CN114677852A

CN114677852A - Road traffic state determination method, navigation method, device, medium and equipment

Info

Publication number: CN114677852A
Application number: CN202011552514.XA
Authority: CN
Inventors: 宋亚统; 郭鹏博
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2022-06-28
Anticipated expiration: 2040-12-24
Also published as: CN114677852B

Abstract

The disclosure relates to a road traffic state determination method, a navigation device, a medium and equipment, wherein the method comprises the following steps: acquiring target track information corresponding to a target road to be identified in a target monitoring period; dividing the target road into a plurality of sub-road sections according to the position information of the plurality of road marking points on the target road; determining a distribution track of the sub road sections within the target monitoring time period according to the position information of the road marking points contained in each sub road section and the target track information; determining the passing state of each sub-road section in the target monitoring time period according to the distribution track of each sub-road section; and determining the passing state of the target road according to the passing state of each sub-road section. Therefore, the accuracy and precision of the determination of the road traffic state can be improved, and meanwhile, accurate data support is provided for subsequent path planning and path navigation.

Description

Road traffic state determination method, navigation method, device, medium and equipment

Technical Field

The present disclosure relates to the field of navigation, and in particular, to a road traffic state determination method, a navigation method, an apparatus, a medium, and a device.

Background

Nowadays, electronic maps are more and more widely used, and great convenience is brought to people's trips. In an actual application scenario, in order to provide more comprehensive services, such as navigation services, the traffic state corresponding to a road needs to be determined, so that a suitable travel route can be planned for a user based on the traffic state of each road.

In the prior art, the reported road is usually closed based on the reported information of the user, but the identified forbidden road is too long due to inaccurate reported information of the user or too long reported road closing road, which seriously affects the accuracy of driving navigation and is inconvenient for the user to use.

Disclosure of Invention

The purpose of the disclosure is to provide an accurate and simple road traffic state determination method, a navigation method, a device, a medium and equipment.

In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a road traffic state determination method, the method including:

acquiring target track information corresponding to a target road to be identified in a target monitoring period;

dividing the target road into a plurality of sub-road sections according to the position information of a plurality of road marking points on the target road;

determining a distribution track of the sub road sections within the target monitoring time period according to the position information of the road marking points contained in each sub road section and the target track information;

determining the passing state of each sub-road section in the target monitoring time period according to the distribution track of each sub-road section;

and determining the passing state of the target road according to the passing state of each sub-road section.

Optionally, the segmenting the target road into a plurality of sub-segments according to the position information of the plurality of road marking points on the target road includes:

sequentially acquiring a next road marking point from a first road marking point of the target road along a preset direction according to the preset direction;

determining the length of a broken line segment formed by connecting the obtained road marking points along the preset direction according to the position information of the road marking points;

and segmenting the target road according to the length of the broken line segment to obtain the plurality of sub-road segments, wherein except the last sub-road segment in the target road along the preset direction, the broken line segments corresponding to the adjacent sub-road segments have the same length, and the adjacent sub-road segments have an overlapped end point.

Optionally, the segmenting the target road into a plurality of sub-segments according to the position information of the plurality of road marking points on the target road, further includes:

and when the length of the broken line segment corresponding to the last sub-road segment is smaller than a preset distance, combining the last sub-road segment with the previous sub-road segment of the last sub-road segment, wherein the preset distance is smaller than the length of the broken line segment corresponding to the previous sub-road segment.

Optionally, the determining, according to the delivery trajectory of each sub-road segment, a traffic state of the sub-road segment in the target monitoring period includes:

aiming at each sub-road section, generating a sub-road section area corresponding to the sub-road section according to the position information of a plurality of road marking points contained in the sub-road section;

performing area segmentation on the sub-road section area in a direction perpendicular to the sub-road section to obtain a plurality of sub-areas, wherein each sub-area is not overlapped, and the sum of the widths of the sub-areas is the width of the sub-road section area;

determining a distribution track corresponding to each sub-area according to the distribution track of the sub-road sections;

and determining the passing state corresponding to each sub-area according to the distribution track corresponding to each sub-area so as to obtain the passing state of the sub-section in the target monitoring time period.

Optionally, the determining, according to the distribution track corresponding to each of the sub-areas, a passing state corresponding to the sub-area includes:

for each sub-area, when the distribution track corresponding to the sub-area meets any one of the following conditions, determining that the passing state corresponding to the sub-area is a long-term forbidden state:

the daily average distribution track number corresponding to the sub-area is smaller than a first threshold, and the daily maximum track number is smaller than a second threshold, wherein the first threshold is smaller than the second threshold;

the daily average distribution track number corresponding to the sub-area is greater than or equal to the first threshold and smaller than a third threshold, the daily average track speed corresponding to the sub-area is smaller than a fourth threshold, the daily maximum track number is smaller than the second threshold, and the daily maximum track speed is smaller than a fifth threshold, wherein the first threshold is smaller than the third threshold, and the fourth threshold is smaller than the fifth threshold.

for each sub-area, when the distribution track corresponding to the sub-area meets a first condition or a second condition:

dividing the target monitoring time interval according to the variation trend of the number of the distribution tracks of two adjacent days in the target monitoring time interval to obtain state monitoring time intervals, wherein the variation trend of each state monitoring time interval is the same;

if the target difference value of two adjacent state monitoring time periods is smaller than a sixth threshold value, combining the two adjacent state monitoring time periods, wherein the target difference value is the difference value between the daily maximum track quantity and the daily minimum track quantity in the two state monitoring time periods;

for the last state monitoring period, if the variation trend corresponding to the state monitoring period is that the number is reduced, the ratio of the target difference value of the state monitoring period to the number of the distribution tracks on the first day in the state monitoring period exceeds a seventh threshold, and the average daily distribution track number corresponding to the state monitoring period is less than an eighth threshold, determining that the passing state corresponding to the sub-region is a short-term forbidden state;

the first condition is that the number of day-average distribution tracks corresponding to the sub-area is smaller than a first threshold;

the second condition is that the daily average distribution track number corresponding to the sub-area is greater than or equal to the first threshold and smaller than a third threshold, the daily average track speed corresponding to the sub-area is smaller than a fourth threshold, and the daily maximum track number is smaller than the second threshold, wherein the first threshold is smaller than the second threshold, and the first threshold is smaller than the third threshold.

Optionally, the determining the traffic state of the target road according to the traffic state of each sub-road segment includes:

if the passing state corresponding to the adjacent sub-road sections is a forbidden state, combining the adjacent sub-road sections, and determining the passing state as the passing state of the combined sub-road sections, wherein the forbidden state comprises a long-term forbidden state and a short-term forbidden state;

and marking the forbidden sub-road sections corresponding to the forbidden states in the target road sections as forbidden road sections, and marking the road sections except the forbidden sub-road sections in the target road sections as passable road sections.

Optionally, the obtaining target track information corresponding to the target road to be identified in the target monitoring period includes:

generating a space R-tree of an area corresponding to the target road according to the position information of the road marking points on the target road;

determining a track corresponding to the city to which the target road belongs in the track information in the target monitoring time period as a candidate track;

mapping each candidate track with the space R-tree;

and under the condition that track points in the candidate tracks are determined to be mapped on the space R-tree, determining the candidate tracks as target tracks associated with the target road, wherein the target track information comprises a plurality of target tracks.

According to a second aspect of the present disclosure, there is provided a navigation method, the method comprising:

matching the path information of the distribution waybill with an forbidden road with a passing state being a forbidden state, wherein the passing state of the forbidden road is determined according to any one of the road passing state determination methods in the first aspect;

and if the forbidden road is determined to be contained in the path corresponding to the path information according to the matching result, determining evading path information according to the current position information corresponding to the delivery waybill and the destination position information corresponding to the delivery waybill so that the forbidden road is not contained in the evading path information.

According to a third aspect of the present disclosure, there is provided a road traffic state determination device, the device comprising:

the system comprises a first acquisition module, a second acquisition module and a monitoring module, wherein the first acquisition module is configured to be used for acquiring target track information corresponding to a target road to be identified in a target monitoring period;

the segmentation module is configured to segment the target road into a plurality of sub-road segments according to position information of a plurality of road marking points on the target road;

a first determining module, configured to determine, according to the position information of the road marking point included in each of the sub-road segments and the target trajectory information, a delivery trajectory that approaches the sub-road segment within the target monitoring period;

the second determining module is configured to determine the traffic state of each sub-road section in the target monitoring time period according to the distribution track of the sub-road section;

the third determination module is configured to determine the passing state of the target road according to the passing state of each sub-road section.

Optionally, the cutting module comprises:

the acquisition sub-module is configured to sequentially acquire a next road marking point from a first road marking point of the target road along a preset direction according to the preset direction;

the first determining submodule is configured to determine the length of a broken line segment formed by connecting the acquired road marking points along the preset direction according to the position information of the road marking points;

and the segmentation sub-module is configured to segment the target road according to the length of the broken line segment to obtain the plurality of sub-road segments, wherein except for the last sub-road segment in the target road along the preset direction, the lengths of the broken line segments corresponding to adjacent sub-road segments are the same, and the adjacent sub-road segments have a coincident end point.

Optionally, the dicing module further comprises:

the first merging submodule is configured to merge the last sub-road section and a previous sub-road section of the last sub-road section when the length of the broken line corresponding to the determined last sub-road section is smaller than a preset distance, wherein the preset distance is smaller than the length of the broken line corresponding to the previous sub-road section.

Optionally, the first determining module includes:

the first generation submodule is configured to generate a sub-road section area corresponding to each sub-road section according to the position information of a plurality of road marking points contained in the sub-road section;

the segmentation sub-module is configured to perform region segmentation on the sub-road segment region in a direction perpendicular to the sub-road segment to obtain a plurality of sub-regions, wherein each sub-region is not overlapped with each other, and the sum of the widths of the sub-regions is the width of the sub-road segment region;

the second determining submodule is configured to determine a delivery track corresponding to each sub-area according to the delivery track of the sub-road section;

and the third determining submodule is configured to determine a passing state corresponding to each sub-area according to the distribution track corresponding to each sub-area, so as to obtain the passing state of the sub-section in the target monitoring period.

Optionally, the third determining sub-module includes:

the fourth determining submodule is configured to determine, for each sub-area, that the passing state corresponding to the sub-area is a long-term forbidden state when the delivery trajectory corresponding to the sub-area meets any one of the following conditions:

Optionally, for each sub-area, in a case that a delivery trajectory corresponding to the sub-area satisfies a first condition or a second condition, the third determining sub-module includes:

the dividing submodule is configured to divide the target monitoring time period according to the variation trend of the number of the distribution tracks of two adjacent days in the target monitoring time period to obtain state monitoring time periods, wherein the variation trend of each state monitoring time period is the same;

a second merging submodule configured to merge two adjacent state monitoring periods if a target difference value of the two adjacent state monitoring periods is smaller than a sixth threshold, where the target difference value is a difference value between a maximum daily trajectory number and a minimum daily trajectory number in the two state monitoring periods;

a fifth determining submodule configured to determine, for a last status monitoring period, that a passing status corresponding to the sub-area is a short-term forbidden status if a variation trend corresponding to the status monitoring period is that the number decreases, a ratio of a target difference of the status monitoring period to the number of delivery tracks on a first day in the status monitoring period exceeds a seventh threshold, and an average daily delivery track number corresponding to the status monitoring period is less than an eighth threshold;

Optionally, the third determining module includes:

the third merging submodule is configured to merge the adjacent sub-road sections and determine the traffic state as the traffic state of the merged sub-road section when the traffic state corresponding to the adjacent sub-road sections is a forbidden state, wherein the forbidden state includes a long-term forbidden state and a short-term forbidden state;

the marking sub-module is configured to mark the forbidden sub-road sections corresponding to the forbidden states in the target road sections as forbidden road sections, and mark the road sections except for the forbidden sub-road sections in the target road sections as passable road sections.

Optionally, the obtaining module includes:

the second generation submodule is configured to generate a space R-tree of an area corresponding to the target road according to the position information of the road marking points on the target road;

a sixth determining submodule configured to determine, as a candidate trajectory, a trajectory corresponding to a city to which the target road belongs, from among the trajectory information within the target monitoring period;

a mapping submodule configured to map each of the candidate trajectories with the spatial R-tree;

a seventh determining sub-module configured to determine the candidate trajectory as a target trajectory associated with the target road if it is determined that trajectory points in the candidate trajectory are mapped to the space R-tree, wherein the target trajectory information includes a plurality of the target trajectories.

According to a fourth aspect of the present disclosure, there is provided a navigation device, the device comprising:

the matching module is configured to match the route information of the delivery waybill with an forbidden road with a passing state being a forbidden state, wherein the passing state of the forbidden road is determined according to any one of the road passing state determination methods in the first aspect;

and a fourth determining module, configured to determine, when it is determined that the route corresponding to the route information includes the prohibited road according to the matching result, avoidance route information according to the current position information corresponding to the delivery waybill and the destination position information corresponding to the delivery waybill, so that the avoidance route information does not include the prohibited road.

According to a fifth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor implements the steps of the method of any one of the first aspect, or the program when executed by a processor implements the steps of the method of the second aspect.

According to a sixth aspect of the present disclosure, there is provided an electronic device comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to perform the steps of the method of any one of the first aspect or to perform the steps of the method of the second aspect.

In the technical scheme, the target track information corresponding to the target road to be identified in the target monitoring period is obtained, the target road is divided into a plurality of sub-road sections according to the position information of a plurality of road marking points on the target road, and then the delivery track of the sub-road sections in the target monitoring period is determined according to the position information of the road marking points contained in each sub-road section and the target track information, so that the passing state of each sub-road section in the target monitoring period can be determined according to the delivery track of each sub-road section, and the passing state of the target road is determined according to the passing state of each sub-road section. Therefore, by the technical scheme, the multiple sub-road sections can be obtained by segmenting the obtained target road to be identified, so that the passing state of each sub-road section can be determined to determine the passing state of the target road, the precision and the accuracy of determining the passing state of the road are improved, and meanwhile, accurate data support is provided for subsequent path planning and path navigation. In addition, the application range of the method can be effectively widened, and more comprehensive and accurate data support is provided for data analysis based on the road communication state.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, but do not constitute a limitation of the disclosure. In the drawings:

fig. 1 is a flowchart of a method for determining a road traffic state according to an embodiment of the present disclosure;

FIG. 2 is a flow diagram of an exemplary implementation of segmenting a target road into a plurality of sub-segments based on location information of a plurality of road marking points on the target road, provided in accordance with one embodiment of the present disclosure;

FIG. 3 is a schematic illustration of road marking points of a target road provided in accordance with an embodiment of the present disclosure

FIG. 4 is a flow diagram of an exemplary implementation that determines a traffic status of each sub-segment during a target monitoring period based on a delivery trajectory of the sub-segment, respectively, according to an embodiment of the present disclosure;

FIG. 5 is a schematic illustration of a sub-segment region provided in accordance with an embodiment of the present disclosure;

FIG. 6 is a block diagram of a lane traffic status determination apparatus provided in accordance with one embodiment of the present disclosure;

FIG. 7 is a block diagram of an electronic device shown in accordance with an exemplary embodiment;

FIG. 8 is a block diagram illustrating an electronic device in accordance with an example embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Fig. 1 is a flowchart of a method for determining a road traffic status according to an embodiment of the present disclosure, and as shown in fig. 1, the method includes:

in step 11, target track information corresponding to the target road to be identified in the target monitoring period is obtained. Wherein the delivery capacity may include one or more of a delivery person, a delivery robot, and an unmanned vehicle.

The target monitoring period may be set according to an actual usage scenario, and may be set to 30 days, 60 days, or 90 days, for example. The track information may indicate a distribution track of the plurality of distribution capacities when performing distribution service within the target monitoring period, and the target track information is a distribution track of the plurality of distribution capacities passing through the target road when performing distribution service within the target monitoring period.

In step 12, the target road is divided into a plurality of sub-segments according to the position information of the plurality of road marking points on the target road.

The road marking point can be determined in a way that a user reports the road point, and the road marking point can also be determined after information on a traffic forum is crawled and text analysis is carried out.

For example, the user may be the delivery capacity, or may be another driver, such as a driver driving on a road. When the user finds that the road sign in front of the user is marked with the no-pass guideboard in the driving process, the user can mark and report the geographical position of the user through the map APP so as to timely acquire the possible no-pass road position. Each road marking point reported by the same user can be formed into a target road, so that the road information reported by the user can be processed.

In the step, the target road is divided into a plurality of sub-road sections, so that the passing state of each sub-road section can be determined respectively, and the accuracy of determining the passing state of the road is improved.

In step 13, a delivery track of the route sub-road segment within the target monitoring period is determined according to the position information of the road marking point and the target track information included in each sub-road segment.

For example, for each sub-link, a sub-link area corresponding to the sub-link is generated according to the position information of the multiple road marking points included in the sub-link. For example, each road marking point on the sub-road segment may be connected along a preset direction, and an area within a preset range on both sides with the connection line as a center may be determined as the sub-road segment area. Illustratively, the sub-road segment area may be generated by a Buffer analysis method, such as a Buffer analysis of the linear element layer, to generate the sub-road segment area based on the connecting line of the road marking point. The generation of the area corresponding to the linear element based on the buffer analysis is the prior art and is not described herein again. The preset direction may be a driving direction on the left side of the target road or a driving direction on the right side of the target road, which is not limited by the present disclosure.

Then, for each track in the target track information, if there is a track point in the track that falls into the sub-road segment area, the track may be determined as a delivery track of the route sub-road segment.

In step 14, the traffic status of each sub-road section in the target monitoring time period is determined according to the delivery track of the sub-road section.

In this step, the traffic flow of each sub-road segment may be analyzed for the delivery trajectory of the sub-road segment, so as to determine the traffic state of the sub-road segment.

In step 15, the traffic state of the target road is determined according to the traffic state of each sub-section.

In the technical scheme, the target track information corresponding to the target road to be identified in the target monitoring period is obtained, the target road is divided into a plurality of sub-road sections according to the position information of a plurality of road marking points on the target road, and then the delivery track of the sub-road sections in the target monitoring period is determined according to the position information of the road marking points contained in each sub-road section and the target track information, so that the passing state of each sub-road section in the target monitoring period can be determined according to the delivery track of each sub-road section, and the passing state of the target road is determined according to the passing state of each sub-road section. Therefore, by the technical scheme, the multiple sub-road sections can be obtained by segmenting the obtained target road to be identified, so that the passing state of each sub-road section can be determined to determine the passing state of the target road, the precision and the accuracy of determining the passing state of the road are improved, and meanwhile, accurate data support is provided for subsequent path planning and path navigation. In addition, the application range of the method can be effectively widened, and more comprehensive and accurate data support is provided for data analysis based on the channel communication state.

In order to make those skilled in the art understand the technical solutions provided by the embodiments of the present disclosure, the following detailed descriptions are provided for the above steps.

In a possible embodiment, the obtaining of the target track information corresponding to the target road to be identified in the target monitoring period may be implemented as follows:

and generating a space R-tree of an area corresponding to the target road according to the position information of the road marking points on the target road.

Wherein, the R-tree is a data structure for processing multi-dimensional data, and is used for accessing spatial data composed of two-dimensional or higher-dimensional region objects. The R-tree is a balanced tree, and has two types of nodes: the node comprises a leaf node and a non-leaf node, wherein each node is composed of a plurality of index entries. The way of constructing the R-tree is the prior art, and is not described herein again.

And determining a track corresponding to the city to which the target road belongs in the track information in the target monitoring time period as a candidate track. The number of the distribution tracks of the distribution capacity is large, the density is high, the distribution is wide, and when the road traffic state analysis is performed, the track of the target road needs to be determined. Therefore, in this step, the track corresponding to the city to which the target road belongs may be determined first, so that the target track information may be further determined from the track, thereby effectively reducing the data volume in the track matching process.

And then mapping each candidate track with the space R-tree, and under the condition that track points in the candidate tracks are mapped to the space R-tree, determining the candidate tracks as target tracks associated with the target road, wherein the target track information comprises a plurality of target tracks.

Therefore, in the technical scheme, a spatial R-tree can be constructed according to the reported region of the target road, the R-tree adopts a method of combining and decomposing nodes when adding and deleting operations are carried out, and the balance of the R-tree is ensured, so that the access data volume of track matching based on the R-tree can be effectively improved, the efficiency and the accuracy of target track information determination are improved, the time corresponding to processing of track information with large data volume is saved, and the use experience of a user is improved.

In one possible embodiment, in step 13, an exemplary implementation manner of splitting the target road into a plurality of sub-segments according to the position information of the plurality of road marking points on the target road is as follows, as shown in fig. 2, and this step may include:

in step 21, the next road marking point is sequentially obtained from the first road marking point of the target road along the preset direction according to the preset direction.

For example, as shown in fig. 3, where the black mark points are used to represent the reported road mark points, and the preset direction is shown as the sequence of the black mark points in fig. 3 from small to large, the mark point 1 is the first road mark point on the target road, and the next road mark point obtained according to the preset direction is the mark point 2.

In step 22, according to the position information of the road marking points, the length of a broken line segment formed by connecting the acquired road marking points along the preset direction is determined.

In step 23, the target road is segmented according to the length of the broken line segment to obtain a plurality of sub-road segments, wherein except for the last sub-road segment in the target road along the preset direction, the broken line segments corresponding to adjacent sub-road segments have the same length, and the adjacent sub-road segments have an overlapped end point.

In an embodiment, as shown in fig. 3, the length of a broken line segment formed by connecting each road marking point along a preset direction may be obtained sequentially from the marking point 1, for example, the length of the broken line segment formed by the marking point 1 and the marking point 3 is the sum of the distance between the marking point 1 and the marking point 2 and the distance between the marking point 2 and the marking point 3, and the determination manners of other broken line segments are similar and are not described herein again. For example, the length of the broken line segment corresponding to the sub-road segment may be preset, and the length is L for example. As shown in the figure, if the length of the broken line segment corresponding to the mark point 1 and the mark point 3 is L, the road segment corresponding to the mark point 1 to the mark point 3 can be divided into a sub-road segment, and then, the next sub-road segment can start from the mark point 3, wherein the mark point 3 is used for the distance between the mark points 4 being smaller than L, and the length of the broken line segment formed by the mark point 3 and the mark point 5 being larger than L, at this time, a dividing point can be inserted between the mark points 4 and 5, as shown by a dividing point a in fig. 3, so that the length of the broken line segment formed by the mark point 3 and the dividing point a is L, thereby obtaining the next sub-road segment. Then, the segmentation point A can be used as the starting point of the next sub-road section, and the segmentation is continued, wherein the specific segmentation process is as above; similarly, no further description is provided herein.

For example, as shown in fig. 3, the target road may be split into the following sub-segments: 1-3, 3-A, A-7, 7-9, 9-B, B-13.

Therefore, by the technical scheme, the target road can be segmented to obtain a plurality of sub-road sections, and the broken line sections corresponding to other sub-road sections are the same except the last sub-road section in the target road along the preset direction, so that the accuracy of determining the passing state of the target road is ensured, meanwhile, the influence on the result of the passing state due to the uneven length of the sub-road sections can be avoided, and accurate support is provided for the subsequent determination of the passing state of the accurate target road.

In another embodiment, in step 13, according to the position information of the road marking points on the target road, an exemplary implementation manner of segmenting the target road into a plurality of sub-segments is as follows, and the step may further include:

As shown in fig. 3, the last sub-link is the sub-link B-13, and if the length of the broken line segment corresponding to the sub-link is smaller than the preset distance, it indicates that the length corresponding to the sub-link is smaller, and it is not necessary to perform separate determination, at this time, the sub-link and the previous sub-link 9-B may be merged, and the last sub-link obtained after merging is 9-13. The preset distance may be set according to an actual usage scenario, and may be, for example, 80% of the length of the broken line segment corresponding to the previous sub-segment. Therefore, by the technical scheme, the judgment of the independent passing state of the short sub-road section can be effectively avoided, the data processing amount can be reduced, the error of the judgment result caused by the short sub-road section is avoided, the accuracy of the passing state of the determined sub-road section is further improved, and the user experience is improved.

In another embodiment, when a user reports road marking points on the road, one of the road marking points may be selected as an identification point for marking the target road, and in step 13, according to the position information of the plurality of road marking points on the target road, an exemplary implementation manner of dividing the target road into a plurality of sub-segments is as follows, and the step may further include:

and when the length of the broken line segment corresponding to the determined last sub-road segment is smaller than a preset distance and the distance between the starting point of the last sub-road segment and the identification point is larger than the identification distance, combining the last sub-road segment and the previous sub-road segment of the last sub-road segment, wherein the preset distance is smaller than the length of the broken line segment corresponding to the previous sub-road segment.

In the technical scheme, if the length of the last sub-road segment is short and the starting point of the last sub-road segment is closer to the identification point, it indicates that the last sub-road segment is a road segment requiring a key attention, at this time, the sub-road segment may be used as an individual sub-road segment, and if the starting point of the last sub-road segment is farther from the identification point, it indicates that the last sub-road segment is not a road segment requiring a key attention, at this time, the last sub-road segment and the previous sub-road segment may be merged, thereby further improving the accuracy of segmenting the target road.

In a possible embodiment, in step 14, an exemplary implementation manner of determining the traffic status of each sub-road segment in the target monitoring period according to the delivery track of the sub-road segment is as follows, as shown in fig. 4, and the step may include:

in step 41, for each sub-link, a sub-link area corresponding to the sub-link is generated according to the position information of the road marking points included in the sub-link. The manner of generating the sub-segment area is described in detail above, and is not described herein again.

In step 42, the sub-road section area is divided in a direction perpendicular to the sub-road section area to obtain a plurality of sub-areas, wherein each of the sub-areas does not overlap with each other, and the sum of the widths of the sub-areas is the width of the sub-road section area. As shown in fig. 5, to determine a sub-link region, as an example, the sub-link region may be divided into regions according to the same width, and the sub-regions obtained by dividing the sub-link region are S1, S2, S3, and S4. As another example, the widths of the sub-regions of the region partition may be different, for example, the width corresponding to the middle position of the road may be larger, and the width corresponding to the edge of the road may be smaller, which is not limited by the present disclosure.

In step 43, according to the distribution tracks of the sub-road segments, a distribution track corresponding to each sub-area is determined.

For example, for the distribution track of the sub-segment, if there is a track point of the distribution track that falls in the sub-region, the distribution track may be determined as the distribution track corresponding to the sub-region, so that the distribution track corresponding to each sub-region may be determined.

In step 44, the traffic state corresponding to each sub-area is determined according to the distribution track corresponding to each sub-area, so as to obtain the traffic state of the sub-section in the target monitoring time period.

In this embodiment, the passing state corresponding to one sub-region of the sub-road segment may be determined according to the distribution track corresponding to the sub-region, so that the passing state may be determined for both sides of the target road, and thus the method may be applied to an application scenario in which the target road is prohibited from being passed on one side, the accuracy and the use range of the method for determining the passing state of the road provided by the present disclosure may be further improved, and an accurate data support may be provided for subsequent path planning.

In a possible embodiment, the exemplary implementation manner of determining the traffic state corresponding to each sub-area according to the distribution track corresponding to each sub-area is as follows, and may include:

for each sub-area, when the distribution track corresponding to the sub-area meets any one of the following conditions, determining that the passing state corresponding to the sub-area is a long-term forbidden state, wherein the long-term forbidden state represents that the sub-area is a long-term unperformable state:

in the first case: the daily average distribution track number corresponding to the sub-area is smaller than a first threshold, and the daily maximum track number is smaller than a second threshold, wherein the first threshold is smaller than the second threshold.

The number of daily average distribution tracks corresponding to the sub-area is the ratio of the total number of distribution tracks corresponding to the target monitoring time interval to the number of days included in the target monitoring time interval; for the daily maximum number of trajectories, statistics of the number of delivery trajectories may be performed in units of days within the target monitoring period, respectively, so as to determine the maximum number as the daily maximum number of trajectories. In this embodiment, the first threshold and the second threshold may be set according to an actual usage scenario, which is not limited by this disclosure.

In this embodiment, if the daily average delivery trajectory number corresponding to the sub-area is smaller than the first threshold, it indicates that the daily trajectory number in the cowherd monitoring period is relatively small, and meanwhile, the daily maximum trajectory number is smaller than the second threshold, that is, the trajectory number is relatively small in the day with the maximum trajectory number in the target monitoring period, and in this case, the passing state corresponding to the sub-area may be determined to be the long-term disabled state.

In the second case: the daily average distribution track number corresponding to the sub-area is greater than or equal to the first threshold and smaller than a third threshold, the daily average track speed corresponding to the sub-area is smaller than a fourth threshold, the daily maximum track number is smaller than the second threshold, and the daily maximum track speed is smaller than a fifth threshold, wherein the first threshold is smaller than the third threshold, and the fourth threshold is smaller than the fifth threshold. The setting of the relevant threshold in this embodiment may be set according to an actual usage scenario, and is not described herein again.

The average daily track speed corresponding to the sub-area can be determined in the following way: first, determining the daily trajectory in the target monitoring period to determine the average trajectory speed corresponding to each day, and then determining the ratio of the sum of the average trajectory speeds corresponding to each day in the target monitoring period to the number of days included in the target monitoring period as the average daily trajectory speed corresponding to the sub-area. The daily maximum trajectory speed is the maximum value of the average trajectory speed corresponding to each day in the target monitoring period.

In this embodiment, the daily average number of the distribution tracks corresponding to the sub-area is relatively small, and the speed corresponding to the distribution tracks is low, that is, the traveling speed of the distribution capacity in the sub-area is low, the number of the tracks in the day with the largest number of tracks in the target monitoring period is also small, and the daily maximum track speed is also small, so that the passing state corresponding to the sub-area can be determined to be the long-term forbidding state.

By the technical scheme, the passing state corresponding to the sub-area can be determined by analyzing the number and the speed of the distribution tracks of the sub-area, so that the accuracy of the determined passing state of the road with low passing flow can be ensured, and accurate data support is provided for subsequent route planning of a user.

In a possible embodiment, an exemplary implementation manner of determining the traffic status corresponding to each sub-area according to the delivery track corresponding to each sub-area is as follows, and the step may include:

and dividing the target monitoring time interval according to the variation trend of the number of the distribution tracks of two adjacent days in the target monitoring time interval to obtain state monitoring time intervals, wherein the variation trend of each state monitoring time interval is the same. Wherein the trend of change can be determined by the positive and negative of the difference between the number of delivery trajectories on two adjacent days.

And if the target difference value of two adjacent state monitoring time periods is smaller than a sixth threshold value, combining the two adjacent state monitoring time periods, wherein the target difference value is the difference value between the maximum track quantity per day and the minimum track quantity per day in the two state monitoring time periods. The target difference value of two adjacent state monitoring time periods is smaller than the sixth threshold value, namely the maximum value and the minimum value of the number of tracks corresponding to the two adjacent state monitoring time periods are close to each other, at the moment, the trend changes of the two adjacent state monitoring time periods are probably caused by normal track fluctuation, at the moment, the two adjacent state monitoring time periods can be combined, and therefore the accuracy of the state monitoring time periods is improved.

For the last state monitoring period, if the variation trend corresponding to the state monitoring period is that the number is reduced, the ratio of the target difference value of the state monitoring period to the number of the distribution tracks on the first day in the state monitoring period exceeds a seventh threshold, and the average daily distribution track number corresponding to the state monitoring period is less than an eighth threshold, determining that the passing state corresponding to the sub-region is a short-term forbidding state.

For the last state monitoring period, if the variation trend corresponding to the state monitoring period is that the number is reduced, it indicates that the state monitoring period may correspond to a state of road prohibition, and then, the ratio of the target difference value of the state monitoring period to the number of delivery trajectories on the first day in the state monitoring period exceeds a seventh threshold, and the number of daily delivery trajectories corresponding to the state monitoring period is less than an eighth threshold, that is, it indicates that the decrease of the number of trajectories in the state monitoring period is too large compared with the number of trajectories in the previous state monitoring period, and the number of trajectories in the state monitoring period is low, and at this time, it may be determined that the traffic state corresponding to the sub-area is a short-term prohibition state. The short-term prohibition state indicates a state where the target road is temporarily closed, for example, the target road is currently in a maintenance state or a control state.

The relevant parameters in the first condition and the second condition are already described above, and are not described herein again.

By the technical scheme, the passing state corresponding to the sub-region can be determined by analyzing the number and the speed of the distribution tracks of the sub-region, so that the accuracy of the passing state of the road with low passing flow can be ensured, accurate data support is provided for route planning of a user subsequently, and more accurate travel navigation is provided for the user based on the passing state of the target road.

In a possible embodiment, in step 15, according to the traffic state of each sub-road segment, an exemplary implementation manner of determining the traffic state of the target road is as follows, including:

and if the passing state corresponding to the adjacent sub-road sections is the forbidden state, combining the adjacent sub-road sections, and determining the passing state as the passing state of the combined sub-road sections, wherein the forbidden state comprises a long-term forbidden state and a short-term forbidden state.

In this embodiment, as shown in fig. 3, the determined sub-segments 1-3, 9-13 are in a non-forbidden state, and the passing state of the sub-segments 3-a, a-7, 7-9 is a short-term forbidden state, so that the adjacent sub-segments can be merged, i.e., merged into the sub-segments 3-9, and the passing state of the sub-segment is determined to be the short-term forbidden state.

Illustratively, in this embodiment, sub-segments 3-9 may be marked as forbidden and sub-segments 1-3 and 9-13 may be marked as passable segments in the target road.

Therefore, by the technical scheme, the forbidden road section in the target road can be determined through the combination of the adjacent sub road sections through the judgment result of the passing state of each sub road section, namely, the closed road section in the target road is determined, so that the target road can be accurately marked for forbidden road, the influence of overlong closed road section on subsequent path planning caused by reporting errors is avoided, and the use experience of a user is improved.

The present disclosure also provides a navigation method, the method comprising:

matching the path information of the distribution waybill with an forbidden road with a passing state as a forbidden state, wherein the passing state of the forbidden road is determined according to any one of the road passing state determination methods;

The route information of the delivery waybill can be generated according to a route recommendation algorithm commonly used in the field, and then whether the route information contains a forbidden road or not can be determined, if the route information contains the forbidden road, the route information is represented as an error route, a user cannot drive according to the route represented by the route information, and at the moment, a planning engine can be called to re-determine the route information so as to obtain the avoided route information without containing the forbidden road. Therefore, by the technical scheme, whether the current path information is feasible or not can be determined in time based on the forbidden road determined by the reported path forbidden information of the user, so that an accurate planned path can be provided for the user, the inconvenience of the planned forbidden road on the driving of the user is avoided, the accuracy of the path information is ensured, the accurate planning is provided for the user, and the use experience is improved.

The present disclosure also provides a road traffic state determination device, as shown in fig. 6, the device 10 includes:

a first obtaining module 100, configured to obtain target track information corresponding to a target road to be identified in a target monitoring period;

a segmentation module 200 configured to segment the target road into a plurality of sub-segments according to position information of a plurality of road marking points on the target road;

a first determining module 300, configured to determine, according to the position information of the road marking point included in each of the sub-road segments and the target trajectory information, a delivery trajectory of the sub-road segments during the target monitoring period;

a second determining module 400, configured to determine, according to the delivery trajectory of each sub-road segment, a traffic status of the sub-road segment in the target monitoring period;

a third determining module 500 configured to determine a traffic state of the target road according to the traffic state of each of the sub-road segments.

Optionally, the cutting module comprises:

Optionally, the dicing module further comprises:

Optionally, the first determining module includes:

the first generation submodule is configured to generate a sub-road segment area corresponding to each sub-road segment according to the position information of the road marking points contained in the sub-road segment;

Optionally, the third determining sub-module includes:

the daily average distribution track number corresponding to the subarea is smaller than a first threshold, and the daily maximum track number is smaller than a second threshold, wherein the first threshold is smaller than the second threshold;

the first condition is that the daily average distribution track number corresponding to the sub-area is smaller than a first threshold;

Optionally, the third determining module includes:

Optionally, the obtaining module includes:

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Fig. 7 is a block diagram illustrating an electronic device 700 in accordance with an example embodiment. As shown in fig. 7, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.

The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the above-mentioned road traffic status determining method or navigation method. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus comprise: Wi-Fi module, Bluetooth module, NFC module, etc.

In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described channel state determination method or navigation method.

In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions which, when executed by a processor, implement the steps of the above-described path passing state determining method or navigation method. For example, the computer readable storage medium may be the memory 702 described above including program instructions executable by the processor 701 of the electronic device 700 to perform the road traffic state determination method or the navigation method described above.

Fig. 8 is a block diagram illustrating an electronic device 1900 in accordance with an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 8, an electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the above-described road traffic state determination method or navigation method.

Additionally, electronic device 1900 may also include a power component 1926 and a communication component 1950, the power component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1900. In addition, the electronic device 1900 may also include input/output (I/O) interfaces 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932^TM，Mac OS X^TM，Unix^TM，Linux^TMAnd so on.

In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions which, when executed by a processor, implement the steps of the above-described road traffic state determination method or navigation method. For example, the computer readable storage medium may be the memory 1932 described above that includes program instructions executable by the processor 1922 of the electronic device 1900 to perform the lane traffic status determination method or the navigation method described above.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned road traffic status determination method or navigation method when executed by the programmable apparatus.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A method for determining a road traffic status, the method comprising:

dividing the target road into a plurality of sub-road sections according to the position information of the plurality of road marking points on the target road;

2. The method according to claim 1, wherein the dividing the target road into a plurality of sub-segments according to the position information of the plurality of road marking points on the target road comprises:

3. The method according to claim 2, wherein the segmenting the target road into a plurality of sub-segments according to the position information of the plurality of road marking points on the target road further comprises:

4. The method according to claim 1, wherein the determining the traffic status of each sub-road section in the target monitoring period according to the delivery track of the sub-road section comprises:

dividing the sub road section area in a direction perpendicular to the sub road section to obtain a plurality of sub areas, wherein each sub area is not overlapped with each other, and the sum of the widths of the sub areas is the width of the sub road section area;

5. The method according to claim 4, wherein the determining the traffic status of each sub-area according to the distribution track corresponding to each sub-area comprises:

6. The method according to claim 4, wherein the determining the traffic status of each sub-area according to the distribution track corresponding to each sub-area comprises:

7. The method of claim 4, wherein the determining the traffic status of the target road according to the traffic status of each of the sub-segments comprises:

8. The method according to any one of claims 1 to 7, wherein the obtaining of target track information corresponding to the target road to be identified in a target monitoring period comprises:

mapping each candidate track with the space R-tree;

and under the condition that the track points in the candidate track are determined to be mapped on the space R-tree, determining the candidate track as a target track associated with the target road, wherein the target track information comprises a plurality of target tracks.

9. A method of navigation, the method comprising:

matching the path information of the distribution waybill with an forbidden road with a passing state being a forbidden state, wherein the passing state of the forbidden road is determined according to the method for determining the passing state of the road of any one of claims 1-8;

10. A road traffic state determination apparatus, characterized in that the apparatus comprises:

the segmentation module is configured to segment the target road into a plurality of sub-road segments according to the position information of the plurality of road marking points on the target road;

a first determining module, configured to determine, according to the position information of the road marking point included in each of the sub-road segments and the target trajectory information, a delivery trajectory that is routed to the sub-road segment within the target monitoring period;

11. A navigation device, characterized in that the device comprises:

a matching module, configured to match path information of a delivery waybill with an prohibited road with a traffic status being a prohibited status, wherein the traffic status of the prohibited road is determined according to the method for determining a road traffic status according to any one of claims 1 to 8;

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8, or which, when being executed by a processor, carries out the steps of the method of claim 9.

13. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 8 or to carry out the steps of the method of claim 9.