CN116793378A - Tunnel detection method and device, electronic equipment and storage medium - Google Patents

Tunnel detection method and device, electronic equipment and storage medium Download PDF

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Publication number
CN116793378A
CN116793378A CN202310702579.5A CN202310702579A CN116793378A CN 116793378 A CN116793378 A CN 116793378A CN 202310702579 A CN202310702579 A CN 202310702579A CN 116793378 A CN116793378 A CN 116793378A
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CN
China
Prior art keywords
tunnel
target
positioning object
road section
determining
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Pending
Application number
CN202310702579.5A
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Chinese (zh)
Inventor
龙超
张晨
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to CN202310702579.5A priority Critical patent/CN116793378A/en
Publication of CN116793378A publication Critical patent/CN116793378A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Abstract

The application discloses a tunnel detection method, a tunnel detection device, electronic equipment and a storage medium. Embodiments of the present application relate to the technical field of autopilot and the like. The method comprises the following steps: determining the entrance and exit states of the first tunnel according to the light signal intensities respectively acquired by the positioning object at each time point in the target time window; determining the entering and exiting states of the second tunnel according to the road section types of the target road section and surrounding road sections of the positioning object at the target time point; and determining a tunnel detection result according to the first tunnel access state and the second tunnel access state. In the application, the first tunnel entrance and exit state and the second tunnel entrance and exit state are combined to judge whether the positioning object is in the tunnel scene at the target time point, so that the accuracy of the obtained tunnel detection result is higher, whether the positioning object is yawed or not can be accurately determined according to the tunnel detection result, and the accuracy of the yawing detection result is improved.

Description

Tunnel detection method and device, electronic equipment and storage medium
Technical Field
The present application relates to the technical field of electronic maps, and in particular, to a tunnel detection method, a tunnel detection device, an electronic device, and a storage medium.
Background
With urban development and road construction, roads in and between cities become extremely complex. In order to save travel time, many users install a navigation application in the terminal and navigate by means of the navigation application.
When a user uses a navigation application to navigate, whether the user yaw occurs needs to be detected so as to re-plan a navigation planning route when the user yaw occurs. Currently, whether the user is yawing can be determined by the user's real-time GNSS (Global Satellite Navigation System, global navigation satellite system) signals. However, in the case of poor GNSS signal quality, it is difficult to determine whether the user is traveling in the tunnel, resulting in difficulty in determining whether yaw occurs.
Disclosure of Invention
In view of the above, the embodiments of the present application provide a tunnel detection method, a device, an electronic apparatus, and a storage medium.
In a first aspect, an embodiment of the present application provides a tunnel detection method, where the method includes: determining a first tunnel entrance and exit state corresponding to the positioning object according to the light signal intensity respectively acquired by the positioning object at each time point in the target time window; the target time window includes a target time point and a plurality of time points before the target time point; according to a target positioning signal of a positioning object at a target time point, determining a target road section where the positioning object is positioned at the target time point and a road section type of the target road section in a map road network, wherein the road section type comprises a tunnel road section type and a non-tunnel road section type; determining a second tunnel entering and exiting state corresponding to the positioning object according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section; and determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
In a second aspect, an embodiment of the present application provides a tunnel detection apparatus, including: the first state determining module is used for determining a first tunnel entering and exiting state corresponding to the positioning object according to the light signal intensity respectively acquired by the positioning object at each time point in the target time window; the target time window includes a target time point and a plurality of time points before the target time point; the road section determining module is used for determining a target road section where the positioning object is located at the target time point and the road section type of the target road section in the map road network according to the target positioning signal of the positioning object at the target time point, wherein the road section type comprises a tunnel road section type and a non-tunnel road section type; the second state determining module is used for determining a second tunnel entering and exiting state corresponding to the positioning object according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section; and the result determining module is used for determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
Optionally, the road section determining module is further configured to determine at least one target adsorption position point corresponding to the positioning object in the map road network according to the target positioning signal; determining a road section where a target adsorption position point is located in a map road network as a target road section where a positioning object is located at a target time point; and determining the road section type of the target road section according to the road section information of the target road section in the map road network.
Optionally, the target adsorption position points include a plurality of target adsorption position points, and one target adsorption position point corresponds to one target road section; the second state determining module is further used for determining the tunnel entering and exiting state of the target road section according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section for each target road section; and determining a second tunnel entering and exiting state corresponding to the positioning object according to the tunnel entering and exiting state of each of the plurality of target road sections.
Optionally, the second state determining module is further configured to determine that the second tunnel entering and exiting state is an unoccupied tunnel entering and exiting state if the tunnel entering and exiting states of the plurality of target road segments are all different; if at least two target road sections with the same tunnel access state exist, acquiring the tunnel access state with the highest occurrence number in the tunnel access states of the plurality of target road sections as a second tunnel access state.
Optionally, the road section determining module is further configured to select at least one target adsorption location point in the map road network according to the probability of occurrence according to the target positioning signal.
Optionally, the second state determining module is further configured to search in the map road network with the target road segment as a starting point according to the movement direction of the positioning object, and determine a first peripheral road segment of the target road segment; searching in the map road network according to the opposite direction of the movement direction of the positioning object by taking the target road section as a starting point, and determining a second surrounding road section of the target road section; at least one of the first surrounding road section and the second surrounding road section of the target road section is taken as the surrounding road section of the target road section in the map road network.
Optionally, the result determining module is further configured to determine a yaw detection result according to the target road section and the navigation planning route if the tunnel detection result includes that the positioning object enters the tunnel or the positioning object leaves the tunnel.
Optionally, the result determining module is further configured to determine whether the navigation planning route includes a tunnel section if the section type of the target section is a tunnel section type; if the navigation planning route does not comprise the tunnel section, determining that the yaw detection result is yaw of the positioning object at the target time point; if the navigation planning route comprises a tunnel section and the tunnel section does not exist in the target area in the navigation planning route, determining that the yaw detection result is yaw of the positioning object at the target time point; the target area is a road section which is acquired from the navigation planning route respectively according to the movement direction of the positioning object and the direction opposite to the movement direction of the positioning object by taking the navigation adsorption point of the positioning object as a starting point in the navigation planning route; the navigation adsorption point is a point where the target time point positioning object is located in the navigation planning route.
Optionally, the result determining module is further configured to determine that the yaw detection result is that the positioning object does not yaw at the target time point if the navigation planning route includes the target road segment.
Optionally, the first state determining module is further configured to determine, according to a road segment type of the target road segment, a driving state of the positioning object at the target time point, where the driving state includes that the positioning object drives outside the tunnel or that the positioning object drives inside the tunnel; and determining a first tunnel entrance state corresponding to the positioning object according to the driving state and the light signal intensity respectively acquired by the positioning object at each time point in the target time window.
Optionally, the first state determining module is further configured to obtain an average value of optical signal intensities when the positioning object travels outside the tunnel according to the navigation planning route if the traveling state is that the vehicle travels outside the tunnel; if a first time point, where the difference between the optical signal intensity and the average value of the optical signal intensity is greater than a first preset difference, exists in the target time window, determining the change rate of the optical signal intensity according to the optical signal intensity of the first time point and the optical signal intensity of a second time point, adjacent to the first time point, in the target time window; and if the change rate of the optical signal intensity is larger than the target change rate threshold value, determining that the first tunnel entrance and exit state is that the positioning object enters the tunnel.
Optionally, the first state determining module is further configured to obtain an average value of optical signal intensities when the positioning object travels outside the tunnel according to the navigation planning route if the traveling state is that the vehicle travels inside the tunnel; if a third time point exists in the target time window, wherein the difference between the optical signal intensity and the average value of the optical signal intensity is larger than the second preset difference, determining the change trend of the optical signal intensity according to the optical signal intensity of the third time point and the optical signal intensity of a fourth time point, adjacent to the third time point, in the target time window; determining a target time scene to which a target time window belongs according to the light signal intensity change trend; determining an optical signal intensity threshold corresponding to the target time scene according to the corresponding relation between the time scene and the optical signal intensity threshold; and determining the entrance and exit state of the first tunnel according to the optical signal intensity of the third time point, the optical signal intensity of the fourth time point and the optical signal intensity threshold corresponding to the target time scene.
Optionally, the first state determining module is further configured to obtain reference optical signal intensities corresponding to the positioning object at a plurality of reference time points, where the plurality of reference time points are before the target time point, in a process that the positioning object travels outside the tunnel according to the navigation planning route; and calculating the average value of the reference optical signal intensities corresponding to the positioning object at a plurality of reference time points as the average value of the optical signal intensities.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory; one or more programs are stored in the memory and configured to be executed by the processor to implement the methods described above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having program code stored therein, wherein the program code, when executed by a processor, performs the method described above.
In a fifth aspect, embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer readable storage medium and executes the computer instructions to cause the electronic device to perform the method described above.
According to the tunnel detection method, the device, the electronic equipment and the storage medium, the first tunnel entrance and exit state of the positioning object is determined based on the light signal intensity, meanwhile, the second tunnel entrance and exit state of the positioning object is determined based on the target road section and the road section types of the surrounding road sections of the target road section, and whether the positioning object is in a tunnel scene at the target time point is judged by combining the first tunnel entrance and exit state and the second tunnel entrance and exit state, so that the accuracy of the obtained tunnel detection result is high, whether the positioning object is yawed or not can be accurately determined according to the tunnel detection result, and the accuracy of the yaw detection result is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of an application scenario to which an embodiment of the present application is applicable;
FIG. 2 is a flow chart of a tunnel detection method according to an embodiment of the present application;
FIG. 3 shows a schematic view of a bifurcation point in an embodiment of the present application;
fig. 4 is a flowchart of a tunnel detection method according to still another embodiment of the present application;
FIG. 5 is a flow chart of a tunnel detection method according to still another embodiment of the present application;
FIG. 6 is a schematic diagram of a tunnel detection process of a vehicle in an embodiment of the application;
FIG. 7 is a block diagram of a tunnel detection device according to an embodiment of the present application;
fig. 8 shows a block diagram of an electronic device for performing a tunnel detection method according to an embodiment of the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the application, are within the scope of the application in accordance with embodiments of the present application.
In the following description, the terms "first", "second", and the like are merely used to distinguish between similar objects and do not represent a particular ordering of the objects, it being understood that the "first", "second", or the like may be interchanged with one another, if permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the application only and is not intended to be limiting of the application.
It should be noted that: references herein to "a plurality" means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
In addition, in the embodiment of the present application, the collection, use, processing and storage of the positioning signals of the positioning object all need to meet the regulations and laws and regulations of the region where the positioning signal is located.
In the related art, whether or not a positioning object is yawed is determined only by the GNSS signals of the positioning object, which is highly dependent on the accuracy of the GNSS signals. When the GNSS is very accurate, the actual position of the user is very accurate based on the GNSS signals, so that the error yaw judgment is less; in contrast, when the accuracy of the GNSS signal is low, the error rate of determining the actual position of the user based on the GNSS signal is high; even when the GNSS signal is completely lost, the actual position of the user cannot be determined based on the GNSS signal at all.
In other words, in the method for comparing the positioning result of the GNSS signal with the navigation planning route directly, the yaw detection result with higher accuracy can be obtained only when the GNSS signal quality is good, and once the GNSS signal quality is not ideal enough, the yaw error is very easy to cause (when the positioning object is not actually deviated from the planning route, the yaw triggered by the error of recognizing the positioning object as deviating from the navigation planning route is the yaw error due to various errors), and especially in the tunnel scene, the problem of yaw error is more prominent because the GNSS signal is weaker. For example, the user actually travels on a section parallel to the tunnel, but the user is positioned on the tunnel section, resulting in inaccurate adsorbed positions of the user determined from the GNSS signals, resulting in inaccurate yaw detection results determined from the GNSS signals.
In the related art, whether yaw is generated can also be determined by the relationship between the GNSS signals, and the method only considers the relationship between the GNSS signals and the GNSS signals within a certain time difference. In practice, the GNSS signal of the positioning object may be affected by various factors, so that the track of the positioning object may be varied, such as the track that should be straight, and may turn around under the condition of poor GNSS signal quality. In this case, it is also difficult to determine whether the positioning object is yawed or not by only the relationship between GNSS signals within a certain time difference.
Based on the method, the device, the electronic equipment and the storage medium, the first tunnel entrance state of the positioning object is determined based on the optical signal intensity, meanwhile, the second tunnel entrance state of the positioning object is determined based on the target road section and the road section types of the surrounding road sections of the target road section, and whether the positioning object is in a tunnel scene at the target time point is jointly determined by combining the first tunnel entrance state and the second tunnel entrance state, so that the accuracy of the obtained tunnel detection result is higher, whether the positioning object is yawed or not can be accurately determined according to the tunnel detection result, and the accuracy of the yaw detection result is improved.
The method and the device can be applied to the technical fields of automatic driving scenes, electronic maps and the like. The automatic driving technology generally comprises high-precision map, environment perception, behavior decision, path planning, motion control and other technologies, and has wide application prospect. The automatic driving technology and the electronic map have wide application prospects.
As shown in fig. 1, an application scenario to which the embodiment of the present application is applicable includes a terminal 20 and a server 10, where the terminal 20 and the server 10 are connected through a wired network or a wireless network. The terminal 20 may be a smart phone, tablet, notebook, desktop, smart home, vehicle-mounted terminal, vehicle, aircraft, wearable device terminal, virtual reality device, and other devices incorporating a positioning module. In some embodiments, the terminal may also integrate an optical signal sensor for collecting optical signal strength.
The server 10 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Network, content delivery networks), basic cloud computing services such as big data and artificial intelligent platforms, and the like. The server 10 may be used to provide services for applications running at the terminal 20.
The positioning module may be a GNSS (Global Satellite Navigation System, global navigation satellite system) module, a GPS (Global Positioning System ) module, etc., where GNSS is a generic term for a plurality of satellite systems, and the user device determines the absolute position of the user by receiving longitude and latitude coordinate information provided by satellites. The terminal 20 may also be equipped with an optical signal sensor for collecting optical signal strength. The positioning object may refer to a device including the terminal 20, an object carrying the terminal 20, the terminal 20 itself, and the like, the positioning signal collected by the terminal 20 is used as a positioning signal of the positioning object, and the optical signal intensity collected by the terminal 20 is used as an optical signal intensity of the positioning object.
The terminal 20 collects the target optical signal intensity of the positioning object at the target time point and the historical optical signal intensity collected before the target time point through the optical signal sensor, and determines the first tunnel entrance and exit state according to the target optical signal intensity and the historical optical signal intensity.
Meanwhile, the terminal 20 collects a target positioning signal of the positioning object at a target time point through the positioning module, the terminal 20 determines a target road section and a surrounding road section corresponding to the positioning object according to the target positioning signal, and determines a second tunnel entrance/exit state according to road section types of the target road section and the surrounding road section.
Then, when the terminal 20 determines that the first tunnel entering and exiting state is matched with the second tunnel entering and exiting state, the terminal 20 determines a tunnel detection result according to the road section where the positioning object is located at the target time point and the navigation planning route. The tunnel detection result includes that the positioning object enters the tunnel or leaves the tunnel at the target time point.
In another embodiment, the terminal 20 collects the target optical signal intensity of the positioning object at the target time point and the historical optical signal intensity collected before the target time point through the optical signal sensor, meanwhile, the terminal 20 collects the target positioning signal of the positioning object at the target time point through the positioning module, the terminal 20 sends the target optical signal intensity, the historical optical signal intensity and the target positioning signal to the server 10, the server 10 determines the first tunnel entrance and exit state according to the target optical signal intensity and the historical optical signal intensity, and determines the second tunnel entrance and exit state according to the road types of the target road section and the surrounding road section, then the server 10 determines the tunnel detection result according to the road section and the navigation planning route where the positioning object is located at the target time point when the first tunnel entrance and exit state is matched with the second tunnel entrance and exit state, and finally the server 10 sends the tunnel detection result to the terminal 20.
For convenience of description, in the following embodiments, an example in which tunnel detection is performed by an electronic device will be described.
Referring to fig. 2, fig. 2 is a flowchart of a tunnel detection method according to an embodiment of the present application, where the method may be applied to an electronic device, and the electronic device may be the terminal 20 in fig. 1, and the method includes:
s110, determining a first tunnel entrance state corresponding to the positioning object according to the light signal intensity respectively acquired by the positioning object at each time point in the target time window; the target time window includes a target time point and a plurality of time points before the target time point.
As above, when the electronic device is a vehicle or an aircraft, the positioning object may refer to the vehicle, and when the electronic device is a mobile terminal, the positioning object may be the mobile terminal itself or a user carrying the mobile terminal. The electronic device may be equipped with an optical signal sensor by which the optical signal intensity around the electronic device is collected. The optical signal sensor can be input into the electronic equipment at the frequency of 10Hz (times/100 milliseconds), and 10 optical sensor signals of each second are judged to obtain a first tunnel entrance and exit state.
The target time window may be any time window, and the target time window may include a plurality of time points, each one second or each 0.1s may be one time point, for example, the target time window may refer to 10:00 am at 29 of 2023 year 5 month to 10:01 am at 29 of 2023 year 5 month, where the target time window includes 60 time points, and, for another example, the target time window may be a time window having a duration of 10s with the current time as the end time, where the target time window includes 10 time points. The number of time points included in the target time window may be set based on the demand, for example, the target time window may refer to a time window including 6 time points. The target time point may refer to an end time of the target time window, for example, the target time window includes 6 time points, and the target time point may refer to a 6 th time point.
For each time point in the target time window, the electronic device obtains the light signal intensity around the electronic device at the time point through the light signal sensor as the light signal intensity of the positioning object at the time point.
In this embodiment, starting point information and destination information may be input to the electronic device, and the electronic device determines a plurality of feasible navigation planning routes according to the electronic map, the starting point information and the destination information, then may continue to select a certain navigation planning route as the navigation planning route of the current navigation according to the requirement, and then the positioning object may travel according to the navigation planning route.
In the process that the electronic equipment runs according to the navigation planning route, at least one target time window can be determined, and for each target time window, the respective light signal intensity of each time point in the target time window can be acquired through the light signal sensor of the electronic equipment.
For example, when the user uses the mobile phone, the starting point information input to the mobile phone is the A1 area of the B city area and the A2 area of the B city area, the mobile phone determines the navigation planning route C according to the built-in electronic map of the B city area, the A1 area and the A2 area, and in the process that the user holds the mobile phone to travel along the navigation planning route C, each current time and 5 times before the current time are taken as one target time window corresponding to the current time (the target time window comprises 6 time points), and the respective optical signal intensity of the positioning object at each time point in the target time window is obtained.
After the optical signal intensity of each time point in the target time window is collected, a first tunnel entrance/exit state of the positioning object can be determined according to the optical signal intensity of each time point in the target time window, wherein the tunnel entrance/exit state can include that the positioning object enters a tunnel, the positioning object leaves the tunnel or the positioning object does not enter the tunnel.
In this embodiment, the intensity difference of the optical signal intensity in the target time window may be determined according to the optical signal intensity at each time point in the target time window, and then the change trend (the change trend is larger or smaller, the difference is positive, the change trend is larger, the difference is negative, and the change trend is smaller) and the change amplitude (the intensity difference between the target optical signal intensity and the historical optical signal intensity) of the optical signal are determined according to the intensity difference, so as to determine the first tunnel entrance/exit state.
For example, when the positioning object travels in daytime when the light is good, the first tunnel entrance state of the positioning object is determined as the positioning object leaving the tunnel when the change trend of the light signal is large and the change range is large (for example, the change range is larger than a set first intensity threshold value); for another example, when the positioning object runs in the night with poor light, the change trend of the light signal is smaller and the change amplitude is larger (for example, the change amplitude is larger than the set second intensity threshold value), and the first tunnel entering and exiting state of the positioning object is determined as that the positioning object leaves the tunnel.
S120, determining a target road section where the positioning object is located at the target time point and the road section type of the target road section in the map road network according to the target positioning signal of the positioning object at the target time point.
The road section types in the application comprise a tunnel road section type and a non-tunnel road section type. The map road network means that the electronic map is composed of a plurality of roads (road), each road is composed of a plurality of links, the interior of each link is not communicated with other links, and road intersections are formed at the positions where different links are communicated. Each link is composed of several segments (segments), which are the basic units that make up an electronic map.
For each target time point, the electronic device may acquire, as a target positioning signal, a positioning signal of the electronic device as a positioning signal (e.g., a GNSS signal or a GPS signal) of the positioning object at the target time point through the positioning module. The target positioning signal may be longitude information including a positioning object as well as latitude information.
The specific position of the positioning object in the electronic map can be determined according to the target positioning signal, the road section where the specific position is located is used as the target road section, and meanwhile, the road section type of the target road section can be obtained.
For example, according to the GNSS signal of the positioning object at the target time point, determining the D1 road segment of the positioning object in the B-urban area, taking the D1 road segment as the target road segment, taking the D1 road segment as the tunnel road segment, and determining the road segment type of the D1 road segment as the tunnel road segment type.
The GNSS signals may be input to the electronic device at a frequency of 1Hz (secondary/secondary), and all GNSS signals in each second are adsorbed normally, where adsorption means that the electronic device determines a position with a maximum probability on the map road network according to the input GNSS signals, and at this time, the electronic device is considered to be the position with the maximum probability actually on the electronic map, and the position with the maximum probability is also called an adsorption position point of the positioning object.
S130, determining a second tunnel entering and exiting state corresponding to the positioning object according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section.
The surrounding links of the target link in the map network refer to links located in the direction of movement of the positioning object and connected to the target link or links located in the direction opposite to the direction of movement of the positioning object and connected to the target link in the map network.
As an embodiment, after the target road section is determined, searching in the map road network with the target road section as a starting point according to the movement direction of the positioning object to determine a first peripheral road section of the target road section; searching in the map road network according to the opposite direction of the movement direction of the positioning object by taking the target road section as a starting point, and determining a second surrounding road section of the target road section; at least one of the first surrounding road section and the second surrounding road section of the target road section is taken as the surrounding road section of the target road section in the map road network.
For example, the links E1, E2, and E3 are sequentially connected, the positioning object travels in the directions of E1, E2, and E3, and when the target link of the positioning object is E2, the surrounding links of the determined target link may be E1 or E3.
As an embodiment, the search may be performed in the map road network along the moving direction of the positioning object with the target road segment as the starting point until the bifurcation point is searched or the search distance (i.e., the distance from the target road segment) reaches the target distance (e.g., 200 meters), and the searched road segment is acquired as the first surrounding road segment. The bifurcation point is an intersection point of more than two road segments. As shown in fig. 3, the intersection of the link 301, the link 302, and the link 303 is a bifurcation point.
Similarly, the target link may be used as a starting point, and searching may be performed in the map road network along a direction opposite to the moving direction of the positioning object until the bifurcation point is searched or the search distance reaches the target distance, and the searched link may be obtained as the second surrounding link.
After the target road section and the surrounding road sections are determined, the tunnel access range of the positioning object can be determined according to the road section types of the target road section and the surrounding road sections, and the second tunnel access state of the positioning object is determined according to the tunnel access range corresponding to the positioning object. The tunnel entering and exiting range of the positioning object is a range of the positioning object which is in the accessible tunnel, the accessible tunnel range and the inaccessible tunnel range at the target time point.
For example, the surrounding road sections of the target road section are first surrounding road sections, if the road section type of the target road section is a tunnel road section type and the road section type of the first surrounding road section is a non-tunnel road section type, the positioning object is illustrated to be in a range capable of entering a tunnel at the target time point, and the second tunnel entering and exiting state is determined to be that the positioning object enters the tunnel; if the road section type of the target road section is not the tunnel road section type, the road section type of the first surrounding road section is the tunnel road section type, the positioning object is in the range of the available tunnel at the target time point, and the second tunnel entering and exiting state is determined to be the positioning object leaving tunnel; and in other cases, the tunnel access range of the positioning object is an inaccessible tunnel range, and the second tunnel access state is determined as that the positioning object does not access the tunnel.
For another example, if the road section type of the target road section is a tunnel road section type and the road section type of the second surrounding road section is a non-tunnel road section type, the positioning object is in the range of the outputtable tunnel at the target time point, and the second tunnel in-out state is determined to be the positioning object leaving the tunnel; if the road section type of the target road section is a non-tunnel road section type and the road section type of the second surrounding road section is a tunnel road section type, indicating that the positioning object is in a range capable of entering a tunnel at the target time point, and determining that the second tunnel entering and exiting state is that the positioning object enters the tunnel; and in other cases, the tunnel access range of the positioning object is an inaccessible tunnel range, and the second tunnel access state is determined as that the positioning object does not access the tunnel.
S140, determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
In this embodiment, if the first tunnel entry and exit state is matched with the second tunnel entry and exit state, specific content of the first tunnel entry and exit state (or the second tunnel entry and exit state) is obtained as a tunnel detection result. The first tunnel access state and the second tunnel access state being matched means that the tunnel access state indicated by the first tunnel access state is the same as the tunnel access state indicated by the second tunnel access state.
For example, the first tunnel entering and exiting state and the second tunnel entering and exiting state both indicate that the positioning object enters the tunnel, and the tunnel detection result is determined to be that the positioning object enters the tunnel. For another example, the first tunnel entering and exiting state and the second tunnel entering and exiting state both indicate that the positioning object leaves the tunnel, and the tunnel detection result is determined to be that the positioning object leaves the tunnel.
And under the condition that the first tunnel state is not matched with the second tunnel state, determining that the tunnel detection result is that whether the positioning object enters or exits the tunnel cannot be determined.
As an embodiment, after S140, if the tunnel detection result includes that the positioning object enters the tunnel or the positioning object exits the tunnel, a yaw detection result is determined according to the target road segment and the navigation planning route. The yaw detection result includes that the positioning object is yawed at the target time point and the positioning object is not yawed at the target time point.
Yaw refers to the deviation of the position of a positioning object (obtained by longitude and latitude) from a planned navigation planning route during navigation using a map navigation product. In the case of yaw, the map product needs to re-route a new navigation planning route for the positioning object to direct the positioning object to the destination (i.e., the end point of the above input).
Generally, when the positioning object deviates from the navigation planning route, the yaw triggered by the map navigation product is correct yaw; when the user does not actually deviate from the navigation planned route, the yaw triggered by the map navigation product incorrectly identifying the user as deviating from the planned route is a false yaw due to various errors. For a navigation map product, the lower the yaw error, the better.
In this embodiment, all possible combinations of the first tunnel ingress and egress states and the second tunnel ingress and egress states are referred to in table 1, and table 1 is as follows:
TABLE 1
[ entering a Tunnel ], entering a Tunnel ] [ entering the tunnel, leaving the tunnel ] [ entering a Tunnel, others ]
[ leaving tunnel, entering tunnel ] [ leaving Tunnel ], leaving Tunnel ] [ leaving the tunnel, others ]
[ others, enter the tunnel ] [ others, leave the tunnel ] [ others ] other than
Wherein x in the [ x, y ] refers to a first tunnel entering and exiting state, y refers to a second tunnel entering and exiting state, and other tunnel entering and exiting states indicated by other conditions are that a positioning object does not enter and exit a tunnel.
If the first tunnel entering and exiting state is not matched with the second tunnel entering and exiting state, whether the positioning object enters and exits the tunnel or not is determined as a tunnel detection result, the yaw judgment of the positioning object can be stopped, prompt information is output (whether the positioning object is yaw is difficult to determine or not) or whether the positioning object is yaw is directly determined or not, and whether the positioning object is yaw is determined or not according to the target positioning signal.
If the first tunnel entering and exiting state is matched with the second tunnel entering and exiting state, the yaw detection result can be determined according to the target road section and the navigation planning route, and whether the positioning object is yawed or not is determined according to the target road section or the navigation planning route where the positioning object is located at the target time point.
As an embodiment, determining the yaw detection result according to the target road segment and the navigation planning route may include: if the road section type of the target road section is the tunnel road section type, determining whether the navigation planning route comprises a tunnel road section or not; if the navigation planning route does not comprise the tunnel section, determining that the yaw detection result is yaw of the positioning object at the target time point.
As yet another embodiment, determining the yaw detection result according to the target road segment and the navigation planning route may include: after determining whether the navigation planning route comprises a tunnel section, if the navigation planning route comprises the tunnel section and the tunnel section does not exist in a target area in the navigation planning route, determining that the yaw detection result is yaw of the positioning object at a target time point; the target area is a road section which is acquired from the navigation planning route respectively according to the movement direction of the positioning object and the direction opposite to the movement direction of the positioning object by taking the navigation adsorption point of the positioning object as a starting point in the navigation planning route; the navigation adsorption point is a point where the target time point positioning object is located in the navigation planning route.
As yet another embodiment, determining the yaw detection result according to the target road segment and the navigation planning route may include: if the navigation planning route comprises a target road section, determining that the yaw detection result is that the positioning object does not yaw at the target time point.
In addition, in some special cases, such as abnormal navigation planning route and navigation adsorption failure of the positioning object, it may also be determined that the yaw detection result is that the positioning object does not yaw at the target time point. The abnormal navigation planning route can comprise the conditions of failure in loading the navigation planning route, error in the navigation planning route, untimely updating of the navigation planning route and the like; the navigation adsorption failure is a failure in determining the navigation adsorption point of the specified object (the navigation adsorption point cannot be determined).
In this embodiment, the first tunnel access state of the positioning object is determined based on the optical signal intensity, meanwhile, the second tunnel access state of the positioning object is determined based on the target road segment and the road segment types of the surrounding road segments of the target road segment, and whether the positioning object is in a tunnel scene at the target time point is jointly determined by combining the first tunnel access state and the second tunnel access state, so that the accuracy of the obtained tunnel detection result is higher, and whether the positioning object is yawed can be accurately determined according to the tunnel detection result, thereby avoiding the occurrence of the situation that the accuracy of the yaw detection result is lower due to the poor positioning signal quality of the positioning object when the navigation planning route of the positioning object is a parallel road outside the tunnel and the positioning object is actually in the tunnel, and improving the accuracy of the yaw detection result.
Referring to fig. 3, fig. 3 is a flowchart illustrating a tunnel detection method according to another embodiment of the present application, where the method may be applied to an electronic device, and the electronic device may be the terminal 20 in fig. 1, and the method includes:
s210, determining a first tunnel entrance state corresponding to the positioning object according to the light signal intensity respectively acquired by the positioning object at each time point in the target time window.
The description of S210 refers to the description of S110 above, and will not be repeated here.
S220, determining at least one target adsorption position point corresponding to the positioning object in the map road network according to the target positioning signal; determining a road section where a target adsorption position point is located in a map road network as a target road section where a positioning object is located at a target time point; and determining the road section type of the target road section according to the road section information of the target road section in the map road network.
In this embodiment, according to the target positioning signal, at least one target adsorption position point is selected in the map road network according to the occurrence probability. The method comprises the steps of determining a plurality of positions possibly absorbed by a positioning object in a map road network according to a target positioning signal of the positioning object, determining the occurrence probability of each position possibly appearing, and selecting a point with the highest occurrence probability as a target absorption position point.
As still another embodiment, when the target adsorption position points include a plurality of target adsorption position points, a plurality of positions where the positioning object may appear in the map road network may be determined according to the target positioning signal of the positioning object, and an occurrence probability of each of the positions where the positioning object may appear may be determined, and the plurality of target adsorption position points may be sequentially selected from high to low.
And determining a road section where the target adsorption position points are located as a target road section aiming at each target adsorption position point, and traversing all the determined target adsorption position points to obtain the target road sections of the target adsorption position points. Wherein there may be a plurality of target adsorption position points corresponding to the same target section.
The link information may include information such as a link type, a link length, and a link identifier, and the link type of the target link may be determined according to the link type in the link information. The link identification may refer to the name, number, etc. of the link.
S230, for each target road segment, determining the tunnel entrance and exit state of the target road segment according to the road segment type of the surrounding road segments of the target road segment in the map road network and the road segment type of the target road segment; and determining a second tunnel entering and exiting state corresponding to the positioning object according to the tunnel entering and exiting state of each target road section.
In the case that the target road segments include a plurality of target road segments, for each target road segment, the surrounding road segments corresponding to each target road segment may be determined according to the above manner of S130, and then the respective tunnel ingress and egress states of each target road segment are determined according to the road segment type of each target road segment and the road segment type of the surrounding road segment of each target road segment, and the respective tunnel ingress and egress states of each target road segment are traversed to obtain the second tunnel ingress and egress state corresponding to the positioning object.
As one embodiment, if the tunnel entrance and exit states of the target segments are different, the second tunnel entrance and exit state is determined to be the non-entrance and exit tunnel state. For example, the number of the target road sections is 3, the tunnel entering and exiting states of the three target road sections are respectively a entering tunnel, a leaving tunnel and a non-entering tunnel, the tunnel entering and exiting states of the 3 target road sections are determined to be different, and the second tunnel entering and exiting state is determined to be a non-entering and exiting tunnel state.
As another embodiment, if there is a target link with the same tunnel entry and exit state, the tunnel entry and exit state with the highest occurrence number of tunnel entry and exit states is acquired as the second tunnel entry and exit state. For example, the number of the target road segments is 3, the tunnel entrance states of the three target road segments are the entrance tunnel, the exit tunnel and the entrance tunnel respectively, the same tunnel entrance state-entrance tunnel-exists in the tunnel entrance states of the 3 target road segments, and the second tunnel entrance state is determined to be the entrance tunnel state.
S240, determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
The description of S240 refers to the description of S140 above, and will not be repeated here.
In this embodiment, the tunnel access states of the multiple target road segments and the multiple target road segments are determined, and the second tunnel access state is determined in combination with the tunnel access states of the multiple target road segments, so that the accuracy of the second tunnel access state is higher, the accuracy of determining whether the positioning object is in the tunnel according to the first tunnel access state and the second tunnel access state is improved, and the accuracy of the tunnel detection result is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a tunnel detection method according to still another embodiment of the present application, where the method may be applied to an electronic device, and the electronic device may be the terminal 20 in fig. 1, and the method includes:
s310, determining the running state of the positioning object at a target time point according to the road section type of the target road section; and determining a first tunnel entrance state corresponding to the positioning object according to the driving state and the light signal intensity respectively acquired by the positioning object at each time point in the target time window.
The driving state may include that the positioning object is driven outside the tunnel or that the positioning object is driven inside the tunnel. When the road section type of the target road section is the tunnel road section type, the running state of the positioning object at the target time point is determined to run in the tunnel, and when the road section type of the target road section is the non-tunnel road section type, the running state of the positioning object at the target time point is determined to run outside the tunnel.
After the running state of the positioning object is determined, the first tunnel entrance and exit state corresponding to the positioning object can be determined according to the running state of the positioning object and the light signal intensity respectively acquired by the positioning object at each time point in the target time window.
As an embodiment, determining the first tunnel entrance/exit state corresponding to the positioning object according to the running state of the positioning object and the light signal intensities respectively acquired by the positioning object at each time point in the target time window may include: if the driving state is that the vehicle is driving outside the tunnel, acquiring an average value of the light signal intensity when the positioning object is driving outside the tunnel according to the navigation planning route; if a first time point, where the difference between the optical signal intensity and the average value of the optical signal intensity is greater than a first preset difference, exists in the target time window, determining the change rate of the optical signal intensity according to the optical signal intensity of the first time point and the optical signal intensity of a second time point, adjacent to the first time point, in the target time window; and if the change rate of the optical signal intensity is larger than the target change rate threshold value, determining that the first tunnel entrance and exit state is that the positioning object enters the tunnel.
The average value of the optical signal intensity is used for identifying the actual optical signal intensity of the positioning object when the positioning object runs outside the tunnel according to the navigation planning route.
The first preset gap may be determined based on a time scenario, which may include day and night, that is, the first preset gap corresponding to day and the first preset gap corresponding to night may be different. Daytime refers to a period from sunrise to sunset of each day, and night may refer to a period from sunset of each day to sunrise of the next day.
For each time point in the target time window, calculating an intensity difference value between the optical signal intensity and the optical signal intensity average value of the time point, if the intensity difference value is larger than a first preset difference, determining that the difference between the optical signal intensity and the optical signal intensity average value of the time point is larger than the first preset difference, determining the time point as a first time point, and acquiring a time point before the first time point in the target time window as a second time point. Then, the difference between the intensity of the optical signal at the first time point and the intensity at the second time point can be determined, the difference between the intensity of the optical signal at the first time point and the intensity of the optical signal at the second time point is compared, and the obtained ratio is used as the change rate of the intensity of the optical signal. The target rate of change threshold may be a threshold set as desired, and the present application is not limited.
When the differences between the optical signal intensities and the average values of the optical signal intensities at a plurality of time points in the target time window are larger than the first preset difference, the time point with the forefront time sequence and the difference between the optical signal intensities and the average value of the optical signal intensities larger than the first preset difference can be obtained as the first time point. For example, the target time window includes 6 time points, wherein the difference between the optical signal intensity at the 4 th time point, the 5 th time point and the 6 th time point and the average value of the optical signal intensities is greater than a first preset difference, and the 4 th time point is determined as the first time point.
After the optical signal intensity change rate is obtained, if the optical signal intensity change rate is not greater than a target change rate threshold value, determining that the positioning object still runs outside the tunnel, and determining that the first tunnel entering and exiting state is that the positioning object does not enter and exit the tunnel.
In this embodiment, the method for acquiring the target change rate threshold includes: and acquiring a target scene corresponding to the positioning object at a target time point, and acquiring a change rate threshold corresponding to the target scene as a target change rate threshold, wherein one target scene corresponds to one change rate threshold. The target scene may include a cloudy day, a rainy day, a snowy day, a sunny day, a night, and the like.
However, acquiring an image of the surrounding environment of the positioning object by the positioning object, and determining a target scene according to the image of the surrounding environment; or according to the acquisition of the target preset optical signal intensity closest to the average value of the optical signal intensities, and acquiring a scene corresponding to the target preset optical signal intensity as a target scene. The light signal intensities of different scenes can be acquired based on requirements, and for each scene, the light signal intensities acquired by each scene are averaged to obtain the preset light signal intensity of the scene.
In this embodiment, the process of obtaining the average value of the optical signal intensity may include: in the process that the positioning object runs outside the tunnel according to the navigation planning route, acquiring the reference light signal intensities corresponding to the positioning object at a plurality of reference time points, wherein the reference time points are in front of the target time points; and calculating the average value of the reference optical signal intensities corresponding to the positioning object at a plurality of reference time points as the average value of the optical signal intensities.
The plurality of reference time points may be determined randomly or according to a selection rule, for example, the selection rule determines a time point every 4s as a reference time point, and at each reference time point, the intensity of an optical signal collected by the electronic device is used as the intensity of a reference optical signal corresponding to the positioning object at the reference time point.
As still another embodiment, determining the first tunnel entrance/exit state corresponding to the positioning object according to the driving state of the positioning object and the light signal intensities respectively acquired by the positioning object at each time point in the target time window may include: if the driving state is that the vehicle is driving in the tunnel, acquiring an average value of the light signal intensity when the positioning object is driving outside the tunnel according to the navigation planning route; if a third time point exists in the target time window, wherein the difference between the optical signal intensity and the average value of the optical signal intensity is larger than the second preset difference, determining the change trend of the optical signal intensity according to the optical signal intensity of the third time point and the optical signal intensity of a fourth time point, adjacent to the third time point, in the target time window; determining a target time scene to which a target time window belongs according to the light signal intensity change trend; determining an optical signal intensity threshold corresponding to the target time scene according to the corresponding relation between the time scene and the optical signal intensity threshold; and determining the entrance and exit state of the first tunnel according to the optical signal intensity of the third time point, the optical signal intensity of the fourth time point and the optical signal intensity threshold corresponding to the target time scene.
The second preset gap may be determined based on a time scene, which may include day and night, that is, the second preset gap corresponding to day and the second preset gap corresponding to night may be different. The time scenario is different, and the corresponding light signal intensity threshold is different, e.g. the light signal intensity threshold in the day is different from the light signal intensity threshold at night.
For each time point in the target time window, calculating an intensity difference value between the optical signal intensity and the optical signal intensity average value of the time point, if the intensity difference value is larger than a second preset difference, determining that the difference between the optical signal intensity and the optical signal intensity average value of the time point is larger than the second preset difference, determining that the time point is a third time point, and acquiring a time point before the third time point in the target time window as a fourth time point. Then, an intensity difference between the optical signal intensity at the fourth time point and the third time point may be determined, and a trend of optical signal intensity change may be determined according to the intensity difference, and the trend of optical signal intensity change may include an increase or a decrease. And when the light signal intensity change trend is rising, determining the target time scene as daytime. When the light signal intensity change trend is reduced, the target time scene is separated at night.
When the difference between the optical signal intensities and the average value of the optical signal intensities at a plurality of time points in the target time window is larger than the second preset difference, a time point with the forefront time sequence and the difference between the optical signal intensities and the average value of the optical signal intensities larger than the second preset difference can be obtained and used as a third time point.
After the target time scene is obtained, determining an optical signal intensity threshold corresponding to the target time scene according to the corresponding relation between the time scene and the optical signal intensity threshold, and further determining the entrance and exit state of the first tunnel according to the optical signal intensity of the third time point, the optical signal intensity of the fourth time point and the optical signal intensity threshold corresponding to the target time scene.
As one embodiment, the determined intensity threshold includes a first threshold corresponding to the intensity of the optical signal at the third time point and a second threshold corresponding to the intensity of the optical signal at the fourth time point; the first tunnel entering and exiting state can be determined according to the first comparison result and the second comparison result; the first comparison result is the comparison result of the optical signal intensity at the third time point and the first threshold value; the second comparison result is a comparison result of the optical signal intensity at the fourth time point and the second threshold value.
The specific values of the first intensity threshold and the second intensity threshold of different time scenes may be different, and the determined first tunnel entry and exit states may be different according to the first comparison result and the second comparison result. For example, for daytime, the first comparison result is greater than the first threshold value and the second comparison result is less than the second threshold value, the first tunnel entering and exiting state is determined to be the tunnel, otherwise, the positioning object is determined to still travel in the tunnel, and at this time, the first threshold value is less than the first threshold value. For another example, for night, the first comparison result is smaller than the first threshold value and the second comparison result is larger than the second threshold value, the first tunnel entering and exiting state is determined to be the tunnel, otherwise, the positioning object is determined to still travel in the tunnel, and at the moment, the first threshold value is smaller than the second threshold value.
As yet another embodiment, an intensity difference between the optical signal intensity at the third time point and the optical signal intensity at the fourth time point may also be determined; and determining the entrance and exit states of the first tunnel according to the comparison result of the intensity difference value and the optical signal intensity threshold value. Wherein the light signal intensity thresholds for different periods of time may be different, e.g. the light signal intensity threshold for daytime may be greater than the light signal intensity threshold for night time. If the intensity difference value is larger than the optical signal intensity threshold value, determining that the first tunnel entrance state is the tunnel exit state, otherwise, determining that the positioning object still runs in the tunnel.
In this embodiment, before executing S310, a target positioning signal of the positioning object at a target time point may be obtained during the driving process of the positioning object according to the navigation planning route, a sunrise time point and a sunset time point of an area where the positioning object is located are determined according to the target positioning signal, an effective period is determined according to the sunrise time point and the sunset time point of a location where the positioning object is located, if the target time point is within the effective period, a subsequent step S310 is performed, and if the target time point is not within the effective period, a yaw detection result is determined according to the target road section and the navigation planning route.
Here, the period other than the first period including the sunrise time point and the second period including the sunset time point in each day may be taken as the effective period. For example, a period other than half an hour before and after sunrise and half an hour before and after sunset in each day may be taken as the effective period; for example, sunrise time points are 6:00, sunset time points are 18:00, and effective time periods are determined to be 0:00-5:30, 6:30-17:30, and 18:30-24:00.
Because the change of the light signal intensity is larger before and after sunrise and sunset, when the first tunnel entering and exiting state of the positioning object is determined according to the light signal intensity, the condition that the first tunnel entering and exiting state is inaccurate caused by the mutation of the light signal intensity is difficult to avoid, and therefore, the condition that the first tunnel entering and exiting state determined according to the light signal intensity is inaccurate caused by the change of the light signal intensity before and after sunrise is avoided through the judgment of the effective period.
S320, determining a target road section where the positioning object is located at the target time point and the road section type of the target road section in the map road network according to the target positioning signal of the positioning object at the target time point; and determining a second tunnel entering and exiting state corresponding to the positioning object according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section.
S330, determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
The descriptions of S320-S330 refer to the descriptions of S120-S140 above, and are not repeated here.
According to the embodiment, the first tunnel access state can be accurately determined through the optical signal intensity, so that the accuracy of the second tunnel access state is higher, the accuracy of determining whether the positioning object is in the tunnel according to the first tunnel access state and the second tunnel access state is improved, and the accuracy of the yaw detection result is improved. Meanwhile, different judging means are adopted for entering the tunnel and exiting the tunnel, so that the judging precision of the entering and exiting states of the first tunnel is further improved.
In order to more clearly explain the technical solution of the present application, the tunnel detection method of the present application is explained below in conjunction with an exemplary scenario. In this scenario, the positioning object is a vehicle, the vehicle has a GNSS and an optical signal sensor, the vehicle obtains a GNSS signal as a positioning signal by the GNSS, and the vehicle obtains an optical signal intensity by the optical signal sensor.
The user inputs a starting point G1 and a finishing point G2 in an electronic map of the vehicle, the electronic map determines a navigation planning route h1 according to the starting point G1 and the finishing point G2, and then the user drives the vehicle to run according to the navigation planning route.
For each current time instant, the current time instant and the first 5 time instants adjacent to the current time instant are determined as one target time window (as one time instant per second). For any one target time window, the processing procedure is as follows:
as shown in fig. 6, the signals of the target time window are collected, including the target positioning signals of the target time point and the optical signal intensities of the respective time points in the target time window.
And then, transmitting an optical signal (the optical signal intensity of each time point in a target time window) to a time judging module through the vehicle, and judging whether the target time point is in an effective period by the time judging module, wherein the target time point is 3 pm whole and is a rainy day in daytime, the effective period of the position of the vehicle is determined to be 0:00-5:30, 6:30-17:30 and 18:30-24:00 according to the target positioning signal, and the target time point is in the effective period. The method comprises the steps of continuously determining that a vehicle runs outside a tunnel by a tunnel entrance and exit judging module of the vehicle according to the type of a road section of a target road section determined by a target positioning signal as the type of the tunnel road section, determining the light signal intensity change rate s by the tunnel entrance and exit judging module according to the light signal intensity of each time point in a target time window, determining that the light signal intensity change rate s is greater than a target change rate threshold corresponding to rainy days in the daytime by the tunnel entrance and exit judging module, and determining that a first tunnel entrance and exit state of the vehicle is that the vehicle enters the tunnel at the moment.
Meanwhile, the positioning signal (namely, the target positioning signal) is sent to an adsorption module of the vehicle, and the adsorption module determines three target road sections adsorbed by the vehicle according to the target positioning signal: l1, L2 and L3, then continuing to determine surrounding road segments of each target road segment by a map network exploration module of the vehicle according to each target road segment, and determining a tunnel entrance and exit state of the target road segment according to road segment types of each target road segment and surrounding road segments of each target road segment, wherein the tunnel entrance and exit state of the L1 is determined to be a vehicle entrance tunnel, the tunnel entrance and exit state of the L2 is determined to be a vehicle entrance tunnel, the tunnel entrance and exit state of the L3 is determined to be a vehicle non-entrance tunnel, and therefore, the second tunnel entrance and exit state of the vehicle is determined to be a vehicle entrance tunnel.
Aiming at a target time point t1, a yaw judging module of the vehicle determines that a first tunnel entering and exiting state and a second tunnel entering and exiting state of the vehicle are both the vehicle entering tunnel, the yaw judging module determines that the first tunnel entering and exiting state and the second tunnel entering and exiting state of the vehicle are matched, the yaw judging module continuously determines that the vehicle runs in the tunnel at the target time point t1, no tunnel exists in a navigation planning route, and a yaw detection result is determined to be the yaw of the vehicle.
In the scene, whether the vehicle enters or exits the tunnel is judged through the optical signal sensor of the vehicle, and yaw judgment with higher accuracy can be realized by combining GNSS signals and road network data for cross verification, so that the yaw judgment problem that when the vehicle actually planned a route to be a non-tunnel, but the vehicle yaw enters the tunnel after the GNSS signals are lost is solved.
Referring to fig. 7, fig. 7 shows a block diagram of a tunnel detection device according to an embodiment of the present application, where the device 700 includes:
a first state determining module 710, configured to determine a first tunnel entry and exit state corresponding to the positioning object according to the optical signal intensities respectively acquired by the positioning object at each time point in the target time window; the target time window includes a target time point and a plurality of time points before the target time point;
the road section determining module 720 is configured to determine, in the map road network, a target road section where the positioning object is located at the target time point and a road section type of the target road section according to a target positioning signal of the positioning object at the target time point, where the road section type includes a tunnel road section type and a non-tunnel road section type;
a second state determining module 730, configured to determine a second tunnel entry and exit state corresponding to the positioning object according to a road segment type of a surrounding road segment of the target road segment in the map road network and a road segment type of the target road segment;
The result determining module 740 is configured to determine a tunnel detection result according to the first tunnel entry and exit state and the second tunnel entry and exit state.
Optionally, the road section determining module 720 is further configured to determine at least one target adsorption position point corresponding to the positioning object in the map road network according to the target positioning signal; determining a road section where a target adsorption position point is located in a map road network as a target road section where a positioning object is located at a target time point; and determining the road section type of the target road section according to the road section information of the target road section in the map road network.
Optionally, the target adsorption position points include a plurality of target adsorption position points, and one target adsorption position point corresponds to one target road section; the second state determining module 730 is further configured to determine, for each target road segment, a tunnel ingress and egress state of the target road segment according to a road segment type of a surrounding road segment of the target road segment in the map road network and a road segment type of the target road segment; and determining a second tunnel entering and exiting state corresponding to the positioning object according to the tunnel entering and exiting state of each of the plurality of target road sections.
Optionally, the second state determining module 730 is further configured to determine that the second tunnel entry and exit state is an unoccupied tunnel state if the tunnel entry and exit states of the plurality of target segments are all different; if at least two target road sections with the same tunnel access state exist, acquiring the tunnel access state with the highest occurrence number in the tunnel access states of the plurality of target road sections as a second tunnel access state.
Optionally, the road section determining module 720 is further configured to select at least one target adsorption location point in the map road network according to the probability of occurrence according to the target positioning signal.
Optionally, the second state determining module 730 is further configured to search in the map road network with the target road segment as a starting point according to the movement direction of the positioning object, and determine a first peripheral road segment of the target road segment; searching in the map road network according to the opposite direction of the movement direction of the positioning object by taking the target road section as a starting point, and determining a second surrounding road section of the target road section; at least one of the first surrounding road section and the second surrounding road section of the target road section is taken as the surrounding road section of the target road section in the map road network.
Optionally, the result determining module 740 is further configured to determine a yaw detection result according to the target road segment and the navigation planning route if the tunnel detection result includes that the positioning object enters the tunnel or that the positioning object leaves the tunnel.
Optionally, the result determining module 740 is further configured to determine whether the navigation planning route includes a tunnel road segment if the road segment type of the target road segment is a tunnel road segment type; if the navigation planning route does not comprise the tunnel section, determining that the yaw detection result is yaw of the positioning object at the target time point; if the navigation planning route comprises a tunnel section and the tunnel section does not exist in the target area in the navigation planning route, determining that the yaw detection result is yaw of the positioning object at the target time point; the target area is a road section which is acquired from the navigation planning route respectively according to the movement direction of the positioning object and the direction opposite to the movement direction of the positioning object by taking the navigation adsorption point of the positioning object as a starting point in the navigation planning route; the navigation adsorption point is a point where the target time point positioning object is located in the navigation planning route.
Optionally, the result determining module 740 is further configured to determine that the yaw detection result is that the positioning object does not yaw at the target time point if the navigation planning route includes the target road segment.
Optionally, the first state determining module 710 is further configured to determine, according to a road segment type of the target road segment, a driving state of the positioning object at the target time point, where the driving state includes that the positioning object is driven outside the tunnel or that the positioning object is driven inside the tunnel; and determining a first tunnel entrance state corresponding to the positioning object according to the driving state and the light signal intensity respectively acquired by the positioning object at each time point in the target time window.
Optionally, the first state determining module 710 is further configured to obtain an average value of optical signal intensities when the positioning object travels outside the tunnel according to the navigation planning route if the traveling state is that the vehicle travels outside the tunnel; if a first time point, where the difference between the optical signal intensity and the average value of the optical signal intensity is greater than a first preset difference, exists in the target time window, determining the change rate of the optical signal intensity according to the optical signal intensity of the first time point and the optical signal intensity of a second time point, adjacent to the first time point, in the target time window; and if the change rate of the optical signal intensity is larger than the target change rate threshold value, determining that the first tunnel entrance and exit state is that the positioning object enters the tunnel.
Optionally, the first state determining module 710 is further configured to obtain an average value of optical signal intensities when the positioning object travels outside the tunnel according to the navigation planning route if the traveling state is that the vehicle travels inside the tunnel; if a third time point exists in the target time window, wherein the difference between the optical signal intensity and the average value of the optical signal intensity is larger than the second preset difference, determining the change trend of the optical signal intensity according to the optical signal intensity of the third time point and the optical signal intensity of a fourth time point, adjacent to the third time point, in the target time window; determining a target time scene to which a target time window belongs according to the light signal intensity change trend; determining an optical signal intensity threshold corresponding to the target time scene according to the corresponding relation between the time scene and the optical signal intensity threshold; and determining the entrance and exit state of the first tunnel according to the optical signal intensity of the third time point, the optical signal intensity of the fourth time point and the optical signal intensity threshold corresponding to the target time scene.
Optionally, the first state determining module 710 is further configured to obtain, during the process that the positioning object travels outside the tunnel according to the navigation planning route, reference optical signal intensities corresponding to the positioning object at a plurality of reference time points, where the plurality of reference time points are before the target time point; and calculating the average value of the reference optical signal intensities corresponding to the positioning object at a plurality of reference time points as the average value of the optical signal intensities.
It should be noted that, in the present application, the device embodiment and the foregoing method embodiment correspond to each other, and specific principles in the device embodiment may refer to the content in the foregoing method embodiment, which is not described herein again.
Fig. 8 shows a block diagram of an electronic device for performing a tunnel detection method according to an embodiment of the application. The electronic device may be the terminal 20 or the server 10 in fig. 1, and it should be noted that, the computer system 1200 of the electronic device shown in fig. 8 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 8, the computer system 1200 includes a central processing unit (Central Processing Unit, CPU) 1201 which can perform various appropriate actions and processes, such as performing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 1202 or a program loaded from a storage section 1208 into a random access Memory (Random Access Memory, RAM) 1203. In the RAM 1203, various programs and data required for the system operation are also stored. The CPU1201, ROM1202, and RAM 1203 are connected to each other through a bus 1204. An Input/Output (I/O) interface 1205 is also connected to bus 1204.
The following components are connected to the I/O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output portion 1207 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and a speaker, etc.; a storage section 1208 including a hard disk or the like; and a communication section 1209 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 1209 performs communication processing via a network such as the internet. The drive 1210 is also connected to the I/O interface 1205 as needed. A removable medium 128 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1210 as needed so that a computer program read out therefrom is mounted into the storage section 1208 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1209, and/or installed from the removable media 1211. When executed by a Central Processing Unit (CPU) 1201, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having 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 (Erasable Programmable Read Only Memory, EPROM), 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. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
As another aspect, the present application also provides a computer-readable storage medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer readable storage medium carries computer readable instructions which, when executed by a processor, implement the method of any of the above embodiments.
According to an aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the electronic device to perform the method of any of the embodiments described above.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause an electronic device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (16)

1. A tunnel detection method, the method comprising:
determining a first tunnel entrance state corresponding to a positioning object according to the light signal intensity respectively acquired by the positioning object at each time point in a target time window; the target time window comprises a target time point and a plurality of time points before the target time point;
according to a target positioning signal of a positioning object at the target time point, determining a target road section where the positioning object is positioned at the target time point and a road section type of the target road section in a map road network; the road section types comprise a tunnel road section type and a non-tunnel road section type;
Determining a second tunnel entering and exiting state corresponding to the positioning object according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section;
and determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
2. The method according to claim 1, wherein the determining, in a map road network, a target road segment where the positioning object is located at the target time point and a road segment type of the target road segment according to a target positioning signal of the positioning object at the target time point includes:
determining at least one target adsorption position point corresponding to the positioning object in the map road network according to the target positioning signal;
determining a road section where the target adsorption position point is located in the map road network as a target road section where the positioning object is located at the target time point;
and determining the road section type of the target road section according to the road section information of the target road section in the map road network.
3. The method of claim 2, wherein the target adsorption site includes a plurality of target adsorption sites, one target adsorption site corresponding to each target road segment; the determining, according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section, the second tunnel entering and exiting state corresponding to the positioning object includes:
For each target road section, determining the tunnel entrance and exit state of the target road section according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section;
and determining a second tunnel entering and exiting state corresponding to the positioning object according to the tunnel entering and exiting states of each of the target road sections.
4. The method of claim 3, wherein determining the second tunneling state corresponding to the positioning object according to the tunneling state of each of the target segments, comprises:
if the tunnel access states of the plurality of target road sections are different, determining that the second tunnel access state is an access-impossible tunnel state;
and if at least two target road sections with the same tunnel access state exist, acquiring the tunnel access state with the highest occurrence number in the tunnel access states of a plurality of target road sections as the second tunnel access state.
5. The method of claim 2, wherein determining at least one target adsorption location point corresponding to the positioning object in the map road network according to the target positioning signal comprises:
And selecting at least one target adsorption position point in the map road network according to the occurrence probability according to the target positioning signal.
6. The method of claim 1, wherein before determining the second tunnel entry and exit state corresponding to the positioning object according to the road segment type of the surrounding road segments of the target road segment in the map road network and the road segment type of the target road segment, the method further comprises:
searching in the map road network according to the movement direction of the positioning object by taking the target road section as a starting point, and determining a first peripheral road section of the target road section;
searching in the map road network according to the direction opposite to the movement direction of the positioning object by taking the target road section as a starting point, and determining a second surrounding road section of the target road section;
and taking at least one of a first surrounding road section and a second surrounding road section of the target road section as the surrounding road section of the target road section in the map road network.
7. The method of claim 1, wherein after determining a tunnel detection result according to the first tunnel ingress and egress state and the second tunnel ingress and egress state, the method further comprises:
And if the tunnel detection result comprises that the positioning object enters a tunnel or the positioning object leaves the tunnel, determining a yaw detection result according to the target road section and the navigation planning route.
8. The method of claim 7, wherein determining yaw detection results from the target road segments and the navigation planned route comprises:
the step of determining the yaw detection result according to the target road section and the navigation planning route comprises the following steps:
if the road section type of the target road section is a tunnel road section type, determining whether the navigation planning route comprises a tunnel road section or not;
if the navigation planning route does not comprise a tunnel section, determining that the yaw detection result is that the positioning object yaw at the target time point;
if the navigation planning route comprises a tunnel section and a target area in the navigation planning route does not have the tunnel section, determining that the yaw detection result is that the positioning object is yawed at the target time point; the target area is a road section which is acquired from the navigation planning route respectively according to the movement direction of the positioning object and the direction opposite to the movement direction of the positioning object by taking the navigation adsorption point of the positioning object as a starting point in the navigation planning route; the navigation adsorption point is the point of the navigation planning route, where the target time point is located by the positioning object.
9. The method of claim 7, wherein determining yaw detection results from the target road segments and the navigation planned route comprises:
and if the navigation planning route comprises the target road section, determining that the yaw detection result is that the positioning object does not yaw at the target time point.
10. The method according to claim 1, wherein the determining the first tunnel entrance/exit state corresponding to the positioning object according to the optical signal intensities respectively acquired by the positioning object at each time point in the target time window includes:
determining a running state of the positioning object at the target time point according to the road section type of the target road section, wherein the running state comprises that the positioning object runs outside a tunnel or the positioning object runs in the tunnel;
and determining a first tunnel entrance state corresponding to the positioning object according to the driving state and the light signal intensity respectively acquired by the positioning object at each time point in a target time window.
11. The method of claim 10, wherein determining the first tunnel entry and exit state corresponding to the positioning object according to the driving state and the optical signal intensities respectively acquired by the positioning object at each time point in the target time window comprises:
If the driving state is that the vehicle is driving outside the tunnel, acquiring an average value of the light signal intensity of the positioning object when the positioning object is driving outside the tunnel according to the navigation planning route;
if a first time point, where the difference between the optical signal intensity and the average value of the optical signal intensities is greater than a first preset difference, exists in the target time window, determining the change rate of the optical signal intensity according to the optical signal intensity of the first time point and the optical signal intensity of a second time point, adjacent to the first time point, in the target time window;
and if the optical signal intensity change rate is larger than a target change rate threshold, determining that the first tunnel entering and exiting state is that the positioning object enters a tunnel.
12. The method of claim 10, wherein determining the first tunnel entry and exit state corresponding to the positioning object according to the driving state and the optical signal intensities respectively acquired by the positioning object at each time point in the target time window comprises:
if the driving state is that the vehicle is driving in the tunnel, acquiring an average value of the light signal intensity of the positioning object when the positioning object is driving outside the tunnel according to the navigation planning route;
If a third time point exists in the target time window, wherein the difference between the optical signal intensity and the average value of the optical signal intensity is larger than a second preset difference, determining the change trend of the optical signal intensity according to the optical signal intensity of the third time point and the optical signal intensity of a fourth time point, adjacent to the third time point, in the target time window;
determining a target time scene to which the target time window belongs according to the light signal intensity change trend;
determining an optical signal intensity threshold corresponding to the target time scene according to the corresponding relation between the time scene and the optical signal intensity threshold;
and determining the entrance and exit states of the first tunnel according to the optical signal intensity of the third time point, the optical signal intensity of the fourth time point and the optical signal intensity threshold corresponding to the target time scene.
13. The method according to claim 11 or 12, wherein the obtaining an average value of light signal intensity of the positioning object when the positioning object travels outside the tunnel according to the navigation planning route comprises:
acquiring the reference light signal intensities corresponding to the positioning object under a plurality of reference time points in the process that the positioning object runs outside a tunnel according to the navigation planning route, wherein the plurality of reference time points are in front of the target time point;
And calculating the average value of the reference optical signal intensities corresponding to the positioning object at the plurality of reference time points as the average value of the optical signal intensities.
14. A tunnel inspection device, the device comprising:
the first state determining module is used for determining a first tunnel entrance state corresponding to the positioning object according to the light signal intensity respectively acquired by the positioning object at each time point in the target time window; the target time window comprises a target time point and a plurality of time points before the target time point;
the road section determining module is used for determining a target road section where the positioning object is located at the target time point and a road section type of the target road section in a map road network according to a target positioning signal of the positioning object at the target time point, wherein the road section type comprises a tunnel road section type and a non-tunnel road section type;
the second state determining module is used for determining a second tunnel entering and exiting state corresponding to the positioning object according to the road section type of the surrounding road sections of the target road section in the map road network and the road section type of the target road section;
and the result determining module is used for determining a tunnel detection result according to the first tunnel access state and the second tunnel access state.
15. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to perform the method of any of claims 1-13.
16. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, which is callable by a processor for performing the method according to any one of claims 1-13.
CN202310702579.5A 2023-06-13 2023-06-13 Tunnel detection method and device, electronic equipment and storage medium Pending CN116793378A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117269887A (en) * 2023-11-21 2023-12-22 荣耀终端有限公司 Positioning method, electronic equipment and readable storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117269887A (en) * 2023-11-21 2023-12-22 荣耀终端有限公司 Positioning method, electronic equipment and readable storage medium

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