CN114677852B

CN114677852B - Road traffic state determining method, navigation device, medium and equipment

Info

Publication number: CN114677852B
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: 2023-05-26
Anticipated expiration: 2040-12-24
Also published as: CN114677852A

Abstract

The disclosure relates to a road traffic state determining method, a navigation method, a 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 a plurality of road marking points on the target road; determining a distribution track of the sub-road section in the target monitoring period according to the position information of the road marking point contained in each sub-road section and the target track information; determining the traffic state of each sub-road section in the target monitoring period according to the distribution track of the sub-road section; and determining the traffic state of the target road according to the traffic state of each sub-road section. Therefore, the accuracy and the precision of road traffic state determination can be improved, and meanwhile, accurate data support is provided for subsequent path planning and path navigation.

Description

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

Technical Field

The disclosure relates to the field of navigation, in particular to a road traffic state determining method, a navigation method, a device, a medium and equipment.

Background

Nowadays, the electronic map is used more and more widely, and great convenience is brought to people's travel. In the actual application scenario, in order to provide a more comprehensive service, such as a navigation service, a 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 sealed based on the reported information of the user, but the identified forbidden road is overlong because the reported information of the user is inaccurate or the reported road is too long, so that the accuracy of driving navigation is seriously affected, and the use of the road is inconvenient for the user.

Disclosure of Invention

The invention aims to provide an accurate and simple road traffic state determining method, a navigation device, a medium and equipment.

To achieve the above object, according to a first aspect of the present disclosure, there is provided a road traffic state determining 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 section in the target monitoring period according to the position information of the road marking point contained in each sub-road section and the target track information;

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

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

Optionally, the dividing 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 includes:

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

determining the length of a folded 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 cutting the target road according to the lengths of the broken line segments to obtain the plurality of sub-road segments, wherein the lengths of the broken line segments corresponding to adjacent sub-road segments are the same except for the last sub-road segment along the preset direction in the target road, and the adjacent sub-road segments are provided with a coincident endpoint.

Optionally, the dividing 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 further includes:

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

Optionally, the determining the traffic state of each sub-road section in the target monitoring period according to the distribution track of the sub-road section includes:

generating 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 sub-road section area is divided into a plurality of sub-areas in the direction perpendicular to the sub-road section, 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;

determining the distribution track corresponding to each sub-region according to the distribution track of the sub-region;

and determining the traffic state corresponding to each sub-region according to the distribution track corresponding to each sub-region so as to obtain the traffic state of the sub-region in the target monitoring period.

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

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

the number of daily average delivery tracks corresponding to the subareas is smaller than a first threshold value, and the number of daily maximum tracks is smaller than a second threshold value, wherein the first threshold value is smaller than the second threshold value;

the number of the daily average delivery tracks corresponding to the subareas is larger than or equal to the first threshold and smaller than a third threshold, the daily average track speed corresponding to the subareas is smaller than a fourth threshold, the number of the daily maximum tracks 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 subarea, if the distribution track corresponding to the subarea meets the first condition or the second condition:

Dividing the target monitoring period according to the change trend of the number of distribution tracks of two adjacent days in the target monitoring period to obtain state monitoring periods, wherein the change trend of each state monitoring period is the same;

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

for the last state monitoring period, if the number of the change trend corresponding to the state monitoring period is reduced, the ratio of the target difference value of the state monitoring period to the number of the delivery tracks on the first day in the state monitoring period exceeds a seventh threshold, and the number of the average delivery tracks on the day corresponding to the state monitoring period is smaller than an eighth threshold, determining that the traffic state corresponding to the subarea is a short-term forbidden state;

the first condition is that the number of the daily average distribution tracks corresponding to the subareas is smaller than a first threshold value;

the second condition is that the number of daily average delivery tracks corresponding to the subarea is larger than or equal to the first threshold and smaller than a third threshold, the daily average track speed corresponding to the subarea is smaller than a fourth threshold, and the number of daily maximum tracks 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 section includes:

if the traffic state corresponding to the adjacent sub-road section is a forbidden state, merging the adjacent sub-road sections, and determining the traffic state as the traffic state of the merged sub-road section, wherein the forbidden state comprises a long-term forbidden state and a short-term forbidden state;

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

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

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

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

mapping each candidate track with the space R-tree;

and determining the candidate track as a target track associated with the target road under the condition that the track point in the candidate track is mapped to the space R-tree, 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 delivery waybill with a forbidden road with a forbidden traffic state, wherein the forbidden traffic state of the forbidden road is determined according to any road traffic state determining method in the first aspect;

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

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

the first acquisition module is configured to acquire 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 the position information of a plurality of road marking points on the target road;

a first determining module configured to determine a delivery track routed to each sub-road section within the target monitoring period according to position information of a road marking point included in each sub-road section and the target track information;

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

and the third determining module is configured to determine the traffic state of the target road according to the traffic state of each sub-road section.

Optionally, the segmentation module includes:

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

the first determining submodule is configured to determine the lengths of the folding line segments formed by connecting the obtained road marking points along the preset direction according to the position information of the road marking points;

and the sub-segmentation 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 the lengths of the broken line segments corresponding to adjacent sub-road segments are the same except for the last sub-road segment along the preset direction in the target road, and the adjacent sub-road segments have a coincident endpoint.

Optionally, the segmentation module further includes:

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

Optionally, the first determining module includes:

the first generation sub-module 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;

a dividing sub-module configured to divide the sub-section area into a plurality of sub-sections in a direction perpendicular to the sub-section, wherein each sub-section is not overlapped with each other, and the sum of the widths of the sub-sections is the width of the sub-section area;

the second determining submodule is configured to determine the distribution track corresponding to each subarea according to the distribution track of the subarea;

and the third determining submodule is configured to determine the traffic state corresponding to each subarea according to the distribution track corresponding to each subarea so as to obtain the traffic state of the subarea in the target monitoring period.

Optionally, the third determining submodule includes:

a fourth determining submodule configured to determine, for each of the subregions, that a traffic state corresponding to the subregion is a long-term disabled state when the delivery trajectory corresponding to the subregion satisfies any one of the following conditions:

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

the dividing sub-module is configured to divide the target monitoring period according to the change trend of the number of distribution tracks of two adjacent days in the target monitoring period to obtain state monitoring periods, wherein the change trend of each state monitoring period is the same;

A second merging sub-module configured to merge two adjacent state monitoring periods if a target difference value of the two adjacent state monitoring periods is less than a sixth threshold, wherein the target difference value is a difference value between a daily maximum track number and a daily minimum track number in the two state monitoring periods;

a fifth determining submodule, configured to determine, for a last state monitoring period, that a traffic state corresponding to the subregion is a short-term disabled state if a number of change trends corresponding to the state monitoring period decreases, a ratio of a target difference value of the state monitoring period to a number of delivery trajectories of a first day in the state monitoring period exceeds a seventh threshold, and a number of average delivery trajectories of a day corresponding to the state monitoring period is less than an eighth threshold;

Optionally, the third determining module includes:

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

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

Optionally, the acquiring module includes:

a second generation sub-module configured to generate a spatial R-tree of an area corresponding to the target road according to position information of a plurality of road marking points on the target road;

a sixth determining submodule configured to determine a track corresponding to a city to which the target road belongs in track information in the target monitoring period as a candidate track;

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

A seventh determination submodule configured to determine the candidate track as a target track associated with the target road in a case where it is determined that a track point in the candidate track is mapped to the space R-tree, wherein the target track information includes a plurality of the target tracks.

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 path information of the delivery waybill with a forbidden road with a forbidden traffic state, wherein the forbidden traffic state of the forbidden road is determined according to any one of the road traffic state determining methods in the first aspect;

and the fourth determining module is configured to determine, when the path corresponding to the path information includes the forbidden road according to the matching result, avoidance 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 included in the avoidance path information.

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 of the first aspects 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 implement the steps of the method according to any one of the first aspect or to implement the steps of the method according to the second aspect.

In the above technical solution, the method includes 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 segments according to position information of a plurality of road marking points on the target road, and determining a distribution track of the sub-road segments in the target monitoring period according to the position information of the road marking points and the target track information contained in each sub-road segment, so that a traffic state of the sub-road segment in the target monitoring period can be determined according to the distribution track of each sub-road segment, and the traffic state of the target road can be determined according to the traffic state of each sub-road segment. Therefore, through the technical scheme, the obtained target road to be identified can be segmented to obtain a plurality of sub-road sections, so that the traffic state of each sub-road section can be determined to determine the traffic state of the target road, the accuracy and the accuracy of road traffic state determination 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 traffic state.

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

Drawings

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

FIG. 1 is a flow chart of a road traffic state determination method provided in accordance with one embodiment of the present disclosure;

FIG. 2 is a flow chart of an exemplary implementation of splitting a target link into a plurality of sub-links according to location information of a plurality of road marking points on the target link, provided in accordance with one embodiment of the present disclosure;

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

FIG. 4 is a flow chart of an exemplary implementation of determining a traffic state of each sub-segment during a target monitoring period according to a delivery trajectory of the sub-segment, respectively, provided in accordance with one embodiment of the present disclosure;

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

FIG. 6 is a block diagram of a road traffic state determination device 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 of an electronic device, according to an example embodiment.

Detailed Description

Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.

Fig. 1 is a flowchart of a road traffic state determining method 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 a target road to be identified in a target monitoring period is acquired. The delivery capacity may include one or more of delivery personnel, delivery robots, and unmanned vehicles, among others.

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 represent a distribution track of the plurality of distribution capacities when the distribution service is performed in the target monitoring period, and the target track information is a distribution track of the plurality of distribution capacities when the distribution service is performed in the target monitoring period, passing through the target road.

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

The road marking point can be determined by reporting the road point by the user, or can be determined by crawling information on a traffic forum and analyzing the text.

The user may be, for example, the distribution capacity described above, or another driver, for example, a driver traveling on a road. When a user finds that the traffic-forbidden guideboard exists in the road mark in front in the running process, the user can report the geographical position of the road mark through the map APP so as to acquire the possible traffic-forbidden road position in time. 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 this step, the target road is divided into a plurality of sub-links, so that the traffic state of each sub-link can be determined separately, and the accuracy of road traffic state determination is improved.

In step 13, the distribution track of the route sub-section in the target monitoring period is determined according to the position information of the road marking point and the target track information contained in each sub-section.

For each sub-link, a sub-link area corresponding to the sub-link is generated according to the position information of a plurality of road marking points contained in the sub-link. For example, each road marking point on a sub-link may be connected in a preset direction, and an area within a preset range on both sides centered on the connection may be determined as the sub-link area. For example, the sub-link region may be generated based on a link of the road marking point by a Buffer analysis method, such as a Buffer analysis of a line element layer. The area corresponding to the linear element is generated based on the buffer analysis mode in the prior art, and will not be described herein. The preset direction may be a traveling direction on the left side of the target road or a traveling 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 the track exists and the track point falls into the sub-road section area, the track can be determined to be a delivery track of the path sub-road section.

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

In this step, the traffic flow of each sub-section may be analyzed for the delivery trajectory of the sub-section, thereby determining the traffic state of the sub-section.

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

In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present disclosure, the following details of the above steps are described.

In a possible embodiment, the implementation manner of obtaining the target track information corresponding to the target road to be identified in the target monitoring period may include:

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

Wherein, R-tree is a data structure for processing multidimensional data, which is used for accessing space data composed of two-dimensional or higher-dimensional area objects. The R-tree is a balanced tree, and two types of nodes exist on the R-tree: a leaf node and a non-leaf node, each node being made up of a number of index entries. The manner of constructing the R-tree is the prior art, and is not described herein.

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

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

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

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

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

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

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

In step 23, the target road is segmented according to the lengths of the folding line segments, so as to obtain a plurality of sub-road segments, wherein the lengths of the folding line segments corresponding to adjacent sub-road segments are the same except for the last sub-road segment along the preset direction in the target road, and the adjacent sub-road segments have a coincident endpoint.

In one embodiment, as shown in fig. 3, the length of a broken line segment formed by connecting each of the marker points along the preset direction may be obtained sequentially from the marker point 1, for example, the length of a broken line segment formed by the marker point 1 and the marker point 3 is the sum of the distance between the marker point 1 and the marker point 2 and the distance between the marker point 2 and the marker point 3, and the determination manners of other broken line segments are similar and are not repeated herein. Illustratively, the length of the polyline segment corresponding to the sub-segment may be preset, and illustratively, the length is L. As shown in the figure, the lengths of the folding lines corresponding to the marking points 1 and 3 are L, the road segments corresponding to the marking points 1 to 3 may be cut into a sub road segment, and then the next sub road segment may start from the marking point 3, where the distance between the marking points 3 and 4 is smaller than L, and the length of the folding line formed by the marking point 3 and the marking point 5 is greater than L, at this time, a cutting point may be inserted between the marking points 4 and 5, as shown by the cutting point a in fig. 3, so that the length of the folding line formed by the marking point 3 and the cutting point a is L, thereby obtaining the next sub road segment. Then, the segmentation point A can be used as a starting point of the next sub-road section to continue segmentation, and the specific segmentation process and the above are carried out; similarly, the description is omitted here.

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

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

In another embodiment, in step 13, an exemplary implementation of dividing 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 is as follows, and the step may further include:

As shown in fig. 3, the last sub-section is the sub-section B-13, if the length of the broken line section corresponding to the sub-section is smaller than the preset distance, the corresponding length of the sub-section is smaller, and no separate judgment is needed, at this time, the sub-section and the previous sub-section 9-B can be combined, and the last sub-section obtained after the combination is 9-13. The preset distance may be set according to an actual usage scenario, for example, may be 80% of the length of the polyline corresponding to the previous sub-section. Therefore, through the technical scheme, the judgment of the individual traffic state of the excessively short sub-road section can be effectively avoided, so that the data processing capacity can be reduced, meanwhile, the judgment result error caused by the excessively short sub-road section is avoided, the accuracy of the determined traffic state of the sub-road section is further improved, and the use experience of a user is improved.

In another embodiment, when the user reports the road marking points, 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-road 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-segment is smaller than a preset distance, and the distance between the starting point of the last sub-segment and the identification point is larger than the identification distance, merging the last sub-segment with the previous sub-segment of the last sub-segment, wherein the preset distance is smaller than the length of the broken line segment corresponding to the previous sub-segment.

In the technical scheme, if the length of the last sub-road section is shorter and the starting point of the last sub-road section is closer to the identification point, the last sub-road section is indicated to be the road section needing to be focused, at the moment, the sub-road section can be used as the independent sub-road section, if the starting point of the last sub-road section is farther from the identification point, the last sub-road section is indicated to not be the road section needing to be focused, at the moment, the last sub-road section and the previous sub-road section can be combined, and therefore the accuracy of cutting the target road is further improved.

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

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

In step 42, the sub-road section area is divided into a plurality of sub-areas in a direction perpendicular to the sub-road section, 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. As shown in fig. 5, for a schematic diagram of a determined sub-link area, as an example, the sub-link area may be divided into a plurality of sub-areas S1, S2, S3, and S4 by dividing the sub-link area into the same width. As another example, the widths of the sub-regions of the region division may be different, for example, the width corresponding to the road middle position may be larger, and the width of the region corresponding to the road edge may be smaller, which is not limited by the present disclosure.

In step 43, according to the distribution track of the sub-section, a distribution track corresponding to each sub-section is determined.

For example, for the delivery track of the sub-road section, if the delivery track has a track point falling in the sub-region, the delivery track may be determined as the delivery track corresponding to the sub-region, so that the delivery track corresponding to each sub-region may be determined.

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

In this embodiment, the traffic state corresponding to a sub-area of the sub-road section can be determined according to the distribution track corresponding to the sub-area, so that the traffic state can be determined according to the two sides of the target road, and the method is suitable for application scenarios in which the single side of the target road is forbidden, the accuracy and the application range of the road traffic state determination method provided by the present disclosure are further improved, and accurate data support is provided for subsequent path planning.

In one possible embodiment, an exemplary implementation manner of determining, according to the delivery track corresponding to each sub-area, the traffic state corresponding to the sub-area may include:

for each subarea, when the distribution track corresponding to the subarea meets any one of the following conditions, determining that the traffic state corresponding to the subarea is a long-term forbidden state, wherein the long-term forbidden state represents that the subarea is in a long-term non-accessible state:

First case: the number of daily average delivery tracks corresponding to the subareas is smaller than a first threshold value, and the number of daily maximum tracks is smaller than a second threshold value, wherein the first threshold value is smaller than the second threshold value.

The number of the daily average delivery tracks corresponding to the subareas is the ratio of the total number of the delivery tracks corresponding to the target monitoring period to the number of days contained in the target monitoring period; for the maximum number of tracks per day, statistics of the number of delivery tracks may be performed in units of days within the target monitoring period, respectively, so that the maximum number is determined as the maximum number of tracks per day. In this embodiment, the first threshold value and the second threshold value may be set according to an actual use scenario, which is not limited by the present disclosure.

In this embodiment, if the number of daily average delivery tracks corresponding to the sub-area is smaller than the first threshold, it means that the number of daily tracks in the monitoring period of the Mubao is smaller, and meanwhile, the maximum number of daily tracks is smaller than the second threshold, that is, the number of tracks in the day with the largest number of tracks in the target monitoring period is also smaller, and in this case, it can be determined that the traffic state corresponding to the sub-area is a long-term forbidden state.

Second case: the number of the daily average delivery tracks corresponding to the subareas is larger than or equal to the first threshold and smaller than a third threshold, the daily average track speed corresponding to the subareas is smaller than a fourth threshold, the number of the daily maximum tracks 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 the actual usage scenario, which is not described herein.

The average daily track speed corresponding to the subarea can be determined by the following modes: firstly, determining the daily track in the target monitoring period to determine the average track speed corresponding to each day, and then, determining the ratio of the sum of the average track speeds corresponding to each day in the target monitoring period to the number of days contained in the target monitoring period as the daily track speed corresponding to the subarea. The daily maximum track speed is the maximum value of the average track speed corresponding to each day in the target monitoring period.

In this embodiment, the number of daily average delivery tracks corresponding to the sub-area is relatively small, and the speed corresponding to the delivery tracks is low, that is, the running speed of the delivery capacity in the sub-area is slow, and the track number is also small in the day with the largest track number in the target monitoring period, and the traffic state corresponding to the sub-area can be determined to be a long-term forbidden state when the daily maximum track speed is also small.

Through the technical scheme, the traffic state corresponding to the subarea can be determined through the analysis of the quantity and the speed of the distribution tracks of the subarea, so that the accuracy of the traffic state of the road with lower determined traffic flow can be ensured, and accurate data support is provided for the subsequent route planning of the user.

In one possible embodiment, an 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, where the steps may include:

dividing the target monitoring period according to the change trend of the number of distribution tracks of two adjacent days in the target monitoring period to obtain state monitoring periods, wherein the change trend of each state monitoring period is the same. Wherein the change trend can be determined by the positive and negative of the difference in the number of distribution tracks of adjacent two days.

And if the target difference value of the two adjacent state monitoring periods is smaller than a sixth threshold value, merging the two adjacent state monitoring periods, wherein the target difference value is the difference value of the daily maximum track number and the daily minimum track number in the two state monitoring periods. The target difference value of two adjacent state monitoring periods is smaller than a sixth threshold, that is, the maximum value and the minimum value of the track number corresponding to the two adjacent state monitoring periods are similar, at this time, the trend change of the two state monitoring periods may be generated due to normal track fluctuation, at this time, the two adjacent state monitoring periods may be combined, so that the accuracy of the state monitoring periods is improved.

For the last state monitoring period, if the number of the change trend corresponding to the state monitoring period is reduced, the ratio of the target difference value of the state monitoring period to the number of the delivery tracks on the first day in the state monitoring period exceeds a seventh threshold, and the number of the average delivery tracks on the day corresponding to the state monitoring period is smaller than an eighth threshold, determining that the traffic state corresponding to the subarea is a short-term forbidden state.

For the last state monitoring period, if the number of the variation trend corresponding to the state monitoring period is reduced, the state monitoring period may correspond to a forbidden state of the road, then, the ratio of the target difference value of the state monitoring period to the number of the delivery tracks on the first day in the state monitoring period exceeds a seventh threshold, and the number of the average delivery tracks on the first day corresponding to the state monitoring period is smaller than an eighth threshold, that is, the number of the tracks corresponding to the state monitoring period is reduced too much compared with the number of the tracks of the previous monitoring period, and the number of the tracks corresponding to the state monitoring period is lower, and at this time, it may be determined that the traffic state corresponding to the subarea is a short-term forbidden state. The short-term disabled state indicates a state in which the target road is temporarily blocked, for example, the target road is currently in a maintenance state or a control state.

Wherein, the related parameters in the first condition and the second condition are described above, and are not described herein.

Through the technical scheme, the traffic state corresponding to the sub-region can be determined through the analysis of the quantity and the speed of the distribution tracks of the sub-region, so that the accuracy of the traffic state of the road with lower determined traffic flow can be ensured, accurate data support is provided for the subsequent route planning of the user, and more accurate travel navigation is provided for the user based on the traffic state of the target road.

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

If the traffic state corresponding to the adjacent sub-road sections is a forbidden state, merging the adjacent sub-road sections, and determining the traffic state as the traffic state of the merged 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-disabled state, and the traffic states of the sub-segments 3-a, a-7,7-9 are in a short-term disabled state, so that the adjacent sub-segments can be combined, i.e., can be combined into the sub-segments 3-9, and the traffic state of the sub-segments is determined to be in the short-term disabled state.

Illustratively, in this embodiment, sub-links 3-9 may be marked as disabled and sub-links 1-3 and sub-links 9-13 of the target link may be marked as passable links.

Therefore, through the technical scheme, through the judgment result of the traffic state of each sub-road section, the restricted road section in the target road can be determined through the combination of the adjacent sub-road sections, namely the closed road section in the target road is determined, so that the target road can be accurately marked in a restricted way, the influence of overlong closed road sections on the subsequent path planning due to reporting errors is avoided, and the user experience is improved.

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

matching the path information of the delivery waybill with a forbidden road with a forbidden traffic state, wherein the forbidden traffic state of the forbidden road is determined according to any road traffic state determining method;

The method comprises the steps that route information of a distribution waybill can be generated according to a route recommendation algorithm commonly used in the art, whether a forbidden road is contained in the route information or not can be determined, if the forbidden road is contained in the route information, the route information is indicated to be an incorrect route, a user cannot travel according to the route indicated by the route information, and a planning engine can be called to re-determine the route information at the moment so as to obtain the avoidance route information which does not contain the forbidden road. Therefore, through the technical scheme, the forbidden road determined based on the reported path forbidden information of the user can timely determine whether the current path information is feasible or not, so that an accurate planning path can be provided for the user, inconvenience caused by planning the forbidden road to the running of the user is avoided, the accuracy of the path information is ensured, an accurate planning is provided for the user, and the use experience is improved.

The present disclosure also provides a road traffic state determining apparatus, as shown in fig. 6, the apparatus 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 a delivery track routed to each of the sub-road segments within the target monitoring period according to the position information of the road marking point and the target track information included in each of the sub-road segments;

a second determining module 400 configured to determine a traffic state of each of the sub-road segments in the target monitoring period according to the distribution track of the sub-road segment;

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

Optionally, the segmentation module includes:

Optionally, the segmentation module further includes:

Optionally, the first determining module includes:

Optionally, the third determining submodule includes:

Optionally, the third determining module includes:

Optionally, the acquiring module includes:

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Fig. 7 is a block diagram of an electronic device 700, according to an example embodiment. As shown in fig. 7, the electronic device 700 may include: a processor 701, 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 to perform all or part of the steps in the road traffic state determining method or the navigation method. The memory 702 is used to store various types of data to support operation on the electronic device 700, which may include, for example, instructions for any application or method operating on the electronic device 700, as well as application-related data, such as contact data, messages sent and received, pictures, audio, video, and so forth. The Memory 702 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 703 can include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, 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 (Application Specific Integrated Circuit, abbreviated ASIC), digital signal processor (Digital Signal Processor, abbreviated DSP), digital signal processing device (Digital Signal Processing Device, abbreviated DSPD), programmable logic device (Programmable Logic Device, abbreviated PLD), field programmable gate array (Field Programmable Gate Array, abbreviated FPGA), controller, microcontroller, microprocessor, or other electronic components for performing the road traffic state determination method or navigation method described above.

In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the road traffic state determination method or navigation method described above. For example, the computer readable storage medium may be the memory 702 including program instructions described above, which are 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 according to an example embodiment. For example, 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 each corresponding to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the road traffic state determination method or the navigation method described above.

In addition, the electronic device 1900 may further 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 of the electronic device 1900, e.g., wired or wireless communication. In addition, the electronic device 1900 may also include an input/output (I/O) interface 1958. The electronic device 1900 may operate an operating system based on a memory 1932, such as Windows Server ^TM ，Mac OS X ^TM ，Unix ^TM ，Linux ^TM Etc.

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

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.

Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims

1. A road traffic state determination method, characterized in that the method comprises:

determining the traffic state of the target road according to the traffic state of each sub-road section;

wherein, the liquid crystal display device comprises a liquid crystal display device,

the 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 comprises the following steps:

dividing the target road according to the lengths of the broken line segments to obtain a plurality of sub-road segments, wherein the lengths of the broken line segments corresponding to adjacent sub-road segments are the same except for the last sub-road segment along the preset direction in the target road, and the adjacent sub-road segments are provided with a coincident endpoint;

the determining the traffic state of each sub-road section in the target monitoring period according to the distribution track of the sub-road section respectively comprises the following steps:

2. The method of 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, further comprises:

3. The method of claim 2, wherein determining the traffic state corresponding to each sub-area according to the distribution track corresponding to the sub-area comprises:

4. A method according to claim 3, wherein said determining the traffic state corresponding to each sub-area according to the respective distribution trajectory of the sub-area comprises:

5. A method according to claim 3, wherein said determining the traffic state of the target road from the traffic state of each of the sub-road segments comprises:

6. The method according to any one of claims 1-5, wherein the obtaining target track information corresponding to a target road to be identified in a target monitoring period includes:

mapping each candidate track with the space R-tree;

7. A method of navigation, the method comprising:

matching the path information of the delivery waybill with a forbidden road with a forbidden traffic state, wherein the forbidden traffic state of the forbidden road is determined according to the road traffic state determining method of any one of claims 1-6;

8. A navigation device, the device comprising:

a matching module configured to match path information of a delivery waybill with a forbidden road whose traffic state is a forbidden state, wherein the traffic state of the forbidden road is determined according to the road traffic state determination method of any one of claims 1 to 6;

9. A computer readable storage medium, on which a computer program is stored, characterized in that the program when being executed by a processor implements the steps of the method according to any one of claims 1-6, or the program when being executed by a processor implements the steps of the method according to claim 7.

10. 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 1-6 or to carry out the steps of the method of claim 7.