CN114170807B

CN114170807B - Vehicle track information acquisition method, device, equipment and storage medium

Info

Publication number: CN114170807B
Application number: CN202010953045.6A
Authority: CN
Inventors: 桂杰; 秦建良; 龚吕; 乔健
Original assignee: Beijing Juli Science and Technology Co Ltd
Current assignee: Beijing Juli Science and Technology Co Ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2023-04-28
Anticipated expiration: 2040-09-11
Also published as: CN114170807A

Abstract

The application provides a vehicle track information acquisition method, device, equipment and storage medium. The method comprises the following steps: acquiring first vehicle information detected by first road side equipment and second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node; track information of at least one vehicle is generated according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment. According to the method, road side equipment is arranged at and near the junction of the road and the road node, and road vehicle information is detected, so that track information of the vehicle is rapidly and accurately obtained.

Description

Vehicle track information acquisition method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of intelligent traffic technologies, and in particular, to a method, an apparatus, a device, and a storage medium for acquiring vehicle track information.

Background

With the development of cities, the traffic of the cities is more and more complex, and the traffic of the cities needs to be managed and controlled.

In the prior art, a camera can be arranged on a road, and the camera is used for collecting images of the road and the vehicle; and analyzing the image to acquire a vehicle track so as to monitor traffic.

However, in the prior art, the above image analysis method requires a complex image processing algorithm, so that the analysis and recognition speeds are low, and the vehicle track information cannot be obtained quickly. The application of ETC data in urban traffic management is researched, the ETC data is used as one of important components of a road perception system, the inherent information (such as vehicle types, license plate numbers, vehicle owners and the like) of vehicles is read through special short-range communication between ETC vehicle-mounted equipment and road side unit microwave antennas, dynamic whereabouts and real-time information control of the vehicles are realized on urban roads, and the ETC data is effectively complemented with perception equipment such as traditional traffic videos and bayonets to form an empirical template of a new application scene. The comprehensive improvement of accurate perception, accurate analysis, fine management and careful service capability is realized, and the method becomes a powerful support for accelerating the construction of the traffic country.

Disclosure of Invention

The application provides a vehicle track information acquisition method, device, equipment and storage medium, which are used for solving the problems of low recognition speed and low accuracy when a camera monitors road traffic.

In one aspect, the present application provides a vehicle track information obtaining method, where the method is applied to a background system, and the method includes:

acquiring first vehicle information detected by first road side equipment and second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node;

track information of at least one vehicle is generated according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment.

Optionally, the first vehicle information includes a first vehicle identifier and first location information, the second vehicle information includes a second vehicle identifier and second location information, where the first vehicle identifier and the second vehicle identifier are used to represent identity information of a vehicle, the first location information and the second location information are used to correspondingly represent positions of the first road side device and the second road side device at the road node, and generating track information of at least one vehicle according to the first vehicle information detected by the first road side device and the second vehicle information detected by at least one second road side device, where the track information includes:

Determining the first position information and the first vehicle identifier corresponding to the first position information according to the first vehicle information;

determining the second position information and the second vehicle identification corresponding to the second position information according to the first vehicle information;

and when the first vehicle identifier is the same as the second vehicle identifier, the first position information is associated with the second position information, so that track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier is obtained.

Optionally, the first road side device is disposed on a road with a driving direction that enters the road node, and the second road side device is disposed on a road with a driving direction that leaves the road node, and the associating the first position information with the second position information to obtain the track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier includes:

and taking the first position information as an entry starting point of the vehicle, and taking the second position information as an exit end point of the vehicle, so as to obtain track information from the entry starting point to the exit end point of the vehicle.

Optionally, the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is an acquisition time corresponding to when the first position information is acquired, the second time information is an acquisition time corresponding to when the second position information is acquired, and the associating the first position information with the second position information to obtain the track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier includes:

comparing the first time information with the second time information;

if the first time information is earlier than the second time information, the first position information is used as an entry starting point of a vehicle, the second position information is used as an exit end point of the vehicle, and track information from the entry starting point to the exit end point of the vehicle is obtained;

and if the second time information is earlier than the first time information, taking the second position information as an entry starting point of the vehicle, taking the first position information as an exit end point of the vehicle, and obtaining track information from the entry starting point to the exit end point of the vehicle.

Optionally, the vehicle track information obtaining method further includes:

acquiring vehicle change information detected by a radar;

if the change value of the vehicle, which is represented by the vehicle change information, is larger than a first preset change threshold value, the first road side equipment and/or the second road side equipment are/is controlled to send broadcast signals according to a first preset frequency so as to communicate with a vehicle-mounted unit of the vehicle;

if the change value of the vehicle represented by the vehicle change information is smaller than a first preset change threshold value and larger than a second preset change threshold value, the first road side equipment and/or the second road side equipment are controlled to send broadcast signals according to a second preset frequency;

if the change value of the vehicle represented by the vehicle change information is smaller than a second preset change threshold value, controlling the road side equipment to stop sending the broadcast signal;

the first preset change threshold is larger than the second preset change threshold, and the first preset frequency is larger than the second preset frequency to send broadcast signals.

Optionally, the acquiring the vehicle change information detected by the radar includes:

respectively acquiring road condition data corresponding to the last moment and the current moment acquired by the radar in the communication area of the first road side equipment and/or the second road side equipment, and calculating vehicle change information according to the road condition data;

The road condition data comprise position information and marking information of each vehicle, the marking information is used for determining vehicles which carry out information interaction with the first road side equipment and/or the second road side equipment at the last moment, and the last moment is the moment corresponding to the last communication of the first road side equipment and/or the second road side equipment.

Optionally, the calculating the vehicle change information of the vehicle on the road according to the road condition data includes:

calculating the number of vehicles with marking information aiming at each vehicle in the road condition data corresponding to the previous moment;

aiming at each vehicle in the road condition data corresponding to the current moment, taking the vehicle without the marking information as a newly added vehicle;

and determining the ratio of the number of the newly added vehicles to the number of the vehicles provided with the marking information, and taking the ratio as the vehicle change information.

In a second aspect, the present application provides a vehicle track route obtaining method, where the method is applied to a background system, and the method includes:

obtaining track information of at least one vehicle in a single road node according to the vehicle track information obtaining method;

And generating a track route of at least one vehicle according to the track information of at least one vehicle respectively acquired from at least two adjacent road nodes.

Optionally, the track information further includes time information corresponding to vehicle information of the vehicle; the generating a track route of at least one vehicle according to the track information of at least one vehicle respectively acquired from at least two adjacent road nodes comprises:

determining a time sequence of track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to time information corresponding to the vehicle information;

and sequentially associating the track information corresponding to the same vehicle information according to the time sequence to obtain a track route of a single vehicle.

Optionally, the track information further includes direction information corresponding to vehicle information of the vehicle, where the direction information is used to characterize a traveling direction of the single vehicle in the single road node; the generating a track route of at least one vehicle according to the track information of at least one vehicle respectively acquired from at least two adjacent road nodes comprises:

Determining a direction sequence of track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to direction information corresponding to the vehicle information, wherein the direction sequence is used for indicating the running direction of a single vehicle between the two adjacent road nodes;

and sequentially associating the track information corresponding to the same vehicle information according to the direction sequence to obtain a track route of a single vehicle.

In a third aspect, the present application provides a vehicle track information acquisition apparatus, the apparatus being applied to a background system, the apparatus comprising:

the first acquisition unit is used for acquiring first vehicle information detected by the first road side equipment and acquiring second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node;

the first generation unit is used for generating track information of at least one vehicle according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment.

Optionally, the first vehicle information includes a first vehicle identifier and first location information, the second vehicle information includes a second vehicle identifier and second location information, where the first vehicle identifier and the second vehicle identifier are used to characterize identity information of a vehicle, the first location information and the second location information are used to correspondingly characterize locations of the first road side device and the second road side device at the road node, and the first generation unit includes:

A first generation module, configured to determine the first location information and the first vehicle identifier corresponding to the first location information according to the first vehicle information;

a second generation module, configured to determine the second location information and the second vehicle identifier corresponding to the second location information according to the first vehicle information;

and the third generation module is used for associating the first position information with the second position information when the first vehicle identifier is the same as the second vehicle identifier, so as to obtain track information of a vehicle corresponding to the first vehicle identifier or the second vehicle identifier.

Optionally, the first road side device is disposed on a road with a driving direction that enters the road node, the second road side device is disposed on a road with a driving direction that leaves the road node, and the third generating module includes:

the first generation sub-module is used for taking the first position information as an entry starting point of a vehicle, taking the second position information as an exit end point of the vehicle, and obtaining track information from the entry starting point to the exit end point of the vehicle.

Optionally, the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is a collection time corresponding to when the first position information is collected, the second time information is a collection time corresponding to when the second position information is collected, and the third generating module includes:

The comparison sub-module is used for comparing the first time information with the second time information;

a second generation sub-module, configured to, if the first time information is earlier than the second time information, take the first position information as an entry start point of a vehicle, and take the second position information as an exit end point of the vehicle, to obtain track information from the entry start point to the exit end point of the vehicle;

and a third generation sub-module, configured to, if the second time information is earlier than the first time information, use the second position information as an entry start point of the vehicle, use the first position information as an exit end point of the vehicle, and obtain track information from the entry start point to the exit end point of the vehicle.

The apparatus optionally further comprises:

a second acquisition unit configured to acquire vehicle change information detected by the radar;

the first control unit is used for controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a first preset frequency so as to communicate with the vehicle-mounted unit of the vehicle if the change value of the vehicle change information representing the vehicle is larger than a first preset change threshold value;

The second control unit is used for controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a second preset frequency if the change value of the vehicle, which is represented by the vehicle change information, is smaller than a first preset change threshold value and larger than a second preset change threshold value;

the third control unit is used for controlling the road side equipment to stop sending the broadcast signal if the change value of the vehicle represented by the vehicle change information is smaller than a second preset change threshold value;

Optionally, the second obtaining unit includes:

the acquisition module is used for respectively acquiring road condition data corresponding to the last moment and the current moment acquired by the radar in the communication area of the first road side equipment and/or the second road side equipment;

the calculating module is used for calculating vehicle change information according to the road condition data;

Optionally, the computing module includes:

the calculating sub-module is used for calculating the number of vehicles provided with the marking information aiming at each vehicle in the road condition data corresponding to the previous moment;

the identification sub-module is used for taking the vehicle without the marking information as a newly added vehicle aiming at each vehicle in the road condition data corresponding to the current moment;

and the determining submodule is used for determining the ratio of the number of the newly added vehicles to the number of the vehicles provided with the marking information, and taking the ratio as the vehicle change information.

In a fourth aspect, the present application provides a vehicle trajectory path acquisition device, the device being applied to a background system, the device comprising:

a third obtaining unit, configured to obtain track information of at least one vehicle in a single road node by using the vehicle track information obtaining device according to any one of the third aspects;

and the second generation unit is used for generating a track route of at least one vehicle according to track information of at least one vehicle respectively acquired from at least two adjacent road nodes.

Optionally, the track information further includes time information corresponding to vehicle information of the vehicle; the second generation unit includes:

A first acquisition module, configured to determine a time sequence of track information of at least one vehicle acquired from at least two adjacent road nodes respectively according to time information corresponding to the vehicle information;

and the fourth generation module is used for sequentially associating the track information corresponding to the same vehicle information according to the time sequence to obtain a track route of a single vehicle.

Optionally, the track information further includes direction information corresponding to vehicle information of the vehicle, where the direction information is used to characterize a traveling direction of the single vehicle in the single road node; the second generation unit includes:

a second obtaining module, configured to determine, according to direction information corresponding to the vehicle information, a direction order of track information of at least one vehicle obtained from at least two adjacent road nodes, where the direction order is used to indicate a traveling direction of a single vehicle between the two adjacent road nodes;

and a fifth generation module, configured to sequentially associate track information corresponding to the same vehicle information according to the direction sequence, so as to obtain a track route of a single vehicle.

Optionally, the direction in which the road side device transmits the broadcast signal is toward the vehicle running direction.

In a fifth aspect, the present application provides an electronic device, the device being applied to a background system, the device comprising: a memory and a processor;

the memory is used for storing computer instructions; the processor is configured to execute the computer instructions stored in the memory to implement the method according to any one of the first aspect and the second aspect.

In a sixth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method of any one of the first and second aspects when executed by a processor.

The application provides a vehicle track information acquisition method, a device, equipment and a storage medium, which are used for acquiring each piece of vehicle information on a Road through communication between Road Side equipment (RSU) arranged near a Road node and a vehicle-mounted Unit of the vehicle, and generating each piece of vehicle track information according to each piece of vehicle information detected by the Road Side equipment, so that a vehicle running path can be quickly and accurately identified; meanwhile, vehicle change information is detected through a radar arranged on a road, the current road vehicle congestion condition is represented by the vehicle change information, and the frequency of the broadcast signals sent by the road side equipment is adjusted according to comparison of the vehicle change information and a preset change threshold value, so that invalid communication between the road side equipment and the vehicle-mounted unit is reduced, and electric quantity loss between the road side equipment and the vehicle-mounted unit is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a flowchart of a vehicle track information obtaining method provided in an embodiment of the present application;

fig. 2 is a schematic layout diagram of a road side device according to an embodiment of the present application;

FIG. 3 is a flowchart of another method for obtaining vehicle track information according to an embodiment of the present disclosure;

fig. 4 is a flowchart of a vehicle track route obtaining method provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a vehicle track information acquiring device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of another vehicle track information obtaining device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle track route acquiring device according to an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

It should be noted that, the terms or terms related to the embodiments of the present application may be referred to each other, and are not repeated.

With the acceleration of urban process in China, urban traffic pressure is increased, and higher requirements are put forward on urban traffic management, but monitoring of road traffic is a precondition for implementing urban traffic management, and is particularly important, and vehicle track information is firstly acquired for monitoring the road traffic.

The specific application scene of the embodiment of the application is as follows: and monitoring the road traffic, and acquiring track information of each vehicle so as to grasp the congestion state of the road traffic. Traffic management departments typically need to implement different traffic control measures to manage urban traffic according to congestion conditions of road traffic.

In one example, road conditions of various places are generally monitored through cameras, and the traffic conditions of various places are managed according to monitoring results, and in the monitoring mode, a large number of images need to be identified, so that the identification speed is limited, the identification accuracy is still to be improved, and the acquisition of vehicle track information is slow.

The embodiment of the application provides a vehicle track information acquisition method, device, equipment and storage medium, aiming at solving the technical problems in the prior art. It should be noted that in the application scenario of the present application, each vehicle is equipped with a vehicle-mounted unit.

The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a vehicle track information obtaining method according to an embodiment of the present application, where, as shown in fig. 1, the method includes:

101. and acquiring first vehicle information detected by the first road side equipment, and acquiring second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node.

In this embodiment, the execution body of the present embodiment may be a background system or a server, or may be an apparatus or device that executes the method of the present embodiment, where the execution body is described as a background system.

In one example, fig. 2 is a schematic layout diagram of a road side device provided in an embodiment of the present application, as shown in fig. 2, the road side device 02 is disposed at and near a junction of a road and a road node, at least one road side device 02 is disposed on each lane connected to the road node, and a communication direction of the road side device 02 faces a driving direction of a vehicle 01, so that the road side device 02 communicates with an on-board unit at a first time. Wherein the communication direction of the roadside apparatus 02 refers to a direction in which a communication broadcast is emitted from the roadside apparatus. For example, for a cross road node of two-way two lanes, according to the difference of the driving directions of the lanes, the roads connected with the road node can be divided into 4 driving roads and 4 driving roads, each driving road and each driving road is provided with at least 8 road side devices, namely, the detection area 03 of each road side device 02 faces the driving direction, and each road side device 02 corresponds to corresponding unique position information, and the position information can be coordinate information of the corresponding road or can be the road number of the corresponding road.

The road side device includes a first road side device and a second road side device, and for the execution body of step 101, for a single road node, while acquiring the detected vehicle information of any road side device in the road node, the road side device may be defined as a first road side device, and the corresponding detected vehicle information may be defined as first vehicle information. For the same road node, all the rest of road side devices which are not defined as the first road side device can be defined as the second road side device, and the road side devices on the road opposite to the driving direction of the road where the first road side device is located can be defined as the second road side device. And simultaneously defining the vehicle information correspondingly detected by the second road side equipment as second vehicle information. For example, for a cross road node of two-way two lanes, after a road side device on a certain driving-in road of 8 road side devices is defined as a first road side device, the rest of 7 road side devices on the road node may be defined as second road side devices, and the rest of 4 road side devices on the driving-out road on the road node may be defined as second road side devices. The vehicle information comprises vehicle identifications such as license plates, frame numbers and vehicle types and position information of road side equipment communicating with the vehicle, wherein the vehicle identifications are used for representing identity information of the vehicle, the vehicle identifications are stored in vehicle-mounted units of the vehicle, the road side equipment can quickly and accurately obtain the vehicle identifications through information interaction with the vehicle-mounted units, and the position information is used for correspondingly representing positions of the road side equipment, where the road nodes are located, of the vehicle.

102. Track information of at least one vehicle is generated based on the first vehicle information detected by the first roadside device and the second vehicle information detected by the at least one second roadside device.

In this embodiment, the road side device uploads the obtained information of each vehicle to the background system, which may be immediately uploaded after the first communication is completed when the vehicle enters the road node, or may be not uploaded when the vehicle enters the road node, and may be uploaded to the background system when waiting for the vehicle to exit the road node and complete the communication again.

The background system may obtain the track information of each vehicle under the road node according to the obtained first vehicle information and the second vehicle information of the road node.

According to the vehicle track information acquisition method provided by the embodiment, the first vehicle information detected by the first road side equipment and the second vehicle information detected by the at least one second road side equipment on the same road node are acquired, and the first vehicle information and the second vehicle information are compared, so that the information of at least one vehicle driving in and out of the road node is acquired, track information of each vehicle of the road node can be quickly generated, camera video monitoring is not needed, and the speed and accuracy of acquiring the vehicle track information are improved because an image processing process is not needed.

Fig. 3 is a flowchart of another vehicle track information obtaining method according to an embodiment of the present application, as shown in fig. 3, where the method includes:

201. respectively acquiring road condition data corresponding to the last moment and the current moment acquired by the radar in the communication area of the first road side equipment and/or the second road side equipment, and calculating vehicle change information according to the road condition data; the road condition data comprise position information and marking information of each vehicle, and the marking information is used for determining vehicles which carry out information interaction with the first road side equipment and/or the second road side equipment at the last moment, wherein the last moment is the moment corresponding to the last communication of the first road side equipment and/or the second road side equipment.

The background system counts the road condition data of the lane within a preset time after the road condition data acquired by the data acquisition device is acquired. The road condition data comprises position information and marking information of each vehicle; the marking information is used for determining vehicles which carry out information interaction with the first road side equipment and/or the second road side equipment at the last moment, and the last moment is the moment corresponding to the last communication of the first road side equipment and/or the second road side equipment. And obtaining the vehicle change information on the road in the preset time interval according to the vehicle flow and the vehicle position information in the adjacent preset time.

Specifically, firstly, calculating the number of vehicles with marking information for each vehicle in road condition data corresponding to the previous moment; aiming at each vehicle in the road condition data corresponding to the current moment, taking the vehicle without the marking information as a newly added vehicle; the ratio of the number of newly added vehicles to the number of vehicles provided with the flag information is taken as the vehicle change information.

The vehicle change information can accurately represent the vehicle condition information on the current road. Specifically, when the change information is large, the vehicle on the current road is characterized to be smooth to run, and the problem of traffic jam is avoided. On the other hand, when the change information is smaller, that is, the change of the vehicle on the road at the current moment is smaller than that on the road at the previous moment, traffic jam or red light waiting may occur.

202. If the change value of the vehicle represented by the vehicle change information is larger than a first preset change threshold value, controlling the first road side equipment and/or the second road side equipment to send broadcast signals according to a first preset frequency so as to communicate with a vehicle-mounted unit of the vehicle; if the change value of the vehicle, which is represented by the vehicle change information, is smaller than a first preset change threshold value and larger than a second preset change threshold value, the first road side equipment and/or the second road side equipment are/is controlled to send broadcast signals according to a second preset frequency; if the change value of the vehicle represented by the vehicle change information is smaller than a second preset change threshold value, controlling the road side equipment to stop sending the broadcast signal; the first preset change threshold is larger than the second preset change threshold, and the first preset frequency is larger than the second preset frequency to send the broadcast signal. It should be noted that, in the present application, the frequency of the broadcast signal transmitted by the roadside device refers to the time interval frequency of the broadcast signal transmitted by the roadside device twice, and not the frequency of the broadcast signal itself.

In this embodiment, the frequency at which the road side device transmits the broadcast signal is adjusted according to the vehicle change information obtained in step 201. If the change value of the vehicle change information representing the vehicle is larger than a first preset change threshold value, the road is smooth at the moment, the problem of traffic jam or red light waiting is solved, and because the vehicle on the road at the current moment has larger change compared with the vehicle on the road at the last moment, in order to realize the information interaction between the road side equipment and each passing vehicle, the first road side equipment and/or the second road side equipment need to be controlled to transmit broadcast signals by adopting a higher first preset frequency, and the vehicle-mounted unit is communicated with. In practical applications, the first preset frequency may be a default system or may be set by a user.

For example, if the change value of the vehicle change information indicates that the change value of the vehicle is smaller than the first preset change threshold value and larger than the second preset change threshold value, the condition that traffic jam or red light waiting exists on the road at the moment is indicated, and the running speed of the vehicle is slow. Therefore, in order to avoid frequent wake-up of the vehicle-mounted unit that has been communicated, so as to consume too much power of the vehicle-mounted unit, the backend system may control the roadside device to transmit the broadcast signal at a second lower preset frequency, and perform information interaction with the vehicle-mounted unit. In practical applications, the preset change threshold and the second frequency may be default or set for the user.

If the change value of the vehicle change information representing the vehicle is smaller than a second preset change threshold value, the fact that the current road is free of vehicle passing or severely congested is indicated, information interaction between road side equipment and the vehicle-mounted unit is not needed, and in order to prolong the service life of the vehicle-mounted unit, the road side equipment is controlled to stop sending broadcast signals, so that communication with the vehicle-mounted unit is stopped.

The order of execution of

steps

201, 202 and

steps

203, 204 is not limited.

203. And acquiring first vehicle information detected by the first road side equipment, and acquiring second vehicle information detected by at least one second road side equipment, wherein the first road side equipment and the at least one second road side equipment are arranged at different positions of the same road node.

In this embodiment, the step may refer to step 101 shown in fig. 1, and will not be described again.

204. Determining first position information and a first vehicle identifier corresponding to the first position information according to the first vehicle information; determining second position information and a second vehicle identifier corresponding to the second position information according to the first vehicle information; and when the first vehicle identifier is the same as the second vehicle identifier, the first position information is associated with the second position information, so that track information of the vehicle corresponding to the first vehicle identifier or the second vehicle identifier is obtained.

The first vehicle information includes a first vehicle identification and first location information, and the second vehicle information includes a second vehicle identification and second location information, wherein the first vehicle identification and the second vehicle identification are used to characterize identity information of the vehicle, and the first location information and the second location information are used to correspondingly characterize locations of the first roadside device and the second roadside device at the road node. Therefore, the first and second vehicle information acquired by the road side equipment can represent the position information of the vehicle at a certain moment, and the position information is the position of the road side equipment at the road node.

When the first vehicle identification is the same as the second vehicle identification, the first vehicle and the second vehicle are characterized as the same vehicle, and the track information of the vehicle at a road node can be obtained by associating the first position information corresponding to the first vehicle information with the second position information corresponding to the second vehicle information.

There are two possible embodiments of step 204, and in one possible embodiment, step 204 specifically includes:

the first position information is used as an entry start point of the vehicle, the second position information is used as an exit end point of the vehicle, and track information from the entry start point to the exit end point of the vehicle is obtained.

The first road side equipment is arranged on a road with a traveling direction of entering the road node, and the second road side equipment is arranged on a road with a traveling direction of leaving the road node.

In another possible mode of the present embodiment, the track information from the start point to the end point of the vehicle is obtained by using the second position information as the start point of the vehicle and the first position information as the end point of the vehicle.

The first road side equipment is arranged on a road with a driving direction away from a road node, and the second road side equipment is arranged on a road with a driving direction entering the road node.

In the present embodiment, the first road side device and/or the second road side device are/is provided on a road having a traveling direction that is a direction of entry into the road node, and the road side device is specifically provided on a road connected to the road node, and may be at or near the junction with the road node.

In another possible implementation, step 204 specifically includes:

the first vehicle information further comprises first time information, the second vehicle information further comprises second time information, and the first time information is compared with the second time information; if the first time information is earlier than the second time information, the first position information is used as an entry starting point of the vehicle, the second position information is used as an exit end point of the vehicle, and track information from the entry starting point to the exit end point of the vehicle is obtained; if the second time information is earlier than the first time information, the track information from the start point to the end point of the vehicle is obtained by using the second position information as the start point of the vehicle and the first position information as the end point of the vehicle.

In this embodiment, the first time information is an acquisition time corresponding to when the first position information is acquired, and the second time information is an acquisition time corresponding to when the second position information is acquired; the time when the road side equipment collects the position information is the time when the road side equipment is communicated with the vehicle-mounted unit when the vehicle runs to the position, if the first time information is earlier than the second time information, the vehicle is stated to pass through the first road side equipment and then pass through the second road side equipment, namely, the vehicle runs into the road node from the first position where the first road side equipment is located, and runs out of the road node from the second position where the second road side equipment is located, so that the first position information is used as the running-in starting point of the vehicle, the second position information is used as the running-out end point of the vehicle, and the track information from the running-in starting point to the running-out end point of the vehicle is obtained; similarly, if the first time information is later than the second time information, the vehicle is described as passing through the second road side equipment and then passing through the first road side equipment, namely, the vehicle enters the road node from the second position where the second road side equipment is located, and exits the road node from the first position where the first road side equipment is located, so that the second position information is used as an entry starting point of the vehicle, the first position information is used as an exit end point of the vehicle, and track information from the entry starting point to the exit end point of the vehicle is obtained.

According to the vehicle track information acquisition method, through acquiring the vehicle change information detected by the radar, the transmitting frequency of the road side equipment is adjusted in real time, the vehicle information detected by the road side equipment on the road node is acquired, the position information of each vehicle can be obtained, track information of each vehicle is generated according to the obtained vehicle position information and time information corresponding to each vehicle information, when a road is congested, the frequency of the transmitting broadcast signal of the road side equipment is reduced, so that invalid communication between the road side equipment and a vehicle-mounted unit is reduced, and the electric quantity consumption of the road side equipment and the vehicle-mounted unit is reduced.

Fig. 4 is a flowchart of a vehicle track route obtaining method according to an embodiment of the present application, as shown in fig. 4, where the method includes:

301. obtaining track information of at least one vehicle in a single road node according to the vehicle track information obtaining method;

in this embodiment, this step may refer to the method provided in the foregoing embodiment, and will not be described in detail.

302. And generating a track route of at least one vehicle according to the track information of the at least one vehicle respectively acquired from at least two adjacent road nodes.

The background system needs to acquire the vehicle track information of the same vehicle at least two adjacent road nodes to generate a track route of the vehicle, wherein a road between the two adjacent road nodes is not provided with a fork, namely the road between the two adjacent road nodes is closed, and the vehicle can only drive from one road node to the other adjacent road node.

There are two possible embodiments of step 302, and in one possible embodiment, step 302 specifically includes:

the track information further includes time information corresponding to vehicle information of the vehicle; determining a time sequence of track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to time information corresponding to the vehicle information; and sequentially associating the track information corresponding to the same vehicle information according to the time sequence to obtain the track route of the single vehicle.

The vehicle track information further includes time information corresponding to the vehicle information, the time information representing a time period or a moment when the vehicle passes through the road node, the time information being a time at which the vehicle information is collected and the vehicle track information is generated by the single road node road side device. In general, when a road node is an intersection, it is required to acquire vehicle track information of four road nodes adjacent to the road node, and when the road node is a t-intersection, it is required to acquire vehicle track information of three road nodes adjacent to the road node. The vehicle track information of at least two adjacent road nodes obtained in step 301 may obtain time information that a certain vehicle passes through at least two adjacent road nodes, and the background system may correlate the obtained vehicle track information according to a time sequence that the same vehicle passes through two adjacent road nodes, so as to obtain at least a track route of a vehicle.

In another possible embodiment, step 302 specifically includes:

the track information further comprises direction information corresponding to vehicle information of the vehicle, wherein the direction information is used for representing the running direction of the single vehicle in the single road node; determining a direction sequence of track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to direction information corresponding to the vehicle information, wherein the direction sequence is used for indicating the running direction of a single vehicle between the two adjacent road nodes; and sequentially associating the track information corresponding to the same vehicle information according to the direction sequence to obtain the track route of the single vehicle.

The track information includes direction information corresponding to the vehicle information, where the direction information characterizes a driving direction of a vehicle at a single road node, for example, a driving direction and a driving direction of the vehicle can be obtained according to the track information of a vehicle at a road node, and the driving direction of the vehicle is the direction information corresponding to the vehicle information. The background system determines the direction sequence of the track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to the direction information corresponding to the vehicle information, for example, if the exiting direction of a first road node points to the entering direction of an adjacent second road node, the background system judges that the vehicle passes through the first road node first, the sequence of the first road node is before the sequence of the second road node, and the direction sequence of the track information of one vehicle can be obtained, and further, the track information of the same vehicle is associated according to the direction sequence, so that the track route of the vehicle can be obtained.

According to the vehicle track route acquisition method provided by the embodiment, track information of each vehicle on at least two adjacent road nodes is acquired, and the track route of each vehicle is generated according to the acquired vehicle track information plus time information corresponding to the track information or direction information corresponding to the track information, so that the vehicle track route is quickly acquired, and road traffic is quickly and accurately monitored.

Fig. 5 is a schematic structural diagram of a vehicle track information acquisition device provided in an embodiment of the present application, where, as shown in fig. 5, the device in the embodiment is applied to a background system, and includes:

the first obtaining unit 51 is configured to obtain first vehicle information detected by the first road side device, and obtain second vehicle information detected by the at least one second road side device, where the first road side device and the at least one second road side device are disposed at different positions of the same road node.

The first generating unit 52 is configured to generate track information of at least one vehicle according to the first vehicle information detected by the first roadside apparatus and the second vehicle information detected by the at least one second roadside apparatus.

For example, the present embodiment may refer to the above method embodiment, and the principle and technical effects thereof are similar, and will not be described again.

Fig. 6 is a schematic structural diagram of another vehicle track information acquisition device according to an embodiment of the present application, and on the basis of the embodiment shown in fig. 5, as shown in fig. 6, the first generation unit 52 includes:

the first generating module 521 is configured to determine first location information and a first vehicle identifier corresponding to the first location information according to the first vehicle information.

The second generating module 522 is configured to determine second location information and a second vehicle identifier corresponding to the second location information according to the first vehicle information.

The third generating module 523 is configured to correlate the first location information with the second location information to obtain track information of a vehicle corresponding to the first vehicle identifier or the second vehicle identifier when the first vehicle identifier is the same as the second vehicle identifier.

In one example, the first vehicle information includes a first vehicle identification and first location information, and the second vehicle information includes a second vehicle identification and second location information, wherein the first vehicle identification and the second vehicle identification are used to characterize identity information of the vehicle, and the first location information and the second location information are used to correspondingly characterize locations of the first and second roadside devices at the road node.

In one example, the third generation module 523 includes:

the first generation sub-module 5231 is configured to obtain track information from the start point to the end point of the vehicle, using the first position information as the start point and the second position information as the end point.

In one example, the first roadside apparatus is disposed on a road whose traveling direction is entering the road node, and the second roadside apparatus is disposed on a road whose traveling direction is leaving the road node.

Alternatively, in one example, the third generating module 523 further includes:

the comparing submodule 5232 is configured to compare the first time information with the second time information.

The second generation sub-module 5233 is configured to obtain track information from the start point to the end point of the vehicle by using the first position information as the start point and the second position information as the end point of the vehicle if the first time information is earlier than the second time information.

The third generation sub-module 5234 is configured to obtain track information from the start point to the end point of the vehicle by using the second position information as the start point and the first position information as the end point of the vehicle if the second time information is earlier than the first time information.

In one example, the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is a collection time corresponding to when the first location information is collected, and the second time information is a collection time corresponding to when the second location information is collected.

In one example, the apparatus provided in this embodiment further includes:

a second acquisition unit 53 for acquiring vehicle change information detected by the radar.

The first control unit 54 is configured to control the first road side device and/or the second road side device to send a broadcast signal according to a first preset frequency to communicate with the on-board unit of the vehicle if the vehicle change information indicates that the change value of the vehicle is greater than a first preset change threshold.

The second control unit 55 is configured to control the first road side device and/or the second road side device to send a broadcast signal according to a second preset frequency if the change value of the vehicle change information representing the vehicle is smaller than the first preset change threshold and greater than the second preset change threshold.

The third control unit 56 controls the roadside apparatus to stop transmitting the broadcast signal if the vehicle change information indicates that the change value of the vehicle is smaller than the second preset change threshold value.

In one example, the first preset variation threshold is greater than the second preset variation threshold, and the first preset frequency is greater than the second preset frequency to transmit the broadcast signal.

In one example, the second acquisition unit 53 includes:

the obtaining module 531 is configured to obtain road condition data corresponding to a previous time and a current time collected by the radar in the communication area of the first road side device and/or the second road side device respectively.

The calculating module 532 is configured to calculate vehicle change information according to the road condition data.

In one example, the road condition data includes location information and marking information of each vehicle, where the marking information is used to determine a vehicle that performs information interaction with the first road side device and/or the second road side device at a previous time, and the previous time is a time corresponding to a last communication of the first road side device and/or the second road side device.

In one example, the computing module 532 includes:

the calculating sub-module 5321 is configured to calculate, for each vehicle in the road condition data corresponding to the previous time, the number of vehicles for which the marking information is set.

The identifying sub-module 5322 is configured to take, as a newly added vehicle, a vehicle for which no flag information is set for each vehicle in the road condition data corresponding to the current time.

A determination submodule 5323 for determining a ratio of the number of newly added vehicles to the number of vehicles provided with the flag information, and taking the ratio as the vehicle change information.

Fig. 7 is a schematic structural diagram of a vehicle track route obtaining device according to an embodiment of the present application, where, as shown in fig. 7, the device is applied to a background system, and the device includes:

the third obtaining unit 61 is configured to obtain the track information of at least one vehicle in a single road node by using the vehicle track information obtaining device provided in any one of the above embodiments.

The second generating unit 62 is configured to generate a track route of at least one vehicle according to track information of at least one vehicle acquired from at least two adjacent road nodes, respectively.

In one example, the second generating unit 62 includes:

a first acquisition module 621 for determining a time sequence of track information of at least one vehicle respectively acquired from at least two adjacent road nodes according to time information corresponding to the vehicle information.

A fourth generating module 622, configured to sequentially associate track information corresponding to the same vehicle information according to a time sequence, so as to obtain a track route of a single vehicle.

In one example, the track information further includes time information corresponding to vehicle information of the vehicle.

Alternatively, in one example, the second generating unit 62 includes:

the second obtaining module 623 is configured to determine, according to direction information corresponding to the vehicle information, a direction order of track information of at least one vehicle respectively obtained from at least two adjacent road nodes, where the direction order is used to indicate a traveling direction of a single vehicle between the two adjacent road nodes.

And a fifth generating module 624, configured to sequentially associate the track information corresponding to the same vehicle information according to a direction sequence, so as to obtain a track route of the single vehicle.

In one example, the track information further includes direction information corresponding to vehicle information of the vehicle, the direction information being used to characterize a direction of travel of the single vehicle within the single road node.

In one example, the direction in which the roadside device transmits the broadcast signal is toward the vehicle travel direction.

Fig. 8 is a block diagram of an electronic device according to an embodiment of the present application, as shown in fig. 8, where the device includes: a memory 71, and a processor 72.

Wherein the memory 71 is for storing processor executable instructions. In particular, the executable instructions may comprise program code, including computer-operating instructions. The memory may comprise high-speed RAM memory or may further comprise non-volatile memory, such as at least one disk memory.

The processor 72 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure. Processor 72 may perform the methods provided by any of the embodiments described above.

Alternatively, in a specific implementation, if the memory 71 and the processor 72 are implemented independently, the memory 71 and the processor 72 may be connected to each other and perform communication with each other through a bus. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 71 and the processor 72 are implemented on a single chip, the memory and the processor may perform the same communication through an internal interface.

Another embodiment of the present disclosure also provides a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, are configured to implement a method as in any of the embodiments described above.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A vehicle track information acquisition method, characterized in that the method is applied to a background system, the vehicle track information acquisition method comprising:

generating track information of at least one vehicle according to the first vehicle information detected by the first road side equipment and the second vehicle information detected by at least one second road side equipment;

the vehicle track information acquisition method further comprises the following steps:

acquiring vehicle change information detected by a radar;

the first preset change threshold is larger than the second preset change threshold, and the first preset frequency is larger than the second preset frequency to send a broadcast signal;

the obtaining the vehicle change information detected by the radar comprises the following steps:

the road condition data comprises position information and marking information of each vehicle, the marking information is used for determining vehicles which carry out information interaction with the first road side equipment and/or the second road side equipment at the last moment, and the last moment is the moment corresponding to the last communication of the first road side equipment and/or the second road side equipment;

The calculating the vehicle change information of the vehicle on the road according to the road condition data comprises the following steps:

2. The vehicle trajectory information acquisition method according to claim 1, wherein the first vehicle information includes a first vehicle identification and first position information, the second vehicle information includes a second vehicle identification and second position information, wherein the first vehicle identification and the second vehicle identification are used to characterize identity information of a vehicle, the first position information and the second position information are used to correspondingly characterize positions of the first road side device and the second road side device at the road node, and trajectory information of at least one vehicle is generated according to the first vehicle information detected by the first road side device and the second vehicle information detected by at least one of the second road side devices, comprising:

determining the second position information and the second vehicle identification corresponding to the second position information according to the second vehicle information;

3. The vehicle track information acquisition method according to claim 2, wherein the first roadside apparatus is provided on a road whose traveling direction is entering the road node, and the second roadside apparatus is provided on a road whose traveling direction is leaving the road node, and associating the first position information with the second position information to obtain track information of a vehicle corresponding to the first vehicle identification or the second vehicle identification includes:

4. The vehicle track information acquisition method according to claim 2, wherein the first vehicle information further includes first time information, the second vehicle information further includes second time information, the first time information is an acquisition time corresponding to when the first position information is acquired, the second time information is an acquisition time corresponding to when the second position information is acquired, and associating the first position information with the second position information to obtain track information of a vehicle corresponding to the first vehicle identification or the second vehicle identification includes:

comparing the first time information with the second time information;

5. A vehicle track route acquisition method, characterized in that the method is applied to a backend system, the vehicle track route acquisition method comprising:

the vehicle track information acquisition method according to any one of claims 1 to 4, wherein track information of at least one vehicle in a single road node is obtained;

6. The vehicle trajectory route acquisition method according to claim 5, characterized in that the trajectory information further includes time information corresponding to vehicle information of the vehicle; the generating a track route of at least one vehicle according to the track information of at least one vehicle respectively acquired from at least two adjacent road nodes comprises:

7. The vehicle trajectory path acquisition method according to claim 5, wherein the trajectory information further includes direction information corresponding to vehicle information of the vehicle, the direction information being used to characterize a traveling direction of a single vehicle within a single road node; the generating a track route of at least one vehicle according to the track information of at least one vehicle respectively acquired from at least two adjacent road nodes comprises:

8. A vehicle track information acquisition apparatus, the apparatus being applied to a background system, the apparatus comprising:

A first generation unit configured to generate track information of at least one vehicle according to first vehicle information detected by the first roadside apparatus and second vehicle information detected by at least one second roadside apparatus;

the apparatus further comprises:

The second acquisition unit includes:

the computing module includes:

9. The apparatus of claim 8, wherein the first vehicle information comprises a first vehicle identification and first location information, the second vehicle information comprises a second vehicle identification and second location information, wherein the first vehicle identification and the second vehicle identification are used to characterize identity information of a vehicle, the first location information and the second location information are used to correspondingly characterize locations of the first and second roadside devices at the road node, the first generation unit comprising:

10. The apparatus of claim 9, wherein the first roadside device is disposed on a road having a travel direction that enters the road node, the second roadside device is disposed on a road having a travel direction that exits the road node, and the third generation module comprises:

11. The apparatus of claim 9, wherein the first vehicle information further comprises first time information, the second vehicle information further comprises second time information, the first time information is a collection time corresponding to when the first location information is collected, the second time information is a collection time corresponding to when the second location information is collected, the third generating module comprises:

12. A vehicle trajectory path acquisition device, the device being applied to a backend system, the device comprising:

a third acquisition unit configured to acquire the track information indicating at least one vehicle within a single one of the road nodes generated by the vehicle track information acquisition device according to any one of claims 8 to 11;

13. The apparatus of claim 12, wherein the trajectory information further comprises time information corresponding to vehicle information of the vehicle; the second generation unit includes:

14. The apparatus of claim 12, wherein the trajectory information further comprises direction information corresponding to vehicle information of the vehicle, the direction information being used to characterize a direction of travel of a single vehicle within a single road node; the second generation unit includes:

15. The apparatus according to any one of claims 12-14, wherein the direction of the broadcast signal transmitted by the roadside device is toward the vehicle traveling direction.

16. An electronic device for use in a background system, the device comprising: a memory and a processor;

the memory is used for storing computer instructions; the processor is configured to execute the computer instructions stored in the memory to implement the method of any one of claims 1 to 7.

17. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 7.