CN117095379A - Data processing method and device - Google Patents
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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Abstract
The embodiment of the application discloses a data processing method and a data processing device. And determining whether the intersection or the traffic light is in a forbidden or passing state when the target terminal passes through the intersection according to the change information of the spatial phase and the time of the track point sequence. Therefore, the data quantity in judgment is reduced by the change information mapped to the spatial phase, the required calculation resources are reduced, and meanwhile, compared with an image recognition means, the accuracy is higher, and the behavior of all the distribution terminals, which violates the intersection traffic light indication, can be accurately recognized and confirmed.
Description
The application relates to a split application of Chinese patent application with the application date of 2023, 2 month and 17 days, the application number of 202310158945.5 and the patent name of data processing method and device.
Technical Field
The application relates to the field of intelligent transportation, in particular to a data processing method and device for processing track data of a terminal.
Background
In the internet take-out or express platform, part of the delivery personnel can violate the traffic rules in order to complete the delivery task as soon as possible. Wherein, the red light running at the intersection is most serious. Meanwhile, automatic distribution equipment can also run a red light when an intersection is passed due to equipment failure or other problems. This has a negative impact on the safety of the distribution personnel and the public. The prior art generally relies on an image acquisition device of a traffic management system to acquire and identify behaviors violating intersection traffic light indications, and has high resource requirements and low identification efficiency when facing a large amount of distribution personnel and traffic intersection data.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a data processing method and apparatus, so as to more accurately identify a behavior violating an indication of an intersection traffic light on the premise of occupying fewer resources by using a feature that a distribution terminal held by a distribution person reports a position periodically.
In a first aspect, there is provided a data processing method, the method comprising:
determining a track point sequence of a target terminal in an intersection range, wherein the track point sequence comprises a plurality of track points of the target terminal;
determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence, wherein different spatial phases correspond to different position areas of the intersection; and
And determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
In a second aspect, a data processing method is provided, for determining a behavior state of a target terminal passing through an intersection, where the method includes:
determining a change information set of the spatial phase of the intersection or each traffic light of the intersection, wherein the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a passing state or a forbidden state of the intersection or each traffic light of the intersection in each time period, and different spatial phases correspond to different position areas of the intersection; and
and determining the behavior state of the target terminal passing through the intersection according to the track point sequence of the target terminal in the intersection range, the time information corresponding to the track point sequence and the change information set.
In a third aspect, there is provided a data processing apparatus, the apparatus comprising:
the sequence determining unit is used for determining a track point sequence of the target terminal in the intersection range, wherein the track point sequence comprises a plurality of track points of the target terminal;
the change determining unit is used for determining change information of the spatial phase of the target terminal at the intersection according to the track point sequence, and different spatial phases correspond to different position areas of the intersection; and
And the state determining unit is used for determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
In a fourth aspect, a data processing apparatus is provided for determining a behavior state of a target terminal passing through an intersection, the apparatus comprising:
the system comprises a set determining unit, a traffic light detection unit and a traffic light detection unit, wherein the set determining unit is used for determining a change information set of the spatial phase of the intersection or each traffic light of the intersection, the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a passing state or a forbidden state of the intersection or each traffic light of the intersection in each time period, and different spatial phases correspond to different position areas of the intersection; and
and the state determining unit is used for determining the behavior state of the target terminal passing through the intersection according to the track point sequence of the target terminal in the intersection range, the time information corresponding to the track point sequence and the change information set.
In a fifth aspect, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method according to the first or second aspect.
In a sixth aspect, there is provided an electronic device, the device comprising:
a memory for storing one or more computer program instructions;
a processor, the one or more computer program instructions being executed by the processor to implement the method according to the first or second aspect.
The embodiment of the invention maps the track point sequence of the target terminal in the range of the intersection into the change information of the spatial phase, and/or maps the forbidden or passing state of the intersection or the traffic light into the corresponding change information of a plurality of spatial phases. And determining whether the passing direction is forbidden or in a passing state when the target terminal passes through the intersection according to the change information of the spatial phase and the time information of the track point sequence. Therefore, the data quantity in judgment is reduced by the change information mapped to the spatial phase, the required computing resource is reduced, and meanwhile, the accuracy is higher, and the behavior of all the distribution terminals, which violates the intersection traffic light indication, can be identified and confirmed.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a data processing system of an embodiment of the present invention;
FIG. 2 is a flow chart of a data processing method of a first embodiment of the present invention;
FIG. 3 is a schematic diagram of the spatial phase of an intersection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the spatial phase of a word line junction in an embodiment of the invention;
FIG. 5 is a schematic diagram of the spatial phase of a T-junction in an embodiment of the invention;
FIG. 6 is a block diagram of a data processing apparatus according to a second embodiment of the present invention;
FIG. 7 is a flow chart of a data processing method according to a third embodiment of the present invention;
FIG. 8 is a schematic diagram of data processing of a sequence of trajectory points through a T-junction in an embodiment of the invention;
FIG. 9 is a block diagram of a data processing apparatus according to a fourth embodiment of the present invention;
fig. 10 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the invention.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, the words "comprise," "comprising," and the like, when used in this specification, are to be construed in an inclusive rather than an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the following description, an internet meal delivery platform is taken as an example for illustration, and it should be understood that the scheme of the embodiment of the present application is also applicable to other types of electronic commerce platforms, such as a fresh food delivery or express delivery platform. Furthermore, the scheme of the embodiment of the application can also be applied to products facing individual consumers. It should be understood that, in all descriptions of the present application, information required to be obtained from a client or a user side or the functional rights of a user terminal are obtained in a legal and compliant manner if explicit authorization is obtained by the user.
FIG. 1 is a schematic diagram of a data processing system in accordance with an embodiment of the present invention. As shown in fig. 1, the distribution personnel 11 carry the distribution terminal 12 to complete the task of distributing the commodity by means of a uniformly configured or self-configured vehicle. The distribution terminal 12 may be connected to a network 13 for interaction of task data with a server 14 via the network 13. In some embodiments, the dispensing terminal 12 is a smart phone, tablet, smart wearable device, notebook or other type of mobile communication terminal or transportation device with a mobile communication terminal, such as an electric vehicle, automobile, etc., suitable for use by a dispensing person. In some embodiments, the dispensing terminal 12 may also be an intelligent dispensing device with mobility capabilities, such as a dispensing robot, a dispensing drone, or the like. Meanwhile, the server 14 is a general-purpose data processing device that provides computing or application services for other clients in a network. In this embodiment, the server 14 may be a single computer, a cluster formed by a plurality of computers, or a cloud server that can flexibly adjust computing resources through cloud technology.
Taking the internet take-out platform as an example, the server 14 distributes delivery tasks to the delivery terminals 12 based on interactions with other terminals (not shown). The delivery terminal 12 presents the delivery job details to the delivery personnel through a man-machine interaction interface of an application or applet, and provides navigation services to the delivery person through a location based service (Location Based Service, LBS), and after the delivery person completes the job, the delivery job is verified based on the trajectory data actually reported by the delivery terminal 12. In order to meet the requirement that the user wants to know the progress of the delivery task, and also to ensure the safety of the delivery personnel, the application program or applet of the delivery terminal 12 continuously reports the position information and the corresponding timestamp to the server 14 on the premise of obtaining the consent and explicit authorization of the delivery personnel. The reported location information may be obtained by a satellite positioning device of the dispensing terminal 12. Thus, the server 14 can record the track point sequence of each distribution terminal 12.
In the embodiment of the present invention, the track point sequence (i.e. the moving track information) of each delivery terminal 12 recorded by the server 14 during the delivery task is utilized, and the corresponding time information is combined to identify whether the behavior state of the corresponding delivery terminal 12 passing through the intersection violates the traffic light indication.
Fig. 2 is a flowchart of a data processing method according to a first embodiment of the present invention. As shown in fig. 2, the method of the present embodiment includes the following steps.
In step S210, a sequence of track points of the target terminal within the range of the intersection is determined. The track point sequence comprises a plurality of track points of the target terminal.
As described above, the server 14 records the set of track points of the delivery terminal 12, and thus, each intersection may be marked as an Area of Interest (AOI) in advance on the server 14 side. At the same time, a geofence is set for the AOI corresponding to each intersection (i.e., a geographic coordinate range covered by the AOI is set). And identifying all track points of the target terminal in the geofence of the specific intersection as track points of the target terminal passing through the intersection. And further, preprocessing the set of the track points of the target terminal at the intersection to obtain a track point sequence in the range of the intersection. Specifically, the initial sequence may be obtained by first sorting the track points by time. The initial sequence contains all points in the set of trace points and is ordered by recorded or reported time stamps. Then, for each track point in the track point sequence, respectively selecting a target track point meeting the following conditions:
Condition a. The track point is not more than a first value from the center point of the intersection. In an alternative implementation, the first value is selected from values in the range of 30-50 meters, for example 45 meters.
And B, the distance between the track point and the adjacent point is not smaller than the second value, and the distance between the adjacent point and the central point of the intersection is larger than the distance between the track point and the central point of the intersection. In an alternative implementation, the second value takes a value in the range of 3-20 meters, for example 5 meters.
And C, the time interval between the track point and the adjacent point is within a preset time range. In an alternative implementation, the time range is 15-25 seconds.
The condition a described above can limit the positions of the locus points to a certain range, thereby excluding locus points of positioning drift. Meanwhile, the jump points caused by positioning errors can be removed under the condition B and the condition C, so that the target track points are guaranteed to be local closest points from the track sequence to the central point of the intersection. The constraint condition can further ensure that the track sequence point is a behavior passing through the intersection.
And finally, selecting the target track points and the front and rear adjacent track points to form a track point sequence of the target terminal in the intersection range. Therefore, the track data of the target terminal passing through the intersection can be accurately obtained.
In one implementation, it is desirable to evaluate the behavior of the target terminal through the intersection in near real time. This requires acquisition and acquisition of the sequence of trajectory points in real time. In this case, step S210 may include:
step S211, periodically acquiring the position information of the track point reported by the target terminal. That is, the application or applet controls the target terminal to report the location information to the server in a predetermined cycle. The server receives the position information.
Step S212, determining the track point sequence according to the position information of the track points in real time.
Therefore, the track point sequence can be rapidly determined under the application scene with strong real-time requirements. Furthermore, the behavior state of the target terminal passing through the intersection can be rapidly estimated and judged by utilizing the track point sequence.
In another implementation, if the real-time requirement is not high, the recorded historical data can be uniformly processed. For example, it is possible to acquire all the track data of the target terminal in the past day, acquire a plurality of track point sequences of the target terminal passing through the respective intersections in the period of time based on the track data segmentation, and evaluate and determine one by one.
In some alternative implementations, the track point sequence of the target terminal may be determined by the video recorded by the traffic monitoring device already set at the intersection instead of the precisely located track information. Specifically, in these implementations, step S210 includes:
step S211', acquiring a video including the target terminal recorded by at least one image capturing device of the intersection.
In one implementation, the image capturing apparatus is a traffic monitoring apparatus, that is, an apparatus in which a traffic management section is fixedly provided at an intersection to record intersection traffic video information. The video stream generated by the traffic monitoring device can be received in real time, so that the traffic violation judgment is realized in near real time. The recorded video files can be acquired at a unified time point to perform post judgment. Since the determination of the red light running is actually required to be made for each vehicle passing through the intersection, each vehicle in the video can be identified and tracked by the target tracking technique, and thus the sequence of track points of each vehicle passing through the intersection can be determined one by one.
If a specific target terminal needs to be identified, other information needs to be introduced for assistance. For example, the target terminal may report the initial location information. The time for the target terminal to pass through the intersection can be determined according to the initial position information, and the time period containing the time for the target terminal to pass through the intersection can be expanded based on the time, wherein the video recorded in the time period is the video containing the target terminal. For another example, a short-range communication base station may be set at the intersection, a beacon continuously broadcast by the target terminal may be collected, and a video including the target terminal may be determined based on the reception time of the beacon.
In another implementation, the image pickup apparatus may be an image pickup apparatus that moves with the target terminal, for example, an image pickup apparatus provided on a vehicle driven by a distribution person holding the target terminal, or an image pickup apparatus provided on a distribution person helmet. The relative position between the target facility and the camera device is then identified by identifying the position of the moving camera device in the video image frame of the preset target facility (such as a sign, a traffic light, a ground marking or a building near the intersection) at the intersection in the video of the intersection, and then the track point of the target terminal is determined according to the preset positioning information of the target setting and the relative position. Similarly, the target terminal may report the initial location information. The time for the target terminal to pass through the intersection can be determined according to the initial position information, and the time period containing the time for the target terminal to pass through the intersection can be expanded based on the time, wherein the video recorded in the time period is the video containing the target terminal.
And step S212', extracting a track point sequence of the target terminal in the range of the intersection according to the video.
In particular, the vehicle of the target terminal may be identified in the video first. In a scenario where whether or not a violation determination is made for each vehicle, multiple targets in each frame of image in the video may be identified and tracked continuously using machine vision based target identification and target tracking techniques. Object tracking is a technique used in computer vision technology to locate objects of interest in a sequence of images. It involves identifying the position of an object in successive frames and tracking its motion over time. The object tracking aims to track moving objects in a video stream even if noise and occlusion are present in the video. Currently, a deep learning technology is often adopted to identify and track a target based on a machine verse, and an object tracking method based on the deep learning technology is a method which is rapidly developed in recent years, and uses a deep learning algorithm, such as a convolutional neural network (Convolutional Neural Network, CNN), a recurrent neural network (Recurrent Neural Network, RNN) and the like, to learn characteristics of the target in an image sequence, so as to track the target. Such methods typically use a trained deep learning model to identify the target and maintain positional information of the target through iterative computations over the image sequence. Compared with other methods, the method based on deep learning has higher accuracy and stability, and can keep a higher tracking effect especially in complex scenes.
If a particular target terminal needs to be tracked, features of the target terminal's vehicle may be added at the time of identification. For example, in a take-away scenario, external features of take-away delivery personnel or delivery robots, such as apparel colors and icons, etc., may be added to facilitate target recognition algorithms and target tracking algorithms recognition.
Therefore, tracking of the target can be realized in different application scenes. Meanwhile, the relative position of the target and the traffic monitoring equipment for shooting the video can be estimated according to the position of the target in the video. This may be achieved by three-dimensional visual reconstruction techniques. The principle of three-dimensional vision reconstruction is to estimate a point cloud in three-dimensional space by using external parameters (such as focal length, optical center position, etc.) and internal parameters (such as rotation matrix, translation vector, etc.) of a camera of the traffic monitoring device, and feature points on an image. First, feature points are detected in a video frame by a feature detection algorithm. Then, the image coordinates of the feature points are converted into point clouds of a three-dimensional space through a three-dimensional reconstruction algorithm by utilizing the internal and external parameters of the camera. And finally, the relative positions of the target and the traffic monitoring equipment can be calculated through the processing of the point cloud.
Then, the positioning of the target (i.e. the target terminal) can be obtained by calculation according to the positioning data of the traffic monitoring equipment and the estimated relative position of the target and the traffic monitoring equipment, so that the track point of the target terminal at the recording moment corresponding to the video frame can be obtained. By analyzing a plurality of video frame images in the video containing the target terminal based on the machine vision technology, the track point sequence of the target terminal in the crossing range can be obtained.
It should be appreciated that by capturing and parsing video of multiple traffic monitoring devices disposed at different locations of an intersection, the accuracy of the captured sequence of trajectory points may be increased.
Similarly, when the image pickup apparatus is an image pickup apparatus that moves with a target terminal, the relative position of the target and the traffic monitoring apparatus that captured the video is estimated from the target facility position in the video. And calculating the positioning of the target (namely the target terminal) according to the pre-calibrated positioning data of the target facility and the estimated relative position of the target and the target facility, so that the track point of the target terminal at the corresponding recording moment of the video frame can be obtained.
In step S220, the change information of the spatial phase of the target terminal at the intersection is determined according to the sequence of track points. Wherein different ones of the spatial phases correspond to different location areas of the intersection.
Because the target terminals pass through the intersections in various ways, if the way of the target terminals passing through the intersections is determined directly according to the track point sequence, a large amount of calculation is needed. In this embodiment, different location areas of the intersection are mapped to different quadrants (i.e., different spatial phases) of the coordinate system, so that the track point sequence of the target terminal is mapped to the change information of the spatial phase of the target terminal at the intersection. Since the number of spatial phases (which may also be called quadrants) is much smaller than the number of trajectory points, the amount of data is also much smaller than the coordinates of the trajectory points, and thus the required computational resources can be reduced. Optionally, in this embodiment, the location area corresponding to the spatial phase is divided according to at least one entrance and/or exit of the intersection. Specifically, each spatial phase corresponds to a location area covering at least one entrance and/or exit of the intersection. The covered entrances and exits are entrances and exits that can be passed without traffic light approval. It should be understood that in the following description, the entrance of an intersection refers to one or more lanes that are driven into the intersection region, and the exit of an intersection refers to the first one or more lanes that are driven out of the intersection region.
Fig. 3 is a schematic diagram of the spatial phase of an intersection according to an embodiment of the present invention. As shown in fig. 3, at the intersection 31, the intersection 31 may be divided into 4 parts with the center point o of the intersection as the origin and the line between the midpoint of the vehicle stop line of the intersection and the center point o as the coordinate axis. For ease of understanding, it is referred to as phase I, phase II, phase III and phase IV in terms of counterclockwise. The phase I includes an entrance 32 from east to west and an exit 33 from north to south at the intersection 31 according to the driving direction of the road. Phase II includes an east-west exit 34 and a north-south entrance 35 of intersection 31. Phase III includes an entrance 36 to the west and an exit 37 to the south of intersection 31. Phase IV includes an entrance 38 to the north of the intersection and an exit 39 to the east of the west. That is, each phase includes an inlet and an outlet. It is easy to see that in fig. 3, the traffic between the entrance and exit in the same phase is all right turn, and traffic light command is not required. The spatial phase division of the intersection can thus also be carried out according to the principle that the phase is divided according to at least one entrance and/or exit of the intersection, so that traffic between the entrance and the exit covered by the same phase does not need traffic light guidance. For example, the sequence of track points X enters the intersection at the entrance 32 and exits the intersection at the exit 34, i.e., the target terminal travels straight through the intersection from east to west. The change information of the spatial phase corresponding to the track point sequence X is changed from the phase I to the phase II, which requires that the traffic lights in the east-west direction are green lights and the traffic lights in the south-north direction are red lights.
It is easy to understand that the spatial phase of the intersection may be divided according to the extension line of the lane departure line of the road to which the intersection is connected.
In the present embodiment, the intersection is not limited to the intersection, but may be a crossroad, a t-intersection, an island-shaped intersection, or an N-shaped intersection (N is 5 or more).
Fig. 4 is a schematic diagram of the spatial phase of a word line junction in an embodiment of the present invention. As shown in fig. 4, the intersection 41 is usually a traffic light command due to the presence of a crosswalk, which can be divided directly into two spatial phases, namely phase I and phase II, located on either side of the traffic light.
Fig. 5 is a schematic diagram of the spatial phase of a t-junction in an embodiment of the invention. As shown in fig. 5, if the east-west straight travel of the t-intersection 51 is not limited, the intersection 51 may be divided into 3 spatial phases according to the traffic attributes of the entrance and the exit. In fig. 5, the area covered by the inlet and the outlet of the east-west straight movement is phase I, the area covered by the inlet and the outlet corresponding to the west-south-right rotation is phase II, and the area covered by the inlet and the outlet of the south-east-right rotation is phase III. Likewise, traffic between the entrance and exit within each spatial phase need not be directed by traffic lights. It should be understood that the above-described division is based on the premise that the intersection traffic lights are not limited to traveling straight from east to west. Since the traffic control at a t-intersection may have different logic, if the intersection traffic lights control the traffic passing through the intersection from east to west to avoid danger to vehicles coming in from the south side left turn of the intersection (i.e., the traffic lights may be disabled east to west for certain periods), the intersection needs to be divided into four spatial phases with reference to the intersection. If the intersection 51 needs to turn from the south to the west according to the track 52, the change information of the spatial phase corresponding to the track 52 is phase III to phase I, which needs the north-south traffic light to be green light and the east-west traffic light to be red light. For another example, if the intersection 51 needs to go straight from west to east along the trajectory 53, the corresponding spatial phase change information is phase II to phase III, and the north-south traffic light needs to be red, and the east-west traffic light needs to be green.
It can be seen that, as long as the change information of the spatial phase corresponding to the track point sequence relates to the phase conversion, the behavior of the track point sequence needs to be performed according to the traffic light command. By converting the track point sequence into the change information of the spatial phase, the track of the target terminal can be matched with a specific crossing passing or forbidden state.
In the present embodiment, the server 14 may store the phase division information of each intersection in the map in advance, and the geographical coordinate range covered by each phase. Thus, the change information of the spatial phase corresponding to the track point sequence can be obtained through the spatial phase distributed by the track point sequence. Specifically, step S220 may include the steps of:
in step S221, a corresponding spatial phase is determined according to the position of each track point of the track point sequence.
In step S222, the change information is determined according to the spatial phase of each track point.
Therefore, the change information of the spatial phase can be rapidly determined according to the corresponding relation between the position of the track point and the spatial phase.
In an alternative implementation, to further reduce the required computing resources, step S222 may determine an incoming spatial phase according to the spatial phase of at least one head track point of the track point sequence, determine an outgoing spatial phase according to the spatial phase of at least one tail track point of the track point sequence, and finally use the set of the incoming spatial phase and the outgoing spatial phase as the change information.
In this embodiment, the information of the spatial phase change may be a set of the spatial phase marks before and after the change, or may be a vector with a sequence representing the sequence of the spatial phase change.
In step S230, a behavior state of the target terminal passing through the intersection is determined according to the change information of the spatial phase and the time information corresponding to the track point sequence.
The sequence of track points is ordered and each track point has a corresponding time stamp. The sequence of track points carries corresponding time information, i.e. the time interval between the head and tail of the track point. Meanwhile, the change information of different spatial phases corresponds to different crossing traffic modes requiring traffic light command, and the crossing traffic control system has definite traffic time periods and forbidden time periods. For example, referring back to fig. 3, for a trajectory X that is straight through an intersection from east to west, the corresponding spatial phase change information is a phase I change to a phase II change. The traffic time period corresponding to the traffic mode is a time period when the east-west traffic light is a green light, and the forbidden time period is a time period when the east-west traffic light is a red light. By comparing the time information corresponding to the track point sequence X with the passing time period and/or the forbidden time period corresponding to the space phase change information, namely the phase I is changed into the phase II, whether the track point sequence X passes through the intersection or not violates the traffic light indication can be known. It is easy to understand that the traffic light passing time period and the forbidden time period of the intersection can be obtained through legal acquisition of a database licensed by a traffic department, and also can be obtained through big data analysis and acquisition. In this embodiment, the state of the traffic light needs to be mapped to the corresponding change information of the spatial phase at the server 14 in advance, so that the traffic light passing period and the forbidden period are bound to the change information of at least one spatial phase. Subsequently, in the step S230, the behavior state of the change information of the spatial phase corresponding to the track point sequence of the target terminal may be determined according to the traffic period or the forbidden period corresponding to the change information of the spatial phase.
In an alternative implementation, step S230 includes the following steps.
In step S231, period information of the intersection corresponding to the spatial phase change information is determined. The time period information is used for representing a passing time period or a forbidden time period of the crossing passing through the corresponding area according to the space phase change information.
Firstly, obtaining a corresponding relation between a traffic state or a forbidden state of a traffic lamp at the intersection and change information of each spatial phase of the intersection, and then determining the time period information of the change information of the spatial phase according to a time period corresponding to the traffic state or the forbidden state of the traffic lamp.
In step S232, the time information of the track point sequence is compared with the time period information to determine the behavior state of the target terminal passing through the intersection.
Specifically, different rules may be employed to determine whether the behavior state of the target terminal through the intersection is compliant (i.e., obeys traffic regulations) or offending (i.e., violates traffic regulations). For example, if the period information corresponds to a traffic period, the behavior state is compliant if the time interval to which the time information of the sequence of trajectory points relates is included in any traffic period, and if it is not included in any traffic period or partially overlapped with a certain traffic period, it is indicated that the target terminal does not pass through the intersection in the traffic period or is robbed to pass through the intersection in the course of traffic light transition. For another example, if the period information corresponds to a forbidden period, the behavior state is illegal if the time interval related to the time information of the track point sequence is included in any forbidden period or overlaps with a certain forbidden period, otherwise, the behavior state is legal. Optionally, a time point corresponding to the middle point of the track point sequence may be adopted to match the time period information, and if the time period falls into the passing time period, the behavior state is compliant, and if the time period falls into the forbidden time period, the behavior state is illegal. Optionally, the time midpoint of the time period related to the track point sequence can be adopted to match with the time period information, if the time period falls into the passing time period, the behavior state is compliant, and if the time period falls into the forbidden time period, the behavior state is illegal.
Therefore, the time period is queried by taking the change information of the spatial phase as a dominant, and when the time period is divided less, the complexity of query can be effectively reduced, and the computing resource is saved.
In another alternative implementation, the set of change information of the passable spatial phase or the set of change information of the forbidden spatial phase in the time period can be determined according to the time of passing through the intersection. And determining the behavior state by comparing the relationship between the change information of the spatial phase of the target terminal passing through the intersection and the change information set.
Specifically, step S230 may include the steps of:
step S234, determining the time period or the time point when the target terminal passes through the intersection according to the time information corresponding to the track point sequence.
Step S235, acquiring a set of change information of a spatial phase of the intersection in the time period or the time point, where the set of change information of the spatial phase includes change information of at least one spatial phase corresponding to a traffic light passing state or a forbidden state of the intersection in the time.
Step S236, comparing the change information of the spatial phase of the terminal with the change information set to determine the behavior state of the target terminal passing through the intersection.
Therefore, the judgment is performed by taking time as the dominant, and when the time interval division is more, the complexity of inquiry can be effectively reduced, and the computing resource is saved.
Optionally, the data processing method of this embodiment may further execute different operations according to different application scenarios after determining the behavior state of the target terminal passing through the intersection.
In other alternative implementations, the determination may also be made based on the status of traffic lights rather than the overall status of the intersection. That is, the change information of the spatial phase is mapped to the state of the traffic light (green light-permitted communication, red light-prohibited communication), and then a judgment is made based on the mapping.
Specifically, step S230 may include the steps of:
and step 237, determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable. I.e. finding the traffic light in the direction of passage of the sequence of track points responsible for directing the target terminal through the intersection. For example, in fig. 3, the sequence of trajectory points X passes through the intersection in an east-west straight manner. And commanding the traffic light in the direction to be an eastward traffic light, and then, the traffic light is a target traffic light.
And S238, determining the target state of the target traffic light when the terminal passes through the intersection according to the time information corresponding to the track point sequence.
And S239, determining the behavior state of the target terminal passing through the intersection according to the target state of the target traffic light.
For example, if the time corresponding to the track point sequence X is 9:01, determining whether the state of the target traffic light at 9:01 is green, if so, the target terminal passes through the intersection compliance, otherwise, the traffic light is illegal.
The target state of the target traffic light may be determined based on a comparison of the switching periods of the target traffic light.
Alternatively to the above, a traffic period or a forbidden period (i.e., a green light period or a red light period) of the target traffic light may be acquired in step S238. And in step S239, determining a behavior state of the target terminal passing through the intersection according to the traffic period or the forbidden period and the time information corresponding to the track point sequence.
In some implementations, where it is desirable to identify the behavior state of the target terminal in near real time and correct it in time, the method of this embodiment may include step S240, identifying the target terminal as an offending terminal in response to the behavior state of the target terminal at the previous intersection being passed during a forbidden time period. Further, the prompt can be performed by sending the violation prompt information. Therefore, on one hand, the safety of distribution personnel and the public of society is timely ensured, and on the other hand, the urban traffic order is ensured.
In some implementations, the method may further include step S240', where the violation alert information is sent to the target terminal in response to the behavior state being passed during the forbidden time period. Therefore, on one hand, the target terminal is informed of the occurrence of the illegal action, and on the other hand, feedback is carried out to the traffic management department and the department (for example, the station of takeaway riders) of the distribution personnel, so that dangerous traffic behaviors can be stopped in time, and the safety of the distribution personnel and the public can be ensured.
Therefore, in the embodiment, the track point sequence of the target terminal passing through the intersection is mapped into the change information of the spatial phase of the intersection, then the passing time period or the forbidden time period corresponding to the change information is queried, and the behavior state of the target terminal passing through the intersection can be automatically judged according to the comparison between the time information of the track point sequence passing through the intersection and the time period information corresponding to the change information. Compared with the traditional image recognition mode, the embodiment has high accuracy and requires less calculation resources.
Fig. 6 is a block diagram of a data processing apparatus according to a second embodiment of the present invention. As shown in fig. 6, the data processing apparatus of the present embodiment includes a sequence determination unit 61, a change determination unit 62, and a state determination unit 63. Wherein the sequence determining unit 61 is configured to determine a track point sequence of the target terminal within the intersection, the track point sequence including a plurality of track points of the target terminal. The change determining unit 62 is configured to determine, according to the sequence of track points, change information of a spatial phase of the target terminal at the intersection, where different spatial phases correspond to different location areas of the intersection. The state determining unit 63 is configured to determine a behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
Therefore, in the embodiment, the track point sequence of the target terminal passing through the intersection is mapped into the change information of the spatial phase of the intersection, then the passing time period or the forbidden time period corresponding to the change information is queried, and the behavior state of the target terminal passing through the intersection can be automatically judged according to the comparison between the time information of the track point sequence passing through the intersection and the time period information corresponding to the change information. Compared with the traditional image recognition mode, the embodiment has high accuracy and requires less calculation resources.
Meanwhile, unlike the first embodiment and the second embodiment, the change information of the passing or forbidden spatial phase in the time information may be determined according to the time information of the track point sequence, and whether the behavior state of the target terminal is compliant (i.e., complies with the traffic regulations) may be determined according to the attribution relation between the change information of the spatial phase of the track point sequence and the change information set of the passing or forbidden spatial phase.
Fig. 7 is a flowchart of a data processing method according to a third embodiment of the present invention. As shown in fig. 7, the data processing method of the present embodiment includes the following steps.
In step S710, a set of change information of spatial phases of the intersection or each traffic light at the intersection is determined, where the set of change information of spatial phases includes change information of at least one spatial phase corresponding to a traffic state or a forbidden traffic state of the intersection or each traffic light at each time period, and different spatial phases correspond to different location areas of the intersection.
The spatial phase of the embodiment is divided in the same manner as the previous embodiment, that is, the location area corresponding to the spatial phase is divided according to at least one entrance and/or exit of the intersection, so that traffic between the entrance and the exit covered by the same phase is not required to be directed by traffic lights. Moreover, the acquisition of the track point sequence is the same as that of the previous embodiment, and will not be described here again.
By matching the pre-stored time period information, a change information set of the forbidden or passing spatial phase corresponding to the time of the target terminal passing through the intersection can be obtained.
Similar to the previous embodiments, some implementations of the present embodiment map traffic or forbidden states in all directions of the intersection with change information of the spatial phase to obtain a change information set. The above-described change information set includes a plurality of time periods and change information of one or more spatial phases that can be passed or disabled for the entire intersection in each time period. For example, for the example shown in fig. 4, if traffic lights at an intersection are switched every 2 minutes, the change information set may be expressed by means of:
time period 9:00-9:01: { I, II }, { II, I }
Time period 9:02-9:03: NULL (NULL)
........
That is, the change information set of the passing spatial phase is { I, II }, { II, I }, which is two-way passable, in the two-minute time period of 9:00-9:01. And at 9:02-9:03, the traffic light is switched to be a red light, and the change information set of the passing space phase is NULL, so that the traffic light cannot pass in two directions.
Some implementations of the embodiment map traffic light traffic or forbidden traffic states and spatial phase change information of the intersection to obtain change information sets of the traffic lights respectively. The above-described change information set includes a plurality of time periods and change information of one or more spatial phases that can be passed or disabled for the respective traffic lights in each time period. For example, for the example shown in fig. 4, if the traffic light of the intersection toward the east side switches every 2 minutes, the change information set of the traffic light can be expressed by means of:
time period 9:00-9:01: { I, II }
Time period 9:02-9:03: NULL (NULL)
........
That is, in the two-minute time period of 9:00-9:01, the change information set of the passing space phase is { I, II }, and the traffic light can pass in the east-west straight direction. And at 9:02-9:03, the traffic light is switched to a red light, the change information set of the passing space phase is NULL, and the traffic light can not pass in the east-west straight direction.
Step S720, determining the behavior state of the target terminal passing through the intersection according to the track point sequence of the target terminal in the intersection range, the time information corresponding to the track point sequence and the change information set.
Specifically, step S720 includes:
and step S721, determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence.
Specifically, the corresponding spatial phase is determined according to the position of each track point of the track point sequence, and then the change information is determined according to the spatial phase of each track point.
Further, to further reduce the required computational resources, the entering spatial phase may first be determined from the spatial phase of at least one head trajectory point of the sequence of trajectory points; then, determining a space phase of departure according to the space phase of at least one tail track point of the track point sequence; finally, the set of the entering spatial phase and the leaving spatial phase is taken as the change information.
Step S722, determining a change information set of the spatial phase of the time period corresponding to the time information according to the time information of the track point sequence.
Step S723, determining a attribution relationship between the change information of the spatial phase of the target terminal at the intersection and the change information set.
And step S724, determining the behavior state of the target terminal passing through the intersection according to the attribution relation.
For example, referring to fig. 8, in the intersection 81, the track point sequence 82 of the target terminal, the timestamp of the track point as the middle point is 9:02, the time information of the track point sequence 82 is determined as 9:02. the time is searched for in the traffic light switching period of the intersection 81 stored in advance. As shown in fig. 8, the traffic light switches every 3 minutes, and the trace point sequence 82 is assigned to 9:00-9:03 this traffic light period. Furthermore, the change information of each spatial phase corresponding to the passing state (i.e., the compliance state) or the passing mode of the forbidden state in the period can be obtained, and a change information set is formed. For the t-road junction shown in fig. 8, 9:00-9: in the 03 period, the traffic lights in the north and south directions are red lights, and the traffic lights in the east and west directions are green lights. Thus, the change information set corresponding to the passing state comprises { phase I, phase II }, { phase II, phase III }, and the change information set corresponding to the forbidden state comprises { phase III, phase I }. Whereas the spatial phase change information corresponding to the sequence of trace points 82 is { phase II, phase III }. The change information is assigned to a change information set corresponding to the traffic state, and therefore, the behavior state can be determined to be compliant. Optionally, the behavior state may be determined to be compliant according to the change information set corresponding to the disabled state to which the change information does not belong.
When the traffic lights are in the traffic light passing or forbidden state mapped by the change information set, in an alternative implementation, step S720 may include:
step S725, determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence of the target terminal within the intersection range.
And step S726, determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable.
And step 727, determining the behavior state of the target terminal passing through the intersection according to the time information corresponding to the track point sequence and the change information set of the target traffic light.
When the traffic lights are in the traffic light passing or forbidden states mapped by the change information set, in another alternative implementation, step S720 may include:
step S728, determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence of the target terminal in the intersection range.
And step S729, determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable.
And step S72A, determining the passing period or the forbidden period of the target traffic light according to the change information set.
Step S72B, determining the behavior state of the target terminal passing through the intersection according to the passing time period or the forbidden time period and the time information corresponding to the track point sequence.
The two implementations are different in that whether the state is judged according to time or the time period corresponding to the specific state is acquired is compared with the passing time.
The embodiment realizes that the change information mapped to the space phase in the state of the traffic light can still effectively judge a part of illegal actions when all traffic light data cannot be obtained.
In some alternative implementations, the decision and evaluation of the behavior state of the target terminal is made in order to be near real-time. The position information of the track points reported by the target terminal can be periodically acquired, and the track point sequence is determined in real time according to the position information of the track points. Correspondingly, the method of the embodiment may include step S730, where the target terminal is marked in response to the behavior state of the target terminal at the previous intersection being that the forbidden time period passes. Further, the prompt can be performed by sending the violation prompt information. Therefore, on one hand, the safety of distribution personnel and the public of society is timely ensured, and on the other hand, the urban traffic order is ensured.
In another implementation, if the real-time requirement is not high, the recorded historical data can be uniformly processed. For example, it is possible to acquire all the track data of the target terminal in the past day, acquire a plurality of track point sequences of the target terminal passing through the respective intersections in the period of time based on the track data segmentation, and evaluate and determine one by one. Correspondingly, the method of the embodiment may include step S730', in response to the behavior state being that the forbidden time period passes, sending the violation alert information to the target terminal. Therefore, on one hand, the target terminal is informed of the occurrence of the violation of the traffic regulation behavior, and on the other hand, the target terminal feeds back to the traffic management department, and the departments of the delivery personnel (such as the station length of takeaway riders) are convenient for prompting the delivery personnel to strengthen the traffic regulation consciousness, timely stop dangerous traffic behaviors and ensure the safety of the delivery personnel and the public society.
Therefore, in this embodiment, first, a set of change information of the spatial phase of the traffic state or the forbidden state mapped in advance corresponding to the time is determined according to the time information of the track point sequence. And further determining whether the behavior state of the target terminal passing through the intersection is compliant according to the change information and the change information set of the spatial phase of the track point sequence. Compared with the traditional image recognition mode, the embodiment has high accuracy and requires less calculation resources.
Fig. 9 is a block diagram of a data processing apparatus according to a fourth embodiment of the present invention. As shown in fig. 9, the data processing apparatus of the present embodiment includes a set determination unit 91 and a state determination unit 92. The set determining unit 91 is configured to determine, according to time information corresponding to a track point sequence of the target terminal within the intersection range, a set of change information of spatial phases of the intersection or traffic lights of the intersection, where the set of change information of spatial phases includes change information of at least one spatial phase corresponding to a traffic state or a forbidden state of the intersection or traffic lights in each time period, and different spatial phases correspond to different location areas of the intersection. The state determining unit 92 is configured to determine a behavior state of the target terminal passing through the intersection according to the sequence of track points and the change information set.
Thus, in this embodiment, first, the change information set of the spatial phase of the traffic state or the forbidden state mapped in advance corresponding to the time is determined according to the time of the track point sequence. And further determining whether the behavior state of the target terminal passing through the intersection is compliant according to the change information and the change information set of the spatial phase of the track point sequence. Compared with the traditional image recognition mode, the embodiment has high accuracy and requires less calculation resources.
Fig. 10 is a schematic diagram of an electronic device according to an embodiment of the invention. In this embodiment, the electronic device may be the server of this embodiment. As shown in fig. 10, the electronic device: at least one processor 101; and a memory 102 communicatively coupled to the at least one processor 101; and a communication component 103 in communication connection with the network, the communication component 103 receiving and transmitting data under the control of the processor 101; wherein the memory 102 stores instructions executable by the at least one processor 101, the instructions being executable by the at least one processor 101 to implement the data processing method described above.
Specifically, the electronic device includes: one or more processors 101, and a memory 102, one processor 101 being illustrated in fig. 10. The processor 101, memory 102 may be connected by a bus or other means, for example in fig. 10. The memory 102 is used as a non-volatile computer-readable storage medium for storing non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 101 executes various functional applications of the device and data processing, i.e., implements the data processing methods described above, by running non-volatile software programs, instructions, and modules stored in the memory 102.
The memory 102 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store a list of options, etc. In addition, memory 102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 102 may optionally include memory located remotely from processor 101, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 102 that, when executed by the one or more processors 101, perform the information interaction method of any of the method embodiments described above.
The product may perform the method provided by the embodiment of the present application, and has the corresponding functional module and beneficial effect of the performing method, and technical details not described in detail in the embodiment of the present application may be referred to the method provided by the embodiment of the present application.
Another embodiment of the present application is directed to a non-volatile storage medium storing a computer readable program for causing a computer to perform some or all of the method embodiments described above.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Another embodiment of the application relates to a computer program product comprising a computer program/instruction which, when executed by a processor, can implement some or all of the above-described method embodiments.
That is, those skilled in the art will appreciate that embodiments of the application may be implemented by a processor executing a computer program product (computer program/instructions) to specify associated hardware, including the processor itself, to carry out all or part of the steps of the methods of the embodiments described above.
The embodiment of the invention also provides A1, a data processing method, which comprises the following steps:
determining a track point sequence of a target terminal in an intersection range, wherein the track point sequence comprises a plurality of track points of the target terminal, the distance between each track point and the center point of the intersection is not more than a first value, the distance between each track point and an adjacent track point is not less than a second value, and the distance between each adjacent track point and the center point of the intersection is more than the distance between each track point and the center point of the intersection;
determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence, wherein different spatial phases correspond to different position areas of the intersection; and
and determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
A2, the method of A1, the position area corresponding to the spatial phase is divided according to at least one entrance and/or exit of the intersection.
A3, determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence according to the method of A1 comprises the following steps:
Determining time period information corresponding to the space phase change information of the intersection, wherein the time period information is used for representing a passing time period or a forbidden time period of the intersection passing through a corresponding area according to the space phase change information; and
and comparing the time information of the track point sequence with the time period information to determine the behavior state of the target terminal passing through the intersection.
A4, determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence according to the method of A1 comprises the following steps:
determining a time period or a time point when the target terminal passes through the intersection according to the time information corresponding to the track point sequence;
acquiring a change information set of the spatial phase of the intersection in the time period or the time point, wherein the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a passing state of the intersection in the time, or the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a forbidden state of the intersection in the time;
and comparing the change information of the spatial phase of the target terminal with the change information set to determine the behavior state of the target terminal passing through the intersection.
A5, determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence according to the method of A1 comprises the following steps:
determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable through a way;
determining a target state of the target traffic light when the terminal passes through the intersection according to the time information corresponding to the track point sequence;
and determining the behavior state of the target terminal passing through the intersection according to the target state of the target traffic light.
A6, determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence according to the method of A1 comprises the following steps:
determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable through a way;
determining a passing period or a forbidden period of the target traffic light;
and determining the behavior state of the target terminal passing through the intersection according to the passing time period or the forbidden time period and the time information corresponding to the track point sequence.
A7, determining the time period information of the intersection corresponding to the spatial phase change information according to the method of A3 comprises:
acquiring change information of each spatial phase of the intersection in a passing state or change information of each spatial phase in a forbidden state;
and determining the time period information of the change information of the space phase according to the time period corresponding to the traffic state or the forbidden state, wherein the time period information is used for representing the communication time period information or the forbidden time period information corresponding to the change information of the space phase.
A8, determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence according to the method of A1 comprises the following steps:
determining corresponding spatial phases according to positions of all track points of the track point sequence;
and determining the change information according to the spatial phase of each track point.
A9, the method of A8, wherein determining the change information according to the spatial phase of each track point includes:
determining an entry spatial phase according to the spatial phase of at least one head trajectory point of the sequence of trajectory points;
determining a departure spatial phase from the spatial phase of at least one tail trace point of the sequence of trace points;
And taking the set of the entering spatial phase and the leaving spatial phase as the change information.
A10, determining a track point sequence of the target terminal in the range of the intersection according to the method of A1 comprises the following steps:
periodically acquiring the position information of the track point reported by the target terminal;
and determining the track point sequence according to the position information of the track points in real time.
A11, the method of A1, further comprising:
and responding to the behavior state as the forbidden time period to pass through the intersection, and sending violation prompt information to the target terminal.
A12, the method of A1, wherein the intersection is a one-way intersection, a T-way intersection, an crossroad, an island-shaped intersection or an N-way intersection, and N is more than or equal to 5.
A13, determining a track point sequence of the target terminal in the intersection range according to the method of A1 comprises the following steps:
acquiring a geofence of the intersection;
acquiring a track point set of the target terminal in the geofence;
determining an initial sequence of the track point set according to the time stamp ordering of each track point;
and screening the track points in the initial sequence to determine the track point sequence.
A14, the method of A13, wherein the time interval between the track point and the adjacent track point is within a preset time range.
A15, determining a track point sequence of the target terminal in the intersection range according to the method of A1 comprises the following steps:
acquiring videos recorded by at least one camera device of the intersection;
and extracting the track point sequence of the target terminal in the intersection range according to the video.
A16, the method of a15, wherein the camera device is a traffic monitoring device, and the video is a video of a vehicle including the target terminal;
the extracting the track point sequence of the target terminal in the crossing range according to the video image comprises the following steps:
identifying a vehicle of the target terminal in the video;
and determining a track point sequence of the target terminal in the range of the intersection according to the positions of the vehicles in video images of a plurality of frames in the video and the positioning information of the traffic monitoring equipment.
A17, the method of A15, wherein the camera equipment is arranged on a vehicle or a helmet of a target terminal holder, and the video is recorded through the intersection process;
the extracting the track point sequence of the target terminal in the crossing range according to the video image comprises the following steps:
identifying a predetermined target facility for an intersection in the video;
And determining a track point sequence of the target terminal in the range of the intersection according to the positions of the target facility in video images of a plurality of frames in the video and the preset positioning information of the target facility.
The embodiment of the invention also provides a B1, a data processing method, which is used for determining the behavior state of the target terminal passing through the intersection, and comprises the following steps:
determining a change information set of the spatial phase of the intersection, wherein the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a passing state or a forbidden state of the intersection or each traffic light of the intersection in each time period, and different spatial phases correspond to different position areas of the intersection; and
determining the behavior state of the target terminal passing through the intersection according to a track point sequence of the target terminal in the intersection range, wherein the track point sequence comprises a plurality of track points of the target terminal, the distance between each track point and the center point of the intersection is not more than a first value, the distance between each track point and an adjacent track point is not less than a second value, and the distance between each adjacent track point and the center point of the intersection is more than the distance between each track point and the center point of the intersection.
B2, the method of B1, the position area corresponding to the space phase is divided according to at least one entrance and/or exit of the intersection.
B3, the method of B1, according to the track point sequence of the target terminal in the crossing range, the time information corresponding to the track point sequence and the change information set, determining the behavior state of the target terminal passing through the crossing comprises:
determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence;
determining a change information set of the spatial phase of a time period corresponding to the time information according to the time information of the track point sequence;
determining the attribution relation between the change information of the spatial phase of the target terminal at the intersection and the change information set;
and determining the behavior state of the target terminal passing through the intersection according to the attribution relation.
B4, the method of B3, according to the sequence of track points, determining the change information of the spatial phase of the target terminal at the intersection comprises:
determining corresponding spatial phases according to positions of all track points of the track point sequence;
and determining the change information according to the spatial phase of each track point.
B5, the method of B4, wherein determining the change information according to the spatial phase of each track point comprises:
determining an entry spatial phase according to the spatial phase of at least one head trajectory point of the sequence of trajectory points;
determining a departure spatial phase from the spatial phase of at least one tail trace point of the sequence of trace points;
and taking the set of the entering spatial phase and the leaving spatial phase as the change information.
B6, the method of B1, the method further comprising:
periodically acquiring the position information of the track point reported by the target terminal;
and determining the track point sequence according to the position information of the track points in real time.
B7, the method of B3, according to the time information of the track point sequence, determining the change information set of the space phase of the time period corresponding to the time information comprises:
determining time period information of traffic light switching corresponding to the time information; and
and determining a change information set of the space phase of crossing traffic or forbidden traffic in the period corresponding to the period information.
B8, the method of B1, according to the track point sequence of the target terminal in the crossing range, the time information corresponding to the track point sequence and the change information set, determining the behavior state of the target terminal passing through the crossing comprises:
Determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence of the target terminal in the intersection range;
determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable through a way;
and determining the behavior state of the target terminal passing through the intersection according to the time information corresponding to the track point sequence and the change information set of the target traffic light.
B9, the method of B1, according to the track point sequence of the target terminal in the crossing range, the time information corresponding to the track point sequence and the change information set, determining the behavior state of the target terminal passing through the crossing comprises:
determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence of the target terminal in the intersection range;
determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable through a way;
determining a passing period or a forbidden period of the target traffic light according to the change information set;
And determining the behavior state of the target terminal passing through the intersection according to the passing time period or the forbidden time period and the time information corresponding to the track point sequence.
The embodiment of the invention also provides a C1 and a data processing device, wherein the device comprises:
a sequence determining unit, configured to determine a track point sequence of a target terminal within an intersection range, where the track point sequence includes a plurality of track points of the target terminal, a distance between each track point and a center point of the intersection is not greater than a first value, a distance between each track point and an adjacent track point is not less than a second value, and a distance between each adjacent track point and the center point of the intersection is greater than a distance between each track point and the center point of the intersection;
the change determining unit is used for determining change information of the spatial phase of the target terminal at the intersection according to the track point sequence, and different spatial phases correspond to different position areas of the intersection; and
and the state determining unit is used for determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
The embodiment of the invention also provides a D1 data processing device for determining the behavior state of the target terminal passing through the intersection, comprising:
The set determining unit is used for determining a change information set of the spatial phase of the intersection, wherein the change information set of the spatial phase comprises at least one change information of the spatial phase corresponding to the traffic state or the forbidden state of the intersection or each traffic lamp of the intersection in each time period, and different spatial phases correspond to different position areas of the intersection; and
the state determining unit is used for determining the behavior state of the target terminal passing through the intersection according to a track point sequence of the target terminal in the intersection range, time information corresponding to the track point sequence and the change information set, wherein the track point sequence comprises a plurality of track points of the target terminal, the distance between each track point and the center point of the intersection is not more than a first value, the distance between each track point and an adjacent track point is not less than a second value, and the distance between each adjacent track point and the center point of the intersection is more than the distance between each track point and the center point of the intersection.
Embodiments of the present invention also provide E1, a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method as claimed in any one of A1-a17, B1-B9.
The embodiment of the application also provides F1, an electronic device, which comprises:
a memory for storing one or more computer program instructions;
a processor, the one or more computer program instructions being executed by the processor to implement the method of any of A1-a17, B1-B9.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of data processing, the method comprising:
determining a track point sequence of a target terminal in an intersection range, wherein the track point sequence comprises a plurality of track points of the target terminal, the distance between each track point and the center point of the intersection is not more than a first value, the distance between each track point and an adjacent track point is not less than a second value, and the distance between each adjacent track point and the center point of the intersection is more than the distance between each track point and the center point of the intersection;
determining the change information of the spatial phase of the target terminal at the intersection according to the track point sequence, wherein different spatial phases correspond to different position areas of the intersection; and
And determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
2. The method according to claim 1, characterized in that the spatial phase corresponds to a location area divided according to at least one entrance and/or exit of the intersection.
3. The method of claim 1, wherein determining the behavior state of the target terminal through the intersection according to the change information of the spatial phase and the time information corresponding to the sequence of trajectory points comprises:
determining time period information corresponding to the space phase change information of the intersection, wherein the time period information is used for representing a passing time period or a forbidden time period of the intersection passing through a corresponding area according to the space phase change information; and
and comparing the time information of the track point sequence with the time period information to determine the behavior state of the target terminal passing through the intersection.
4. The method of claim 1, wherein determining the behavior state of the target terminal through the intersection according to the change information of the spatial phase and the time information corresponding to the sequence of trajectory points comprises:
Determining a time period or a time point when the target terminal passes through the intersection according to the time information corresponding to the track point sequence;
acquiring a change information set of the spatial phase of the intersection in the time period or the time point, wherein the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a passing state of the intersection in the time, or the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a forbidden state of the intersection in the time;
and comparing the change information of the spatial phase of the target terminal with the change information set to determine the behavior state of the target terminal passing through the intersection.
5. The method of claim 1, wherein determining the behavior state of the target terminal through the intersection according to the change information of the spatial phase and the time information corresponding to the sequence of trajectory points comprises:
determining a target traffic light according to the change information of the spatial phase, wherein the target traffic light is used for commanding the intersection corresponding to the change information of the spatial phase to pass or disable through a way;
determining a target state of the target traffic light when the terminal passes through the intersection according to the time information corresponding to the track point sequence;
And determining the behavior state of the target terminal passing through the intersection according to the target state of the target traffic light.
6. A data processing method for determining a behavior state of a target terminal passing through an intersection, the method comprising:
determining a change information set of the spatial phase of the intersection, wherein the change information set of the spatial phase comprises change information of at least one spatial phase corresponding to a passing state or a forbidden state of the intersection or each traffic light of the intersection in each time period, and different spatial phases correspond to different position areas of the intersection; and
determining the behavior state of the target terminal passing through the intersection according to a track point sequence of the target terminal in the intersection range, wherein the track point sequence comprises a plurality of track points of the target terminal, the distance between each track point and the center point of the intersection is not more than a first value, the distance between each track point and an adjacent track point is not less than a second value, and the distance between each adjacent track point and the center point of the intersection is more than the distance between each track point and the center point of the intersection.
7. A data processing apparatus, the apparatus comprising:
a sequence determining unit, configured to determine a track point sequence of a target terminal within an intersection range, where the track point sequence includes a plurality of track points of the target terminal, a distance between each track point and a center point of the intersection is not greater than a first value, a distance between each track point and an adjacent track point is not less than a second value, and a distance between each adjacent track point and the center point of the intersection is greater than a distance between each track point and the center point of the intersection;
the change determining unit is used for determining change information of the spatial phase of the target terminal at the intersection according to the track point sequence, and different spatial phases correspond to different position areas of the intersection; and
and the state determining unit is used for determining the behavior state of the target terminal passing through the intersection according to the change information of the spatial phase and the time information corresponding to the track point sequence.
8. A data processing apparatus for determining a behavior state of a target terminal passing through an intersection, the apparatus comprising:
the set determining unit is used for determining a change information set of the spatial phase of the intersection, wherein the change information set of the spatial phase comprises at least one change information of the spatial phase corresponding to the traffic state or the forbidden state of the intersection or each traffic lamp of the intersection in each time period, and different spatial phases correspond to different position areas of the intersection; and
The state determining unit is used for determining the behavior state of the target terminal passing through the intersection according to a track point sequence of the target terminal in the intersection range, time information corresponding to the track point sequence and the change information set, wherein the track point sequence comprises a plurality of track points of the target terminal, the distance between each track point and the center point of the intersection is not more than a first value, the distance between each track point and an adjacent track point is not less than a second value, and the distance between each adjacent track point and the center point of the intersection is more than the distance between each track point and the center point of the intersection.
9. A computer readable storage medium, on which computer program instructions are stored, which computer program instructions, when executed by a processor, implement the method according to any of claims 1-6.
10. An electronic device, the device comprising:
a memory for storing one or more computer program instructions;
a processor, the one or more computer program instructions being executed by the processor to implement the method of any of claims 1-6.
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