CN116192691B - Data packet delay judging method and computing equipment - Google Patents

Data packet delay judging method and computing equipment Download PDF

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Publication number
CN116192691B
CN116192691B CN202211664754.8A CN202211664754A CN116192691B CN 116192691 B CN116192691 B CN 116192691B CN 202211664754 A CN202211664754 A CN 202211664754A CN 116192691 B CN116192691 B CN 116192691B
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vehicle
position information
determining
data packet
running direction
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CN116192691A (en
Inventor
郑民
杨涛
张玉洁
王岩
吴风炎
刘宏举
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Hisense Group Holding Co Ltd
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Hisense Group Holding Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0852—Delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/16—Threshold monitoring
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Environmental & Geological Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to the field of data processing, in particular to a data packet delay judging method and computing equipment, which comprises the following steps: first, the actual traveling direction of the vehicle is determined. Acquiring a second data packet reported by a vehicle information acquisition device, judging whether vehicles corresponding to M vehicle identifications exist in N vehicle identifications or not, and determining K sample vehicles from the vehicles corresponding to the M vehicle identifications if the actual driving direction is determined; determining a predicted driving direction of the sample vehicle according to the first position information and the at least one second position information of the sample vehicle; judging whether the predicted running direction is consistent with the actual running direction of the sample vehicle; if the predicted running direction and the actual running direction of the K sample vehicles are consistent with each other, determining that the reporting of the second data packet is not delayed. And judging the track of the vehicle or analyzing other data according to the data in the undelayed data packet, so that the data analysis result is more reliable.

Description

Data packet delay judging method and computing equipment
Technical Field
The present application relates to the field of data processing, and in particular, to a method and computing device for determining packet delay.
Background
In the process of processing data of vehicles on roads, radar or road side units are generally used for monitoring speed and position information of the vehicles, and then the speed and position information is reported to a data center, and the data center processes the data to form running tracks of the vehicles or perform other operations according to the data.
Taking the radar as an example, after the radar acquires the data, the data is sent to an edge computing unit in the form of a data packet, and the edge computing unit reports the data to a data center. However, the radar may have problems with transmission delay when sending data to the edge computation unit based on the user datagram protocol (User Datagram Protocol, UDP). Since the frequency of radar data collection is high, a small delay may cause an error in the sequence of data packets, and at this time, the data acquired by the edge calculation unit at a previous time may be acquired at a later time, which may cause an error in subsequent data processing.
Based on this, there is a need for a packet delay determining method for determining a delayed packet, so as to ensure the reliability of data processing.
Disclosure of Invention
The embodiment of the application provides a method, a device, a product, a medium and equipment, which are used for determining a delayed data packet so as to ensure the reliability of data processing.
In a first aspect, an embodiment of the present application provides a method for determining a delay of a data packet, including: acquiring a first data packet reported by a vehicle information acquisition device, wherein the first data packet comprises a plurality of vehicle identifications;
For any vehicle identifier in the first data packet, adding position information corresponding to the vehicle identifier into a track record; the track record takes the vehicle identifier as an index, and sequentially records the position information corresponding to the vehicle identifier according to the reporting sequence of the first data packet;
for any vehicle identifier in the track record, which does not determine the actual running direction, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to each position information corresponding to the vehicle identifier;
acquiring a second data packet reported by a vehicle information acquisition device, wherein the second data packet comprises N vehicle identifications and first position information corresponding to each vehicle identification; any first data packet is reported earlier than the second data packet;
Judging whether vehicles corresponding to M vehicle identifications in the N vehicle identifications are larger than or equal to each other or not to determine the actual running direction, if so, determining K sample vehicles from the vehicles corresponding to the M vehicle identifications; m, N and K are integers greater than 1;
For any sample vehicle, determining a predicted travelling direction of the sample vehicle according to the first position information and at least one second position information of the sample vehicle; judging whether the predicted running direction is consistent with the actual running direction of the sample vehicle;
and if the predicted running directions exceeding the first threshold number in the K sample vehicles are consistent with the actual running directions, determining that the reporting of the second data packet is not delayed.
By the method, the position information in the previous data packet is recorded in the track record, and the actual running direction of the vehicle is judged according to the position information, so that the actual running direction of the vehicle can be judged in a whole way after the track record is accumulated to a certain number, the position information is not limited to a single piece of data, and the accuracy of judging the actual running direction of the vehicle is effectively improved. The vehicle identification, the first position information corresponding to each vehicle identification and the actual running direction of the vehicle are used for judging whether the data packet is a delayed data packet, no extra protocol data is needed to be added for the data packet, the length of a protocol used in the transmission of the data packet can be effectively reduced, the occupation of flow bandwidth is reduced, the transmission speed of the data packet is increased, in addition, the actual running direction and the predicted running direction are judged according to the data carried by the data packet, and the judgment result can more accurately reflect whether the current data packet is delayed. And judging the track of the vehicle or analyzing other data according to the data in the undelayed data packet, so that the data analysis result is more reliable.
In a possible implementation manner, determining an actual running direction of the vehicle corresponding to the vehicle identifier according to each position information of the vehicle identifier includes: for any vehicle identifier, acquiring position information of a second threshold number of the vehicle identifier from the track record, and determining the longest single-sequence subsequence according to the position information of the second threshold number; and if the ratio of the length of the longest single-sequence subsequence to the number of the second thresholds is larger than a third threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the increasing and decreasing direction of the longest single-sequence subsequence.
By the method, when the length of the longest single-sequence subsequence exceeds the second threshold number, the actual running direction of the vehicle is judged according to the longest single-sequence subsequence, error position information occupying a small part in the track record can be eliminated, and the accuracy of judging the actual running direction of the vehicle is improved.
In a possible implementation manner, the method further includes: if the ratio of the length of the longest single-sequence subsequence to the number of the second thresholds is not greater than a third threshold, determining a track slope corresponding to the vehicle identifier according to each position information of the vehicle identifier in the track record; and if the absolute value of the track slope exceeds a slope threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the track slope.
If the ratio of the length of the longest single subsequence to the second threshold number is greater than a third threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier includes: if the longest single-sequence subsequence is the longest increment subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; if the longest single-sequence subsequence is the longest descending subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is downlink; if the absolute value of the track slope exceeds the slope threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier, including: if the absolute value of the track slope exceeds a slope threshold and the track slope is a positive value, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; and if the absolute value of the track slope exceeds a slope threshold and the track slope is a negative value, determining that the actual running direction of the vehicle corresponding to the vehicle mark is downlink.
In the mode, only when the length of the longest single-sequence subsequence is long enough, the actual running direction of the vehicle is judged according to the longest single-sequence subsequence, and judgment errors caused by data concentration are effectively avoided. If the longest single-sequence subsequence cannot judge the actual running direction, then judging the actual running direction of the vehicle according to the slope, the calculation complexity can be effectively reduced, and the success rate of judging the actual running direction of the vehicle can be improved.
In a possible implementation manner, the position information is longitude and latitude information; before the second data packet reported by the vehicle information acquisition device is acquired, the method further comprises the following steps: constructing a plane coordinate system according to the road section shape of the road section where the vehicle information acquisition device is positioned; the y-axis direction of the plane coordinate system is the extending direction of the road section; adding the position information corresponding to the vehicle identifier to a track record comprises the following steps: converting the position information corresponding to the vehicle identifier into a road sign value y under the plane coordinate system; and adding the road sign value y of the vehicle identifier to a track record.
In the mode, longitude and latitude information is converted into coordinate information in a plane coordinate system, so that the calculation complexity can be reduced, and the accuracy of judging whether the data packet is delayed or not can be improved.
In a possible implementation manner, determining a predicted running direction of the sample vehicle according to the first position information and at least one second position information of the sample vehicle includes: if the road sign value corresponding to the first position information of the sample vehicle is smaller than the road sign value corresponding to the nearest second position information, determining that the predicted running direction is downlink; the nearest second position information is second position information with the reporting time closest to the reporting time of the first position information; and if the road sign value corresponding to the first position information of the sample vehicle is larger than the road sign value corresponding to the nearest second position information, determining that the predicted running direction is upward.
In the above manner, for the vehicle having the actual running direction, the predicted running direction of the sample vehicle is determined according to the first position information and the at least one second position information, so that whether the predicted running direction and the actual running direction are consistent can be judged fastest, and the efficiency of data packet delay judgment is improved.
In a possible implementation manner, after determining the actual running direction of the vehicle corresponding to the vehicle identifier, the method further includes: and deleting the position information which does not accord with the actual running direction of the vehicle in the track record.
In the mode, the error position information in the track record can be timely deleted, so that the occupied space of the track record can be reduced, and on the other hand, the error record can be timely removed, and the interference of the error position information on the data processing when the position information is used for carrying out other data processing is avoided.
In a possible implementation manner, the method further includes: and aiming at any vehicle identifier in the track record, deleting the vehicle identifier and each position information of the vehicle identifier from the track record if the latest reporting time of the vehicle identifier meets the deletion condition.
In the mode, invalid data in the track record can be cleared in time, the simplicity of the track record and the high availability of the data are ensured, and the memory occupied by the track record can be effectively reduced.
In a possible implementation manner, the method further includes: and aiming at any vehicle identifier in the track record, if the number of the position information of the vehicle identifier is larger than a fourth threshold value, deleting the position information with earliest reporting time.
The fourth threshold value can be the length of the track record, the earliest position information at the reporting time is deleted, the most effective track record can be reserved, and the accuracy of the delay judgment of the data packet is improved.
In a second aspect, an embodiment of the present application provides a packet delay determining apparatus, including:
the acquisition module is used for acquiring a first data packet reported by the vehicle information acquisition device, wherein the first data packet comprises a plurality of vehicle identifications;
The processing module is used for adding the position information corresponding to any vehicle identifier in the first data packet to a track record; the track record takes the vehicle identifier as an index, and sequentially records the position information corresponding to the vehicle identifier according to the reporting sequence of the first data packet;
The processing module is further used for determining the actual running direction of the vehicle corresponding to the vehicle identifier according to each piece of position information corresponding to any vehicle identifier in the track record, wherein the actual running direction of the vehicle is not determined yet;
The acquisition module is further used for acquiring a second data packet reported by the vehicle information acquisition device, wherein the second data packet comprises N vehicle identifications and first position information corresponding to each vehicle identification; any first data packet is reported earlier than the second data packet;
The processing module is further configured to determine whether the vehicle corresponding to the M vehicle identifications has determined an actual driving direction in the N vehicle identifications, and if yes, determine K sample vehicles from the vehicles corresponding to the M vehicle identifications; m, N and K are integers greater than 1;
the processing module is further used for determining a predicted running direction of any sample vehicle according to the first position information and at least one second position information of the sample vehicle; judging whether the predicted running direction is consistent with the actual running direction of the sample vehicle;
and if the predicted running directions exceeding the first threshold number in the K sample vehicles are consistent with the actual running directions, determining that the reporting of the second data packet is not delayed.
In a possible implementation manner, the processing module is further configured to, for any vehicle identifier, obtain, from the track record, location information of a second threshold number of the vehicle identifier, and determine a longest single-sequence subsequence according to the location information of the second threshold number; and if the ratio of the length of the longest single-sequence subsequence to the number of the second thresholds is larger than a third threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the increasing and decreasing direction of the longest single-sequence subsequence.
In a possible implementation manner, the processing module is further configured to determine, if the ratio of the length of the longest single subsequence to the number of second thresholds is not greater than a third threshold, a track slope corresponding to the vehicle identifier according to each position information of the vehicle identifier in the track record; and if the absolute value of the track slope exceeds a slope threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the track slope.
In a possible implementation manner, the position information is longitude and latitude information; the processing module is also used for constructing a plane coordinate system according to the road section shape of the road section where the vehicle information acquisition device is positioned; the y-axis direction of the plane coordinate system is the extending direction of the road section; converting the position information corresponding to the vehicle identifier into a road sign value y under the plane coordinate system; and adding the road sign value y of the vehicle identifier to a track record.
In a possible implementation manner, the processing module is further configured to determine that, if the longest single-sequence subsequence is the longest increment subsequence, an actual running direction of the vehicle corresponding to the vehicle identifier is determined to be uplink; if the longest single-sequence subsequence is the longest descending subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is downlink; if the absolute value of the track slope exceeds a slope threshold and the track slope is a positive value, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; and if the absolute value of the track slope exceeds a slope threshold and the track slope is a negative value, determining that the actual running direction of the vehicle corresponding to the vehicle mark is downlink.
In a possible implementation manner, the processing module is further configured to determine that the predicted driving direction is downlink if the landmark value corresponding to the first location information of the sample vehicle is smaller than the landmark value corresponding to the second location information that is closest; the nearest second position information is second position information with the reporting time closest to the reporting time of the first position information; and if the road sign value corresponding to the first position information of the sample vehicle is larger than the road sign value corresponding to the nearest second position information, determining that the predicted running direction is upward.
In a possible implementation manner, the processing module is further configured to delete the location information in the track record that does not conform to the actual running direction of the vehicle after determining the actual running direction of the vehicle corresponding to the vehicle identifier.
In a possible implementation manner, the processing module is further configured to determine, for any vehicle identifier in the track record, if the latest reporting time of the vehicle identifier meets a deletion condition, delete the vehicle identifier and each position information of the vehicle identifier from the track record.
In a possible implementation manner, the processing module is further configured to, for any vehicle identifier in the track record, delete the position information with the earliest reporting time if the number of position information of the vehicle identifier is greater than a fourth threshold.
In a third aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed, performs any of the methods of the first aspect described above.
In a fourth aspect, embodiments of the present application provide a computing device comprising: a memory for storing program instructions; and a processor for calling program instructions stored in the memory and executing the method according to the obtained program.
In a fifth aspect, embodiments of the present application provide a computer program product for implementing a method as in any of the designs of the first aspect above, when the computer program product is run on a processor.
The advantages of the second to fifth aspects may be specifically referred to the advantages achieved by any of the designs of the first aspect, and will not be described in detail herein.
Drawings
Fig. 1 schematically illustrates an application scenario provided by an embodiment of the present application;
fig. 2 schematically illustrates still another application scenario provided by an embodiment of the present application;
Fig. 3 is a schematic diagram schematically illustrating a method for determining a delay of a data packet according to an embodiment of the present application;
fig. 4 schematically illustrates a data packet according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a method for determining an actual driving direction of a vehicle according to an embodiment of the present application;
FIG. 6 schematically illustrates a planar coordinate system provided by an embodiment of the present application;
fig. 7 is a schematic diagram schematically illustrating a packet delay determining apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 schematically illustrates an application scenario provided by an embodiment of the present application, where, as shown in fig. 1, the application scenario includes: the vehicle information acquisition device, the edge calculation unit and the data center are commonly used for receiving data acquired by a plurality of vehicle information acquisition devices by the edge calculation unit, and the data are reported to the data center by the edge calculation unit. After the vehicle information acquisition device acquires the data of the vehicle, the data is uploaded to the edge computing unit in the form of a data packet, the edge computing unit processes the data packet after acquiring the data packet, and then the data is uploaded to the data center in the form of the data packet.
In one possible implementation manner, the vehicle information acquisition device may be a radar device disposed at a roadside, and may acquire speed and position information of a vehicle; in another possible implementation manner, the vehicle information collecting device may be a vehicle-mounted unit and a road side unit, where the vehicle-mounted unit reports information such as an identifier of a vehicle and a vehicle speed to a nearest road side unit, and the road side unit may obtain a position of the vehicle corresponding to the vehicle identifier by means of image recognition or the like and report the vehicle identifier, the vehicle speed and the vehicle position to an edge computing unit for jurisdiction.
In the two modes, when a data packet is transmitted, the problem of delay of the data packet is easy to occur due to unstable UDP transmission protocol and transmission line. In the prior art, taking radar as an example, the problem of schoolbag transmission delay is mainly solved in the following two modes:
Mode one: a time stamp is added at the time of packet transmission. Namely, the radar adds a time stamp to each acquired data packet, and the edge computing unit performs time sequencing on the data packets according to the time stamp after receiving the data packets, so that the problem of data packet sequence errors caused by transmission delay is avoided.
However, in this manner, since the radar on the road is from different vendors, adding the time stamp requires processing the radar to be always synchronized, and the protocols of the different vendors for adding the time stamp are different, the time stamp addition may be asynchronous, and may also cause the data packets to be in a disordered order. Fig. 2 schematically illustrates still another application scenario provided by the embodiment of the present application. As shown in fig. 2, when a vehicle is traveling on a road, at the position 1, the radar 1 collects data of the vehicle, adds a timestamp 15:30:08:005 to the data, after 50ms, the vehicle travels to the position 2, the radar 2 collects data of the vehicle, but the time of the radar 2 and the radar 1 are asynchronous, the time of the radar 2 is 15:30:08:004, namely after 50ms, the time of the radar 2 is slower than the time of the radar 1, at the moment, the timestamp added to the data of the collected vehicle is 15:30:08:004, and the edge calculating unit places the data packet collected by the radar 2 in front after receiving the two data packets, which is obviously not opposite.
Mode two: a self-increment counter is used as a reference for the sequence of packets. That is, the radar is numbered after forming a packet. The edge calculation unit sorts the data packets according to their numbers.
However, this method is applicable to a single radar scenario, and in the scenario of fig. 2, the count values cannot be unified since the respective radars are counted individually when the vehicle travels between the two radars. For example, the data packet count acquired by the radar 1 at the position 1 of the vehicle is 0034, the data packet count acquired by the radar 2 is 0023, and the edge calculation unit will place the data packet acquired by the radar 2 in front after receiving the two data packets, which is not the case.
Based on the above, the application provides a data packet delay judging method, which is used for determining delayed data packets, ensuring the accuracy of the sequence of the data packets and further ensuring the reliability when the data in the data packets are used for calculation processing.
Fig. 3 is a schematic diagram schematically illustrating a method for determining a delay of a data packet according to an embodiment of the present application, where, as shown in fig. 3, the method includes:
Step 301, a first data packet reported by a vehicle information acquisition device is acquired, wherein the first data packet comprises a plurality of vehicle identifications;
Fig. 4 is a schematic diagram of a data packet according to an embodiment of the present application, where, as shown in fig. 4, a data packet includes a plurality of pieces of data, and five pieces of data are shown in the figure. In each piece of data, there is included a vehicle identification, here denoted by "id+number", and first location information, here denoted by longitude and latitude (lng1_1, lat1_1) of the vehicle, and ellipses denote that there is some other information in the piece of data, which is not listed here because it is not used in this embodiment.
Step 302, adding position information corresponding to any vehicle identifier in the first data packet to a track record; the track record takes the vehicle identifier as an index, and sequentially records the position information corresponding to the vehicle identifier according to the reporting sequence of the first data packet;
step 303, determining, according to each position information corresponding to any vehicle identifier in the track record, an actual running direction of a vehicle corresponding to the vehicle identifier, wherein the actual running direction of the vehicle is not determined yet;
step 304, a second data packet reported by the vehicle information acquisition device is acquired, wherein the second data packet comprises N vehicle identifications and first position information corresponding to each vehicle identification.
Step 305, judging whether vehicles corresponding to M vehicle identifications in the N vehicle identifications have determined the actual running direction, if so, determining K sample vehicles from at least M vehicle identifications; m, N and K are integers greater than 1.
For example, there are 10 vehicle identifications in a data packet, wherein the vehicles corresponding to 7 vehicle identifications have determined the actual traveling direction, and the traveling direction is up or down, and 4 vehicles are selected from the 7 vehicles as sample vehicles.
Step 306, for any sample vehicle, determining a predicted driving direction of the sample vehicle according to the first position information and the at least one second position information of the sample vehicle.
Continuing with the example in the above steps, for one vehicle a in the sample vehicle, the vehicle information collecting device continuously collects information of the vehicle a to form a plurality of data packets, wherein the position information of the vehicle in each data packet is different, the first position information and the second position information are respectively located in different data packets, and the data packet in which the second position information is located is assumed to be received by the edge computing unit first, so that the direction pointing from the position corresponding to the second position information to the position corresponding to the first position information is the predicted running direction of the vehicle.
Step 307, it is determined whether the predicted travel direction coincides with the actual travel direction of the sample vehicle.
In step 308, if there are more than the first threshold number of predicted driving directions and the actual driving directions in the K sample vehicles, it is determined that the second data packet is reported without delay.
Continuing with the example in the above step, after the above step, it is determined whether the predicted traveling directions of the 4 sample vehicles coincide with the actual traveling directions, in this example, assuming that the first threshold number is 2, that is, 3 or 4 of the sample vehicles coincide with the actual traveling directions, it is determined that the second data packet containing 10 vehicle identifications is not delayed.
The following describes in detail the flow of the method for determining the actual driving direction of the vehicle:
Fig. 5 is a schematic flow chart illustrating a method for determining an actual driving direction of a vehicle according to an embodiment of the present application, as shown in fig. 5, where the method includes:
step 501, adding position information corresponding to a vehicle identifier to a track record for any vehicle identifier in a first data packet; table one is a track record in an embodiment of the present application:
List one
As shown in table one, track records of 9 vehicles are shown in total, 1-1 represents the position information of the vehicle 1 in the 1 st data packet, 1-2 represents the position information of the vehicle 1 in the 2 nd data packet, and 1-3 represents the position information … … of the vehicle 1 in the 3 rd data packet; 2-1 represents the position information of the vehicle 2 in the 1 st packet, and 2-2 represents the position information … … of the vehicle 2 in the 2 nd packet; 3-1 represents the position information of the vehicle 3 in the 1 st packet, 4-1 represents the position information of the vehicle 4 in the 1 st packet, 5-1 represents the position information … … of the vehicle 5 in the 1 st packet
In a row of vehicles 4 in the track log, after receiving a data packet, there is no position information of the vehicles 4, which means that the vehicles 4 may have already been driven out of the range monitored by the vehicle information acquisition device; in one row of the vehicle 3 in the track record, the 4 th record is the position information of the vehicle in the 5 th data packet, which indicates that the vehicle 3 may be blocked when the 4 th data packet is collected, and the position information is not acquired. Similarly, in a row of the vehicle 6 in the track record, the 3 rd record is the position information of the vehicle in the 6 th data packet, which indicates that the vehicle 6 is blocked when the 3 rd, 4 th and 5 th data packets are collected, and does not appear until the 6 th data packet is collected.
In order to reduce the memory consumption of the track record, the length of the track record may be set, for example, to 20, and when data is stored in the track record after more than 20 records, the first stored data needs to be deleted.
Step 502, for any vehicle identifier in the track record, which has not yet determined the actual driving direction, acquiring the position information of the second threshold number of the vehicle identifiers from the track record, and determining the longest single-sequence subsequence according to the position information of the second threshold number.
Step 503, determining whether the ratio of the length of the longest single-sequence subsequence to the second threshold number is greater than the third threshold, if so, executing step 504, and if not, executing step 505.
And 504, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the increasing and decreasing direction of the longest single-sequence subsequence.
Step 505, determining a track slope corresponding to the vehicle identifier according to each position information of the vehicle identifier in the track record.
If the 10 track records obtained in the step 502 are [2,3,5,4,1,7,6,9,8,11], the longest increment subsequence is [2,3,5,7,9,11], the longest decrement subsequence is [5,4,1], the length of the longest increment subsequence is 6, the ratio of the length of the longest increment subsequence to the number of the second thresholds is 6/10=0.6, and the ratio is not greater than the third threshold, the actual driving direction is determined according to the track slope.
Step 506, determining whether the absolute value of the track slope exceeds the slope threshold, if so, executing step 507, and if not, executing step 508.
And 507, determining the actual running direction of the vehicle corresponding to the vehicle identification according to the track slope.
Step 508, determining that the vehicle identification does not determine the actual driving direction.
In the above step 502, for any vehicle in the track records, after the number of track records is accumulated to the second threshold number, the position information of the second threshold number of the vehicle identification is acquired, and if the number of track records is less than the second threshold number, it is determined that the vehicle cannot determine the actual driving direction temporarily.
In step 504, if the longest single-sequence subsequence is the longest increment subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; if the longest single-sequence subsequence is the longest decreasing subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is downlink
For example, the second threshold number is set to 10, the obtained 10 tracks are recorded as [2,3,1,4,5,6,7,9,8,10], the longest ascending subsequence is [2,3,4,5,6,7,9,10], and the longest descending subsequence is [5,4,1]. The length of the longest incremental subsequence is 8, the third threshold value is set to be 0.6, the ratio of the length of the longest incremental subsequence to the number of the second thresholds is 8/10=0.8, and the length of the longest incremental subsequence is greater than the third threshold value, and the running direction of the vehicle is determined to be uplink because the longest single-sequence subsequence is the incremental subsequence.
Optionally, before the second data packet reported by the vehicle information acquisition device is acquired, a plane coordinate system can be constructed according to the road section shape of the road section where the vehicle information acquisition device is located; the y-axis direction of the plane coordinate system is the extending direction of the road section; converting the position information corresponding to the vehicle identifier into a road sign value y under a plane coordinate system; and adding the road sign value y of the vehicle identification to the track record.
FIG. 6 is a schematic diagram schematically illustrating a planar coordinate system according to an embodiment of the present application, where, as shown in FIG. 6, a straight line is obtained by connecting a center line and a dead point in an uplink direction of a road, the straight line is translated to be tangent to the leftmost side of the road in a y-axis direction, a y-axis is obtained, a coordinate system is established by taking a y-axis perpendicular line passing through the center line of the uplink direction as an x-axis, and longitude and latitude information is converted into a road sign value y in the planar coordinate system according to an actual length corresponding to 1 unit in the coordinate system and an angle between a plane where the road is located and an earth weft
In step 506, the slope threshold is determined according to the following method, for example, the high-speed slowest vehicle speed km/h, the actual length of 1 meter needs m units in the coordinate system, the vehicle information acquisition device acquires data about n times per second and uploads the data, and the error coefficient k. Calculating a slope threshold k= (v x m x K)/(n x 3.6). Examples: the lowest speed per hour is 60km/h, 1m is 5 units, uploading is performed 20 times per second, and the error coefficient is 0.6. Then k= (60×5×0.6)/(20×3.6) =2.5. After the slope threshold value is exceeded, the judgment of the ascending or descending direction of the vehicle according to the slope is obvious, and the accuracy of the judgment of the actual running direction of the vehicle can be improved.
In step 507, if the absolute value of the track slope exceeds a slope threshold and the track slope is a positive value, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; and if the absolute value of the track slope exceeds a slope threshold and the track slope is a negative value, determining that the actual running direction of the vehicle corresponding to the vehicle mark is downlink.
Optionally, the slope ：K＝(Σ(1…n)(xi*yi)–n*x Are all *y Are all )/(Σ(1…n)xi 2-n*x Are all 2), of the vehicle is determined according to the following formula, where (x i,yi) is the coordinates of the trajectory point determined in the planar coordinate system according to longitude and latitude.
For example, if the track slope of the vehicle is calculated to be 8 according to the above formula and the absolute value is greater than 2.5, determining that the vehicle is ascending; if the track slope of the vehicle is calculated to be-5 according to the formula and the absolute value is larger than 2.5, determining that the vehicle is descending; if the track slope of the vehicle is calculated to be 2 according to the formula and the absolute value is smaller than 2.5, determining that the vehicle identification does not determine the actual running direction.
In the step 303, if the road sign value corresponding to the first position information of the sample vehicle is smaller than the road sign value corresponding to the nearest second position information, determining that the predicted traveling direction is downlink; the nearest second position information is the second position information with the reporting time closest to the reporting time of the first position information; and if the road sign value corresponding to the first position information of the sample vehicle is larger than the road sign value corresponding to the nearest second position information, determining that the predicted running direction is uplink. The following table two is an example:
Watch II
In the second table, if the road sign value in the data packet n is determined to be 36 for the vehicle 1 and greater than the road sign value 28 corresponding to the nearest second position information, the predicted traveling direction of the vehicle 1 is determined to be the upward direction; if the road sign value in the packet n is determined to be 5 for the vehicle 2 and greater than the road sign value 10 corresponding to the nearest second position information, the predicted traveling direction of the vehicle 2 is determined to be downstream.
Optionally, for the landmark values corresponding to the position information in the data packet n, the landmark values corresponding to the previous position information may be compared with one another to determine the size, and when the landmark values corresponding to the position information in the data packet n are all greater than or less than the landmark values corresponding to the previous position information in the track table, the driving direction is determined.
After determining the actual traveling direction of the vehicle in the above-described step 504 or 507, the position information in the track record that does not conform to the actual traveling direction of the vehicle may also be deleted. For example, in the track sequence [2,3,1,4,5,6,7,9,8,10], after the traveling direction is determined to be upward, inaccurate position information of [1,9] is deleted.
In the mode, the error position information in the track record can be timely deleted, so that the occupied space of the track record can be reduced, and on the other hand, the error record can be timely removed, and the interference of the error position information on the data processing when the position information is used for carrying out other data processing is avoided.
Optionally, for any vehicle identifier in the track record, if the latest reporting time of the vehicle identifier meets the deletion condition, deleting the vehicle identifier and each piece of position information of the vehicle identifier from the track record.
The deletion condition may be that a time difference between the latest reporting time and the current time exceeds a time period threshold. In the above table one, if the reporting time of 4-1 is 10:00:00:000 and the current time is 10:00:05:000, that is, the vehicle 4 has not uploaded data for 5 seconds, the vehicle 4 may have already moved out of the monitoring range, and it cannot be determined whether the new data packet is delayed by using the data of the vehicle 4, and at this time, the identification and the position information of the vehicle 4 are deleted in the track record.
In the mode, invalid data in the track record can be cleared in time, the simplicity of the track record and the high availability of the data are ensured, and the memory occupied by the track record can be effectively reduced.
After the above step 305, it is determined that the data packet has no data delay, for vehicles in the track table for which the actual traveling direction has not been determined, the predicted traveling direction may be used as the actual traveling direction so as to obtain more vehicles for which the actual traveling direction is known.
In a possible implementation manner, for any vehicle identifier in the track record, if the number of the position information of the vehicle identifier is greater than a fourth threshold, deleting the position information with the earliest reporting time.
The fourth threshold value can be the length of the track record, the earliest position information at the reporting time is deleted, the most effective track record can be reserved, and the accuracy of the delay judgment of the data packet is improved.
Based on the same technical conception, the embodiment of the application also provides a data packet delay judging device. Fig. 7 is a schematic diagram schematically illustrating a packet delay determining device according to an embodiment of the present application, where the device may execute the foregoing packet delay determining method, as shown in fig. 7, and the device includes:
the acquisition module is used for acquiring a first data packet reported by the vehicle information acquisition device, wherein the first data packet comprises a plurality of vehicle identifications;
The processing module is used for adding the position information corresponding to any vehicle identifier in the first data packet to a track record; the track record takes the vehicle identifier as an index, and sequentially records the position information corresponding to the vehicle identifier according to the reporting sequence of the first data packet;
The processing module is further used for determining the actual running direction of the vehicle corresponding to the vehicle identifier according to each piece of position information corresponding to any vehicle identifier in the track record, wherein the actual running direction of the vehicle is not determined yet;
The acquisition module is further used for acquiring a second data packet reported by the vehicle information acquisition device, wherein the second data packet comprises N vehicle identifications and first position information corresponding to each vehicle identification; any first data packet is reported earlier than the second data packet;
The processing module is further configured to determine whether the vehicle corresponding to the M vehicle identifications has determined an actual driving direction in the N vehicle identifications, and if yes, determine K sample vehicles from the vehicles corresponding to the M vehicle identifications; m, N and K are integers greater than 1;
the processing module is further used for determining a predicted running direction of any sample vehicle according to the first position information and at least one second position information of the sample vehicle; judging whether the predicted running direction is consistent with the actual running direction of the sample vehicle;
and if the predicted running directions exceeding the first threshold number in the K sample vehicles are consistent with the actual running directions, determining that the reporting of the second data packet is not delayed.
Based on the same technical concept, the embodiment of the invention further provides a computing device, which comprises: a memory for storing program instructions;
And a processor for calling program instructions stored in said memory and executing the method as illustrated in fig. 3 and 5 according to the obtained program.
Based on the same technical idea, an embodiment of the invention also provides a computer-readable storage medium, which when run on a processor, implements the method as illustrated in fig. 3 and 5.
Based on the same technical idea, embodiments of the invention also provide a computer program product for implementing the method as illustrated in fig. 3 and 5 when said computer program product is run on a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. The data packet delay judging method is characterized by comprising the following steps of:
acquiring a first data packet reported by a vehicle information acquisition device, wherein the first data packet comprises a plurality of vehicle identifications;
For any vehicle identifier in the first data packet, adding position information corresponding to the vehicle identifier into a track record; the track record takes the vehicle identifier as an index, and sequentially records the position information corresponding to the vehicle identifier according to the reporting sequence of the first data packet;
for any vehicle identifier in the track record, which does not determine the actual running direction, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to each position information corresponding to the vehicle identifier;
acquiring a second data packet reported by a vehicle information acquisition device, wherein the second data packet comprises N vehicle identifications and first position information corresponding to each vehicle identification; any first data packet is reported earlier than the second data packet;
Judging whether vehicles corresponding to M vehicle identifications in the N vehicle identifications are larger than or equal to each other or not to determine the actual running direction, if so, determining K sample vehicles from the vehicles corresponding to the M vehicle identifications; m, N and K are integers greater than 1;
For any sample vehicle, determining a predicted travelling direction of the sample vehicle according to the first position information and at least one second position information of the sample vehicle; judging whether the predicted running direction is consistent with the actual running direction of the sample vehicle, wherein the first position information and the second position information are respectively positioned in different data packets;
and if the predicted running directions exceeding the first threshold number in the K sample vehicles are consistent with the actual running directions, determining that the reporting of the second data packet is not delayed.
2. The method of claim 1, wherein determining an actual travel direction of the vehicle for the vehicle identification based on each location information of the vehicle identification comprises:
For any vehicle identifier, acquiring position information of a second threshold number of the vehicle identifier from the track record, and determining the longest single-sequence subsequence according to the position information of the second threshold number;
and if the ratio of the length of the longest single-sequence subsequence to the number of the second thresholds is larger than a third threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the increasing and decreasing direction of the longest single-sequence subsequence.
3. The method of claim 2, wherein the method further comprises:
If the ratio of the length of the longest single-sequence subsequence to the number of the second thresholds is not greater than a third threshold, determining a track slope corresponding to the vehicle identifier according to each position information of the vehicle identifier in the track record;
And if the absolute value of the track slope exceeds a slope threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier according to the track slope.
4. The method of claim 3, wherein the location information is latitude and longitude information;
Before the second data packet reported by the vehicle information acquisition device is acquired, the method further comprises the following steps:
Constructing a plane coordinate system according to the road section shape of the road section where the vehicle information acquisition device is positioned; the y-axis direction of the plane coordinate system is the extending direction of the road section;
Adding the position information corresponding to the vehicle identifier to a track record comprises the following steps:
Converting the position information corresponding to the vehicle identifier into a road sign value y under the plane coordinate system;
and adding the road sign value y of the vehicle identifier to a track record.
5. The method of claim 4, wherein determining the actual driving direction of the vehicle corresponding to the vehicle identification if the ratio of the length of the longest single subsequence to the second threshold number is greater than a third threshold value comprises:
If the longest single-sequence subsequence is the longest increment subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; if the longest single-sequence subsequence is the longest descending subsequence, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is downlink;
If the absolute value of the track slope exceeds the slope threshold, determining the actual running direction of the vehicle corresponding to the vehicle identifier, including:
if the absolute value of the track slope exceeds a slope threshold and the track slope is a positive value, determining that the actual running direction of the vehicle corresponding to the vehicle identifier is uplink; and if the absolute value of the track slope exceeds a slope threshold and the track slope is a negative value, determining that the actual running direction of the vehicle corresponding to the vehicle mark is downlink.
6. The method of claim 4, wherein determining the predicted travel direction of the sample vehicle based on the first location information and the at least one second location information of the sample vehicle comprises:
If the road sign value corresponding to the first position information of the sample vehicle is smaller than the road sign value corresponding to the nearest second position information, determining that the predicted running direction is downlink; the nearest second position information is second position information with the reporting time closest to the reporting time of the first position information;
and if the road sign value corresponding to the first position information of the sample vehicle is larger than the road sign value corresponding to the nearest second position information, determining that the predicted running direction is upward.
7. The method of claim 3, wherein after determining the actual traveling direction of the vehicle corresponding to the vehicle identification, further comprising:
And deleting the position information which does not accord with the actual running direction of the vehicle in the track record.
8. The method of claim 1, wherein the method further comprises: and aiming at any vehicle identifier in the track record, deleting the vehicle identifier and each position information of the vehicle identifier from the track record if the latest reporting time of the vehicle identifier meets the deletion condition.
9. The method of any one of claims 1-8, wherein the method further comprises:
and aiming at any vehicle identifier in the track record, if the number of the position information of the vehicle identifier is larger than a fourth threshold value, deleting the position information with earliest reporting time.
10. A computing device, comprising:
A memory for storing program instructions;
A processor for invoking program instructions stored in said memory to perform the method according to any of claims 1-9 in accordance with the obtained program.
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