CN114155734A

CN114155734A - Equal lamp information determining method and vehicle information displaying method

Info

Publication number: CN114155734A
Application number: CN202111463488.8A
Authority: CN
Inventors: 孙立光
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-12-02
Filing date: 2021-12-02
Publication date: 2022-03-08

Abstract

The application relates to a method for determining information of waiting lamp and a method for displaying vehicle information. The method comprises the following steps: acquiring real-time driving data of vehicles on a target road section aiming at each vehicle driving into a signal lamp intersection from the target road section; identifying each light waiting behavior of the vehicle in the target road section based on the real-time driving data; respectively determining an equal-lamp parking position and a waiting lamp frequency corresponding to each equal-lamp behavior of each vehicle, wherein the waiting lamp frequency represents the accumulated equal-lamp frequency of the vehicle from the equal-lamp parking position to the equal-lamp area; when the target vehicle runs in the target road section, the equal-light information corresponding to the target vehicle reaching the signal lamp intersection is determined based on the aggregation result obtained by aggregating the equal-light parking positions with the same number of times of waiting for light, and richer deep road condition information is provided for the user. The application can be applied to scenes including but not limited to maps, navigation, automatic driving, intelligent traffic, vehicle-road coordination and the like.

Description

Equal lamp information determining method and vehicle information displaying method

Technical Field

The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a computer device, a storage medium, and a computer program product for determining information of a waiting light, and a method, an apparatus, a computer device, a storage medium, and a computer program product for displaying vehicle information.

Background

At present, traffic congestion becomes an increasingly prominent problem in each big city, so that a user can conveniently go out, a road condition query function can be provided for the user through electronic map software, and the user can query road condition states of each road section and select a proper road section to drive through the road condition query function.

In the related art, electronic map software shows road condition states of congestion, slowness, smoothness and the like of a road to a user, but because signal lamps are arranged on most roads in a city, when a vehicle runs on the road, the vehicle is easily influenced by the phase change period of the signal lamps arranged at signal lamp intersections, congestion is easily caused, but the user can only acquire the state data of whether the road is congested from an electronic map, and deep road condition information cannot be provided for the user.

Disclosure of Invention

In view of the above, it is necessary to provide an equal lamp information determination method, an equal lamp information determination apparatus, a computer device, a computer readable storage medium, and a computer program product, as well as a vehicle information display method, an equal lamp information determination apparatus, a computer device, a storage medium, and a computer program product, which can provide equal lamp information corresponding to the arrival of a vehicle at a signal intersection.

In a first aspect, the present application provides a method for determining information of a lamp waiting. The method comprises the following steps:

the method comprises the steps that for each vehicle driving into a signal lamp intersection from a target road section, real-time driving data of the vehicle on the target road section are obtained;

identifying each equal-light behavior of the vehicle in the target road section based on the real-time driving data;

respectively determining an equal-lamp parking position and a waiting lamp frequency corresponding to each equal-lamp behavior of each vehicle, wherein the waiting lamp frequency represents the accumulated equal-lamp frequency required by the vehicle from the equal-lamp parking position to the signal lamp intersection;

when the target vehicle runs in the target road section, the equal lamp information corresponding to the arrival of the target vehicle at the signal lamp intersection is determined based on the aggregation result obtained by aggregating all the equal lamp parking positions with the same waiting lamp times.

In a second aspect, the application further provides a device for determining the lamp waiting information. The device comprises:

the real-time driving data acquisition module is used for acquiring real-time driving data of each vehicle driving from a target road section to a signal lamp intersection;

the light waiting behavior identification module is used for identifying each light waiting behavior of the vehicle in the target road section based on the real-time driving data;

the waiting light information determining module is used for respectively determining a waiting light parking position and waiting light times corresponding to each time of waiting light behaviors of each vehicle, and the waiting light times represent the accumulated waiting light times required by the vehicle from the waiting light parking position to the signal light intersection;

and the waiting lamp frequency estimating module is used for determining the waiting lamp information corresponding to the arrival of the target vehicle at the signal lamp intersection based on the aggregation result obtained by aggregating all the waiting lamp parking positions with the same waiting lamp frequency when the target vehicle runs in the target road section.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

The method, the device, the computer equipment, the storage medium and the computer program product for determining the equal lamp information acquire real-time driving data of each vehicle in a target road section as reference data for analyzing the equal lamp information aiming at each vehicle driving from the target road section to the signal lamp intersection, identify each equal lamp behavior of the vehicle in the target road section based on the real-time driving data, respectively determine the equal lamp parking position corresponding to each equal lamp behavior of each vehicle and represent the accumulated equal lamp times of the vehicle from the equal lamp parking position to the equal lamp area so as to determine the equal lamp parking position with the same number of times of waiting lamps, determine the equal lamp information corresponding to the signal lamp intersection when the target vehicle reaches the signal lamp intersection based on the aggregation result obtained by aggregating the equal lamp parking positions with the same number of times of waiting lamps when the target vehicle drives in the target road section, thereby providing richer deep road condition information for users, the travel of the user is facilitated.

In a sixth aspect, the present application provides a vehicle information display method. The method comprises the following steps:

displaying a target road section where a target vehicle is located currently and an equal-light information area corresponding to the target road section in an electronic map;

displaying the equal-light information corresponding to the target vehicle passing through the signal light intersection corresponding to the target road section in the equal-light information area;

displaying updated equal-light information in the equal-light information area following movement of the target vehicle in the target road section.

In a seventh aspect, the present application further provides a vehicle information display device. The device comprises:

the system comprises a light waiting information area display module, a light waiting information area display module and a light waiting information area display module, wherein the light waiting information area display module is used for displaying a target road section where a target vehicle is located currently and a light waiting information area corresponding to the target road section in an electronic map;

the equal-light information display module is used for displaying equal-light information corresponding to the target vehicle passing through the signal light intersection corresponding to the target road section in the equal-light information area;

and the equal lamp information updating module is used for displaying updated equal lamp information in the equal lamp information area along with the movement of the target vehicle in the target road section.

In an eighth aspect, the present application further provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

In a ninth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In a tenth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the vehicle information display method, the device, the computer equipment, the storage medium and the computer program product, the target road section where the target vehicle is located currently and the equal lamp information area corresponding to the target road section are displayed in the electronic map, the equal lamp information corresponding to the signal lamp intersection corresponding to the target vehicle passing through the target road section is displayed in the equal lamp information area, so that richer deep road condition information is provided for a user, the user can know the equal lamp times of passing through the signal lamp intersection currently, the updated equal lamp times are displayed in the equal lamp information area by following the movement of the target vehicle in the target road section, the target vehicle running in the target road section can be provided with the equal lamp information updated in real time, the user can obtain richer road condition information in the running process, and convenience of traveling of the user is improved.

Drawings

FIG. 1 is a diagram of an application environment of a method for determining information of a medium light in one embodiment;

FIG. 2 is a schematic flow chart diagram of a method for lamp information determination in one embodiment;

FIG. 3 is a schematic diagram of a signal light intersection corresponding to a medium light area in each road segment in one embodiment;

FIG. 4 is a schematic illustration of a mid-light parking maneuver in one embodiment;

FIG. 5 is a schematic illustration of the polymerization process in one embodiment;

FIG. 6 is a schematic flow chart of a lamp number continuation measurement in one embodiment;

FIG. 7 is a flowchart illustrating a vehicle information display method according to one embodiment;

FIG. 8 is a diagram illustrating a page with navigation features displaying light information in accordance with one embodiment;

FIG. 9 is a diagram illustrating an embodiment of an electronic map page displaying light information;

FIG. 10 is a flowchart illustrating a method for determining information of a lower lamp according to another embodiment;

FIG. 11 is a schematic diagram of an array of stop positions for the intermediate light in one embodiment;

FIG. 12 is a block diagram showing the structure of a device for determining information on a middle light in one embodiment;

FIG. 13 is a block diagram showing the construction of a vehicle information display device according to an embodiment;

FIG. 14 is a diagram showing an internal structure of a computer device in one embodiment;

fig. 15 is an internal structural view of a computer device in another embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The lamp waiting information determining method and the vehicle information displaying method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein, a plurality of vehicles 102 may be connected with the server 104 through a network, specifically, the plurality of vehicles 102 may be installed with an electronic device, and may be connected with the server 104 through the installed electronic device, which may be a navigation system, a control center or other electronic devices. The server 104 can serve as a carrier of information to provide services regarding road conditions and light information. For example, the server 104 may provide a publishing service of the light information for any vehicle 102, or provide a display information page including a road condition status of the light information, which is not specifically limited in the embodiment of the present invention. For the server 104, the server 104 may further have at least one database for storing driving information, road condition information, and lamp information, etc. Further, the server 104 may further acquire the traveling data of at least one vehicle 102 that satisfies the condition, process the acquired traveling data to obtain the equal-light information of the target road segment, and distribute the equal-light information of the target road segment to the target vehicle, where the target vehicle may be any vehicle in the at least one vehicle 102 or may be another vehicle besides the at least one vehicle 102.

In one embodiment, as shown in fig. 2, a method for determining the light waiting information is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:

step 202, acquiring real-time driving data of the vehicles on the target road section for each vehicle which enters the signal lamp intersection from the target road section.

The target road section refers to a road section with signal lamp control in the road. In the road network data, the whole road network is divided into road segments with connection relations, and each road segment can bear traffic flow in a certain direction. On a real road, two traffic directions of the same road will be considered as different road segments. Each road segment has independent attribute information, such as: geometric alignment data, road grade, number of lanes, lane width, presence or absence of signal light control, etc.

The signal lamp intersection is an intersection which is connected with the tail end of a target road section and is provided with a signal lamp, if a vehicle drives into the signal lamp intersection at the tail end position of the target road section, the vehicle is controlled by the phase of the signal lamp, the phase of the signal lamp is an indicating signal which indicates the passing or forbidden passing of the vehicle and changes periodically, for example, the signal lamp is a traffic light which changes periodically according to the color, wherein the red light, the green light and the yellow light which are displayed respectively indicate different signal lamp phases, and the vehicle can change the driving state of the vehicle based on the color change of the traffic light.

For convenience of description, hereinafter, the end position of the target link is referred to as an equal-light region of the target link, and the server determines whether the vehicle has or is about to enter the signal light intersection from the target link by determining whether the travel track of the vehicle reaches the equal-light region. As shown in fig. 3, the 4 red-dot position areas in the figure correspond to the ends of 4 driving-in road sections of a signal light intersection respectively, the driving behavior of the vehicle in each road section is controlled by the signal light of the intersection, and the 4 red-dot position areas shown in the figure form 4 equal light areas.

Vehicles entering the signal light intersection from the target road segment may include vehicles that have traveled away from the equal-light area and entered the signal light intersection, and may also include vehicles that have traveled to the equal-light area and are about to enter the signal light intersection. The vehicle can be a floating vehicle which is provided with a vehicle-mounted positioning device and runs on an urban main road, so that the server can acquire real-time running data of the vehicle, and the vehicle can also be other types of vehicles which carry the positioning device connected with the server. According to the vehicle position, direction and speed information which can be regularly recorded by the positioning device in the vehicle running process, relevant calculation models and algorithms such as map matching, path conjecture and the like are applied for processing, so that the vehicle position data and the urban road are related in time and space, and the road condition information of the road through which the vehicle passes is obtained.

Since the equal-light area represents the end position of the target road section, each vehicle passing through the equal-light area in the target road section, namely the vehicle driving from the target road section to the signal light intersection, has real-time driving data in the target road section. The real-time driving data comprises a driving track, the driving track is a track formed by a plurality of positioning points of the vehicle on the target road section, and the positioning points are obtained by the server by acquiring the positioning positions of the vehicle at intervals of positioning intervals and arranging the positioning positions according to a time sequence. The positioning interval duration may be 1 second, 3 seconds, 5 seconds, or the like. For example, a driving track of a certain vehicle on a target road segment includes a plurality of positioning points, where the plurality of positioning points are formed by positions of the vehicle acquired every 1 second, that is, an interval duration between any two consecutive positioning points is 1 second, and if a distance between any two consecutive positioning points is zero or less than or equal to a set positioning error distance, it indicates that the vehicle is in a stopped state within a time period of two positioning. And if the distance between any two continuous positioning points is greater than the set positioning error distance, the vehicle is in a traveling state. Specifically, when the distance between any two consecutive positioning points is greater than the set positioning error distance, the greater the distance, the faster the vehicle travels within the distance, and the smaller the distance, the slower the vehicle travels within the distance.

And step 204, identifying each equal lamp behavior of the vehicle in the target road section based on the real-time driving data.

The equal lamp behaviors refer to action behaviors of the vehicle in a signal lamp phase change period, and the equal lamp behaviors can include a one-time equal lamp parking behavior, a plurality of times of equal lamp parking behaviors and a plurality of times of traveling behaviors. The one lamp behavior corresponds to one phase change period of the signal lamp. In a specific implementation, the signal lamp phase change of the target road section is a target state representing passable, the equal-lamp vehicles in the target road section sequentially pass through the equal-lamp regions, if the passable phase duration of the signal lamp is 50s, the equal-lamp vehicles in the target road section sequentially travel to pass through the signal lamp intersection within the passable time of 50s, and if too many equal-lamp vehicles and vehicles far away from the equal-lamp regions may not travel to the equal-lamp regions within the passable time, the next change of the signal lamp phase to the target state needs to be waited. In the passable time, due to the fact that the traveling speeds of the vehicles are different, the vehicles may alternate between traveling and stopping until the phase of the signal lamp changes to be in an impassable state, but the traveling distance or the stopping time of each time in the waiting process of the vehicles is obviously different from that in the road congestion state, and the last stopping time in the passable time is longer than the stopping time of other times. Accordingly, the server may identify each equal-light behavior of the vehicle in the target road segment based on the travel distance or the parking time in the real-time travel data.

Specifically, the server respectively acquires real-time running data of each vehicle in a target road section, determines a running process and a parking process of the vehicle which sequentially occur, acquires a running distance and a parking time of each time from the real-time running data, compares the running distance with a distance threshold value, compares the parking time with a time threshold value, determines the parking process caused by equal lamps and the parking process caused by road congestion, and then identifies the parking processes corresponding to different signal lamp phase change periods according to the difference of the parking times in the parking process caused by equal lamps, thereby determining each equal lamp behavior of the vehicle in the target road section.

And step 206, respectively determining the light waiting parking position and the light waiting times corresponding to each light waiting behavior of each vehicle.

The number of lamp waiting behaviors included in each vehicle running in the target road section may be 0, 1, 2 or more than 2. The first-time lamp behavior comprises at least one parking, so that the lamp waiting parking position corresponding to the first-time lamp behavior can be determined, and the lamp waiting times corresponding to each lamp waiting behavior can be determined based on the accumulated times of the lamp waiting behaviors of the vehicle in the target road section.

Specifically, the equal lamp parking position represents the position of the vehicle in the target road each time the phase state of the signal lamp is changed into the passable state. In a specific application, when a parking is performed for a plurality of times in one equal lamp behavior, the equal lamp parking position may be a position of a last parking in the equal lamp behavior, may be a position of a first parking in the equal lamp behavior, may be an intermediate position determined based on the first parking position and the last parking position, and is not limited herein. In a specific implementation, if the light behaviors include only one parking behavior, the position where the parking is performed is the light parking position, and if the light behaviors include two or more parking behaviors, the position where the parking is performed for the first time is taken as the light parking position. In one specific application, when the signal lamp is changed to green, the vehicle in the target road section can drive forwards to pass through the signal lamp intersection, when the signal lamp is red, the red light indicates that the vehicle is forbidden to pass through the signal lamp intersection, the vehicle can be parked in the target road section in sequence and queued for waiting until the next green light is lightened, the position where the vehicle is located when the signal lamp is changed to green can be used as the equal-lamp parking position, and the position where the vehicle is parked in the queue for waiting can also be used as the equal-lamp parking position.

The number of waiting lights represents the cumulative number of waiting lights of the vehicle from the waiting light parking position to the waiting light area. Specifically, the farther the distance between the equal lamp parking position and the equal lamp area is, the more the number of equal lamps required to reach the equal lamp area from the equal lamp parking position is, and the larger the number of waiting lamps is. The closer the equal lamp parking position is to the equal lamp area, the smaller the number of equal lamps required to reach the equal lamp area from the equal lamp parking position and the smaller the number of waiting lamps. For example, if the vehicle 1 experiences three times of waiting for the lamp to reach the equal lamp area in total in the target road segment, the first waiting lamp is farthest from the equal lamp area, the number of times of waiting for the lamp to reach the equal lamp area is 3, the number of times of waiting for the lamp corresponding to the first waiting lamp action is 3, the third waiting lamp is closest to the equal lamp area, the number of times of waiting for the lamp to reach the equal lamp area is 1, and the number of times of waiting for the lamp corresponding to the third waiting lamp action is 1.

Specifically, the server is based on each equal lamp behavior identified from the real-time driving data, and each equal lamp behavior can be represented by a corresponding target driving track in the real-time driving data. And the server determines the corresponding equal-lamp parking position of the vehicle in the equal-lamp behavior based on the last position point in the target driving track corresponding to the equal-lamp behavior. The server can determine the accumulated number of times of waiting for the vehicle to reach the equal lamp area and the current number of times of waiting for the vehicle to reach the equal lamp area through the number of sections of the target driving track corresponding to the equal lamp behaviors contained in the real-time driving data, so that the number of times of waiting for the vehicle corresponding to the equal lamp behaviors is determined. Specifically, the number of waiting lights may be determined by calculating a difference between an accumulated number of lights required for the vehicle to arrive at the equal-light area and a current number of lights already waiting, for example, the accumulated number of lights required for the vehicle to arrive at the equal-light area is 3, if the current number of lights already waiting is 0, the equal-light behavior is the first equal-light, and the corresponding number of times of waiting lights is 3-0 — 3. If the number of times of waiting for the lamp is 2, the lamp behavior is the third-time waiting lamp, and the corresponding number of times of waiting for the lamp is 3-2 to 1.

And step 208, when the target vehicle runs in the target road section, determining the equal lamp information corresponding to the target vehicle reaching the signal lamp intersection based on the aggregation result obtained by aggregating the equal lamp parking positions with the same waiting lamp times.

The target vehicle is a vehicle which runs in a target road section and needs to pass through a light waiting area of the target road section to enter a signal light intersection. The server estimates equal-light information corresponding to a target vehicle which does not reach the equal-light area based on real-time driving data of the vehicle which passes through the equal-light area, such as equal-light times, equal-light time, equal-light road sections of the equal-light at each time and the like, so that richer road condition information is provided for the vehicle which drives in the target road section.

The aggregation processing is a process of merging data of the equal-lamp parking positions of a plurality of vehicles and determining an equal-lamp parking position section corresponding to the number of waiting lamps. The equal lamp parking position section may be constituted by the nearest equal lamp parking position and the farthest equal lamp parking position, or may be determined by a more detailed data fitting processing result. Specifically, the equal-lamp data subjected to the aggregation processing needs to satisfy the condition that the number of times of waiting for lamps is the same, so that the number of times of waiting lamps required when the vehicle in the equal-lamp parking position section indicated by the aggregation result reaches the equal-lamp area is the same. In a specific implementation, the aggregation process may be performed by directly combining the equal-lamp parking positions of the plurality of vehicles to obtain an equal-lamp parking position section, or may be performed by preprocessing the equal-lamp parking positions, removing error data with a large difference, and performing data aggregation based on the preprocessed equal-lamp parking positions to obtain the equal-lamp parking position section.

The equal-lamp information comprises at least one of equal-lamp times, equal-lamp time, equal-lamp sections of each equal lamp and the like, and the equal-lamp times can represent the phase change period of the signal lamp which is required to wait for the target vehicle to reach the signal lamp intersection corresponding to the target road section from the current position of the target road section. And the equal lamp time represents the time required by the target vehicle to reach the signal lamp intersection corresponding to the target road section from the current position of the target road section.

Specifically, when the target vehicle runs in the target road section, the server determines a target position where the target vehicle is located in the target road section, and determines the number of times of waiting for the parking position section to which the target position belongs as the waiting lamp information of the signal lamp intersection corresponding to the waiting lamp area through the target vehicle based on the waiting lamp parking position section obtained by performing aggregation processing on the waiting lamp parking positions with the same number of times of waiting for the lamp.

The method for determining the equal lamp information obtains the real-time driving data of the vehicle in the target road section as the reference data for analyzing the equal lamp information aiming at each vehicle driving from the target road section to the signal lamp intersection, identifies each equal lamp behavior of the vehicle in the target road section based on the real-time driving data, respectively determines the equal lamp parking position corresponding to each equal lamp behavior of each vehicle and the accumulated equal lamp times representing the vehicle from the equal lamp parking position to the equal lamp area so as to determine the equal lamp parking positions with the same number of the equal lamp waiting times, when the target vehicle runs in the target road section, the light waiting information corresponding to the target vehicle reaching the signal lamp intersection is determined based on the aggregation result obtained by aggregating the light waiting parking positions with the same light waiting times, so that richer deep road condition information is provided for the user, and convenience is provided for the user to go out.

In one embodiment, identifying each equal-light behavior of the vehicle in the target road segment based on the real-time driving data comprises:

identifying a light waiting parking behavior of the vehicle in the target road section based on the real-time driving data; when the equal-lamp parking behaviors which are arranged according to the occurrence time exist adjacent equal-lamp parking behaviors meeting the merging condition, performing behavior merging based on the adjacent equal-lamp parking behaviors meeting the merging condition, and determining the equal-lamp behaviors of the vehicle in the target road section; when there is no adjacent equal-light parking behavior satisfying the merging condition among the equal-light parking behaviors arranged according to the occurrence time, the equal-light parking behavior is taken as the equal-light behavior of the vehicle in the target road section.

The equal-lamp parking behavior is a parking behavior that is generated for the purpose of equal lamps, and a non-equal-lamp parking behavior corresponding to the equal-lamp parking behavior, for example, a parking behavior caused when a road state is congested, or a parking behavior caused by a driver due to other external causes, and the like. In the target road section, the equal-lamp parking behavior generally occurs at the end position of the target road section close to the equal-lamp area, while the unequal-lamp parking behavior generally occurs in a section of the target road section far away from the equal-lamp area, that is, the parking behavior of the vehicle in the target road section generally occurs first belongs to the unequal-lamp parking behavior, and the parking behavior occurring later belongs to the equal-lamp parking behavior.

The equal lamp parking behaviors are sequentially generated according to the running process of the vehicle in the target road section according to the time sequence, so that each time of the equal lamp parking behaviors is arranged according to the generation time by default. When multiple parking behaviors exist in the process of waiting for one time, the multiple parking behaviors are required to be combined, the combined result is determined to be the one-time waiting behavior, and when only one parking behavior exists in the one-time waiting behavior, the one-time waiting behavior can be directly used as the waiting behavior.

The merging condition may include at least one of a time interval between two adjacent light parking behaviors, a distance interval, and a time of each parking. Specifically, when the adjacent two-time equal-lamp parking behaviors simultaneously satisfy the time interval condition, the distance interval condition and the time condition of parking each time, it may be determined that the adjacent two-time equal-lamp parking behaviors satisfy the merging condition.

Specifically, the server identifies non-equal-light parking behaviors and equal-light parking behaviors of the vehicle in the target road section based on the real-time driving data; when the server detects that the equal lamp parking behaviors meeting the merging condition exist in the equal lamp parking behaviors arranged according to the occurrence time, performing behavior merging on the adjacent equal lamp parking behaviors meeting the merging condition, and taking a merging result as the equal lamp behaviors of the vehicle in a target road section; and when the server detects that the adjacent equal-lamp parking behaviors meeting the merging condition do not exist in the equal-lamp parking behaviors arranged according to the occurrence time, taking each equal-lamp parking behavior as the equal-lamp behaviors of the vehicle in the target road section.

In one embodiment, the process of whether the adjacent equal lamp parking behavior meets the merge condition comprises: aiming at a parking behavior combination formed by two times of equal-lamp parking behaviors which occur in sequence, determining parking interval time and parking interval distance corresponding to the parking behavior combination; and when the parking interval time meets the time interval condition, the parking interval distance meets the distance interval condition, and the parking duration of at least one equal lamp parking behavior in the parking behavior combination is less than or equal to the preset duration, judging that the adjacent equal lamp parking behaviors represented by the parking behavior combination meet the merging condition.

In a specific application, aiming at the objective phenomena of 'occasional short-distance forward traveling for parking again in a queuing process' or 'secondary waiting for vehicles when a left-turning waiting area exists' in reality, the adjacent 2-time equal-light parking behaviors with small distance difference and time difference are combined into 1-time equal-light behaviors. Specifically, as shown in fig. 4, the vehicle is made to stop four times or the like of the lamp behaviors, the equal lamp time lengths are t1, t2, t3, t4 … … tn, respectively, Δ t represents the time interval of the lamp behaviors of two adjacent stops or the like, Δ L represents the distance interval of the lamp behaviors of two adjacent stops or the like, and for the lamp behaviors of 2 adjacent stops or the like, if the following combination condition is satisfied, they are combined. After the merging, the parking position occurring earlier is taken as the final equal-lamp parking position. (1) Δ t is less than the time interval threshold. For example: may be set to 20 seconds. (2) Δ L is less than the distance separation threshold. For example: may be set to 50 meters. (3) Either ti or ti-1 is less than a specified threshold. For example: may be set to 30 seconds.

In one embodiment, the behavior merging is performed based on the adjacent equal-lamp parking behaviors meeting the merging condition, and the equal-lamp behavior of the vehicle in the target road section is determined, which comprises the following steps: determining intermediate traveling behaviors occurring between adjacent equal-lamp parking behaviors meeting merging conditions; and merging the adjacent equal-lamp parking behaviors and the middle traveling behaviors which meet the merging condition to obtain the equal-lamp behaviors of the vehicle in the target road section.

Because the parking behaviors and the traveling behaviors are distributed at intervals, an intermediate traveling behavior is necessarily existed between the adjacent equal-lamp parking behaviors, and the adjacent equal-lamp parking behaviors and the intermediate traveling behavior are combined, so that the equal-lamp process can be represented by a section of complete traveling behavior, and the accurate representation of the equal-lamp behavior is ensured.

In the embodiment, by setting the merging condition, the behaviors of the adjacent equal-light parking behaviors meeting the merging condition are merged, and the equal-light behavior of the vehicle in the target road section is determined, so that the influence of recognition of the equal-light behavior caused by the situations that the vehicle waits for the vehicle for the second time when the vehicle travels forward for the second time in the process of queuing and when a left-turn waiting area exists can be avoided, and the accuracy of the recognition result of the equal-light behavior is improved.

In one embodiment, identifying the equal-lamp parking behavior of the vehicle in the target road segment based on the real-time driving data comprises: identifying the traveling behavior and the parking behavior of the vehicle based on the positioning distance between the positioning points in the real-time driving data; screening out target traveling behaviors meeting the traveling conditions of the congested road section from the traveling behaviors; a parking behavior occurring after the target traveling behavior is determined as a waiting lamp parking behavior.

The real-time driving data comprises a driving track of the vehicle on the target road section, the driving track can be composed of a plurality of positioning points, and the positioning points are obtained by the server by acquiring the positioning positions of the vehicle at intervals of positioning intervals and arranging the positioning positions according to a time sequence. For example, a driving track of a certain vehicle on a target road segment includes a plurality of positioning points, where the plurality of positioning points are formed by positions of the vehicle acquired every 1 second, that is, an interval duration between any two consecutive positioning points is 1 second, and if a distance between any two consecutive positioning points is zero or less than or equal to a set positioning error distance, it indicates that the vehicle is in a stopped state within a time period of two positioning. And if the distance between any two continuous positioning points is greater than the set positioning error distance, the vehicle is in a running state, and the behavior corresponding to the continuous running state is the running behavior.

The target traveling behavior is a boundary behavior of an unequal light parking behavior and an equal light parking behavior of a vehicle in a target road section, the target traveling behavior can be identified by setting a congested road section traveling condition, according to an actual application scene, the traveling behavior occurring in a general equal light process is short-distance short-duration traveling, while the traveling behavior in a congested road section is long-duration or long-distance traveling, so that the congested road section traveling condition can be realized by setting at least one of a traveling distance threshold and a traveling duration threshold.

Specifically, the server identifies the traveling behavior and the parking behavior of the vehicle based on the positioning distance between the positioning points in the real-time traveling data, screens out a target traveling behavior meeting the traveling condition of the congested road section from the traveling behaviors as a boundary between the equal-light parking behavior and the unequal-light parking behavior based on the traveling condition of the congested road section, determines the parking behavior occurring before the target traveling behavior as the congested parking behavior, and determines the parking behavior occurring after the target traveling behavior as the equal-light parking behavior.

In the embodiment, by identifying the traveling behavior and the parking behavior of the vehicle, a target traveling behavior meeting the traveling condition of the congested road section is screened from the traveling behaviors; the method and the device take the identified target advancing behavior as an entry point, and accurately distinguish the congestion parking behavior and the light waiting parking behavior of the vehicle, so that the identification accuracy of the light waiting parking behavior is improved, and the accurate light waiting behavior analysis is favorably realized.

In one embodiment, the step of screening out the target travel behaviors meeting the travel conditions of the congested road section from the travel behaviors comprises the following steps: respectively acquiring the corresponding travel time and travel distance of each travel behavior; for each travel behavior, determining the travel behavior as a candidate travel behavior when at least one of a travel time satisfying a travel time length condition and a travel distance satisfying a travel distance condition is established; and determining the candidate traveling behavior with the latest occurrence time as the target traveling behavior.

Wherein the travel behavior is a process occurring between two adjacent parking behaviors, the travel behavior characterizes a continuous change in the position of the vehicle, the time duration from the start to the end of the travel behavior is the travel time, and the distance moved is the travel distance. The travel time period condition and the travel distance condition may be set according to the actual situation of the target road segment, for example, determined according to the road segment length of the target road segment and the phase change cycle of the signal lamp, the travel distance condition is set to be greater than 200 meters, the travel time period condition is set to be greater than 5 minutes, and the like.

In one particular application, every 1 travel activity is checked from the back to the front of the equal light zone, and if it meets any of the following conditions, the travel activity is considered to have been normal road travel, rather than a short travel between two equal lights. (1) The total displacement is greater than a specified travel distance threshold. The travel distance threshold may be configured according to common living knowledge, for example: set to 200 meters. (2) The duration exceeds a travel duration threshold. The travel duration threshold may be configured according to common living knowledge, for example: set to 5 minutes. The "parking behavior" occurring before the target traveling behavior is determined as a normal congestion parking, not an equal-light parking behavior caused by a signal light, and only the parking behavior occurring after the target traveling behavior is determined as an equal-light parking behavior.

In the embodiment, the travel time length condition and the travel distance condition are set to determine the travel behavior to distinguish the equal-lamp parking behavior from the unequal-lamp parking behavior, so that the identification accuracy of the equal-lamp parking behavior can be improved, and the accurate equal-lamp behavior analysis is facilitated.

In one embodiment, identifying the traveling behavior and the parking behavior of the vehicle based on the positioning distance between the positioning points in the real-time driving data comprises: aiming at each positioning point in the real-time driving data, acquiring positioning time, a positioning position and an instantaneous speed corresponding to the positioning point; when the instantaneous speeds of two positioning points adjacent to each other in positioning time are both zero and the positioning distance between the positioning points meets the positioning distance condition, taking the two positioning points adjacent to each other in positioning time as a parking point pair; merging the parking point pairs with continuous positioning time to obtain the parking behavior of the vehicle; and combining continuous positioning points between two successive parking behaviors to obtain the advancing behavior of the vehicle.

The positioning information of the positioning point includes, among others, the current position and instantaneous speed acquired by a positioning device such as a GPS device for the vehicle at fixed time intervals. Due to the limitation of the precision of the positioning device, a positioning error may exist in a positioning position obtained in the positioning process, but the positioning error may be limited within a certain range based on the precision of the positioning device, for example, the error is less than or equal to 5 m. When the vehicle is in a parking state, because the vehicle is stationary, the instantaneous speed is zero, and the distance between the positioning points acquired by positioning at different positioning time points is within the error allowable range of the positioning device.

Specifically, the server acquires positioning time, positioning position and instantaneous speed corresponding to each positioning point in the real-time driving data, determines adjacent positioning points based on the positioning time, represents that the vehicle is in a parking state when the instantaneous speeds of the two adjacent positioning points are zero and the positioning distance between the positioning points meets the positioning distance condition, takes the two positioning points adjacent to the positioning time as a parking point pair, and combines the parking point pairs with continuous positioning time to obtain the parking behavior of the vehicle, wherein the parking behavior can be used for representing the duration of the parking state, and the behavior occurring between two parking behaviors is the driving behavior between the two parking behaviors after the parking behaviors are determined, and the server combines the continuous positioning points between the two parking behaviors which occur in sequence to obtain the driving behavior of the vehicle.

In a specific application, the real-time driving data is that two adjacent GPS points at any time in a GPS track form 1 GPS point pair. For each GPS point pair, its displacement dL is calculated. If the instantaneous speeds of the front and rear 2 GPS points included in the point pair are both 0 and dL is less than a specified threshold L1, the point pair is determined to be a parking point pair. The threshold L1 may be configured with reference to conventional errors of current GPS positioning techniques, such as: the setting is 5 meters. The points other than the pair of stopping points are the pair of traveling points, and through the processing step, the GPS track is converted into a sequence consisting of the pair of stopping points and the pair of traveling points. And aggregating all the continuous parking point pairs in the sequence into 1-time parking behavior, and determining the attribute of the parking behavior, such as the starting time, the starting position, the ending time, the ending position, the parking duration and the like. All the continuous travel point pairs are aggregated into 1 travel behavior, and the attribute of the travel behavior, such as total travel displacement, travel duration and the like, is determined.

In this embodiment, the server identifies the parking point pairs by the positioning distance between the positioning points according to the instant speed of zero, so as to ensure the accurate identification of the parking point pairs, and the adjacent parking point pairs are combined by determining the parking point pairs based on the positioning points, so that the accurate identification of each parking of the vehicle can be ensured, and the omission is avoided.

In one embodiment, identifying an on-grade parking behavior of a vehicle in a target road segment based on real-time driving data includes: screening out target positioning points meeting positioning boundary conditions from positioning points contained in the real-time driving data; determining a road section between a target positioning point and a signal lamp intersection as a signal lamp influence road section in the target road section; the equal-lamp parking behavior of the vehicle in the road section influenced by the signal lamp is identified.

Specifically, the positioning boundary condition is used for representing the influence range of the signal lamp, in a specific application, the real-time driving data includes a GPS track, the server traverses the GPS track from the equal-lamp area, when the position of a certain positioning point meets any one of the following conditions, the positioning point is determined to be a target positioning point meeting the positioning boundary condition, and a road section between the target positioning point and the equal-lamp area is a signal lamp influence road section: (1) the GPS track passes through a light waiting area of an upstream road section; (2) the grade of the road where the GPS is located changes, such as from a common road to an expressway; (3) the GPS track is turned left, right or turned around; (4) the length of the trajectory from the waiting lamp area exceeds a specified threshold L. The threshold L may be set according to common living knowledge, for example: set to 1000 meters. Configurations that are more refined and differentiated can also be obtained according to other mining information, such as: some light zones are set to 500 meters, some to 1000 meters, etc.

In the embodiment, the data range needing to be analyzed can be effectively limited by determining the signal lamp influence road section in the target road section, so that the data processing amount is reduced, and the data processing speed is increased.

In one embodiment, when the target vehicle travels in the target road segment, the determining the equal lamp information corresponding to the target vehicle reaching the signal lamp intersection based on the aggregation result obtained by aggregating the equal lamp parking positions with the same number of waiting lamps comprises: performing polymerization treatment on the equal-lamp parking positions with the same number of times of waiting for the lamps to obtain equal-lamp road sections corresponding to each equal lamp; when the target vehicle runs in the target road section, determining a target equal lamp road section where the target vehicle is located based on the position of the target vehicle in the target road section; and determining the equal-light information corresponding to the target vehicle reaching the signal lamp intersection based on the target equal-light road section.

Specifically, the server aggregates the equal-lamp parking positions with the same number of times of waiting lamps for each number of times of waiting lamps to determine equal-lamp road sections corresponding to the equal-lamp road sections, and when detecting an electronic map display request sent when the target vehicle runs in the target road section, the server determines the target equal-lamp road sections where the target vehicle is located based on the positioning position of the target vehicle in the target road section; and taking the equal lamp times represented by the waiting lamp times corresponding to the target equal lamp road section as equal lamp information of the signal lamp intersection corresponding to the target vehicle passing the equal lamp area, and displaying the equal lamp information in the electronic map. And when the equal lamp road section to which the positioning position of the target vehicle belongs is changed, updating and displaying the estimated equal lamp times based on the equal lamp times represented by the waiting lamp times corresponding to the changed equal lamp road section.

In one embodiment, the process of determining the lamp segments comprises: the server screens target waiting lamp times with the numerical value smaller than or equal to the average waiting lamp times from the waiting lamp times according to the average waiting lamp times of all vehicles driving into the signal lamp intersection from the target road section, carries out aggregation processing on waiting lamp parking positions corresponding to the target waiting lamp times respectively, and determines the waiting lamp road section corresponding to the target waiting lamp times.

The server determines the target waiting lamp times of which the waiting lamp times is less than or equal to the average waiting lamp times by calculating the average waiting lamp times of each vehicle in the target road section, and can effectively filter the waiting lamp times of which the waiting lamp times are excessive based on the average waiting lamp times, so that the data processing amount is reduced, and the accuracy of the estimation result of the waiting lamp times is improved.

Further, the calculation process of the average equal lamp times comprises the following steps: for vehicles driving into the signal lamp intersection from the target road section, when the proportion of the number of the vehicles with the accumulated equal lamp times larger than or equal to the preset threshold value to the total number of the vehicles reaches a proportion threshold value, updating the total number of the vehicles based on the number of the vehicles with the accumulated equal lamp times being zero; based on the updated total number of vehicles, an average number of lights waiting is determined.

In a specific application, at an actual signal intersection, there is a case where right turn is not controlled by a signal lamp, when the ratio (e.g. 1/2) of the number of vehicles (e.g. 20) with the number of lamps equal to or more than 2 to the total number (e.g. 40) of vehicles in a target road exceeds 1/3, data of vehicles (5 vehicles in total) with the number of lamps zero in the target road is discarded, and at this time, the total number of vehicles is 40-5-35. The number of times of waiting for the lights is calculated to obtain the average number of times of waiting for the lights of each vehicle in the target road section according to the updated total number of the vehicles and based on the total number of times of waiting for the lights, so that the influence of the estimation result of the number of times of waiting for the lights on the vehicle track data (the number of times of waiting for the lights is zero) of which the right turn is not controlled by the signal lamp is effectively avoided.

In the embodiment, the equal-lamp road section corresponding to each equal lamp is determined through aggregation processing, and then the current equal-lamp frequency of the target vehicle is determined through the equal-lamp road section to which the position of the target vehicle in the target road section belongs, so that the judgment process of the equal-lamp information is simplified, and the data processing efficiency is improved.

In one embodiment, the aggregating the equal lamp parking positions corresponding to each target number of times of waiting for lamp, and determining the equal lamp road sections corresponding to each target number of times of waiting for lamp comprises: aggregating the equal-lamp parking positions corresponding to each target waiting lamp frequency to obtain a parking position sequence corresponding to each target waiting lamp frequency; performing data fitting on the parking position sequence to obtain the boundary position of each equal lamp; and dividing the equal-lamp road sections of the target road section according to the boundary position to obtain the equal-lamp road section corresponding to each equal lamp.

The equal lamp parking position sequence is a result of combining the equal lamp parking positions. Data fitting is the process of determining data distribution specific characteristic data for a sequence of equal lamp parking positions. The data fitting may specifically be performed by determining a median or a mean or a mode of a sequence of equal lamp parking positions or a combination of multiple modes.

Specifically, the data fitting may include: determining the median corresponding to each equal lamp parking position sequence, calculating the average value of the median of the equal lamp parking position sequence corresponding to the first equal lamp sequence and the median of the equal lamp parking position sequence corresponding to the second equal lamp sequence aiming at the first equal lamp sequence and the second equal lamp sequence which are increased in the equal lamp sequence, and taking the average value as the equal lamp boundary corresponding to the first equal lamp sequence

In one particular application, as shown in FIG. 5, the aggregation process includes counting average equal lamp times and counting equal lamp zone boundaries. The process of calculating the average equal lamp times is as follows: the arithmetic mean is calculated based on the accumulated equal lamp times of all vehicles, and then the integral equal lamp times are obtained based on a rounding rule. Here, a special processing step is also required. Namely counting the number of vehicles waiting for each lamp number. When the ratio of the number of times of waiting for the lights of the vehicles with the number of times of waiting for the lights being greater than or equal to 2 reaches a preset ratio (for example, exceeds 1/3), the data of the vehicles with the number of times of waiting for the lights being 0 needs to be discarded to eliminate the influence of the vehicle trajectory data of which the right turn is not controlled by the signal lights. The process of calculating the lamp area boundary comprises the following steps: the server counts the position sequence of the equal lamp parking positions corresponding to each time of equal lamps from each vehicle, then calculates the median of the equal lamp parking position sequence, and takes the average value of the median of the equal lamp parking position sequence corresponding to the times of adjacent waiting lamps as the position boundary of the next equal lamp. For example: the median of the last lamp parking position is 50 meters (meaning: the distance to the equal lamp area is 50 meters), and the median of the 2 nd from last lamp parking position is 170 meters. Then, the position boundary of the last-order lamp is: (50+170)/2 ═ 110 m. Wherein, the position boundary of the last grade lamp is 110 meters, and the meaning is: if the distance from a certain vehicle to the equal-light area is less than 110 meters, the vehicle probably only needs to wait for 1 time again to pass through the signal light intersection of the target road section.

In one embodiment, the method further comprises: in response to a trigger event for the isocandela information analysis for the target road segment, a target time period matching the trigger time is determined based on the trigger time of the trigger event. Further, for each vehicle driving from the target road section to the signal lamp intersection, acquiring real-time driving data of the vehicle on the target road section, including: and acquiring real-time driving data of the vehicle in the target road section aiming at each vehicle which enters the signal lamp intersection from the target road section in the target time period.

The trigger event of the analysis of the equal-light information may be that the server triggers the analysis processing of the equal-light information for each road segment with signal light intersections in the electronic map according to a preset trigger time or periodically, for example, triggering once a minute. And when the target vehicle is detected to enter the target road section, feeding back the estimated light waiting information matched with the target road section in the current period to a terminal corresponding to the target vehicle for display. The trigger event of the light information analysis may also be triggered and executed in real time by a terminal corresponding to the vehicle, for example, when the target vehicle enters a target road segment and opens the electronic map, the server performs the light information analysis in real time for the target road segment based on the selected target road segment by triggering the electronic map navigation function or the map display function.

In this embodiment, the server uses the real-time driving data in the target time period matched with the trigger time as an analysis object based on the trigger time corresponding to the trigger event, and can effectively limit the range of the real-time driving data to be acquired based on the trigger time, thereby ensuring the real-time effectiveness of the real-time driving data.

In one embodiment, the method further comprises: triggering a triggering event for carrying out light waiting information analysis on a target road section according to a preset period; searching historical light information and the like matched with the target road section from the light information and the like in the previous period when the estimated light information and the road condition state of the target road section are invalid information and congestion occurs in the current period; when the lamp information such as the history in the lamp information such as the history satisfies the equal lamp frequency condition, the updated lamp information obtained by performing the frequency decreasing processing on the lamp information such as the history is used as the equal lamp information of the current period.

In a specific application, when the estimated equal lamp information of the current period is invalid information, to ensure valid output of data, an equal lamp information missing continuation strategy needs to be executed, wherein an execution logic of the equal lamp information missing continuation strategy is, as shown in fig. 6, to a certain target road segment, only when no equal lamp information is calculated and output in the current period (for example, a logic error exists in the acquired track data or the analyzed equal lamp information), an attempt is made to execute the missing continuation strategy. Specifically, if the road condition state of the target road segment in the current period is congested or heavily congested and there is output equal-light information in the previous period, the number of times of historical equal-light information in the previous period is decremented and then output as the equal-light information in the current period. The number-of-times decrementing process is to decrement the number of times of equal lighting by 1 if the number of times of equal lighting is greater than the number-of-times threshold Nth in the equal lighting information of the previous cycle. If the road condition states of the road sections before the lamp areas in the current period and the like are seriously congested, Nth is set to be 3; if the traffic status is congested, Nth is set to 2.

In this embodiment, by setting the lamp waiting information missing continuation strategy, the lamp waiting times of the current cycle can be estimated based on the estimation result of the lamp waiting times of the previous cycle, so as to ensure effective output of the lamp waiting information.

In one embodiment, as shown in fig. 7, a vehicle information display method is provided, which is described by taking the example that the method is applied to the vehicle in fig. 1, and comprises the following steps:

step 702, displaying a target road section where the target vehicle is currently located and an equal-lamp information area corresponding to the target road section in a display page of the electronic map.

The target road section where the target vehicle is located currently can be achieved through a real-time positioning technology, and the target road section where the target vehicle is located currently can also be determined by responding to a trigger operation of a user on a certain point in the target road section in the road section displayed in the electronic map and simulating the position of the target vehicle based on the trigger position.

The equal-light information area is an area for displaying equal-light information, the display position and the display mode of the equal-light information area can be configured in advance, for example, the equal-light information area can be displayed at the position of a signal light intersection of a target road section, can be displayed based on the position of a target vehicle in an electronic map, can be displayed at the edge position of a page such as the top or the bottom of the page, and can be displayed in a pop-up window display mode, a road condition information bubble display mode and the like.

Step 704, in the equal lamp information area, the equal lamp information corresponding to the signal lamp crossing corresponding to the target road section is displayed.

The lamp waiting information comprises at least one of the information of the lamp waiting times, the lamp waiting time, the lamp waiting sections of each lamp waiting time and the like. Specifically, the number of times of waiting for the signal lamp can represent a signal lamp phase change period that the target vehicle needs to wait to reach the signal lamp intersection corresponding to the target road section from the current position of the target road section. And the equal lamp time represents the time required by the target vehicle to reach the signal lamp intersection corresponding to the target road section from the current position of the target road section. The determination method of the light waiting information may refer to each embodiment of the above light waiting information determination method, and is not described again.

Further, the equal lamp sections of different times can be displayed in different ways in the target section by different signs, for example, different equal lamp sections are displayed by different colors, and for example, a boundary sign or the like is displayed at a boundary between two equal lamp corresponding equal lamp sections.

In step 706, updated equal-light information is displayed in the equal-light information area following the movement of the target vehicle in the target road section.

Specifically, as the target vehicle moves within the target road segment, the target vehicle gets closer to the signal intersection, and the number of lights waiting required is reduced. Specifically, the terminal may determine the equal-light road segment to which the current position of the target vehicle belongs based on the distance between the target vehicle and the signal light intersection. The determination process of the equal-lamp road sections can be realized by each embodiment of the equal-lamp information determination method for determining the equal-lamp road sections, each equal-lamp road section corresponds to one equal-lamp, when the target vehicle moves from one equal-lamp road section to another equal-lamp road section, the equal-lamp information is updated, and the updated equal-lamp information is displayed in the equal-lamp information area.

In a specific application, as shown in fig. 8, when a target vehicle in a target road section is 1.3 km from a signal intersection, the required number of times of waiting for the arrival of the target vehicle is approximately 3 times after 13 minutes from the signal intersection, when the target vehicle moves to 856 m from the signal intersection, 856 m from the signal intersection is displayed in the information area of waiting for the arrival of the target vehicle after 8 minutes, the required number of times of waiting for the arrival of the target vehicle is approximately 2 times, and when the target vehicle moves to 287 m from the signal intersection, and the required number of times of waiting for the arrival of the target vehicle is approximately 1 time after 3 minutes from the signal intersection.

According to the vehicle information display method, the target road section where the target vehicle is located currently and the equal lamp information area corresponding to the target road section are displayed in the electronic map, the equal lamp information corresponding to the signal lamp intersection corresponding to the target vehicle passing through the target road section is displayed in the equal lamp information area, so that richer deep road condition information is provided for a user, the user can know the equal lamp times of the current signal lamp intersection, the updated equal lamp times are displayed in the equal lamp information area by following the movement of the target vehicle in the target road section, the target vehicle running in the target road section can be provided with the real-time updated equal lamp information, the user can obtain richer road condition information in the running process, and the convenience of the user in going is improved.

In one embodiment, the vehicle information display method is suitable for a navigation function, and specifically includes: and the terminal responds to the triggering operation aiming at the navigation function of the electronic map, enters a navigation page, displays a navigation route corresponding to a target road section where the target vehicle is located at present in the navigation page, and displays light information areas such as the like at the relevant position of the navigation route. In the driving route navigation process, when a user drives into a target road section with a equal-light area at the tail section, the travel application program can display the equal-light times through congestion bubbles, and dynamically update the remaining equal-light times as the user position gradually approaches the equal-light area.

In one embodiment, the vehicle information display method further includes: displaying signal lamp identifiers representing signal lamp intersections in the electronic map in a display page of the electronic map; responding to the trigger operation of the signal lamp identification, and displaying a vehicle and other lamp information area matched with the signal lamp intersection; in the vehicle equal lamp information area, equal lamp information corresponding to each road section communicated with the signal lamp intersection is displayed.

The display mode of the signal lamp identifier can be set according to practical application, for example, the display mode is set to be a traffic light icon or a character identifier, and the display position of the signal lamp identifier can be the position of a signal lamp intersection in the electronic map. The triggering operation of the signal lamp identifier may specifically be that the user clicks the signal lamp identifier in the electronic map display page. Each link communicated by the signal intersection refers to a link passing through the signal, such as a link from west to east, a link from east to west, and the like. For each link, when there is equal-light information corresponding to multiple links with zero equal-light information, the estimated equal-light times of multiple links with zero equal-light information may be displayed in combination, for example, the information displayed in the equal-light information area is "east-west equal-light: about two times; the other directions are as follows: not more than 1 time.

In a specific application, for the base map basic information function of the electronic map, referring to fig. 9, signal light icons can be displayed at a crossing controlled by signal lights. When the user clicks the signal light icon, the light information including the directions of the various traffic flows passing through the signal light intersection is displayed below the screen or at other suitable positions.

The application also provides an application scene, and the application scene applies the equal-lamp information determining method and the vehicle information displaying method. Specifically, the application of the equal lamp information determination method and the vehicle information display method in the application scene is as follows:

first, the trajectory of each vehicle before passing through the equal lamp area is processed, the equal lamp behavior is detected, and the position of each equal lamp is determined. Then, carrying out comprehensive treatment on each target road section with the road condition state being congestion based on the equal-lamp parking position information of all vehicles passing through the target road section to obtain equal-lamp information comprising an array of equal-lamp times and queuing length; and finally, implementing a missing continuation strategy aiming at the target road section which is in a congestion state and has no light information output, and filling up the missing as far as possible. Finally, the equal-light information data of all the target road sections in the congestion state are presented in multiple functions of the map trip application program.

The overall calculation flow of the lamp waiting information is shown in fig. 10, and includes three main steps.

Firstly, inputting a GPS track after road matching in a latest period of time (for example, 10 minutes) of each vehicle, and outputting equal-lamp parking position information of each equal-lamp parking position of the vehicle through' calculation of the equal-lamp parking position of the vehicle.

The method comprises the following main steps of calculating the parking positions of the lamps of the bicycle and the like:

step 1, calculating a signal lamp influence boundary. The GPS track is traversed from back to front from the equal lamp area, and when the position of a certain GPS point meets any one of the following conditions, the influence boundary of the equal lamp area is determined. (1) The GPS track passes through a light waiting area of an upstream road section; (2) the grade of the road where the GPS is located changes, such as from a common road to an expressway; (3) the GPS track is turned left, right or turned around; (4) the length of the trajectory from the waiting lamp area exceeds a specified threshold L. The threshold L may be set according to common living knowledge, for example: set to 1000 meters. Configurations that are more refined and differentiated can also be obtained according to other mining information, such as: some road segments are set to 500 meters and some to 1000 meters.

And 2, identifying the parking point pair. In the GPS track, two adjacent GPS points at any time constitute 1 GPS point pair. For each GPS point pair, its displacement dL is calculated. If the instantaneous speeds of the front and rear 2 GPS points included in the point pair are both 0 and dL is less than a specified threshold L1, the point pair is determined to be a parking point pair. The threshold L1 may be configured with reference to conventional errors of current GPS positioning techniques, such as: the setting is 5 meters. Pairs other than the pair of parking points are called: and (5) traveling point pairs. Through this processing step, the GPS track is converted into a sequence of "pairs of stop points" and "pairs of travel points".

And step 3, waiting for the lamp behaviors to converge. All consecutive pairs of parking points are aggregated into a 1-time parking behavior, and a series of attributes of the parking behavior are calculated: a start time, a start position, an end time, an end position, a parking duration, etc. Aggregating all the continuous travel point pairs into 1 travel behavior, and calculating a series of attributes of the travel behavior: total travel displacement, duration of travel, etc. In this way, the GPS track is further translated into a sequence of "parking action" and "travel action". From back to front in the equal lamp area, every 1 travel behavior is checked, if the following total displacement is larger than a specified threshold or the duration exceeds the specified threshold, the travel is considered to be normal road travel instead of the short travel between two equal lamps, and the 'parking behavior' occurring before the travel behavior is judged to be normal jammed parking instead of the equal lamp behavior caused by signal lamps. Only the parking behavior occurring after the travel behavior is determined as the equal lamp behavior.

And 4, merging the lamp behaviors. The merging operation is mainly used for merging the adjacent 2-time equal-light behaviors with small position difference and time difference into 1-time equal-light behaviors aiming at the objective phenomena that 'occasional short-distance forward advance and secondary parking in the queuing process' exists or 'when a left-turn waiting area exists, a left-turn vehicle can have secondary waiting'. Specifically, for adjacent 2 equal lamp behaviors, if both: Δ t is less than a specified threshold; Δ L is less than a specified threshold; if any of ti and ti-1 is smaller than the predetermined threshold, the combination is processed, and after the combination, the parking position occurring earlier is set as the equal lamp parking position corresponding to the combination equal lamp row.

And 5, outputting an equal lamp distance array aiming at the behavior of each vehicle passing through each equal lamp parking position, wherein the first element in the array represents the position of the last equal lamp, and so on. The equal lamp distance is described in terms of the distance from the equal lamp parking position to the equal lamp area. Specifically, the equal lamp distance array comprises the number n of equal lamp times required by crossing and the queuing length of each equal lamp, and the number of data in the equal lamp parking position array is n-1. This is illustrated with reference to the example of fig. 11. When the equal lamp information of the target road section is 4, the equal lamp arrangement length is an array comprising 3 elements: [ ql _1, ql _2, ql _3 ]. With L representing the distance of the current vehicle to the equal lamp area, the expressed meaning of the array of lamp distances is: if L > ql _3, the vehicle passes the light zones, waiting 4 times; if ql _3> -L > ql _2, the vehicle passes the light zones, requiring 3 lights to be waited; if ql _2> -L > ql _1, the vehicle passes the light zones, requiring 2 lights; if ql _1> -L, the vehicle passes the light zones, requiring 1 light wait. For example: the lamp waiting parking position array is [ 90, 150 and 220 ], which indicates that the vehicle waits 3 times for passing through the lamp areas and stops at positions 220 meters, 150 meters and 90 meters away from the signal lamp respectively.

And secondly, inputting the equal lamp parking position information of each vehicle and each equal lamp parking position output in the first step, and aggregating the information according to the number of waiting lamps corresponding to the equal lamp parking positions. And inputting the equal-lamp parking position information of a plurality of vehicles aiming at each number of times of waiting for the lamp, and obtaining the number of times of waiting for the lamp and the number group information of the number of times of waiting for the lamp in the target road section through aggregation calculation.

The aggregation process includes calculating average equal lamp times and calculating equal lamp zone boundaries. The process of calculating the average equal lamp times is as follows: the arithmetic mean is calculated based on the accumulated equal lamp times of all vehicles, and then the integral equal lamp times are obtained based on a rounding rule. Here, a special processing step is also required. Namely counting the number of vehicles waiting for each lamp number. When the ratio of the vehicles with the equal lamp times greater than or equal to 2 reaches a preset ratio (for example, exceeds 1/3), the data of the vehicle with the equal lamp times of 0 needs to be discarded to exclude the influence of the vehicle trajectory data that the right turn is not controlled by the signal lamp. The process of calculating the lamp area boundary comprises the following steps: the server counts the position sequence of the equal lamp parking positions corresponding to each time of equal lamps from each vehicle, then calculates the median of the equal lamp parking position sequence, and takes the average value of the median of the equal lamp parking position sequence corresponding to the times of adjacent waiting lamps as the position boundary of the next equal lamp. For example: the median of the last lamp parking position is 50 meters (meaning: the distance to the equal lamp area is 50 meters), and the median of the 2 nd from last lamp parking position is 170 meters. Then, the position boundary of the last-order lamp is: (50+170)/2 ═ 110 m. Wherein, the position boundary of the last grade lamp is 110 meters, and the meaning is: if the distance from a certain vehicle to the equal-light area is less than 110 meters, the vehicle probably only needs to wait for 1 time again to pass through the signal light intersection of the target road section.

And thirdly, inputting the data output in the second step. Traversing all road sections with equal-light areas in the road network range, implementing a missing continuation strategy aiming at the road sections which do not output equal-light information in the current period and have congested road conditions, and supplementing part of equal-light information.

When the estimated result of the number of times of equal lighting estimated in the current period is invalid information, in order to ensure effective output of data, an equal lighting information missing continuation strategy needs to be executed, wherein the execution logic of the equal lighting information missing continuation strategy is that, aiming at a certain target road section, the missing continuation strategy is tried to be executed only when the number of times of equal lighting which is not output in the current period is calculated (for example, if the acquired track data or the analyzed equal lighting data has logic errors, the estimated result of the number of times of equal lighting is judged to be invalid information). Specifically, if the road condition state of the target road segment in the current period is congested or heavily congested and there is output equal-light information in the previous period, the degradation processing is performed on the equal-light information in the previous period, and then the equal-light information is output as the equal-light information in the current period. The degradation processing means that if the number of times of waiting for light is greater than the number threshold Nth in the light waiting information of the previous cycle, the number of times of waiting for light is reduced by one. If the road condition states of the road sections before the lamp areas in the current period and the like are seriously congested, Nth is set to be 3; if the traffic status is congested, Nth is set to 2.

The information of the light waiting times and the light waiting queue length degree group of each target road section can be applied to a route navigation function and a base map basic information function of a map trip application program.

For the route navigation function, in the driving route navigation process, when a user drives into a road section with a equal-light area at the tail section, the number of times of equal-light can be displayed through congestion bubbles, and the remaining number of times of equal-light can be dynamically updated as the position of the user gradually approaches the equal-light area. For the basic information function of the base map, signal light icons can be displayed at intersections controlled by signal lights. When the user clicks on the signal light icon, the light information including the directions of the various traffic flows passing through the intersection is presented below the screen (or other suitable location).

According to the method for determining the light waiting information and the method for displaying the vehicle information, the stable and reliable light waiting information is output for the target road section with all road condition states being congested based on the real-time floating vehicle track, and the light waiting times of the vehicle in the target road section is determined. The light information can be updated in real time in a minute level, and the method can be used for enriching the information presentation of map travel application programs in the use scenes of route navigation, base map browsing and the like, increasing the attraction of the travel application programs to users, supporting the travel decision of the users by providing richer depth information for the users, and increasing the user stickiness of the travel application programs.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the present application further provides an equal lamp information determining apparatus for implementing the equal lamp information determining method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so specific limitations in one or more embodiments of the device for determining the equivalent lamp information provided below can be referred to the limitations in the method for determining the equivalent lamp information, and are not described herein again.

In one embodiment, as shown in fig. 12, there is provided a lamp information determination apparatus 1200 including: the real-time driving data acquisition module 1202, the equal-lamp behavior recognition module 1204, the equal-lamp information processing module 1206 and the equal-lamp information estimation module 1208, wherein:

a real-time driving data obtaining module 1202, configured to obtain, for each vehicle that enters a signal lamp intersection from a target road segment, real-time driving data of the vehicle on the target road segment;

a light waiting behavior identification module 1204, configured to identify, based on the real-time driving data, each light waiting behavior of the vehicle in the target road segment;

the waiting light information processing 1206 is used for respectively determining a waiting light parking position and waiting light times corresponding to each time of waiting light behavior of each vehicle, wherein the waiting light times represent the accumulated waiting light times required by the vehicles from the waiting light parking positions to the signal light intersections;

and the equal-light information estimation module 1208 is configured to determine, when the target vehicle travels in the target road segment, equal-light information corresponding to the arrival of the target vehicle at the signal light intersection based on an aggregation result obtained by aggregating the equal-light parking positions with the same waiting-light times.

In one embodiment, the equal-lamp behavior identification module is further configured to identify an equal-lamp parking behavior of the vehicle in the target road segment based on the real-time driving data; when the adjacent equal-lamp parking behaviors meeting the merging condition exist in the equal-lamp parking behaviors arranged according to the occurrence time, performing behavior merging based on the adjacent equal-lamp parking behaviors meeting the merging condition, and determining the equal-lamp behaviors of the vehicle in the target road section; and when no adjacent equal-lamp parking behaviors meeting the merging condition exist in the equal-lamp parking behaviors arranged according to the occurrence time, taking the equal-lamp parking behaviors as the equal-lamp behaviors of the vehicle in the target road section.

In one embodiment, the light behavior identification module is further configured to identify a traveling behavior and a parking behavior of the vehicle based on a positioning distance between positioning points in the real-time driving data; screening out target traveling behaviors meeting the traveling conditions of the congested road section from the traveling behaviors; determining a parking behavior occurring after the target traveling behavior as a waiting light parking behavior.

In one embodiment, the light behavior identification module is further configured to obtain a travel time and a travel distance corresponding to each travel behavior respectively; for each of the travel behaviors, determining the travel behavior as a candidate travel behavior when at least one of a condition that the travel time satisfies a travel time period condition and a condition that the travel distance satisfies a travel distance condition is established; determining the candidate traveling behavior with the latest occurrence time as a target traveling behavior.

In one embodiment, the light behavior identification module is further configured to obtain, for each positioning point in the real-time driving data, a positioning time, a positioning position, and an instantaneous speed corresponding to the positioning point; when the instantaneous speeds of two positioning points adjacent to each other in positioning time are both zero and the positioning distance between the positioning points meets the positioning distance condition, taking the two positioning points adjacent to each other in positioning time as a parking point pair; merging the parking point pairs with continuous positioning time to obtain the parking behavior of the vehicle; and combining continuous positioning points between the two parking behaviors which occur in sequence to obtain the advancing behavior of the vehicle.

In one embodiment, the equal-lamp behavior identification module is further configured to determine, for a parking behavior combination formed by two times of equal-lamp parking behaviors that occur in sequence, a parking interval time and a parking interval distance corresponding to the parking behavior combination; and when the parking interval time meets a time interval condition, the parking interval distance meets a distance interval condition, and the parking duration of at least one equal lamp parking behavior in the parking behavior combination is less than or equal to a preset duration, judging that the adjacent equal lamp parking behaviors represented by the parking behavior combination meet a merging condition.

In one embodiment, the equal lamp behavior identification module is further configured to determine intermediate travel behaviors occurring between adjacent equal lamp parking behaviors that satisfy the merge condition; and merging the adjacent equal-lamp parking behaviors meeting the merging condition with the middle advancing behavior to obtain the equal-lamp behaviors of the vehicle in the target road section.

In one embodiment, the lamp behavior identification module is further configured to screen out target positioning points that meet positioning boundary conditions from positioning points included in the real-time driving data; determining the road section between the target positioning point and the signal lamp intersection as a signal lamp influence road section in the target road section; identifying a light waiting parking behavior of the vehicle in the signal light affected road segment.

In one embodiment, the equal lamp information estimation module is further configured to aggregate equal lamp parking positions with the same number of times of waiting for lamps to obtain an equal lamp road section corresponding to each equal lamp; when a target vehicle runs in the target road section, determining a target equal-light road section where the target vehicle is located based on the position of the target vehicle in the target road section; and determining the equal-light information of the target vehicle passing through the signal lamp intersection corresponding to the equal-light area based on the target equal-light road section.

In one embodiment, the equal lamp information estimation module is further configured to aggregate equal lamp parking positions with the same number of times of waiting for lamps to obtain an equal lamp parking position sequence corresponding to each equal lamp; performing data fitting on each equal lamp parking position sequence to obtain the boundary position of each equal lamp; and dividing the equal-lamp road sections of the target road section according to the boundary position to obtain the equal-lamp road section corresponding to each equal lamp.

In one embodiment, the light waiting information determination device further comprises a target time period determination module, configured to determine, in response to a trigger event for which the number of light waiting times is estimated for a target road segment, a target time period matching the trigger time based on the trigger time of the trigger event;

the real-time driving data acquisition module is further configured to acquire real-time driving data of the vehicle in the target road segment for each vehicle that enters the signal lamp intersection from the target road segment within the target time period.

In one embodiment, the equal-light information determining apparatus further includes an equal-light information replacing module, configured to trigger a trigger event for performing equal-light information analysis on a target road segment according to a preset cycle; searching a historical equal-light-frequency estimation result matched with the target road section from the equal-light-frequency estimation result of the previous period when the estimated equal-light-frequency estimation result of the current period is invalid information and the road condition state of the target road section is congested; and when the estimation result of the historical equal lamp times meets the equal lamp times condition, performing degradation processing on the estimation result of the historical equal lamp times, and taking the equal lamp times obtained through the degradation processing as equal lamp information of the current period.

Based on the same inventive concept, the embodiment of the application also provides a vehicle information display device for realizing the vehicle information display estimation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the vehicle information display device provided below can be referred to the limitations of the vehicle information display method in the above, and are not described again here.

In one embodiment, as shown in fig. 13, there is provided a vehicle information display apparatus 1300 including: an equal-light information area display module 1302, an equal-light information display module 1304, and an equal-light information update module 1306, wherein:

a light waiting information area display module 1302, configured to display, in an electronic map, a target road segment where a target vehicle is currently located and a light waiting information area corresponding to the target road segment;

a light waiting information display module 1304, configured to display, in the light waiting information area, light waiting information corresponding to the target vehicle passing through the signal light intersection corresponding to the target road segment;

an equal-light information updating module 1306, configured to display updated equal-light information in the equal-light information area following movement of the target vehicle in the target road segment.

In one embodiment, the vehicle information display device is further used for displaying signal lamp marks at signal lamp intersections in the electronic map; responding to the triggering operation of the signal lamp identification, and displaying a vehicle and other lamp information area matched with the signal lamp intersection; and displaying the equal lamp information corresponding to each road section communicated with the signal lamp intersection in the vehicle equal lamp information area.

The respective modules in the above-described lamp information determination device and the vehicle information display device may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 14. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the lamp information and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of lamp information determination.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 15. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle information display method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the configurations shown in fig. 14 and 15 are block diagrams of only some of the configurations relevant to the present application, and do not constitute a limitation on the computing devices to which the present application may be applied, and a particular computing device may include more or less components than those shown, or some of the components may be combined, or have a different arrangement of components.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for determining lamp-waiting information, the method comprising:

2. The method of claim 1, wherein the identifying each equal light behavior of the vehicle in the target road segment based on the real-time driving data comprises:

identifying a light waiting parking behavior of the vehicle in the target road section based on the real-time driving data;

when the adjacent equal-lamp parking behaviors meeting the merging condition exist in the equal-lamp parking behaviors arranged according to the occurrence time, performing behavior merging based on the adjacent equal-lamp parking behaviors meeting the merging condition, and determining the equal-lamp behaviors of the vehicle in the target road section;

and when no adjacent equal-lamp parking behaviors meeting the merging condition exist in the equal-lamp parking behaviors arranged according to the occurrence time, taking each equal-lamp parking behavior as the equal-lamp behaviors of the vehicle in the target road section.

3. The method of claim 2, wherein identifying the light-waiting parking behavior of the vehicle in the target road segment based on the real-time driving data comprises:

identifying the traveling behavior and the parking behavior of the vehicle based on the positioning distance between the positioning points in the real-time driving data;

screening out target traveling behaviors meeting the traveling conditions of the congested road section from the traveling behaviors;

determining a parking behavior occurring after the target traveling behavior as a waiting light parking behavior.

4. The method as claimed in claim 3, wherein the screening out the target traveling behavior satisfying the condition of traveling on the congested road segment from the traveling behaviors comprises:

respectively acquiring the corresponding travel time and travel distance of each travel behavior;

for each of the travel behaviors, determining the travel behavior as a candidate travel behavior when at least one of a condition that the travel time satisfies a travel time period condition and a condition that the travel distance satisfies a travel distance condition is established;

determining the candidate traveling behavior with the latest occurrence time as a target traveling behavior.

5. The method according to claim 3, wherein the identifying the traveling behavior and the parking behavior of the vehicle based on the positioning distance between the positioning points in the real-time driving data comprises:

aiming at each positioning point in the real-time driving data, acquiring positioning time, a positioning position and an instantaneous speed corresponding to the positioning point;

when the instantaneous speeds of two positioning points adjacent to each other in positioning time are both zero and the positioning distance between the positioning points meets the positioning distance condition, taking the two positioning points adjacent to each other in positioning time as a parking point pair;

merging the parking point pairs with continuous positioning time to obtain the parking behavior of the vehicle;

and combining continuous positioning points between the two parking behaviors which occur in sequence to obtain the advancing behavior of the vehicle.

6. The method of claim 2, further comprising:

aiming at a parking behavior combination formed by two times of equal-lamp parking behaviors which occur in sequence, determining parking interval time and parking interval distance corresponding to the parking behavior combination;

and when the parking interval time meets a time interval condition, the parking interval distance meets a distance interval condition, and the parking duration of at least one equal lamp parking behavior in the parking behavior combination is less than or equal to a preset duration, judging that the adjacent equal lamp parking behaviors represented by the parking behavior combination meet a merging condition.

7. The method of claim 2, wherein the performing behavior consolidation based on adjacent equal-light parking behaviors satisfying the consolidation condition, determining the equal-light behavior of the vehicle in the target road segment, comprises:

determining intermediate travel behaviors occurring between adjacent equal-light parking behaviors satisfying the merging condition;

and merging the adjacent equal-lamp parking behaviors meeting the merging condition with the middle advancing behavior to obtain the equal-lamp behaviors of the vehicle in the target road section.

8. The method of claim 2, wherein identifying the light-waiting parking behavior of the vehicle in the target road segment based on the real-time driving data comprises:

screening out target positioning points meeting positioning boundary conditions from the positioning points contained in the real-time driving data;

determining the road section between the target positioning point and the signal lamp intersection as a signal lamp influence road section in the target road section;

identifying a light waiting parking behavior of the vehicle in the signal light affected road segment.

9. The method according to any one of claims 1 to 8, wherein the determining of the equal-light information corresponding to the arrival of the target vehicle at the signal light intersection based on an aggregation result obtained by aggregating the equal-light parking positions with the same number of waiting lights when the target vehicle travels in the target road segment comprises:

screening target waiting lamp times with the numerical value smaller than or equal to the average waiting lamp times from the waiting lamp times according to the average waiting lamp times of all vehicles driving into a signal lamp intersection from a target road section;

aggregating the light waiting parking positions corresponding to the target light waiting times respectively, and determining light waiting road sections corresponding to the target light waiting times;

when a target vehicle runs in the target road section, determining a target equal-light road section where the target vehicle is located based on the position of the target vehicle in the target road section;

and taking the number of waiting for light corresponding to the target equal-light road section as the number of equal-light times corresponding to the target vehicle reaching the signal light intersection.

10. The method of claim 9, further comprising:

for vehicles driving into a signal lamp intersection from a target road section, when the proportion of the number of the vehicles with the accumulated equal lamp times larger than or equal to a preset threshold value to the total number of the vehicles reaches a proportional threshold value, updating the total number of the vehicles based on the number of the vehicles with the accumulated equal lamp times being zero;

based on the updated total number of vehicles, an average number of lights waiting is determined.

11. The method according to claim 9, wherein the aggregating the equal-lamp parking positions corresponding to each target number of times of waiting for lamp to determine the equal-lamp road segment corresponding to each target number of times of waiting for lamp comprises:

aggregating the light waiting parking positions corresponding to each target light waiting frequency to obtain a parking position sequence corresponding to each target light waiting frequency;

performing data fitting on the parking position sequence to obtain the boundary position of each equal lamp;

and dividing the equal-lamp road sections of the target road section according to the boundary position to obtain the equal-lamp road section corresponding to each equal lamp.

12. The method of claim 11, wherein said data fitting each of said sequences of parking positions to obtain a boundary position of each of said lamps comprises:

determining the median corresponding to each parking position sequence;

calculating the average value of the median of the parking position sequence corresponding to the first equal-grade lamp sequence and the median of the parking position sequence corresponding to the second equal-grade lamp sequence aiming at the first equal-grade lamp sequence and the second equal-grade lamp sequence with the number of times of waiting for lamps increasing;

and taking the average value as an equal lamp boundary corresponding to the first equal lamp sequence.

13. The method according to any one of claims 1 to 8, further comprising:

in response to a trigger event for performing equal-light information analysis on a target road section, determining a target time period matched with the trigger time based on the trigger time of the trigger event;

the method for acquiring the real-time driving data of the vehicle at the target road section aiming at each vehicle which enters the signal lamp intersection from the target road section comprises the following steps:

and acquiring real-time driving data of the vehicle in the target road section for each vehicle which drives from the target road section to the signal lamp intersection within the target time period.

14. The method of claim 13, further comprising:

triggering a triggering event for carrying out light waiting information analysis on a target road section according to a preset period;

searching historical light information and the like matched with the target road section from the light information and the like in the previous period when the estimated light information and the road condition information of the target road section are invalid information and the road condition state of the target road section is congested;

and when the lamp information such as the history in the lamp information such as the history meets the lamp waiting frequency condition, the updated lamp information obtained by performing frequency decrement processing on the lamp information such as the history is used as the lamp waiting information of the current period.

15. A vehicle information display method, characterized by comprising:

displaying a target road section where a target vehicle is located currently and an equal-light information area corresponding to the target road section in a display page of the electronic map;

16. The method according to claim 15, wherein displaying, in a display page of the electronic map, a target road segment where a target vehicle is currently located and an equal-light information area corresponding to the target road segment comprises:

responding to the triggering operation aiming at the navigation function of the electronic map, and entering a navigation page;

displaying a navigation route corresponding to a target road section where a target vehicle is located currently in the navigation page;

and displaying a uniform light information area at the relevant position of the navigation route.

17. The method of claim 15, further comprising:

displaying signal lamp identifiers representing signal lamp intersections in the electronic map in a display page of the electronic map;

responding to the triggering operation of the signal lamp identification, and displaying a vehicle and other lamp information area matched with the signal lamp intersection;

and displaying the equal lamp information corresponding to each road section communicated with the signal lamp intersection in the vehicle equal lamp information area.

18. A lamp-waiting information determining apparatus, characterized in that the apparatus comprises:

the waiting light information processing module is used for respectively determining a waiting light parking position and waiting light times corresponding to each time of waiting light behavior of each vehicle, and the waiting light times represent the accumulated waiting light times required by the vehicles from the waiting light parking positions to the signal light intersections;

and the equal lamp information estimation module is used for determining the equal lamp information corresponding to the arrival of the target vehicle at the signal lamp intersection based on an aggregation result obtained by aggregating all the equal lamp parking positions with the same waiting lamp times when the target vehicle runs in the target road section.

19. A vehicle information display device, characterized in that the device comprises:

20. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 17.