding time intervals. When calculating the distance between the track points of the two tracks, the distance can be calculated only for the track points in the same time interval, the distance does not need to be calculated for the track points across the time interval, and compared with the method of calculating the distance of each track point in the tracks one by one in the related art, the method can reduce the calculation amount and greatly improve the efficiency.
The following describes another embodiment of a method for determining a mobile object accompanying relationship based on a track provided in the present application.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating another method for determining a mobile object accompanying relationship based on a track according to an exemplary embodiment of the present application.
The method can be applied to an electronic device with a memory and a processor, such as a server or a server cluster. The method may comprise the steps of:
And 204, dividing the first track point and the second track point into corresponding time intervals based on the time information.
In this embodiment, the time period covered by the first track trajectory may be divided into a plurality of time intervals according to a preset time interval, and the first track point of the first track and the second track point of the second track are divided into corresponding time intervals.
And step 206, preprocessing the track points in the time interval.
In this embodiment, after dividing each trace point into corresponding time intervals, the trace points included in each time interval may be preprocessed, so as to determine the accompanying relationship based on the preprocessed trace points. Among them, there are various methods for pretreatment:
in one example, if a plurality of trace points of the same trace are included in the time interval, the plurality of trace points may be normalized to obtain a target trace point that represents the trace in the time interval.
For example, the position information of the plurality of track points may be acquired, and then the position center points of the track points may be calculated as the target track points. The longitude and latitude of these trace points can be averaged to obtain the location center point.
For another example, the plurality of track points may be clustered, and the target track point may be obtained according to a clustering result. Of course, other methods may also be adopted to obtain the target track point, which is not particularly limited in this embodiment.
In another example, the trace point of a moving object may not be included in the time interval. For example, a certain time interval only includes a first track point of a first track, but does not include a second track point of a second track; or only the second track point of the second track is included in a certain time interval, and the first track point of the first track is not included. Or, the time interval does not include the first track point of the first track, and does not include the second track point of the second track.
Then, it may be determined whether the track points of the moving object are included in both the preceding and following time intervals of the time interval. The judgment result includes 3 cases, which will be described below.
(1) The track points of the moving object are included in the front time interval and the rear time interval of the time interval. The trace points in the previous time interval or the trace points in the later time interval may be added to the time interval.
Referring to fig. 3, fig. 3 includes 10 time intervals, which are respectively indicated by numerals 1-10. Taking the first track as an example, the track points included in the first track may be divided into time intervals shown in fig. 3, the division result is shown in fig. 3, and the dots in the time intervals represent track points. Of course, for ease of understanding, fig. 3 only exemplarily shows a result of dividing the locus points on the first locus into the respective time intervals, and does not show a result of dividing the second locus points into the time intervals. In addition, in practical cases, each time interval may include a plurality of trace points, and fig. 3 is only an exemplary illustration.
Referring to "time interval 3" in fig. 3, if the first track point of the first track is not included in the time interval, it may be determined whether the first track point of the first track is included in the previous and subsequent time intervals, so that the first track point 310 is included in the previous "time interval 2" and the first track point 320 is included in the subsequent "time interval 4", and then the track point 310 or the track point 320 may be added to the "time interval 3". Of course, the trace point 310 or the middle point of the trace point 320 may be added to the "time interval 3", which is not particularly limited.
In the above example, the "preceding time interval" and the "following time interval" do not necessarily have to be adjacent to the current time interval. With continued reference to "time interval 7" in fig. 3, in which the first track point of the first track is not included, and in the preceding "time interval 6" in which the first track point 330 is included, and in the following "time interval 9" (not adjacent to "time interval 7") in which the first track point 340 is included, the track point 330 or the track point 340 may also be added to "time interval 7". Advantageously, trace points 330 spaced closer to "time interval 7" may also be added to "time interval 7".
In practical applications, due to the reason of the trajectory data acquisition device itself or the reason that the user manually turns off the positioning service to cut off the trajectory acquisition, the trajectory data may be missing or discontinuous, for example, a part of trajectory points is missing in the middle part of the trajectory in fig. 3. By the method for preprocessing the trace points in each time interval, missing trace points can be supplemented, and follow-up analysis is facilitated to obtain more accurate accompanying relations.
(2) In the preceding and following time intervals of the time interval, only one time interval includes the track point of the moving object, and it can be determined that the first moving object and the second moving object are not accompanied in the time interval.
Referring to fig. 4, fig. 4 still exemplarily shows a result of dividing the first track point in the first track into 10 intervals, and for ease of understanding, a division result of the second track point is not shown.
Referring to fig. 4 (a), if the "time interval 7" in (a) does not include the first track point, although the previous time interval includes the first track point, the subsequent time interval does not include the first track point, that is, only the track point including the moving object in the previous time interval or the subsequent time interval exists, it can be determined that the first moving object and the second moving object do not accompany the "time interval 7".
Referring to fig. 4(b), the "time interval 3" in fig. 4(b) does not include the first track point, and although the subsequent time interval includes the first track point, the previous time interval does not include the first track point, that is, only the track point including the moving object in the previous time interval or the subsequent time interval exists, it can be determined that the first moving object and the second moving object do not accompany the "time interval 3".
In practical applications, in the case where only the track points including the moving object in the previous time interval or only the track points including the moving object in the subsequent time interval exist, it is likely that the acquisition of the track data is just started or is finished, and then the first track and the second track may be determined as not accompanying each other.
And 208, calculating the distance between the first track point and the second track point based on the position information of the first track point and the position information of the second track point in each time interval.
And 210, judging whether the distance is smaller than a distance threshold value, and determining the accompanying relation of the first moving object and the second moving object in the corresponding time interval based on the judgment result.
In this embodiment, for each time interval, the first track point and the second track point in the time interval may be obtained, and the distance therebetween may be calculated. For example, the distance may be calculated according to a Haversine format formula and a Great-circle distance formula, but other algorithms may also be adopted, and reference may be specifically made to related technologies, which are not necessarily described herein in this embodiment.
Then, whether the calculated distance is smaller than a distance threshold value or not can be judged, and the accompanying relation of the first moving object and the second moving object in the corresponding time interval is determined according to the judgment result.
In this embodiment, the accompanying relationship may include accompanying and not accompanying. In addition, in the present embodiment, the accompanying degree may also be characterized by accompanying parameters. For example, the accompanying parameter may range from 0 to 1. Wherein the characterization is not accompanied when the accompanying parameter is 0, the characterization is accompanied when the accompanying parameter >0, and the degree of accompanying is higher as the accompanying parameter is larger. The following is a specific example:
assuming that the distance threshold is min _ dist, if the calculated distance is greater than the distance threshold, it is determined that the accompanying parameter of the first moving object and the second moving object in the corresponding time interval is 0, that is, the two moving objects do not accompany.
If the calculated distance is less than the distance threshold, the accompanying parameter may be calculated according to the following formula (1):
wherein min _ dist-dis (p1, p2) is the calculated distance between the track point p1 of the first track and the track point p2 of the second track; acompany _ score is an accompanying parameter. The calculated accompanying parameters should belong to 0-1, indicating that the two are accompanied, and the larger the parameter value is, the higher the accompanying degree is.
Of course, for the case that the first moving object and the second moving object analyzed in the preprocessing stage in step 206 do not accompany in the corresponding time interval, the accompanying parameter thereof may be determined to be 0.
In this embodiment, when analyzing the association relationship in each time interval, the case of trajectory intersection may also be considered.
For example, referring to fig. 5, fig. 5 includes a set of adjacent time intervals, respectively "time interval 1" and "time interval 2". The "time interval 1" includes a first trace point a: p1, second trace point B: p 1; the "time interval 2" includes a first trace point a: p2, second trace point B: p 2.
If the distance is calculated for the trace points in each time interval according to the above method, a may be calculated as: p1 and B: the distance between p1 exceeds a distance threshold, and A: p2 and B: the distance between p2 also exceeds the distance threshold, indicating that the first moving object and the second moving object are not accompanying in both time intervals.
However, by analyzing these 4 trace points, a: p1 with A: p2, and B: p1 and B: the trace 420 formed by p2 has trace intersection in reality. Then the first and second moving objects should be accompanying during the time period covered by these two time intervals. It can be seen that, if the above method for calculating the distance of the trace points in each time interval is only used, the obtained result is not necessarily accurate, and it is necessary to consider the situation of trace crossing.
Based on this, in this embodiment, it may also be determined, for each group of adjacent time intervals, whether there is a track intersection in the adjacent time interval, and if there is a track intersection in the adjacent time interval, it may be determined that the first moving object and the second moving object accompany in the adjacent time interval. Accordingly, the accompanying parameter corresponding to the two time intervals may be 1. The specific method for calculating the track crossing may refer to related technologies, and this embodiment is not described herein.
In this embodiment, after obtaining the accompanying parameters corresponding to each time interval, the accompanying parameters may be averaged, and the accompanying relationship between the first moving object and the second moving object may be determined based on the average value. For example, it may be determined whether the average value exceeds a threshold, and if not, it is determined that the first moving object and the second moving object are not accompanied; if the value exceeds the threshold value, determining that the first moving object and the second moving object are accompanied, and measuring the accompanying degree of the first moving object and the second moving object according to the average value, wherein the higher the average value is, the higher the accompanying degree is; the lower the average, the lower the degree of concomitance.
As can be seen from the above description, in an embodiment of the present application, after dividing a track point into corresponding time intervals, the track points may be preprocessed, for example, multiple track points of the same track may be normalized, and the situation of track loss due to device reasons or other human reasons may be supplemented, so that the following accompanying relationship obtained based on analysis of the track points is more accurate. In addition, when the accompanying relation corresponding to each time interval is determined, the condition of track crossing can be considered, the time interval with the track crossing condition is determined as the accompanying relation, and the problem that the determination of the accompanying relation is not accurate due to the track crossing is avoided. In addition, the accompanying parameters can represent the accompanying relationships and are converted into 0-1 intervals, the accompanying degree between the moving objects can be visually and clearly measured on the basis of the accompanying relationships, and user experience is improved.
Corresponding to the foregoing embodiment of the method for determining a mobile object accompanying relationship based on a track, the present application also provides an embodiment of a device for determining a mobile object accompanying relationship based on a track.
The embodiment of the apparatus for determining the mobile object accompanying relationship based on the track can be applied to electronic devices, such as a server or a server cluster. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. Taking a software implementation as an example, as a logical device, the device is formed by reading, by a processor of the electronic device where the device is located, a corresponding computer program instruction in the nonvolatile memory into the memory for operation. In terms of hardware, as shown in fig. 6, the present application is a hardware structure diagram of an electronic device where a device for determining a mobile object accompanying relationship based on a track is located, except for the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 6, the electronic device where the device is located in the embodiment may also include other hardware according to an actual function of the electronic device, which is not described again.
Referring to fig. 7, fig. 7 is a block diagram illustrating an apparatus for determining a mobile object accompanying relationship based on a track according to an exemplary embodiment of the present application. The device includes: a slicing unit 710, a dividing unit 720, a first determining unit 730, and a second determining unit 740.
The segmentation unit 710 is configured to segment a plurality of time intervals according to a preset time interval based on a time period covered by a first track;
a dividing unit 720, configured to divide the first track point and the second track point into corresponding time intervals based on the time information;
a first determining unit 730, configured to determine, for each time interval, an accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval;
a second determining unit 740, configured to determine an accompanying relationship between the first moving object and the second moving object based on the accompanying relationship in each time interval.
Optionally, the first determining unit 730 is further configured to:
and preprocessing the track points in the time interval to determine an accompanying relation based on the preprocessed track points.
Optionally, when the first determining unit 730 preprocesses the trace points in the time interval, it is specifically configured to:
if the time interval comprises a plurality of track points of the same track, normalizing the plurality of track points to obtain a target track point representing the track, and determining the accompanying relation based on the target track point.
Optionally, when the first determining unit 730 preprocesses the trace points in the time interval, it is specifically configured to:
for each moving object, when the track point of the moving object is not included in the time interval, judging whether the track point of the moving object is included in the time interval or not;
and if the two points are included, adding the track points in the previous time interval or the track points in the later time interval into the time interval.
Optionally, when only the track point of the moving object is included in the previous time interval or only the track point of the moving object is included in the later time interval, the first determining unit 730 is specifically configured to, when determining the accompanying relationship between the first moving object and the second moving object in the time interval:
determining that the first moving object and the second moving object are not accompanying within the time interval.
Optionally, the first determining unit 730 is specifically configured to:
calculating the distance between the first track point and the second track point based on the position information of the first track point and the position information of the second track point;
determining an accompanying relationship of the first and second moving objects within the time interval based on the distance.
Optionally, the accompanying relationship in each time interval is characterized by an accompanying parameter, where the accompanying parameter is used to measure the accompanying degree of the moving object, and the second determining unit 740 is specifically configured to:
averaging the accompanying parameters in each time interval, and determining the accompanying relation of the first moving object and the second moving object in the first track coverage time period based on the average value.
Optionally, the first determining unit 730 is specifically configured to:
judging whether track intersection exists between a first track and a second track in each group of adjacent time intervals;
if yes, determining that the first moving object and the second moving object accompany in the adjacent time interval.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.
In correspondence with an embodiment of the foregoing method for determining a mobile object accompanying relationship based on a trajectory, the present specification also provides a device for determining a mobile object accompanying relationship based on a trajectory, the device including: a processor and a memory for storing machine executable instructions. Wherein the processor and the memory are typically interconnected by means of an internal bus. In other possible implementations, the device may also include an external interface to enable communication with other devices or components.
In this embodiment, the processor is caused to, by reading and executing machine executable instructions stored by the memory that correspond to the determination logic for trajectory-based moving object companion relationships:
according to a preset time interval, segmenting based on a time period covered by a first track to obtain a plurality of time intervals;
dividing the first track point and the second track point into corresponding time intervals based on the time information;
for each time interval, determining an accompanying relation of the first moving object and the second moving object in the time interval based on position information corresponding to a first track point and position information corresponding to a second track point in the time interval;
determining an accompanying relationship of the first moving object and the second moving object based on the accompanying relationship in each time interval.
Optionally, before determining the accompanying relationship of the first moving object and the second moving object within the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point within the time interval, the processor is further caused to:
and preprocessing the track points in the time interval to determine an accompanying relation based on the preprocessed track points.
Optionally, when preprocessing the trace points in the time interval, the processor is caused to:
if the time interval comprises a plurality of track points of the same track, normalizing the plurality of track points to obtain a target track point representing the track, and determining the accompanying relation based on the target track point.
Optionally, when preprocessing the trace points in the time interval, the processor is caused to:
for each moving object, when the track point of the moving object is not included in the time interval, judging whether the track point of the moving object is included in the time interval or not;
and if the two points are included, adding the track points in the previous time interval or the track points in the later time interval into the time interval.
Optionally, when only the track point of the mobile object is included in the previous time interval or only the track point of the mobile object is included in the later time interval, in determining the accompanying relationship between the first mobile object and the second mobile object in the time interval, the processor is caused to:
determining that the first moving object and the second moving object are not accompanying within the time interval.
Optionally, when determining the accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval, the processor is caused to:
calculating the distance between the first track point and the second track point based on the position information of the first track point and the position information of the second track point;
determining an accompanying relationship of the first and second moving objects within the time interval based on the distance.
Optionally, the accompanying relationship in each time interval is characterized by an accompanying parameter, the accompanying parameter is used for measuring the accompanying degree of the moving object, and based on the accompanying relationship in each time interval, when the first moving object and the second moving object are in the accompanying relationship in the first track coverage time period, the processor is caused to:
averaging the accompanying parameters in each time interval, and determining the accompanying relation of the first moving object and the second moving object in the first track coverage time period based on the average value.
Optionally, when determining the accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval, the processor is caused to:
judging whether track intersection exists between a first track and a second track in each group of adjacent time intervals;
if yes, determining that the first moving object and the second moving object accompany in the adjacent time interval.
In correspondence with an embodiment of the foregoing method for determining a mobile object satellite relationship based on a trajectory, the present specification also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of:
according to a preset time interval, segmenting based on a time period covered by a first track to obtain a plurality of time intervals;
dividing the first track point and the second track point into corresponding time intervals based on the time information;
for each time interval, determining an accompanying relation of the first moving object and the second moving object in the time interval based on position information corresponding to a first track point and position information corresponding to a second track point in the time interval;
determining an accompanying relationship of the first moving object and the second moving object based on the accompanying relationship in each time interval.
Optionally, before determining the accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval, the method further includes:
and preprocessing the track points in the time interval to determine an accompanying relation based on the preprocessed track points.
Optionally, the preprocessing the trace points in the time interval includes:
if the time interval comprises a plurality of track points of the same track, normalizing the plurality of track points to obtain a target track point representing the track, and determining the accompanying relation based on the target track point.
Optionally, the preprocessing the trace points in the time interval includes:
for each moving object, when the track point of the moving object is not included in the time interval, judging whether the track point of the moving object is included in the time interval or not;
and if the two points are included, adding the track points in the previous time interval or the track points in the later time interval into the time interval.
Optionally, when only the track point of the mobile object is included in the previous time interval or only the track point of the mobile object is included in the later time interval, the determining an accompanying relationship between the first mobile object and the second mobile object in the time interval includes:
determining that the first moving object and the second moving object are not accompanying within the time interval.
Optionally, the determining, based on the location information corresponding to the first track point and the location information corresponding to the second track point in the time interval, an accompanying relationship between the first moving object and the second moving object in the time interval includes:
calculating the distance between the first track point and the second track point based on the position information of the first track point and the position information of the second track point;
determining an accompanying relationship of the first and second moving objects within the time interval based on the distance.
Optionally, the accompanying relationship in each time interval is characterized by an accompanying parameter, where the accompanying parameter is used to measure the accompanying degree of a moving object, and the determining, based on the accompanying relationship in each time interval, the accompanying relationship of the first moving object and the second moving object in the first track coverage time period includes:
averaging the accompanying parameters in each time interval, and determining the accompanying relation of the first moving object and the second moving object in the first track coverage time period based on the average value.
Optionally, the determining, based on the location information corresponding to the first track point and the location information corresponding to the second track point in the time interval, an accompanying relationship between the first moving object and the second moving object in the time interval includes:
judging whether track intersection exists between a first track and a second track in each group of adjacent time intervals;
if yes, determining that the first moving object and the second moving object accompany in the adjacent time interval.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (18)
1. A method for determining an accompanying relation of a moving object based on a track is characterized in that the method determines the accompanying relation between a first moving object and a second moving object based on a first track generated by the movement of the first moving object and a second track generated by the movement of the second moving object, wherein the first track comprises a plurality of first track points, the second track comprises a plurality of second track points, and the first track points and the second track points are associated with corresponding time information and position information, and the method comprises the following steps:
according to a preset time interval, segmenting based on a time period covered by a first track to obtain a plurality of time intervals;
dividing the first track point and the second track point into corresponding time intervals based on the time information;
for each time interval, determining an accompanying relation of the first moving object and the second moving object in the time interval based on position information corresponding to a first track point and position information corresponding to a second track point in the time interval;
determining an accompanying relationship of the first moving object and the second moving object based on the accompanying relationship in each time interval.
2. The method according to claim 1, wherein before determining the accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval, the method further comprises:
and preprocessing the track points in the time interval to determine an accompanying relation based on the preprocessed track points.
3. The method of claim 2, wherein the preprocessing the trace points in the time interval comprises:
if the time interval comprises a plurality of track points of the same track, normalizing the plurality of track points to obtain a target track point representing the track, and determining the accompanying relation based on the target track point.
4. The method of claim 2, wherein the preprocessing the trace points in the time interval comprises:
for each moving object, when the track point of the moving object is not included in the time interval, judging whether the track point of the moving object is included in the time interval or not;
and if the two points are included, adding the track points in the previous time interval or the track points in the later time interval into the time interval.
5. The method according to claim 4, wherein when only the track points of the mobile object are included in the previous time interval or only the track points of the mobile object are included in the later time interval, the determining the accompanying relationship between the first mobile object and the second mobile object in the time interval comprises:
determining that the first moving object and the second moving object are not accompanying within the time interval.
6. The method according to claim 1, wherein the determining the accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval comprises:
calculating the distance between the first track point and the second track point based on the position information of the first track point and the position information of the second track point;
determining an accompanying relationship of the first and second moving objects within the time interval based on the distance.
7. The method according to claim 1, wherein the accompanying relationship in each time interval is characterized by an accompanying parameter, the accompanying parameter is used for measuring the accompanying degree of a mobile object, and the determining the accompanying relationship of the first mobile object and the second mobile object in the first track coverage time period based on the accompanying relationship in each time interval comprises:
averaging the accompanying parameters in each time interval, and determining the accompanying relation of the first moving object and the second moving object in the first track coverage time period based on the average value.
8. The method according to claim 1, wherein the determining the accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval comprises:
judging whether track intersection exists between a first track and a second track in each group of adjacent time intervals;
if yes, determining that the first moving object and the second moving object accompany in the adjacent time interval.
9. An apparatus for determining a mobile object accompanying relationship based on a trajectory, comprising:
the segmentation unit is used for segmenting a time period covered based on the first track according to a preset time interval to obtain a plurality of time intervals;
the dividing unit is used for dividing the first track point and the second track point into corresponding time intervals based on the time information;
a first determining unit, configured to determine, for each time interval, an accompanying relationship between the first moving object and the second moving object in the time interval based on the position information corresponding to the first track point and the position information corresponding to the second track point in the time interval;
a second determination unit configured to determine an accompanying relationship between the first moving object and the second moving object based on the accompanying relationship in each time interval.
10. The apparatus of claim 9, wherein the first determining unit is further configured to:
and preprocessing the track points in the time interval to determine an accompanying relation based on the preprocessed track points.
11. The apparatus according to claim 10, wherein the first determining unit, when preprocessing the trace points in the time interval, is specifically configured to:
if the time interval comprises a plurality of track points of the same track, normalizing the plurality of track points to obtain a target track point representing the track, and determining the accompanying relation based on the target track point.
12. The apparatus according to claim 10, wherein the first determining unit, when preprocessing the trace points in the time interval, is specifically configured to:
for each moving object, when the track point of the moving object is not included in the time interval, judging whether the track point of the moving object is included in the time interval or not;
and if the two points are included, adding the track points in the previous time interval or the track points in the later time interval into the time interval.
13. The apparatus according to claim 12, wherein when only the trace points of the moving object are included in the previous time interval or only the trace points of the moving object are included in the later time interval, the first determining unit is specifically configured to, when determining the accompanying relationship between the first moving object and the second moving object in the time interval:
determining that the first moving object and the second moving object are not accompanying within the time interval.
14. The apparatus according to claim 9, wherein the first determining unit is specifically configured to:
calculating the distance between the first track point and the second track point based on the position information of the first track point and the position information of the second track point;
determining an accompanying relationship of the first and second moving objects within the time interval based on the distance.
15. The apparatus according to claim 9, wherein the accompanying relationship in each time interval is characterized by an accompanying parameter, the accompanying parameter is used for measuring the accompanying degree of the moving object, and the second determining unit is specifically configured to:
averaging the accompanying parameters in each time interval, and determining the accompanying relation of the first moving object and the second moving object in the first track coverage time period based on the average value.
16. The apparatus according to claim 9, wherein the first determining unit is specifically configured to:
judging whether track intersection exists between a first track and a second track in each group of adjacent time intervals;
if yes, determining that the first moving object and the second moving object accompany in the adjacent time interval.
17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
18. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-8 are implemented when the program is executed by the processor.
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