CN114659535A - Truck return route generation method and device, storage medium and terminal - Google Patents
Truck return route generation method and device, storage medium and terminal Download PDFInfo
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- CN114659535A CN114659535A CN202210243380.6A CN202210243380A CN114659535A CN 114659535 A CN114659535 A CN 114659535A CN 202210243380 A CN202210243380 A CN 202210243380A CN 114659535 A CN114659535 A CN 114659535A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention discloses a method, a device, a storage medium and a terminal for generating a return route of a truck, wherein the method comprises the following steps: generating an actual road section sequence according to the vehicle-machine track data of the truck; reversely traversing and analyzing the symmetrical road sections corresponding to each actual road section in the actual road section sequence; and generating a truck return route based on the symmetrical road sections corresponding to each actual road section. According to the method and the device, the symmetrical road sections of each actual road section are analyzed in a reverse traversal mode, so that all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method and a device for generating a return route of a truck, a storage medium and a terminal.
Background
With the development of economy, the national public transportation network coverage is wider and wider, and the number of trucks is more and more. However, as the coverage of public transportation networks is enlarged, when a driver needs to return to the original road after the freight transportation is finished, the freight driver has more and more difficulty in planning the original return route for the driver due to the complexity of the road network and the limitation of the driving route of the truck.
In the prior art, a truck driver can plan an original return route for himself by using a mobile phone, a computer and other terminals, that is, a user can input a starting point position and an ending point position of a trip into the terminal, and the terminal interacts with a server, so that the server returns the planned original return route based on the starting point position and the ending point position. In the prior art, the return route of the route is directly searched based on the starting point and the end point, and the limitation of the driving route of the truck is not considered, so that the accuracy of the determined return route is low.
Disclosure of Invention
The embodiment of the application provides a method and a device for generating a return route of a truck, a storage medium and a terminal. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides a method for generating a return route of a truck, where the method includes:
generating an actual road section sequence according to the vehicle track data of the truck;
reversely traversing and analyzing the symmetrical road sections corresponding to each actual road section in the actual road section sequence;
and generating a truck return route based on the symmetrical road sections corresponding to each actual road section.
Optionally, generating an actual road segment sequence according to the vehicle-machine trajectory data of the truck includes:
determining a starting point and a terminal point of the running of the truck;
acquiring vehicle machine track data between a starting point and an end point;
and (4) performing road matching by adopting a road matching algorithm and combining the vehicle-mounted machine track data to obtain an actual road section sequence.
Optionally, reversely traversing and analyzing the symmetric road segment corresponding to each actual road segment in the actual road segment sequence, including:
reversely traversing each actual road section in the actual road section sequence and numbering to obtain a plurality of numbered road sections;
sequentially acquiring target road sections to be analyzed from the plurality of numbered road sections according to the number;
determining the road type of the target road section;
constructing a symmetrical road section of the target road section according to the road type;
and continuing to execute the step of sequentially acquiring the target road sections to be analyzed from the numbered road sections according to the number, and generating the symmetrical road sections corresponding to each actual road section until all the numbered road sections are analyzed.
Optionally, constructing a symmetric segment of the target segment according to the road type includes:
and when the road type is a bidirectional road, carrying out reverse operation on the target road section to obtain a symmetrical road section of the target road section.
Optionally, constructing a symmetric segment of the target segment according to the road type includes:
when the road type is a one-way road, acquiring the last coordinate point in the advancing direction of the vehicle on the target road section to obtain a target coordinate point;
inquiring all road sections of the target coordinate point within a preset range to obtain an initial road section set;
traversing and inquiring initial road sections with the same indexes as those of the target road section from the initial road section set to obtain a traversal result;
and constructing a symmetrical road section of the target road section according to the traversal result.
Optionally, constructing a symmetric road segment of the target road segment according to the traversal result includes:
when initial road sections exist in the traversal result and the number of the initial road sections is smaller than that of the road sections in the actual road section sequence, determining a plurality of initial road sections existing in the traversal result as a plurality of traversal road sections;
preprocessing the plurality of traversal road sections to obtain symmetrical road sections of the target road section; wherein the content of the first and second substances,
preprocessing a plurality of traversal sections, comprising:
when two identical adjacent road sections exist in the plurality of traversal road sections, merging the two identical adjacent road sections; alternatively, the first and second electrodes may be,
when two adjacent road sections which are connected end to end exist in the plurality of traversal road sections, simultaneously reserving the two adjacent road sections which are connected end to end; alternatively, the first and second electrodes may be,
when two different and unrelated adjacent road sections exist in the plurality of traversal road sections, determining a starting end and an ending end of a first road section in the two different and unrelated adjacent road sections;
and performing road network matching according to the starting end and the ending end of the first road section until the second road section in the two different and unrelated adjacent road sections is inquired, and completely reserving all matched road sections and the two different and unrelated adjacent road sections in the road network matching process.
Optionally, the generating of the truck return route based on the symmetrical road segment corresponding to each actual road segment includes:
acquiring a coordinate sequence of each symmetrical road section;
and splicing the coordinate sequences of each symmetrical road section into a straight line to obtain a return route of the truck.
In a second aspect, an embodiment of the present application provides a device for generating a return route of a truck, where the device includes:
the actual road section sequence generating module is used for generating an actual road section sequence according to the vehicle-mounted machine track data of the truck;
the symmetrical road section analysis module is used for reversely traversing and analyzing the symmetrical road section corresponding to each actual road section in the actual road section sequence;
and the truck return route generating module is used for generating a truck return route based on the symmetrical road sections corresponding to each actual road section.
In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-mentioned method steps.
In a fourth aspect, an embodiment of the present application provides a terminal, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the embodiment of the application, the truck return route generation device firstly generates an actual road section sequence according to the truck-machine trajectory data of the truck, then reversely traverses and analyzes the symmetrical road sections corresponding to each actual road section in the actual road section sequence, and finally generates the truck return route based on the symmetrical road sections corresponding to each actual road section. According to the method and the device, the symmetrical road sections of each actual road section are analyzed in a reverse traversal mode, so that all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic flow chart of a method for generating a return route of a truck according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a symmetrical road segment traversal analysis provided in an embodiment of the present application;
fig. 3 is a schematic flow chart of another method for generating a backhaul route of a truck according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a symmetric road segment in different situations of a road segment provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a symmetric road segment under different conditions of another road segment provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of a shipping route and a return route provided by an embodiment of the present application;
fig. 7 is a schematic block flow diagram of a process for generating a backhaul route of a truck according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a device for generating a return route of a truck according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The application provides a method, a device, a storage medium and a terminal for generating a return route of a truck, so as to solve the problems in the related technical problems. In the technical scheme provided by the application, because the symmetrical road sections of each actual road section are analyzed in a reverse traversal mode, all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
The method for generating the return route of the truck provided by the embodiment of the present application will be described in detail below with reference to fig. 1 to 7. The method may be implemented in dependence on a computer program, operable on a van return route generation device based on a von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.
Referring to fig. 1, a flow chart of a method for generating a return route of a truck according to an embodiment of the present application is schematically shown. As shown in fig. 1, the method of the embodiment of the present application may include the following steps:
s101, generating an actual road section sequence according to vehicle-machine track data of a truck;
the vehicle-machine track data is stored after being reported and processed in real time by position acquisition equipment on the truck.
In the embodiment of the application, the terminal firstly receives the position information of each truck reported by the position acquisition equipment, the position information comprises parameters such as vehicle longitude and latitude, a road mark where the truck is located, a driving direction and an altitude, abnormal position points are analyzed according to a large number of parameters contained in the position information of each truck, the abnormal position points are filtered to obtain normal driving track points of each vehicle, and finally the normal driving track points of each vehicle are sequentially stored in the data center. The accuracy of an actual road section can be improved by filtering the abnormal track points of each vehicle, so that an accurate return route can be obtained.
In a possible implementation manner, when an actual road section sequence is generated according to vehicle-machine track data of a truck, firstly, a starting point and an end point of the driving of the truck are determined, then, the vehicle-machine track data between the starting point and the end point are obtained from a data center, and finally, a road matching algorithm is adopted and the vehicle-machine track data are combined to perform road matching to obtain the actual road section sequence.
Specifically, when a road matching algorithm is adopted and road matching is carried out by combining vehicle-machine trajectory data to obtain an actual road section sequence, firstly, orderly GPS positions in the vehicle-machine trajectory data are associated to a road network of an electronic map, then, a GPS coordinate down-sampling sequence is converted into a road network coordinate sequence, and finally, a plurality of actual road sections are matched from the road network coordinate sequence by adopting the road matching algorithm to obtain the actual road section sequence.
Further, when a road matching algorithm is adopted to match a plurality of actual road sections from the road network coordinate sequence, firstly, a road network coordinate is obtained from the road network coordinate sequence, a nearest node set of the road network coordinate is constructed, an initial probability is calculated according to the nearest node set, and then whether the initial probability meets a threshold value is judged. If the point is marked as an interruption point, judging whether the point is the last road network coordinate, if not, segmenting the track, and if so, ending. If the point does not meet the threshold value, judging whether the point is the last road network coordinate, if not, screening the next road network coordinate from the road network coordinate sequence, constructing the nearest node of the coordinate, simultaneously calculating the observation probability and the state transition probability of the sampling point of the nearest node, calculating the node probability by combining the observation probability and the state transition probability of the sampling point, marking the probability as an interrupted point when the probability meets the threshold value, if not, classifying the two points into one type, and continuously executing the step of screening the next road network coordinate from the road network coordinate sequence. And finally, obtaining the actual road section sequence after the road network coordinates in the road network coordinate sequence are completely processed. Compared with a depth search algorithm in the prior art, the method can accurately segment out a plurality of actual road sections in the driving path of the truck.
S102, reversely traversing and analyzing a symmetrical road section corresponding to each actual road section in the actual road section sequence;
wherein the symmetric section is a reverse section of each actual section.
In this embodiment of the application, for example, as shown in fig. 2, when a symmetric road segment corresponding to each actual road segment in an actual road segment sequence is analyzed in a reverse traversal manner, each actual road segment in the actual road segment sequence is traversed in the reverse traversal manner and numbered to obtain a plurality of numbered road segments, a target road segment to be analyzed is sequentially obtained from the plurality of numbered road segments according to the number, a road type of the target road segment is determined, a symmetric road segment of the target road segment is constructed according to the road type, and finally, the step of sequentially obtaining the target road segment to be analyzed from the plurality of numbered road segments according to the number is continuously performed until all the analysis of the plurality of numbered road segments is finished, and the symmetric road segment corresponding to each actual road segment is generated.
Specifically, when the road type is a bidirectional road, the target road section is reversely operated to obtain a symmetrical road section of the target road section.
Specifically, when the road type is a one-way road, the last coordinate point in the vehicle advancing direction on the target road section is firstly obtained to obtain the target coordinate point, then all road sections of the target coordinate point in a preset range are inquired to obtain an initial road section set, then the initial road sections with the same indexes as those of the target road section are searched in a traversing mode from the initial road section set to obtain a traversing result, and finally the symmetrical road section of the target road section is constructed according to the traversing result.
Further, when the symmetrical road sections of the target road section are constructed according to the traversal result, firstly, when the initial road sections exist in the traversal result and the number of the initial road sections is smaller than that of the road sections in the actual road section sequence, determining a plurality of initial road sections existing in the traversal result as a plurality of traversal road sections, and then preprocessing the plurality of traversal road sections to obtain the symmetrical road sections of the target road section.
Furthermore, when a plurality of traversal road sections are preprocessed, firstly, when two identical adjacent road sections exist in the plurality of traversal road sections, the two identical adjacent road sections are merged; or when two adjacent road sections which are connected end to end exist in the plurality of traversal road sections, simultaneously reserving the two adjacent road sections which are connected end to end; or when two different and unrelated road sections exist in the plurality of traversal road sections, determining a starting end and an ending end of a first road section in the two different and unrelated road sections, and performing road network matching according to the starting end and the ending end of the first road section until a second road section in the two different and unrelated road sections is inquired, and completely reserving all matched road sections and the two different and unrelated road sections in the road network matching process.
And S103, generating a truck return route based on the symmetrical road sections corresponding to each actual road section.
In a possible implementation manner, when a truck return route is generated, the coordinate sequence of each symmetric road section is obtained first, and then the coordinate sequences of each symmetric road section are spliced into a straight line to obtain the truck return route.
For example, a truck driver has a familiar route from point a to point B, and wants to follow the familiar route from B to a. The process is as follows: firstly, the link coordinate series are transmitted into a point A to a point B track point, then the track points are subjected to road matching to obtain a real link (road section) sequence, corresponding symmetrical links are sequentially found through a reverse traversal link sequence, path planning is carried out on the front and rear points at the middle break position to complement the symmetrical links, finally, link coordinate series are sequentially removed from all the symmetrical links, and the return is the return route from the point B to the point A.
In the embodiment of the application, the truck return route generation device firstly generates an actual road section sequence according to the truck-machine trajectory data of the truck, then reversely traverses and analyzes the symmetrical road sections corresponding to each actual road section in the actual road section sequence, and finally generates the truck return route based on the symmetrical road sections corresponding to each actual road section. According to the method and the device, the symmetrical road sections of each actual road section are analyzed in a reverse traversal mode, so that all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
Referring to fig. 3, a flow chart of a method for generating a return route of a truck according to an embodiment of the present application is schematically shown. As shown in fig. 3, the method of the embodiment of the present application may include the following steps:
s201, determining a starting point and an end point of the running of the truck;
s202, acquiring vehicle-mounted machine track data between a starting point and an end point;
s203, performing road matching by adopting a road matching algorithm and combining vehicle-mounted machine track data to obtain an actual road section sequence;
in a possible implementation manner, after the vehicle-mounted machine trajectory data is obtained, the vehicle-mounted machine trajectory data is restored to an actual link (road section) sequence of a real road by adopting a road matching algorithm. The actual link (segment) sequence can be denoted as set L, where the 1 st link is denoted as L1 and the last 1 link is denoted as Ln.
S204, reversely traversing each actual road section in the actual road section sequence and numbering to obtain a plurality of numbered road sections;
in a possible implementation manner, each actual road segment in the actual road segment sequence is traversed reversely and numbered, that is, the set L is traversed reversely, and each link is recorded as Lx.
S205, sequentially acquiring target road sections to be analyzed from the numbered road sections according to the number;
s206, determining the road type of the target road section;
in one possible implementation, the target road segments Lx to be analyzed are sequentially obtained from the plurality of numbered road segments according to the number.
S207, constructing a symmetrical road section of the target road section according to the road type;
in one possible implementation, if Lx is bi-directional, Lx is directly reversed, such as shown in a diagram in fig. 4; if Lx is a one-way path, the last coordinate on Lx is taken according to the Lx direction and recorded as Px, all links within the range of Px 20 meters are inquired and recorded as a set R, each Link in R is traversed and recorded as Rx, and Rx which is the same as Lx in road type, the same in road name, the same in included angle with the due north direction at plus or minus 180 degrees (the upward and downward floating is 15 degrees) and the nearest to Px in vertical distance is the symmetrical Link with Rx.
Further, if Rx satisfying the condition is found and x < n, one is retained if Rx and Rx +1 are the same, Rx and Rx +1 are retained simultaneously if Rx and Rx +1 are connected end to end, as shown in B in fig. 4, and if Rx and Rx +1 are neither the same nor connected, routing is performed according to the starting end point sdode and eNode of Rx until Rx +1 is found and all links between Rx and Rx +1 and 2 are retained, as shown in C in fig. 4.
Further, if no Rx meeting the condition is found, step S208 is executed until the next symmetric link is found and is marked as Rm, and path planning is performed by using the endpoint eNode of the latest Rx before Rm and the starting point sdode of Rm, and all links directly between Rx and Rm are returned, and retained until the set L is traversed, as shown in fig. 5, for example.
S208, continuously executing the step of sequentially acquiring the target road sections to be analyzed from the numbered road sections according to the number, and generating a symmetrical road section corresponding to each actual road section until all the numbered road sections are analyzed;
s209, acquiring a coordinate sequence of each symmetrical road section;
and S210, splicing the coordinate sequences of each symmetrical road section into a straight line to obtain a return route of the truck.
In one possible implementation, the coordinate sequences of the symmetric segments of all the symmetric routes are spliced into a straight line, i.e., a return route, for example, as shown in fig. 6, there is no intersection as a freight route and there is an intersection as a return route.
For example, as shown in fig. 7, fig. 7 is a schematic block diagram of a process of generating a truck return route provided by the present application, where the algorithm steps are as follows:
1. road matching
1) And applying a road matching algorithm to the vehicle-machine trajectory data to restore a real road link sequence, recording the real road link sequence as a set L, wherein the 1 st link is recorded as L1, and the last 1 link is recorded as Ln.
2. Finding symmetrical paths
1) Reversely traversing the set L, and recording each link as Lx;
2) if Lx is a bidirectional path, directly reversing Lx;
3) if Lx is a one-way path, the last coordinate on Lx is taken according to the Lx direction and recorded as Px, all links in the range of Px 20 m are inquired and recorded as a set R, each Link in R is traversed and recorded as Rx, and Rx which is the same as the Lx in road type, the same in road name, the same in included angle with the due north direction at plus or minus 180 degrees (the upward and downward floating is 15 degrees) and the nearest to Px in vertical distance is the symmetrical Link with Rx.
4) If the Rx and Rx +1 are the same, then one is retained, if Rx and Rx +1 are connected end to end, then Rx and Rx +1 are retained, if Rx and Rx +1 are neither the same nor connected, then the routing is performed according to the starting end point sdnode and eNode of Rx until Rx +1 is found and all links between Rx and Rx +1 and 2 are retained.
5) And (4) skipping if no symmetric link meeting the condition is found in the step 3) until the next symmetric link is found and is marked as Rm, performing path planning by using the last endpoint eNode of Rx before the Rm and the starting point sNode of the Rm, returning all links direct to Rx and Rm, and keeping the paths until the set L is traversed.
3. Return route
1) And (4) sequentially acquiring corresponding coordinate strings from all the symmetrical links retained in the step 2, and returning the coordinate strings, namely the return route.
In the embodiment of the application, the truck return route generation device firstly generates an actual road section sequence according to the truck-machine trajectory data of the truck, then reversely traverses and analyzes the symmetrical road sections corresponding to each actual road section in the actual road section sequence, and finally generates the truck return route based on the symmetrical road sections corresponding to each actual road section. According to the method and the device, the symmetrical road sections of each actual road section are analyzed in a reverse traversal mode, so that all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 8, a schematic structural diagram of a truck return route generation apparatus according to an exemplary embodiment of the present invention is shown. The truck return route generation device may be implemented as all or a part of the terminal by software, hardware, or a combination of both. The device 1 comprises an actual road section sequence generation module 10, a symmetrical road section analysis module 20 and a truck return route generation module 30.
The actual road section sequence generating module 10 is configured to generate an actual road section sequence according to the vehicle-mounted machine trajectory data of the truck;
the symmetrical road section analysis module 20 is used for reversely traversing and analyzing the symmetrical road section corresponding to each actual road section in the actual road section sequence;
and a truck return route generating module 30, configured to generate a truck return route based on the symmetric road segment corresponding to each actual road segment.
It should be noted that, when the truck return route generating apparatus provided in the foregoing embodiment executes the truck return route generating method, only the division of the above functional modules is taken as an example, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the embodiment of the device for generating the return route of the truck and the embodiment of the method for generating the return route of the truck provided by the above embodiment belong to the same concept, and details of the implementation process are found in the embodiment of the method, which is not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the embodiment of the application, the truck return route generation device firstly generates an actual road section sequence according to the truck-machine trajectory data of the truck, then reversely traverses and analyzes the symmetrical road sections corresponding to each actual road section in the actual road section sequence, and finally generates the truck return route based on the symmetrical road sections corresponding to each actual road section. According to the method and the device, the symmetrical road sections of each actual road section are analyzed in a reverse traversal mode, so that all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
The present invention also provides a computer readable medium, on which program instructions are stored, which when executed by a processor implement the method for generating a return route of a truck provided by the above-mentioned method embodiments.
The present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of truck return route generation of the various method embodiments described above.
Please refer to fig. 9, which provides a schematic structural diagram of a terminal according to an embodiment of the present application. As shown in fig. 9, terminal 1000 can include: at least one processor 1001, at least one network interface 1004, a user interface 1003, memory 1005, at least one communication bus 1002.
Wherein a communication bus 1002 is used to enable connective communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The Memory 1005 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable medium. The memory 1005 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 1005 may alternatively be at least one memory device located remotely from the processor 1001. As shown in fig. 9, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a truck backhaul route generation application program.
In the terminal 1000 shown in fig. 9, the user interface 1003 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 1001 may be configured to invoke the van backhaul route generation application stored in the memory 1005, and specifically perform the following operations:
generating an actual road section sequence according to the vehicle-machine track data of the truck;
reversely traversing and analyzing the symmetrical road sections corresponding to each actual road section in the actual road section sequence;
and generating a truck return route based on the symmetrical road sections corresponding to each actual road section.
In one embodiment, when the processor 1001 executes the actual road segment sequence generated according to the car-machine trajectory data of the truck, the following operations are specifically executed:
determining a starting point and a terminal point of the running of the truck;
acquiring vehicle machine track data between a starting point and an end point;
and (4) carrying out road matching by adopting a road matching algorithm and combining the vehicle track data to obtain an actual road section sequence.
In one embodiment, when performing reverse traversal analysis on a symmetric road segment corresponding to each actual road segment in the actual road segment sequence, the processor 1001 specifically performs the following operations:
reversely traversing each actual road section in the actual road section sequence and numbering to obtain a plurality of numbered road sections;
sequentially acquiring target road sections to be analyzed from the plurality of numbered road sections according to the number;
determining the road type of the target road section;
constructing a symmetrical road section of the target road section according to the road type;
and continuing to execute the step of sequentially acquiring the target road sections to be analyzed from the numbered road sections according to the number, and generating the symmetrical road sections corresponding to each actual road section until all the numbered road sections are analyzed.
In one embodiment, the processor 1001 specifically performs the following operations when performing the construction of the symmetric segment of the target segment according to the road type:
and when the road type is a bidirectional road, carrying out reverse operation on the target road section to obtain a symmetrical road section of the target road section.
In one embodiment, the processor 1001 specifically performs the following operations when performing the construction of the symmetric segment of the target segment according to the road type:
when the road type is a one-way road, acquiring the last coordinate point in the advancing direction of the vehicle on the target road section to obtain a target coordinate point;
inquiring all road sections of the target coordinate point within a preset range to obtain an initial road section set;
traversing and inquiring initial road sections with the same indexes as those of the target road section from the initial road section set to obtain a traversal result;
and constructing a symmetrical road section of the target road section according to the traversal result.
In one embodiment, the processor 1001 specifically performs the following operations when performing the construction of the symmetric segment of the target segment according to the traversal result:
when initial road sections exist in the traversal result and the number of the initial road sections is smaller than that of the road sections in the actual road section sequence, determining a plurality of initial road sections existing in the traversal result as a plurality of traversal road sections;
preprocessing the plurality of traversal road sections to obtain symmetrical road sections of the target road section; wherein, the first and the second end of the pipe are connected with each other,
preprocessing a plurality of traversal sections, comprising:
when two identical adjacent road sections exist in the plurality of traversal road sections, merging the two identical adjacent road sections; alternatively, the first and second electrodes may be,
when two adjacent road sections which are connected end to end exist in the plurality of traversal road sections, simultaneously reserving the two adjacent road sections which are connected end to end; alternatively, the first and second electrodes may be,
when two different and unrelated adjacent road sections exist in the plurality of traversal road sections, determining a starting end and an ending end of a first road section in the two different and unrelated adjacent road sections;
and performing road network matching according to the starting end and the ending end of the first road section until the second road section in the two different and unrelated adjacent road sections is inquired, and completely reserving all matched road sections and the two different and unrelated adjacent road sections in the road network matching process.
In one embodiment, the processor 1001 specifically performs the following operations when performing the generation of the truck return route based on the symmetric road segment corresponding to each actual road segment:
acquiring a coordinate sequence of each symmetrical road section;
and splicing the coordinate sequences of each symmetrical road section into a straight line to obtain a return route of the truck.
In the embodiment of the application, the truck return route generation device firstly generates an actual road section sequence according to the truck-machine trajectory data of the truck, then reversely traverses and analyzes the symmetrical road sections corresponding to each actual road section in the actual road section sequence, and finally generates the truck return route based on the symmetrical road sections corresponding to each actual road section. According to the method and the device, the symmetrical road sections of each actual road section are analyzed in a reverse traversing mode, so that all the symmetrical road sections forming the return route can be accurately obtained, the omission of the road sections is effectively prevented, and the accuracy of generating the return route is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program to instruct related hardware, and the program for generating the backhaul route of the truck may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.
Claims (10)
1. A method for generating a return route of a truck, the method comprising:
generating an actual road section sequence according to the vehicle track data of the truck;
reversely traversing and analyzing the symmetrical road sections corresponding to each actual road section in the actual road section sequence;
and generating a truck return route based on the symmetrical road sections corresponding to each actual road section.
2. The method of claim 1, wherein the generating of the actual road segment sequence from the truck-in-vehicle trajectory data of the truck comprises:
determining a starting point and a terminal point of the running of the truck;
acquiring vehicle-machine trajectory data between the starting point and the end point;
and matching the roads by adopting a road matching algorithm and combining the vehicle-mounted machine track data to obtain an actual road section sequence.
3. The method of claim 1, wherein the backward traversal analyzing the symmetric segment corresponding to each actual segment in the sequence of actual segments comprises:
reversely traversing each actual road section in the actual road section sequence and numbering to obtain a plurality of numbered road sections;
sequentially acquiring target road sections to be analyzed from the plurality of numbered road sections according to the number;
determining a road type of the target road section;
constructing a symmetrical road section of the target road section according to the road type;
and continuing to execute the step of sequentially acquiring the target road sections to be analyzed from the numbered road sections according to the number, and generating the symmetrical road sections corresponding to each actual road section until all the numbered road sections are analyzed.
4. The method of claim 3, wherein constructing the symmetric segment of the target segment according to the road type comprises:
and when the road type is a bidirectional road, carrying out reverse operation on the target road section to obtain a symmetrical road section of the target road section.
5. The method of claim 3, wherein the constructing the symmetric segment of the target segment according to the road type comprises:
when the road type is a one-way road, acquiring the last coordinate point in the advancing direction of the vehicle on the target road section to obtain a target coordinate point;
inquiring all road sections of the target coordinate point within a preset range to obtain an initial road section set;
traversing and inquiring the initial road sections with the same indexes as the target road sections from the initial road section set to obtain a traversal result;
and constructing a symmetrical road section of the target road section according to the traversal result.
6. The method according to claim 5, wherein the constructing the symmetric segment of the target segment according to the traversal result comprises:
when initial road sections exist in the traversal result and the number of the initial road sections is smaller than that of the road sections in the actual road section sequence, determining a plurality of initial road sections existing in the traversal result as a plurality of traversal road sections;
preprocessing the plurality of traversal road sections to obtain symmetrical road sections of the target road section; wherein the content of the first and second substances,
preprocessing the plurality of traversal segments, including:
when two identical adjacent road sections exist in the plurality of traversal road sections, merging the two identical adjacent road sections; alternatively, the first and second electrodes may be,
when two adjacent road sections which are connected end to end exist in the plurality of traversal road sections, simultaneously reserving the two adjacent road sections which are connected end to end; alternatively, the first and second electrodes may be,
when two different and unrelated adjacent road sections exist in the plurality of traversal road sections, determining a starting end and an ending end of a first road section in the two different and unrelated adjacent road sections;
and performing road network matching according to the starting end and the ending end of the first road section until the second road section in the two different and unrelated adjacent road sections is inquired, and completely reserving all matched road sections and the two different and unrelated adjacent road sections in the road network matching process.
7. The method of claim 1, wherein the generating the truck return route based on the symmetrical road segment corresponding to each actual road segment comprises:
acquiring a coordinate sequence of each symmetrical road section;
and splicing the coordinate sequences of each symmetrical road section into a straight line to obtain a return route of the truck.
8. A truck return route generation apparatus, comprising:
the actual road section sequence generating module is used for generating an actual road section sequence according to the vehicle-mounted machine track data of the truck;
the symmetrical road section analysis module is used for reversely traversing and analyzing the symmetrical road section corresponding to each actual road section in the actual road section sequence;
and the truck return route generating module is used for generating a truck return route based on the symmetrical road sections corresponding to each actual road section.
9. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to perform the method steps according to any of claims 1-7.
10. A terminal, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1-7.
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|---|---|---|---|
| CN202210243380.6A CN114659535A (en) | 2022-03-11 | 2022-03-11 | Truck return route generation method and device, storage medium and terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210243380.6A CN114659535A (en) | 2022-03-11 | 2022-03-11 | Truck return route generation method and device, storage medium and terminal |
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| CN114659535A true CN114659535A (en) | 2022-06-24 |
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| CN202210243380.6A Pending CN114659535A (en) | 2022-03-11 | 2022-03-11 | Truck return route generation method and device, storage medium and terminal |
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