CN115561478A

CN115561478A - Vehicle speed measuring method and device, electronic equipment and storage medium

Info

Publication number: CN115561478A
Application number: CN202211167869.6A
Authority: CN
Inventors: 张守业; 吴雯玥
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-01-03

Abstract

The present disclosure provides a vehicle speed measurement method, device, electronic device and storage medium, and relates to the field of artificial intelligence, in particular to the fields of big data, intelligent transportation and the like. The implementation scheme is as follows: acquiring map information of a road and vehicle positioning information associated with a vehicle traveling on the road; determining a speed measuring interval for measuring the speed of the vehicle based on the map information and the vehicle positioning information; determining the running time of the vehicle running through the speed measuring interval; and determining the running speed of the vehicle based on the speed measuring interval and the running time.

Description

Vehicle speed measuring method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence, particularly to the fields of big data, intelligent transportation, and the like, and in particular, to a vehicle speed measurement method, apparatus, electronic device, computer-readable storage medium, and computer program product.

Background

In recent years, as intelligent transportation is widely popularized in cities, various methods for measuring the speed of vehicles are also developed. At present, the speed measurement of vehicles is generally realized through an automatic snapshot system installed on a road. However, such automatic snapshot systems are generally relatively expensive and require large deployments in cities to meet demand, which in turn makes the method difficult to popularize. Research on new practical methods for vehicle speed measurement is still a current focus.

Disclosure of Invention

The present disclosure provides a vehicle speed measuring method, apparatus, electronic device, computer-readable storage medium, and computer program product.

According to an aspect of the present disclosure, there is provided a vehicle speed measuring method including acquiring map information of a road and vehicle positioning information associated with a vehicle traveling on the road; determining a speed measuring interval for measuring the speed of the vehicle based on the map information and the vehicle positioning information; determining the running time of the vehicle running through the speed measuring interval; and determining the running speed of the vehicle based on the speed measuring interval and the running time.

According to another aspect of the present disclosure, there is provided an apparatus for measuring speed of a vehicle, including an information obtaining module configured to obtain map information of a road and vehicle positioning information associated with a vehicle traveling on the road; the speed measurement interval determination module is configured to determine a speed measurement interval for measuring the speed of the vehicle based on the map information and the vehicle positioning information; a speed measurement time determination module configured to determine a travel time for the vehicle to travel through a speed measurement interval; and a speed determination module configured to determine a travel speed of the vehicle based on the speed measurement interval and the travel time.

According to another aspect of the present disclosure, there is provided an electronic device comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of the present disclosure as provided above.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the present disclosure as provided above.

According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the method as provided above.

According to one or more embodiments of the present disclosure, vehicle speed measurement can be achieved in a more economical and efficient manner.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.

FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, in accordance with embodiments of the present disclosure;

FIG. 2 shows a flow chart of a method of measuring vehicle speed according to an embodiment of the present disclosure;

FIG. 3 shows a flow chart of a process of determining a pace determination interval according to an embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of the steps of determining road segments and road segment flow directions according to an embodiment of the disclosure;

fig. 5 shows a schematic diagram of the steps of determining start and end positioning information according to an embodiment of the disclosure;

FIG. 6 shows a schematic view of a start end and a stop end of a road segment according to an embodiment of the disclosure;

fig. 7 shows a schematic diagram for determining a travel time for a vehicle to travel through a tachometer zone in accordance with an embodiment of the present disclosure;

FIG. 8 shows a schematic diagram of a vehicle speed measurement method according to an embodiment of the disclosure;

fig. 9 is a block diagram showing a structure of a vehicle speed measuring device according to an embodiment of the present disclosure;

fig. 10 is a block diagram showing a configuration of a vehicle speed measuring device according to another embodiment of the present disclosure;

FIG. 11 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to define a positional relationship, a temporal relationship, or an importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.

The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element may be one or a plurality of. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.

In the related art, a conventional method for measuring the speed of a vehicle traveling on a road is generally implemented by an automatic snapshot system installed on the road. The vehicle speed measurement is realized by continuously capturing images of the vehicle in the driving process and extracting distance and time information for calculating the vehicle speed from the images.

However, with the development of urban roads and the increasing number of vehicles, the conventional vehicle speed measuring method relying on an automatic capturing system is increasingly difficult to popularize because the automatic capturing system is generally required to be installed at each intersection of the road, so that not only is the technology complicated, but also the cost is relatively expensive.

In view of the above technical problem, according to an aspect of the present disclosure, a method for measuring a speed of a vehicle is provided.

Before describing in detail the method of measuring speed of a vehicle according to an embodiment of the present disclosure, a schematic diagram of an exemplary system in which the various methods and apparatus described herein may be implemented is first described in conjunction with fig. 1.

Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented, according to an embodiment of the disclosure. Referring to fig. 1, the system 100 includes one or

more client devices

101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120.

Client devices

101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

In embodiments of the present disclosure, the server 120 may run one or more services or software applications that enable the vehicle speed measurement method to be performed.

In some embodiments, the server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. In certain embodiments, these services may be provided as web-based services or cloud services, for example, provided to users of

client devices

101, 102, 103, 104, 105, and/or 106 under a software as a service (SaaS) model.

In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user operating a

client device

101, 102, 103, 104, 105, and/or 106 may, in turn, utilize one or more client applications to interact with the server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

The user may use

client devices

101, 102, 103, 104, 105, and/or 106 to obtain results of vehicle speed measurement. The client device may provide an interface that enables a user of the client device to interact with the client device. The client device may also output information to the user via the interface. Although fig. 1 depicts only six client devices, those skilled in the art will appreciate that any number of client devices may be supported by the present disclosure.

Client devices

101, 102, 103, 104, 105, and/or 106 may include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and so forth. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, linux, or Linux-like operating systems (e.g., GOOGLE Chrome OS); or include various Mobile operating systems such as MICROSOFT Windows Mobile OS, iOS, windows Phone, android. Portable handheld devices may include cellular telephones, smart phones, tablets, personal Digital Assistants (PDAs), and the like. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. The gaming system may include a variety of handheld gaming devices, internet-enabled gaming devices, and the like. The client device is capable of executing a variety of different applications, such as various Internet-related applications, communication applications (e.g., email applications), short Message Service (SMS) applications, and may use a variety of communication protocols.

Network 110 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. Merely by way of example, one or more networks 110 may be a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a blockchain network, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (e.g., bluetooth, WIFI), and/or any combination of these and/or other networks.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.

In some implementations, the server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of the

client devices

101, 102, 103, 104, 105, and/or 106. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of

client devices

101, 102, 103, 104, 105, and/or 106.

In some embodiments, the server 120 may be a server of a distributed system, or a server incorporating a blockchain. The server 120 may also be a cloud server, or a smart cloud computing server or a smart cloud host with artificial intelligence technology. The cloud Server is a host product in a cloud computing service system, and is used for solving the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service.

The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. The database 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The database 130 may be of different types. In certain embodiments, the database used by the server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data to and from the databases in response to the commands.

In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or regular stores supported by a file system.

The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

The following describes in detail a vehicle speed measurement method according to an embodiment of the present disclosure.

Fig. 2 shows a flow chart of a method 200 of measuring vehicle speed according to an embodiment of the present disclosure. As shown in fig. 2, the method 200 includes steps S202, S204, S206, and S208.

In step S202, map information of a road and vehicle positioning information associated with a vehicle traveling on the road are acquired.

In an example, a road may include a city street, a highway, or an intra-city or inter-city highway, etc. Accordingly, the map information of the roads may include map data of the roads, such as road names and road geographical positions, and the like. The map information of the road may be acquired by a vehicle-road cooperation system laid in a city.

In an example, the vehicle positioning information may include GPS (Global positioning System) data of the vehicle. The vehicle positioning information may include longitude and latitude information of a plurality of positioning points at which the vehicle travels on a road, and time information at the plurality of positioning points. The vehicle positioning information may be acquired by a drive test device provided on the road. The drive test equipment may be part of a vehicle-to-road coordination system for collecting GPS data of vehicles traveling on a road for uploading to the vehicle-to-road coordination system. The road test equipment can be arranged at the intersection of the road so as to cover a larger acquisition range. When a vehicle enters the acquisition range of the drive test equipment during driving, the drive test equipment can acquire longitude and latitude information of the vehicle at a plurality of positioning points, and each longitude and latitude information can have corresponding time information.

In step S204, a speed measurement interval for measuring the speed of the vehicle is determined based on the map information and the vehicle positioning information.

In an example, a road segment of interest in a road, e.g., a particular street, may be pre-specified by an organization or organization, such as a traffic management department. In the conventional method, if a vehicle running on the street needs to be tested, an automatic snapshot system is generally installed at two intersections of the street. In the method according to an embodiment of the present disclosure, it is not necessary to install such an automatic snapshot system, but the speed measurement is achieved by means of vehicle positioning information when the vehicle is traveling on the street (e.g., near the two intersections). Since the vehicle location information may include latitude and longitude information of a plurality of location points at which the vehicle travels on a road, and time information at the plurality of location points, two magnitudes for calculating the traveling speed of the vehicle, i.e., a distance (also referred to as a speed measurement section herein) and a time (also referred to as a traveling time herein), may be constructed from the vehicle location information.

In an example, each vehicle may have its own speed measurement range, since in practice there may be a large number of vehicles traveling on a particular street at the same time, and the vehicle location information collected via the drive test equipment is different from one another.

In step S206, the travel time for the vehicle to travel through the tachometer zone is determined.

In an example, after determining the tachometer zone of the vehicle based on the vehicle location information, a travel time for the vehicle to travel through the tachometer zone may be determined accordingly. The time information in the vehicle-locating information may be represented by a form such as a time stamp. Therefore, the travel time of the vehicle traveling through the speed measurement section can be reflected by the difference of the two time stamps corresponding to the speed measurement section.

In step S208, the travel speed of the vehicle is determined based on the tachometer interval and the travel time.

In an example, since the vehicle may not travel at a constant speed in the speed measurement section in practice, the travel speed of the vehicle may refer to an average travel speed at which the vehicle travels through the speed measurement section. The travel speed may be calculated by the formula V = S/T, where V denotes the travel speed, S denotes the tachometer zone, and T denotes the travel time.

In an example, the driving speed of the vehicle may be a real-time speed calculated from real-time vehicle positioning information, or may be a historical speed calculated from offline vehicle positioning information. In addition, the speed measurement can be carried out aiming at a single specific vehicle, and the speed measurement can also be carried out aiming at a large number of vehicles in batch.

According to the vehicle speed measurement method disclosed by the embodiment of the invention, the distance value and the time value for measuring the speed of the vehicle are established by means of the vehicle positioning information of the vehicle in the driving process, so that the mode of measuring the speed by relying on a physical automatic snapshot system in the traditional method can be avoided, the speed measurement of the vehicle can be realized and the accuracy of the speed measurement can be ensured only by acquiring the required vehicle positioning information and utilizing the map information stored in the background in the speed measurement process, and therefore, the technical requirements on the speed measurement process are reduced, the implementation difficulty and the cost of the speed measurement method are reduced, and the popularity of the method is improved.

In the technical scheme of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the information related to the vehicle all conform to the regulations of the related laws and regulations, and do not violate the good custom of the public order.

Various aspects of a vehicle speed measurement method according to embodiments of the present disclosure are further described below.

FIG. 3 shows a flow diagram of a process 300 for determining an interval of tachymetry, in accordance with an embodiment of the present disclosure. The process 300 of determining the velocity measurement interval may be, for example, step S204 described in conjunction with fig. 2.

As shown in fig. 3, the process 300 of determining the speed measurement interval may include steps S302, S304, and S306.

In step S302, a segment to be used for speed measurement of a vehicle in a road and a flow direction of the segment may be determined based on map information, and the segment may include a start end and a termination end determined according to the flow direction of the segment.

In an example, a road segment to be used for speed measurement of a vehicle may include a traffic line of a road, such as a city street, a highway, or an intra-city or inter-city highway, between two adjacent network nodes on a traffic network, such as an intersection of a street, an entrance to a highway, or the like. The road section can be straight or curved, and the shape of the road section can be determined by the actual construction condition of the road.

In an example, the flow direction of a road segment may be determined based on road traffic regulations. Generally, on a road such as a city street, a highway, or an intra-city or inter-city expressway, a vehicle travels in a direction prescribed by road traffic regulations. Road traffic regulations may dictate different road flow directions in different countries and regions.

In step S304, start location information corresponding to the start end and end location information corresponding to the end in the vehicle location information may be determined.

In an example, the vehicle location information may include longitude and latitude information of a plurality of location points. Therefore, it can be determined whether the longitude and latitude information of a positioning point corresponding to the start end, i.e. the start positioning information, exists in the longitude and latitude information of the positioning points corresponding to the stop end, i.e. the stop positioning information, exists. When the starting location information corresponding to the starting end does not exist in the vehicle location information and the ending location information corresponding to the ending end does not exist in the vehicle location information, the fact that the vehicle corresponding to the vehicle location information does not run on a road section to be used for measuring the speed of the vehicle is meant, therefore, data of the vehicle location information is regarded as unavailable, and the data is discarded.

In step S306, a velocity measurement interval may be determined based on the start location information and the end location information.

In an example, the start location information and the end location information may be represented in a form such as latitude and longitude. Therefore, the speed measurement interval of the vehicle can be reflected by the difference value of the longitude and latitude of the starting positioning information and the ending positioning information.

According to the process of determining the speed measuring interval, the starting location information and the ending location information for vehicle speed measurement are determined by comparing the vehicle location information with the map information, so that the speed measuring interval is determined. Therefore, the technical requirement on the speed measuring process can be reduced on the basis of ensuring the speed measuring accuracy, and the implementation difficulty and the cost of the speed measuring method are reduced.

Fig. 4 is a schematic diagram of the steps of determining a road segment 400 and a flow direction of the road segment 400 according to an embodiment of the present disclosure.

Fig. 4 shows a street 420 and a first intersection 440 and a second intersection 460 of the street 420.

As shown in fig. 4, a section of the street 420 from the first intersection 440 to the second intersection 460 may be determined as the section of the road 400 to be used for measuring the speed of the vehicle.

In addition, since the road segment 400 involves two flow directions of the vehicle, i.e., two driving directions, it is necessary to determine for which vehicle in the flow direction the speed measurement is to be performed. In an example, for example, a driving direction 402 (as indicated by an arrow) may be determined as the flow direction of the road segment 400, i.e. a speed measurement is to be performed on a vehicle travelling in the driving direction 402.

Accordingly, the start 442 and end 462 of the road segment 400 may be determined according to the flow direction of the road segment 400. In an example, the starting end 442 can be a vehicle stop line at the first intersection 440. The terminating end 462 may be a vehicle stop line at the second intersection 460.

Fig. 5 shows a schematic diagram of the steps of determining start location information and end location information according to an embodiment of the present disclosure. The step of determining the starting location information and the ending location information may be, for example, step S304 described in connection with fig. 3.

According to some embodiments, the vehicle location information may include longitude and latitude information of a plurality of location points. Determining start positioning information corresponding to the start end in the vehicle positioning information, and end positioning information corresponding to the end may include: determining longitude and latitude information of a positioning point which is closest to the starting end in the positioning points as starting positioning information; and determining the longitude and latitude information of the positioning point which is closest to the termination end in the positioning points as termination positioning information.

Fig. 5 shows a road segment 500 and a flow direction 502 (as indicated by the arrow) of the road segment 500. The road segment 500 may include a starting end 520 and a terminating end 540, as per the flow direction 502 of the road segment 500.

As shown in fig. 5, a vehicle traveling over a road segment 500 in a flow direction 502 may be tested for speed.

In an example, the acquired vehicle positioning information may include longitude and latitude information of a plurality of positioning points, such as a first positioning point 522, a second positioning point 524, a third positioning point 526, a fourth positioning point 542, a fifth positioning point 544, and a sixth positioning point 546.

In an example, the longitude and latitude information of the first positioning point 522, which is the positioning point closest to the start point 520 among the first positioning point 522, the second positioning point 524, and the third positioning point 526, may be determined as the start positioning information.

In an example, a method of determining starting location information can include one of: calculating the difference between the longitude of each positioning point and the longitude of the starting end 520, and taking the longitude and latitude information of the corresponding positioning point with the minimum difference as the starting positioning information; calculating the difference between the latitude of each positioning point and the latitude of the starting end 520, and taking the longitude and latitude information of the corresponding positioning point with the minimum difference as the starting positioning information; or calculating a difference between the longitude of each positioning point and the longitude of the starting end 520 and a difference between the latitude of each positioning point and the latitude of the starting end 520, and taking the longitude and latitude information of the corresponding positioning point with the smallest weighted average (for example, according to a predetermined weight) of the two differences as the starting positioning information.

In an example, the longitude and latitude information of the positioning point closest to the termination end 540, that is, the fourth positioning point 542, of the fourth positioning point 542, the fifth positioning point 544 and the sixth positioning point 546, may be determined as the termination positioning information.

In an example, a method of determining termination location information may include one of: calculating the difference value between the longitude of each positioning point and the longitude of the terminating end 540, and taking the longitude and latitude information of the corresponding positioning point with the minimum difference value as terminating positioning information; calculating the difference value between the latitude of each positioning point and the latitude of the termination end 540, and taking the latitude and longitude information of the corresponding positioning point with the minimum difference value as termination positioning information; the difference between the longitude of each anchor point and the longitude of the terminating end 540 and the difference between the latitude of each anchor point and the latitude of the terminating end 540 are calculated, and the longitude and latitude information of the corresponding anchor point with the smallest weighted average (for example, according to a predetermined weight) of the two differences is taken as terminating location information.

According to the steps of determining the initial positioning information and the final positioning information of the embodiment of the disclosure, by determining the positioning point closest to the initial end among the plurality of positioning points of the vehicle as the initial positioning point of the speed measuring interval of the vehicle and determining the positioning point closest to the final end among the plurality of positioning points of the vehicle as the final positioning point of the speed measuring interval of the vehicle, the speed measuring interval can be matched with the road section in the map information as much as possible, and the matching degree between the map information and the vehicle positioning information based on which the speed is measured and the accuracy of the speed measurement are improved.

Fig. 6 shows a schematic view of a start end 622 and a termination end 642 of a road segment 600 according to an embodiment of the disclosure.

As shown in fig. 6, a vehicle traveling on a road segment 600 in a flow direction 602 (as indicated by the arrow) may be tested for speed. The road segment 600 may pass from the first intersection 620 to the second intersection 640.

In an example, the beginning end 622 can include a vehicle stop line located at the first intersection 620 and the terminating end 642 can include a vehicle stop line located at the second intersection 640.

In an example, a vehicle stop line may include a solid, lateral white line at a road intersection or traffic intersection to indicate a vehicle position limit waiting to release the traffic signal, the vehicle not being able to pass or press on the stop line; a white double solid line with a stop sign near some road intersections may also be included to indicate that a vehicle must stop at the intersection to allow the primary road vehicle to pass by preferentially.

In an example, the road segment 600 may include at least one lane. Accordingly, the acquired map information may include longitude and latitude information of the midpoint of the vehicle stop line in each lane. The latitude and longitude information may be presented in the map information in the following data format, for example:

< longituude >116.5147924 </longituude > (longitude information)

< latitude >39.7968597</latitude > (latitude information)

In other words, in the case where the road section includes a plurality of lanes, for example, three lanes, the acquired map information may include three sets of latitude and longitude information as described above (i.e., respective three midpoints of vehicle stop lines in the three lanes). By performing data cleaning on the three groups of data, for example, connecting three middle points, the latitude and longitude information of the vehicle stop line of the road section can be obtained.

In an example, when a vehicle reaches the first intersection 620, if the traffic light is displayed as a red light, it is necessary to stop waiting until the traffic light is displayed as a green light according to traffic regulations. Therefore, the time taken for the process of parking waiting may be recorded as the travel time in the vehicle speed measurement. In this regard, the start point may be selected as the vehicle stop line 624 in the lane opposite to the lane where the link 600 is located at the first intersection 620, so as to eliminate the influence of the time taken for the red light of the vehicle or the like. Thus, a more accurate vehicle travel speed result can be obtained.

According to the embodiment of the disclosure, the existing road sign line can be more effectively utilized by means of the vehicle stop line at the intersection, the implementation difficulty and cost of the speed measuring method are reduced, and the popularity of the method is improved.

Fig. 7 shows a schematic diagram of determining a travel time for a vehicle to travel through a tachometer interval according to an embodiment of the present disclosure.

As shown in fig. 7, a speed measurement may be taken of a vehicle traveling on a road segment 700 in a flow direction 702. The determined speed measurement interval may for example be from the starting location point 720 to the terminating location point 740.

In an example, start timestamp information at the start positioning point 720 corresponding to the start positioning information and end timestamp information at the end positioning point 740 corresponding to the end positioning information may be acquired.

In an example, the timestamp may be a system-specific calculation different from a unit of natural time, with a preset fixed conversion rule between the natural time and the timestamp. Generally, the main purpose of the time stamp is to authenticate the time of data generation by a certain technical means, and to verify whether the data is falsified after the generation. The time source used in the time stamping service has high credibility, and the time stamping service has higher security level.

In an example, the travel time may be determined based on the start timestamp information and the end timestamp information.

In an example, the travel time may be derived by calculating a difference between the start time stamp information and the end time stamp information. The difference of the time stamp information can be converted into a natural time unit in the speed measurement calculation.

Therefore, in the method for measuring the speed of the vehicle, the time is calculated through the timestamp, and the reliability of the speed measurement result can be improved.

In an example, it may be determined whether the start timestamp information is earlier in time than the end timestamp information. In response to the start timestamp information being earlier in time than the end timestamp information, indicating that corresponding vehicle-locating information is available; in response to the start time stamp information being later in time than the end time stamp information, it is indicated that the corresponding vehicle positioning information is abnormal, such as noise data, and therefore the data is discarded.

In an example, a time difference between the start time stamp information and the end time stamp information is determined as the travel time in response to the start time stamp information being earlier in time than the end time stamp information.

Thus, by determining the time difference between the start time stamp information and the end time stamp information as the travel time in response to the start time stamp information being earlier in time than the end time stamp information, it is possible to exclude noise data having abnormal travel time and improve the reliability of the speed measurement result.

According to some embodiments, the vehicle positioning information may be acquired by a drive test device disposed at an intersection of a road.

Therefore, the vehicle positioning information is obtained through the road testing equipment arranged at the intersection of the road, the vehicle positioning information can be accurately obtained, and the vehicle speed measurement result has higher accuracy and reliability.

In an example, at least one image pickup device may be included in the drive test device to acquire vehicle information by photographing a vehicle. The acquired vehicle information may include a license plate number, so that the vehicle speed measurement result corresponds to a specific vehicle. The acquired vehicle information may further include face information of the driver so as to correspond the determination result of the traffic violation to the specific driver.

Fig. 8 shows a schematic diagram of a vehicle speed measurement method according to an embodiment of the present disclosure.

As shown in fig. 8, in an example, a speed measurement for a vehicle traveling from a first intersection 820 to a second intersection 840 of a street 800 may be performed between the first intersection 820 and the second intersection 840.

In an example, the first intersection 820 and the second intersection 840 may have been individually assigned intersection numbers in the vehicle-to-road coordination system. From the intersection numbers of the first intersection 820 and the second intersection 840, the road name, the road geographic position, the number of lanes, and the longitude and latitude of the midpoint of the first vehicle stop line 822 of each lane at the first intersection 820 and the longitude and latitude of the midpoint of the second vehicle stop line 842 at the second intersection 840 of the road segment 860 and the road segment 860 to be used for speed measurement of the vehicle can be determined. Based on the map information obtained from the vehicle-road coordination system, the connection line of the midpoints of the vehicle stop lines of the respective lanes at the first intersection 820 can be used as the starting end, and the connection line of the midpoints of the vehicle stop lines of the respective lanes at the second intersection 840 can be used as the ending end.

Through the drive test equipment arranged at the first intersection 820 and the second intersection 840, vehicle positioning information during vehicle driving can be obtained, wherein the vehicle positioning information comprises license plate numbers of a plurality of vehicles passing through the road section 860, longitude and latitude information of a plurality of positioning points of each vehicle, timestamp information of each positioning point and the like. For example, the plurality of positioning points for a vehicle may include a first positioning point 882, a second positioning point 884, and a third positioning point 886. The longitude and latitude information of the first positioning point 882, which is the closest positioning point from the start end of the road segment 860 (e.g., the first vehicle stop line 822) among the first positioning point 882, the second positioning point 884, and the third positioning point 886, which is the closest positioning point from the end of the road segment 860 (e.g., the second vehicle stop line 842), may be used as the start positioning information, and the longitude and latitude information of the third positioning point 886 among the first positioning point 882, the second positioning point 884, and the third positioning point 886 may be used as the end positioning information. The speed measurement interval 880 may be determined based on the start location information and the end location information. When the start time stamp information corresponding to the start positioning information is earlier in time than the end time stamp information corresponding to the end positioning information, a time difference between the start time stamp information and the end time stamp information may be taken as the travel time.

Based on the determined tachometer interval and the travel time, the travel speed can be calculated by the formula V = S/T, where V represents the travel speed, S represents the tachometer interval, and T represents the travel time. The calculated running speed and the corresponding license plate number can be output according to groups, and a user can visually and conveniently obtain a vehicle speed measurement result from the starting intersection to the ending intersection and a congestion condition from the starting intersection to the ending intersection.

According to some embodiments, the vehicle speed measuring method disclosed by the invention can be suitable for vehicle speed measurement on urban roads and can also be suitable for vehicle speed measurement on expressways; the method can be used for overspeed judgment of traffic departments, overspeed warning in vehicle driving systems and road congestion condition judgment.

Fig. 9 shows a block diagram of a vehicle speed measuring device 900 according to an embodiment of the present disclosure. As shown in fig. 9, the apparatus 900 includes: an information obtaining module 920 configured to obtain map information of a road and vehicle positioning information associated with a vehicle traveling on the road; a speed measurement interval determination module 940 configured to determine a speed measurement interval for measuring the speed of the vehicle based on the map information and the vehicle positioning information; a tachometer time determination module 960 configured to determine a travel time for the vehicle to travel through the tachometer interval; and a speed determination module 980 configured to determine a driving speed of the vehicle based on the tachometer interval and the driving time.

According to the embodiment of the disclosure, a mode of measuring speed by an automatic snapshot system depending on the entity in the traditional method can be avoided, so that the speed measurement of the vehicle can be realized and the accuracy of the speed measurement can be ensured only by acquiring the required vehicle positioning information and utilizing the map information stored in the background in the speed measurement process, thereby reducing the technical requirement on the speed measurement process, further reducing the implementation difficulty and cost of the speed measurement method and improving the popularity of the method.

Fig. 10 shows a block diagram of a vehicle speed measuring device 1000 according to another embodiment of the present disclosure. As shown in fig. 10, the apparatus 1000 may include an information obtaining module 1020, a speed measurement interval determining module 1040, a speed measurement time determining module 1060 and a speed determining module 1080. The information obtaining module 1020, the speed measurement interval determining module 1040, the speed measurement time determining module 1060 and the speed determining module 1080 may correspond to the information obtaining module 920, the speed measurement interval determining module 940, the speed measurement time determining module 960 and the speed determining module 980 shown in fig. 9, and therefore details thereof are not repeated here.

In an example, the speed measurement interval determination module 1040 may include: a road segment determining module 10402 configured to determine, based on the map information, a road segment to be used for speed measurement of the vehicle in the road and a flow direction of the road segment, where the road segment includes a start end and a stop end determined according to the flow direction of the road segment; an endpoint determination module 10404 configured to determine starting location information corresponding to a starting end and ending location information corresponding to an ending end in the vehicle location information; and an interval determination module 10406 configured to determine a speed measurement interval based on the start location information and the end location information.

Therefore, on the basis of ensuring the accuracy, the technical requirement on the speed measuring equipment is reduced, and the implementation difficulty and the cost of the speed measuring method are reduced.

In an example, the vehicle positioning information may include longitude and latitude information of a plurality of positioning points, and the endpoint determination module 10404 includes an initial point determination module 10404-2 configured to determine longitude and latitude information of a positioning point closest to an initial end among the plurality of positioning points as initial positioning information; and a termination point determining module 10404-4 configured to determine longitude and latitude information of a positioning point closest to the termination end among the plurality of positioning points as termination positioning information.

Therefore, the speed measuring interval can be matched with the road section in the map information as much as possible, and the matching degree between the map information and the vehicle positioning information according to speed measurement and the accuracy of speed measurement are improved.

In an example, the starting end and the terminating end may each include a vehicle stop line located at an intersection of a road.

Therefore, the existing map information can be more effectively utilized, the implementation difficulty and cost of the speed measurement method are reduced, and the popularity of the method is improved.

In an example, the speed measurement time determination module 1060 may include: a time obtaining module 10602 configured to obtain start time stamp information corresponding to the start positioning information and end time stamp information corresponding to the end positioning information; and a time determination module 10604 configured to determine the travel time based on the start time stamp information and the end time stamp information.

Therefore, the reliability of the speed measurement result is improved.

In an example, the time determination module 10604 may include: a time check module 10604-2 configured to determine whether the start timestamp information is earlier in time than the end timestamp information; a time calculation module 10604-4 configured to determine a time difference between the start time stamp information and the end time stamp information as the travel time in response to the start time stamp information being earlier in time than the end time stamp information.

Therefore, the abnormal conditions of the running time can be eliminated, and the reliability of the speed measurement result is improved.

In an example, the information acquisition module 1020 is configured to acquire vehicle positioning information by a drive test device disposed at an intersection of a road.

Therefore, the vehicle positioning information can be accurately acquired, and the vehicle speed measurement result has higher accuracy and reliability.

According to another aspect of the present disclosure, there is also provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the above embodiments.

According to another aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method in the above-described embodiments.

According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method in the above embodiments.

Referring to fig. 11, a block diagram of a structure of an electronic device 1100, which may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the electronic device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM1103, various programs and data necessary for the operation of the electronic device 1100 may also be stored. The calculation unit 1101, the ROM 1102, and the RAM1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

A number of components in electronic device 1100 are connected to I/O interface 1105, including: an input unit 1106, an output unit 1107, a storage unit 1108, and a communication unit 1109. The input unit 1106 may be any type of device capable of inputting information to the electronic device 1100, and the input unit 1106 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote control. Output unit 1107 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 1108 may include, but is not limited to, a magnetic or optical disk. The communication unit 1109 allows the electronic device 1100 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, 802.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 1101 can be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 1101 performs the various methods and processes described above, such as a vehicle speed measurement method. For example, in some embodiments, the vehicle velocimetry method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 1108. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 1100 via the ROM 1102 and/or the communication unit 1109. When the computer program is loaded into the RAM1103 and executed by the computing unit 1101, one or more steps of the vehicle speed measuring method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the vehicle speed measurement method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the internet, and blockchain networks.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.

Claims

1. A method of measuring speed of a vehicle, comprising:

acquiring map information of a road and vehicle positioning information associated with a vehicle traveling on the road;

determining a speed measuring interval for measuring the speed of the vehicle based on the map information and the vehicle positioning information;

determining the running time of the vehicle running through the speed measuring interval; and

and determining the running speed of the vehicle based on the speed measuring interval and the running time.

2. The method of claim 1, wherein determining, based on the map information and the vehicle positioning information, a speed measurement interval for measuring speed of the vehicle comprises:

determining a road segment to be used for measuring the speed of the vehicle in the road and the flow direction of the road segment based on the map information, wherein the road segment comprises a starting end and a terminating end which are determined according to the flow direction of the road segment;

determining initial positioning information corresponding to the initial end and termination positioning information corresponding to the termination end in the vehicle positioning information; and

and determining the speed measuring interval based on the starting positioning information and the ending positioning information.

3. The method of claim 2, wherein the vehicle location information includes longitude and latitude information of a plurality of location points,

wherein determining starting location information corresponding to the starting end and ending location information corresponding to the ending end in the vehicle location information comprises:

determining longitude and latitude information of a positioning point which is closest to the starting end in the positioning points as the starting positioning information; and

and determining the longitude and latitude information of a positioning point which is closest to the termination end in the positioning points as the termination positioning information.

4. The method of claim 2 or 3, wherein the originating end and the terminating end each comprise a vehicle stop line located at an intersection of the roadway.

5. The method of claim 1, wherein determining a travel time for the vehicle to travel through the speed measurement interval comprises:

acquiring initial timestamp information corresponding to the initial positioning information and ending timestamp information corresponding to the ending positioning information; and

determining the travel time based on the start timestamp information and the end timestamp information.

6. The method of claim 5, wherein determining the travel time based on the start timestamp information and the end timestamp information comprises:

determining whether the start timestamp information is earlier in time than the end timestamp information;

determining a time difference between the start time stamp information and the end time stamp information as the travel time in response to the start time stamp information being earlier in time than the end time stamp information.

7. The method of any one of claims 1 to 6, wherein the vehicle positioning information is obtained by a drive test device disposed at an intersection of the road.

8. A vehicle speed measuring device comprising:

an information acquisition module configured to acquire map information of a road and vehicle positioning information associated with a vehicle traveling on the road;

a speed measurement interval determination module configured to determine a speed measurement interval for measuring the speed of the vehicle based on the map information and the vehicle positioning information;

a speed measurement time determination module configured to determine a travel time for the vehicle to travel through the speed measurement interval; and

a speed determination module configured to determine a driving speed of the vehicle based on the speed measurement interval and the driving time.

9. The apparatus of claim 8, wherein the tachometer interval determining means comprises:

a road segment determining module configured to determine a road segment to be used for measuring speed of the vehicle in the road and a flow direction of the road segment based on the map information, wherein the road segment includes a start end and a termination end determined according to the flow direction of the road segment;

the end point determining module is configured to determine starting positioning information corresponding to the starting end in the vehicle positioning information and ending positioning information corresponding to the ending end; and

an interval determination module configured to determine the speed measurement interval based on the start location information and the end location information.

10. The apparatus of claim 9, wherein the vehicle location information comprises longitude and latitude information for a plurality of location points, the endpoint determination module comprising:

an initial point determining module configured to determine longitude and latitude information of a positioning point closest to the initial end among the plurality of positioning points as the initial positioning information; and

a termination point determining module configured to determine longitude and latitude information of a positioning point closest to the termination end among the plurality of positioning points as the termination positioning information.

11. The device of claim 9 or 10, wherein the originating end and the terminating end each comprise a vehicle stop line located at an intersection of the roadway.

12. The apparatus of claim 8, wherein the speed measurement time determination module comprises:

a time acquisition module configured to acquire start time stamp information corresponding to the start positioning information and end time stamp information corresponding to the end positioning information; and

a time determination module configured to determine the travel time based on the start timestamp information and the end timestamp information.

13. The apparatus of claim 12, wherein the time determination module comprises:

a time check module configured to determine whether the start timestamp information is earlier in time than the end timestamp information;

a time calculation module configured to determine a time difference between the start time stamp information and the end time stamp information as the travel time in response to the start time stamp information being earlier in time than the end time stamp information.

14. The apparatus according to any one of claims 8 to 13, wherein the vehicle positioning information is acquired by a drive test device provided at an intersection of the road.

15. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program, wherein the computer program realizes the method according to any of claims 1-7 when executed by a processor.