CN115795083B

CN115795083B - Method, device, electronic equipment and medium for determining completeness of road facility

Info

Publication number: CN115795083B
Application number: CN202211442333.0A
Authority: CN
Inventors: 杜春利; 申雅倩; 杨丽丽; 李莎
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2024-01-05
Anticipated expiration: 2042-11-17
Also published as: CN115795083A

Abstract

The disclosure provides a method for determining completeness of road facilities, relates to the field of intelligent transportation, and particularly relates to the fields of big data, data processing and image processing. The specific implementation scheme is as follows: determining a road section set in a preset area range; according to the track data associated with the road sections in the road section set, determining the pedestrian dense road sections and the non-motor vehicle high-frequency passing road sections from the road section set as target road sections; and determining the facility completeness of the target road section according to the track image associated with the target road section. The disclosure also provides an apparatus, an electronic device and a storage medium for determining the completeness of the road facility.

Description

Method, device, electronic equipment and medium for determining completeness of road facility

Technical Field

The present disclosure relates to the field of intelligent traffic technologies, and in particular, to big data, data processing, and image processing technologies. More particularly, the present disclosure provides a method, apparatus, electronic device, and storage medium for determining the completeness of an asset.

Background

At present, the increasing traffic demands create tests and pressures for traffic management, and the traffic management demands cannot be met simply by relying on manpower.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, and storage medium for determining the completeness of an asset.

According to a first aspect, there is provided a method of determining the completeness of an asset, the method comprising: determining a road section set in a preset area range; according to the track data associated with the road sections in the road section set, determining the pedestrian dense road sections and the non-motor vehicle high-frequency passing road sections from the road section set as target road sections; and determining the facility completeness of the target road section according to the track image associated with the target road section.

According to a second aspect, there is provided an apparatus for determining the completeness of an asset, the apparatus comprising: the first determining module is used for determining a road section set in a preset area range; the second determining module is used for determining the pedestrian dense road sections and the non-motor vehicle high-frequency passing road sections from the road section set as target road sections according to the track data associated with the road sections in the road section set; and a third determining module for determining the facility completeness of the target road section according to the track image associated with the target road section.

According to a third aspect, 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 enable the at least one processor to perform a method provided in accordance with the present disclosure.

According to a fourth aspect, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a method provided according to the present disclosure.

According to a fifth aspect, there is provided a computer program product comprising a computer program stored on at least one of a readable storage medium and an electronic device, which, when executed by a processor, implements a method provided according to the present disclosure.

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

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is an exemplary scene graph to which methods and apparatus for determining asset completeness may be applied in accordance with an embodiment of the disclosure;

FIG. 2 is a flow chart of a method of determining asset integrity according to one embodiment of the disclosure;

fig. 3A-3B are schematic diagrams of a method of determining a set of road segments within a preset area according to one embodiment of the present disclosure;

FIG. 4A is a schematic diagram of trajectory data according to one embodiment of the present disclosure;

FIG. 4B is a schematic diagram of trajectory data according to another embodiment of the present disclosure;

5A-5B are schematic diagrams of a method of determining facility completion of a target road segment in an intersection scenario according to one embodiment of the present disclosure;

FIGS. 6A-6B are schematic diagrams of a method of determining facility completion of a target road segment in a school scenario, according to one embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a method of determining facility completion of a road segment in a building community scenario, according to one embodiment of the present disclosure;

FIG. 8 is a block diagram of an apparatus for determining asset integrity according to one embodiment of the disclosure;

fig. 9 is a block diagram of an electronic device of a method of determining asset integrity according to one embodiment of the disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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 and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The main content of the road safety hidden trouble investigation comprises the investigation of whether the traffic facility setting is complete. For example, whether facilities such as an inspection mark line, an alarm sign, a deceleration strip, an indicator light are missing, whether the setting of an inspection intersection needs to be improved, whether the inspection intersection viewing condition meets the requirement, and the like.

Road segments for some special scenes, such as intersections and road segments around schools and villages, can be densely populated due to school clearance, early city catches up, and the like. Therefore, the safety hazard investigation of the road sections of the scenes is particularly important.

At present, traffic management personnel are mainly relied on to check the hidden danger regularly, but manual inspection efficiency is low, labor cost is high, and the problem identification rate is low by judging through experience.

In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.

In the technical scheme of the disclosure, the authorization or consent of the user is obtained before the personal information of the user is obtained or acquired.

FIG. 1 is an exemplary scenario diagram in which methods and apparatus for determining asset integrity may be employed according to one embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which embodiments of the present disclosure may be applied to assist those skilled in the art in understanding the technical content of the present disclosure, but does not mean that embodiments of the present disclosure may not be used in other devices, systems, environments, or scenarios.

As shown in fig. 1, according to the scene 100 of this embodiment, map data 101 includes, for example, road network structure information, road position information, and the like. The trajectory data 102 includes, for example, vehicle travel data and road information associated with the travel data. The image data 103 includes, for example, a trajectory image taken during running of the vehicle. The server 104 can identify an intersection or a road section where a potential safety hazard exists based on the road information in the map data 101, the track information associated with the road in the track data 102, and the track image associated with the road in the image data 103.

For example, the intersection in the image 105 may be an intersection identified by the server 104 as having a potential safety hazard based on the map data 101, the trajectory data 102, and the image data 103. The intersection is an intersection with potential safety hazards because traffic accidents are easy to occur due to the lack of mark marks (such as zebra lines, yellow solid lines and the like) and warning signs (such as parking yield marks and the like).

For example, the position, direction and missing facility information of the intersection or road section with the potential safety hazard can be recorded in the form of an image or a list to form a traffic safety check result or a road facility completeness result. And the traffic safety investigation result or the road facility completeness result can be submitted to a traffic management department so that the traffic management department can improve the intersection or road section with potential safety hazard.

For example, the intersection with potential safety hazard is shown in image 106, and the improved intersection is added with facilities such as crosswalk lines, yellow solid lines, parking yield marks (e.g. objects marked with white frames in image 106), and the like.

The embodiment of the disclosure identifies the intersection or the road section with the potential safety hazard based on the map data 101, the track data 102 and the image data 103, can realize the automatic investigation of the potential safety hazard of the road, and improves the efficiency and the accuracy of improving traffic facilities and optimizing traffic roads by the traffic management department.

Fig. 2 is a flow chart of a method of determining asset integrity according to one embodiment of the present disclosure.

As shown in fig. 2, the method 200 of determining the completeness of an asset may include operations S210 to S230.

In operation S210, a set of road segments within a preset area is determined.

For example, the preset Area range may be an Area obtained by expanding an Area Of Interest (AOI) or a point Of Interest (Point Of Interest, POI) Of a school, village, or the like.

For example, the location of AOI or POI such as school and village may be determined in the map data, and the 2KM range may be extended with the location of AOI or POI as the center, to obtain the preset area range. Next, the navigable segments covered by the preset area coverage may be determined, and these navigable segments may be added to the first database as a set of preliminarily screened segments.

In operation S220, pedestrian dense road segments and non-motor vehicle high-frequency traffic road segments are determined from the road segment set as target road segments according to trajectory data associated with the road segments in the road segment set.

For example, for a set of road segments in the first database, a secondary screening may be performed to screen pedestrian dense road segments and non-motor vehicle high frequency traffic road segments from the set of road segments. Since the pedestrian dense road section and the non-motor vehicle high-frequency traffic road section are road sections with high traffic accident risks, the pedestrian dense road section and the non-motor vehicle high-frequency traffic road section can be used as target road sections, and further the checking of facility completeness can be performed.

For example, the pedestrian dense road section and the non-motor vehicle high-frequency traffic road section described above may be determined using the following track data in the traffic big data. The trajectory data may be generated from travel data of the vehicle, including information on time, longitude and latitude, speed, and the like. The track data may be associated with road information in the map data according to the latitude and longitude information.

Thus, for each road segment in the first database, the track data associated with that road segment may be obtained from the track big data, pedestrian dense road segments with frequent sudden stops or drops in speed may be obtained based on the speed information in the track data, and non-motor vehicle high frequency traffic road segments with speeds continuously below a threshold value (e.g. 20 KM/h).

For example, the secondarily screened pedestrian dense road sections and the non-motor vehicle high-frequency traffic road sections may be added as target road sections to the second database.

In operation S230, the facility completion degree of the target link is determined according to the trajectory image associated with the target link.

For example, the target link in the second database may be regarded as a link suspected of having a potential safety hazard, and it is necessary to perform a check of facility completeness one by one. The track image of the target road section can be used for identification to determine whether the target road section lacks facilities such as mark marks, warning signs, deceleration strips, indicator lights and the like.

For example, the track image may be a video frame in a track video, and the track video may be obtained by photographing a vehicle (such as a vehicle specially used for acquiring a road image) with an on-board camera while the vehicle is traveling on a road. Therefore, the track image also has an association relationship with the link.

Therefore, it is possible to acquire a track image associated with the target link from the track image large data, and to identify from the track image whether the facility of the target link is complete.

According to the method and the device for automatically checking the road facility completeness, aiming at the road segment set in the preset area range, the pedestrian dense road segments and the non-motor vehicle high-frequency passing road segments are screened out to serve as target road segments by combining the track data, the facility completeness of the target road segments is identified based on the image data, and therefore automatic checking of the road facility completeness can be achieved, and checking efficiency is improved.

Fig. 3A-3B are schematic diagrams of a method of determining a set of road segments within a preset area according to one embodiment of the present disclosure.

As shown in fig. 3A, in the map data, the preset area ranges 310, 320, and 330 are obtained by using the entity coordinate points of the POI of the village a, the village B, and the village C as the center and using the 2KM as the radius to expand outwards. And (3) taking a coordinate point of the AOI surface peripheral boundary of the university of D and the university of E as a starting point, and expanding the coordinate point to 2KM outwards to obtain a preset area range 340 and a preset area range 350.

For each preset area range, calculating the spatial relationship between the preset area range and the road according to the coordinates of the peripheral boundary of the preset area range and the coordinates of the related road in the map data as cores, and determining the road with the spatial relationship between the preset area range as an intersecting relationship, namely the road with the preset area range. For these roads, road segments that fall within the preset area range may be further determined.

As shown in fig. 3B, taking the C village and E professional college as an example, the road section pointed by the arrow falls within the preset area range 330 and the preset area range 350. Thus, the road segments pointed by these arrows may be recorded and added as a set of initially selected road segments to a first database, which may be a temporary database.

According to embodiments of the present disclosure, for each road segment in a set of road segments, a plurality of track points in a track associated with the road segment may be determined. For example, the track points can be sampled from vehicle driving data, and each track point can contain time information, longitude and latitude information, speed information and the like. It will be appreciated that successive track points sampled from vehicle travel data may form a travel track of the vehicle. The track points can be bound to the road nearest to the track points according to the longitude and latitude information of each track point, namely, the track is associated with the road.

Fig. 4A is a schematic diagram of trajectory data according to one embodiment of the present disclosure.

As shown in fig. 4A, is a track bound (associated) with the road segment 410. The track includes a plurality of track points, each track point including speed information. Based on the respective velocity information of the plurality of trajectory points, a velocity change characteristic of the plurality of trajectory points can be determined. For example, from 77KM/h to 28KM/h, among the plurality of trace points, the velocity suddenly drops. The speed was changed from 28KM/h to 3.7M/h and was almost stopped. If the speed of the plurality of track points in the continuous track or the follow-on track suddenly drops or suddenly stops (the speed change characteristic meets the first condition), it may be determined that the road segment 410 belongs to a pedestrian dense road segment.

Fig. 4B is a schematic diagram of trajectory data according to another embodiment of the present disclosure.

As shown in fig. 4B, is a track bound (associated) with the road segment 420. The track includes a plurality of track points, each track point including speed information. The speeds of the plurality of track points tend to be uniform and are all lower than 20KM/h, so that it can be determined that the track is a track of a non-motor vehicle.

For each link (e.g., link 420), the track data associated with the link includes track data of a plurality of vehicles, and the track data of each vehicle includes a plurality of track points.

Accordingly, for the link 420, the track points of all tracks passing through the link within one day may be accumulated, and the ratio between the number of track points at which the speed is less than the threshold (e.g., 20 KM/h) and the number of accumulated track points may be counted as the number ratio of track points at which the speed is less than the threshold. A final number of counts is determined based on the counted daily number of counts for a predetermined period of time (e.g., one month), and based on the final number of counts, it is determined whether the road segment 420 is a non-motor vehicle high frequency traffic segment. For example, in the case where the final number ratio meets the second condition (for example, greater than a preset data value, the preset data value may be any value of 5% to 10%, or may be set according to the actual situation of the road segment), the road segment 420 may be determined to be a non-motor vehicle high frequency traffic road segment.

For example, the determined pedestrian dense road sections and non-motor vehicle high-frequency traffic road sections may be added as target road sections to the second database, and for each target road section in the second database, the track images may be further used for one-to-one investigation.

Fig. 5A-5B are schematic diagrams of a method of determining facility completeness of a target road segment in an intersection scenario according to one embodiment of the present disclosure.

As shown in fig. 5A, the system is a schematic view for checking the potential safety hazard of the high-frequency multi-direction passable crossing, and the crossing has a shelter (vegetation or building) at both the southwest corner and the northeast corner. Therefore, it is necessary to identify from the trajectory image whether or not there is a line-of-sight occlusion in passing through the intersection.

For example, in fig. 5A, the triangular icon points in the driving direction, and in the track image of straight going from west to east, it is recognized whether the road ahead is blocked by vegetation or a building. If so, the road section which is straight from west to east is proved to have sight distance shielding, and potential safety hazards exist when the speed of the vehicle is too high. Therefore, it is necessary to identify whether the road section lacks an intersection warning sign, a deceleration strip, whether the intersection lacks a zebra crossing, and the like. Similarly, whether the front road is blocked by vegetation or a building is identified in the track image of the straight going from east to west, whether the intersection warning sign, the deceleration strip, the zebra crossing of the straight going from east to west and the like are missing on the road section of the straight going from east to west is confirmed. In addition, whether a deceleration strip exists before an intersection or whether a zebra crossing exists at the intersection or not is identified on a road section in the north-south direction.

For example, an intersection warning board should be provided at N1 on the road section straight from west to east, and an intersection warning board should be provided at N2 on the road section straight from east to west. Deceleration strips are arranged at N3 and N4 on the road sections in the north-south direction. And the zebra stripes are arranged in the range of the intersection.

If the facilities to be set are not identified in the track image, the intersection or the road section which is not set can be recorded so as to form a traffic safety check result or a road facility completeness result. The traffic safety investigation result or the road facility completeness result can be in the form of a list or can be recorded in the form of an image. For example, fig. 5B is a diagram of the facility completeness result of the target road segment in the intersection scene.

Fig. 5B is a schematic diagram of the result of checking the potential safety hazard at the intersection. Road segments with potential safety hazards can be marked in the schematic diagram. For example, road segment 1 (road segment straight from west to east at an intersection), road segment 3 (road segment straight from east to west at an intersection), road segment 2 (road branch north at an intersection), and road segment 4 (road branch south at an intersection) all have potential safety hazards. And selecting a target road section corresponding to each of the road section 1, the road section 2, the road section 3 and the road section 4 from the second database, and recording the facilities with missing target road sections.

Fig. 6A-6B are schematic diagrams of a method of determining facility completeness of a target road segment in a school scenario according to one embodiment of the present disclosure.

Fig. 6A is a schematic diagram of a safety check of a road section in a school scene. In the case that there is an intersection within 50 meters from the school gate (i.e., the distance between the illustrated intersection and the school gate is less than 50 meters), it is recognized from the track image whether the intersection is provided with a zebra crossing. If there is no intersection within 50 meters from the school gate (i.e. the distance between the illustrated intersection and the school gate is greater than 50 meters), it is identified from the track image whether there is a zebra crossing that can cross the school gate, whether there is a warning sign in the same-side traffic direction as the school, whether there is a warning yellow light within 50 meters from the school gate, etc.

If the facilities to be set are not identified in the track image, the intersection or the road section which is not set can be recorded so as to form a traffic safety check result or a road facility completeness result. The traffic safety investigation result or the road facility completeness result can be in the form of a list or can be recorded in the form of an image. For example, fig. 6B is a graph of facility completeness results for a target link in a school scene.

Fig. 6B is a schematic diagram of a result of checking potential safety hazards in a school scene. In this schematic diagram, road segments with potential safety hazards, for example, road segment 5 (road segment between 50 meters forward and 50 meters backward in the western direction of the school) may be marked. The target road segment corresponding to the road segment 5 may be selected from the second database, and the missing facility of the target road segment may be recorded.

Fig. 7 is a schematic diagram of a method of determining facility completion of a road segment in a building community scenario, according to one embodiment of the present disclosure.

As shown in fig. 7, the safety investigation diagram of the road section in the building cluster scene is that the road section in the building cluster scene is characterized by large traffic flow, the road is close to the road along the street via the building cluster, and the whole road section has no intersection. For the road section in the building cluster scene, whether the warning sign exists before entering the building cluster can be identified from the track image. For example, in fig. 7, the indication direction of the triangle icon is the driving direction, and the circle icon indicates that the warning sign is required to be provided here. In addition, it is desirable to identify whether there is a possibility of pedestrian, non-motor vehicle straddling. For example, whether a safety isolation belt exists on a road is identified, if so, whether a passable gap exists or not is identified, and if so, whether a zebra crossing exists at the gap is identified.

If the facilities to be set are not identified in the track image, the sections which are not set can be recorded. And selecting a target road section corresponding to the road section from the second database, and recording the missing facility of the target road section.

According to an embodiment of the present disclosure, there is also a scenario of a dense road segment of an intersection, which is typically built along a main road by villages and towns. The comprehensive judgment can be performed by combining the judgment modes of the intersection scene and the building cluster scene. For example, the intersection is taken as a gap in a building cluster, whether warning signs are absent before the forward and reverse roads enter the dense intersection or not is identified from the track image, and whether the branch is absent in a deceleration strip or not is identified. If the missing is judged to exist, a target road section corresponding to the road section of the missing facility can be selected from the second database, and the facility missing from the target road section is recorded.

According to the embodiment of the disclosure, for the marked road segments in each scene, after the target road segments corresponding to the road segments are selected from the second database, the missing facility information of each road segment can be recorded in a list form, so as to obtain the intersection and road segment arrangement table with potential safety hazards. The table may be as shown in table 1 below.

TABLE 1

Name, coordinates	Direction, attribute	Description of safety hazards
			Road section 1	East-west or east-west	Front warning lamp for missing school
Road section 2	Crossroad	Missing branch deceleration strip
			Road section 3	Transverse span (opening)	Deficiency of pre-correction zebra stripes

According to the embodiment of the disclosure, the potential safety hazard problems are recorded in the form of the list, and the list is submitted to the traffic management department, so that the traffic management department can more clearly solve the potential safety hazard problems.

Fig. 8 is a block diagram of an apparatus for determining asset integrity according to one embodiment of the disclosure.

As shown in fig. 8, the apparatus 800 for determining the completeness of an asset includes a first determining module 801, a second determining module 802, and a third determining module 803.

The first determining module 801 is configured to determine a set of road segments within a preset area.

The second determining module 802 is configured to determine, as a target road segment, a pedestrian dense road segment and a non-motor vehicle high-frequency traffic road segment from the road segment set according to trajectory data associated with road segments in the road segment set.

The third determining module 803 is configured to determine a facility completeness of the target road segment according to the track image associated with the target road segment.

The second determination module 802 includes a first determination unit, a second determination unit, and a third determination unit.

The first determining unit is used for determining a plurality of track points in tracks associated with each road section in the road section set; and determining a speed change characteristic of the plurality of track points and a number of track points having a speed less than a threshold value in the plurality of track points.

The second determining unit is used for determining the road sections with speed change characteristics meeting the first condition in the road section set as pedestrian dense road sections.

The third determining unit is used for determining the road sections with the number of track points with the speed smaller than the threshold value in the road section set and the ratio meeting the second condition as non-motor vehicle high-frequency passing road sections.

The first determining module 801 includes a companding unit and a fourth determining unit.

The expansion unit is used for expanding the interest surface AOI and the interest point POI in the map data to obtain a preset area range.

The fourth determining unit is used for determining a road section set in the preset area range according to the position information of the road in the map data and the position information of the preset area range.

The third determining module 803 is configured to identify, from a track image for an intersection, whether an obstacle that blocks a viewing distance exists at the intersection; and under the condition that the intersection has an obstacle for shielding the sight distance, identifying whether the intersection lacks a warning sign, a deceleration strip and a zebra crossing from the track image.

The third determining module 803 is configured to identify, from the track image for the school, whether an indicator light is missing in a first preset distance from an area where the entering school is located, whether a warning sign is missing in a passing direction on the same side of the school, and whether a zebra crossing is missing at an intersection.

The third determining module 803 is configured to identify, from the track image for the building cluster, whether the warning sign is missing, whether the road is missing a barrier, and whether the intersection is missing a zebra crossing, a warning sign, and a deceleration strip within a second distance into an area where the building cluster is located.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 9 shows a schematic block diagram of an example electronic device 900 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other by a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.

Various components in device 900 are connected to I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, or the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, an optical disk, or the like; and a communication unit 909 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunications networks.

The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the respective methods and processes described above, for example, a method of determining the completeness of the infrastructure. For example, in some embodiments, the method of determining asset integrity may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the method of determining the completeness of a road infrastructure described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the method of determining the thoroughfare completeness by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out 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/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 portable 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 pointing device (e.g., a mouse or 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 may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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), and the internet.

The computer system may include a client and a server. The client and server are typically 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.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A method of determining asset integrity, comprising:

determining a road section set in a preset area range;

according to track data associated with the road sections in the road section set, determining a pedestrian dense road section and a non-motor vehicle high-frequency passing road section from the road section set as target road sections; and

determining facility completeness of the target road section according to the track image associated with the target road section;

wherein the determining, according to the track data associated with the road segments in the road segment set, the pedestrian dense road segment and the non-motor vehicle high-frequency traffic road segment from the road segment set includes: for each road segment in the set of road segments,

determining a plurality of track points in a track associated with the road segment, determining speed change characteristics of the plurality of track points, and determining the road segment as a pedestrian dense road segment in response to the speed change characteristics meeting a first condition;

accumulating track points of all tracks passing through the road section within a preset time period, counting track points which tend to be uniform in speed and have a speed smaller than a threshold value in the accumulated track points as non-motor vehicle track points, and calculating the ratio between the number of the non-motor vehicle track points and the number of the accumulated track points as the duty ratio of the non-motor vehicle track points; determining a final duty ratio according to the duty ratio of the non-motor vehicle track points in a plurality of preset time periods; determining that the road section is a non-motor vehicle high-frequency passing road section in response to the final duty ratio being greater than a preset value;

the track image is obtained by shooting through a vehicle-mounted camera when a vehicle runs on a road in advance; the track image comprises a building group falling road image, and the building group falling road comprises at least one intersection; the determining the facility completeness of the target road section comprises the following steps:

identifying whether warning boards are missing in a preset distance before the forward direction and the reverse direction enter the intersection of the building group falling road from the track image of the intersection of the forward direction entering the building group falling road and the track image of the intersection of the reverse direction entering the building group falling road respectively;

identifying whether a building group road falls into a barrier from a building group road image;

for each intersection, identifying whether the intersection is blocked by straight line sight or not from a track image of the intersection which is straight line through the intersection, and identifying whether the intersection is blocked by turning line sight or not from a track image of the intersection which is turned through the intersection; under the condition of vision distance shielding, identifying whether a warning board is missing on a road section entering the intersection in a straight or turning way; and identifying whether a deceleration strip is missing on a branch of the intersection from the road image of the building group, and identifying whether a zebra crossing is missing in the intersection area.

2. The method of claim 1, wherein the determining the set of road segments within the preset area comprises:

expanding the interest surface AOI and the interest point POI in the map data to obtain the preset area range; and

and determining a road section set in the preset area range according to the position information of the road in the map data and the position information of the preset area range.

3. The method of claim 1 or 2, wherein the determining the facility completeness of the target road segment from the trajectory image associated with the target road segment comprises:

from the track image aiming at the school, identifying whether an indicator lamp is missing in a first preset distance of the area where the school is located, whether a warning sign is missing in the same-side passing direction of the school and whether a zebra crossing is missing at an intersection.

4. An apparatus for determining the completeness of an asset, comprising:

the first determining module is used for determining a road section set in a preset area range;

the second determining module is used for determining the pedestrian dense road sections and the non-motor vehicle high-frequency passing road sections from the road section set as target road sections according to the track data associated with the road sections in the road section set; and

the third determining module is used for determining the facility completeness of the target road section according to the track image associated with the target road section;

the second determining module is further configured to determine a plurality of track points in a track associated with the road segment, determine speed change characteristics of the plurality of track points, and determine the road segment as a pedestrian dense road segment in response to the speed change characteristics meeting a first condition;

the second determining module is further configured to accumulate, for each road segment in the road segment set, track points of all tracks passing through the road segment within a preset time period, count track points that tend to be uniform and have a speed less than a threshold value among the accumulated track points as non-motor vehicle track points, and calculate a ratio between the number of the non-motor vehicle track points and the number of the accumulated track points as a duty ratio of the non-motor vehicle track points; determining a final duty ratio according to the duty ratio of the non-motor vehicle track points in a plurality of preset time periods; determining that the road section is a non-motor vehicle high-frequency passing road section in response to the final duty ratio being greater than a preset value;

the track image is obtained by shooting through a vehicle-mounted camera when a vehicle runs on a road in advance; the track image comprises a building group falling road image, and the building group falling road comprises at least one intersection; the third determining module is used for identifying whether a warning board is missing in a preset distance before the forward direction and the reverse direction enter the intersection of the building group falling road from the track image of the intersection of the forward direction entering the building group falling road and the track image of the intersection of the reverse direction entering the building group falling road respectively; identifying whether a building group road falls into a barrier from a building group road image; for each intersection, identifying whether the intersection is blocked by straight line sight or not from a track image of the intersection which is straight line through the intersection, and identifying whether the intersection is blocked by turning line sight or not from a track image of the intersection which is turned through the intersection; under the condition of vision distance shielding, identifying whether a warning board is missing on a road section entering the intersection in a straight or turning way; and identifying whether a deceleration strip is missing on a branch of the intersection from the road image of the building group, and identifying whether a zebra crossing is missing in the intersection area.

5. The apparatus of claim 4, wherein the first determination module comprises:

the expansion unit is used for expanding the interest surface AOI and the interest point POI in the map data to obtain the preset area range; and

and a fourth determining unit, configured to determine a road segment set in the preset area range according to the position information of the road in the map data and the position information of the preset area range.

6. The device according to claim 4 or 5, wherein the third determining module is configured to identify, from the track image for the school, whether the indicator light is missing, whether the warning sign is missing in the same-side traffic direction of the school, and whether the zebra crossing is missing at the intersection within a first preset distance from the area where the school is located.

7. 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 to 3.

8. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1 to 3.