WO2021104325A1 - 一种偏航识别的方法和系统 - Google Patents

一种偏航识别的方法和系统 Download PDF

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Publication number
WO2021104325A1
WO2021104325A1 PCT/CN2020/131562 CN2020131562W WO2021104325A1 WO 2021104325 A1 WO2021104325 A1 WO 2021104325A1 CN 2020131562 W CN2020131562 W CN 2020131562W WO 2021104325 A1 WO2021104325 A1 WO 2021104325A1
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WO
WIPO (PCT)
Prior art keywords
navigation route
point
positioning
yaw
location point
Prior art date
Application number
PCT/CN2020/131562
Other languages
English (en)
French (fr)
Inventor
叶次昌
孙蓓佳
安凯强
刘国平
Original Assignee
北京嘀嘀无限科技发展有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201911166999.6A external-priority patent/CN111323031B/zh
Priority claimed from CN201911311314.2A external-priority patent/CN111323035A/zh
Application filed by 北京嘀嘀无限科技发展有限公司 filed Critical 北京嘀嘀无限科技发展有限公司
Publication of WO2021104325A1 publication Critical patent/WO2021104325A1/zh
Priority to US17/804,085 priority Critical patent/US20220291005A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3605—Destination input or retrieval
    • G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement

Definitions

  • This application relates to the technical field of navigation and positioning, and in particular to a method and system for yaw recognition.
  • One of the embodiments of the present application provides a method for yaw recognition, which includes: obtaining a first navigation route of an object traveling, and one or more positioning location points during driving; based on the one or more positioning location points and Determining whether the first preset condition is satisfied based on the positional relationship between the first navigation routes; and in response to the first preset condition being not satisfied, determining the Whether the object is in a yaw driving state.
  • One of the embodiments of the present application provides a system for yaw recognition, which includes: an acquisition module, which acquires a first navigation route that an object travels, and one or more positioning location points during driving; a judgment module, based on the one or The positional relationship between the multiple positioning location points and the first navigation route is judged whether the first preset condition is satisfied; the determining module, in response to the first preset condition being not satisfied, is based on driving with the object The associated related information determines whether the object is in a yaw driving state.
  • One of the embodiments of the present application provides a device for yaw recognition, the device includes a processor and a memory; the memory is used to store instructions, and when the instructions are executed by the processor, the device implements the above technical solution The operation corresponding to the method described in.
  • One of the embodiments of the present application provides a computer-readable storage medium that stores computer instructions.
  • the computer reads the computer-executable instructions in the storage medium, the computer executes the method described in the above technical solution.
  • Fig. 1 is a schematic diagram of an application scenario of a yaw recognition system according to some embodiments of the present application
  • Fig. 2 is a schematic diagram of an exemplary computing device according to some embodiments of the present application.
  • Fig. 3 is a schematic diagram of exemplary hardware and/or software of a mobile device according to some embodiments of the present application.
  • Fig. 4 is a block diagram of an exemplary processing device according to some embodiments of the present application.
  • Fig. 5 is an exemplary flowchart of a method for yaw recognition according to some embodiments of the present application.
  • FIG. 6 is an exemplary flow chart of judging whether the first preset condition is satisfied according to some embodiments of the present application.
  • Fig. 7 is an exemplary flowchart for determining a yaw driving state according to some embodiments of the present application.
  • FIG. 8 is an exemplary flowchart of a method for yaw recognition shown in some other embodiments of the present application.
  • FIG. 9 is an exemplary flowchart of a method for yaw recognition shown in other embodiments of the present application.
  • Figure 10 is a schematic diagram of real-time navigation route changes after the subject accepts a joint travel request
  • FIG. 11 is a schematic structural diagram of a yaw recognition system shown in some embodiments of the present application.
  • FIG. 12 is a schematic structural diagram of a yaw recognition system shown in some embodiments of the present application.
  • FIG. 13 is a schematic structural diagram of a yaw recognition system shown in some embodiments of the present application.
  • FIG. 14 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 15 is an exemplary flowchart for judging whether the first preset condition is satisfied according to still other embodiments of the present application.
  • FIG. 16 is an exemplary flow chart of judging whether there is a mapping location point according to still other embodiments of the present application.
  • FIG. 17 is an exemplary flowchart for determining a yaw driving state according to still other embodiments of the present application.
  • FIG. 18 is a schematic flowchart of a method for yaw recognition according to still other embodiments of the present application.
  • FIG. 19 is a flowchart of a method for judging whether there is a mapping location point according to still other embodiments of the present application.
  • FIG. 20 is a flowchart of a method for specifically determining whether there is a mapping location point according to still other embodiments of the present application.
  • FIG. 21 is a schematic diagram of selecting a mapping location point on a first navigation route according to still other embodiments of the present application.
  • FIG. 22 is a flowchart of a method for determining whether an object is in a yaw driving state according to still other embodiments of the present application.
  • FIG. 23 is a flowchart of a method for judging whether a current positioning position point deviates from a first navigation route according to still other embodiments of the present application;
  • FIG. 24 is a schematic flowchart of a specific method for yaw recognition according to still other embodiments of the present application.
  • FIG. 25 is a schematic structural diagram of a yaw recognition module according to still other embodiments of the present application.
  • Fig. 26 is a schematic structural diagram of an electronic device according to still other embodiments of the present application.
  • system is a method for distinguishing different components, elements, parts, parts, or assemblies of different levels.
  • the words can be replaced by other expressions.
  • Fig. 1 is a schematic diagram of an application scenario of a yaw recognition system according to some embodiments of this specification.
  • the yaw recognition system 100 can be used in taxi-hailing software, navigation software, and the like. In some embodiments, the yaw recognition system can determine whether the object is in a yaw driving state.
  • the yaw recognition system can be used for online transportation of transportation services such as taxis, ride-hailing services, express cars, carpooling, bus services, driver leasing, or shuttle services, or any combination thereof.
  • transportation services such as taxis, ride-hailing services, express cars, carpooling, bus services, driver leasing, or shuttle services, or any combination thereof.
  • Service Platform such as taxis, ride-hailing services, express cars, carpooling, bus services, driver leasing, or shuttle services, or any combination thereof.
  • the yaw recognition system 100 of the present application may include a server 110, an object terminal 120, a database 130 and a network 140.
  • the server 110 may be used to process information and/or data related to yaw identification.
  • the server 110 may be an independent server or a server group.
  • the server group may be centralized or distributed (for example, the server 110 may be a distributed system).
  • the server 110 may be regional or remote.
  • the server 110 can access information and/or data stored in the target terminal 120 and/or the database 130 through the network 140.
  • the server 110 may directly connect to the target terminal 120 and/or the database 130 to access the information and/or data stored therein.
  • the server 110 may be executed on a cloud platform.
  • the cloud platform may include one or any combination of private cloud, public cloud, hybrid cloud, community cloud, decentralized cloud, internal cloud, etc.
  • the server 110 may include a processing device.
  • the processing device may process data and/or information related to the service request to perform one or more functions described in this application. For example, the processing device may determine whether the target terminal 120 is in a yaw driving state based on the location point of the target terminal 120 acquired from the target terminal 120 and the navigation route of the target terminal 120.
  • the processing device may include one or more sub-processing devices (for example, a single-core processing device or a multi-core and multi-core processing device).
  • the processing device may include a central processing unit (CPU), an application specific integrated circuit (ASIC), an application specific instruction processor (ASIP), a graphics processing unit (GPU), a physical processor (PPU), and a digital signal processor (DSP). ), Field Programmable Gate Array (FPGA), Editable Logic Circuit (PLD), Controller, Microcontroller Unit, Reduced Instruction Set Computer (RISC), Microprocessor, etc. or any combination of the above.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • ASIP application specific instruction processor
  • GPU graphics processing unit
  • PPU physical processor
  • DSP digital signal processor
  • FPGA Field Programmable Gate Array
  • PLD Editable Logic Circuit
  • Controller Microcontroller Unit
  • RISC Reduced Instruction Set Computer
  • the network 140 may facilitate the exchange of data and/or information.
  • one or more components in the yaw recognition system 100 can send data and/or information to the yaw recognition system 100 through the network 140.
  • the server 110 may obtain/obtain one or more positioning location points of the target terminal 120 on the driving path from the target terminal 120 through the network 140.
  • the network 140 may be any type of wired or wireless network.
  • the network 140 may include a cable network, a wired network, an optical fiber network, a telecommunication network, an internal network, an Internet network, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), and a metropolitan area network (MAN ), Public Switched Telephone Network (PSTN), Bluetooth network, ZigBee network, Near Field Communication (NFC) network, etc. or any combination of the above.
  • the network 140 may include one or more network entry and exit points.
  • the network 140 may include wired or wireless network access points, such as base stations and/or Internet exchange points, through which one or more components of the yaw recognition system 100 can be connected to the network 140 to exchange data and /Or information.
  • the target terminal 120 may include one or any combination of a mobile device, a tablet computer, a laptop computer, an in-vehicle device, and the like.
  • the mobile device may include a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, etc., or any combination thereof.
  • the wearable device may include a smart bracelet, smart footwear, smart glasses, smart helmets, smart watches, smart clothes, smart backpacks, smart accessories, etc., or any combination thereof.
  • the smart mobile device may include a smart phone, a personal digital assistant (PDA), a game device, a navigation device, a POS device, etc., or any combination thereof.
  • PDA personal digital assistant
  • the virtual reality device and/or augmented reality device may include a virtual reality helmet, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc. or Any combination of the above examples.
  • the target terminal 120 may include a device having a positioning function to determine the position of the target and/or the target terminal 120.
  • the target terminal 120 may include a service requester and/or a service provider.
  • the database 130 may store data and/or instructions. In some embodiments, the database 130 may store information obtained from the target terminal 120. In some embodiments, the database 130 may store information and/or instructions for execution or use by the server 110 to perform the exemplary methods described in this application. In some embodiments, the database 130 may include mass memory, removable memory, volatile read-write memory (such as random access memory RAM), read-only memory (ROM), etc., or any combination thereof. In some embodiments, the database 130 may be implemented on a cloud platform. For example, the cloud platform may include private cloud, public cloud, hybrid cloud, community cloud, community cloud, decentralized cloud, internal cloud, etc. or any combination of the above.
  • the database 130 may communicate with one or more components (eg, the server 110, the object terminal 120, etc.) of the above yaw recognition system 100 via the network 140.
  • One or more components of the yaw recognition system 100 can access data or instructions stored in the database 130 through the network 140.
  • the database 130 may directly connect or communicate with one or more components (eg, the server 110, the object terminal 120, etc.) in the yaw recognition system 100.
  • the database 130 may be part of the server 110.
  • one or more components in the yaw recognition system 100 may have access to the database 130.
  • one or more components of the yaw recognition system 100 can read and/or modify the object, and / Or information related to common knowledge. For example, after determining that the object is in a yaw driving state, the server 110 may modify/update the navigation route information of one or more objects.
  • Fig. 2 is a schematic diagram of an exemplary computing device according to some embodiments of the present specification.
  • the server 110 and/or the object terminal 120 may be implemented on the computing device 200.
  • the processing device 400 may be implemented on the computing device 200 and execute the functions of the processing device 400 disclosed in this application.
  • the computing device 200 may include a processor 220, a read-only memory 230, a random access memory 240, a communication port 250, an input/output interface 260, and a hard disk 270.
  • the processor 220 may execute calculation instructions (program codes) and execute the functions of the system 100 for yaw recognition provided by the application scenario diagram described in this application.
  • the calculation instructions may include programs, objects, components, data structures, procedures, modules, and functions (the functions refer to specific functions described in this application).
  • the processor 220 may process image or text data obtained from any other component of the system 100 that provides yaw recognition from the application scene graph.
  • the processor 220 may include a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an application specific integrated circuit (ASIC), an application specific instruction set processor (ASIP), a central processing unit (CPU) , Graphics processing unit (GPU), physical processing unit (PPU), microcontroller unit, digital signal processor (DSP), field programmable gate array (FPGA), advanced RISC machine (ARM), programmable logic device, and Any circuit, processor, etc. that perform one or more functions, or any combination thereof.
  • RISC reduced instruction set computer
  • ASIC application specific integrated circuit
  • ASIP application specific instruction set processor
  • CPU central processing unit
  • GPU Graphics processing unit
  • PPU physical processing unit
  • DSP digital signal processor
  • FPGA field programmable gate array
  • ARM advanced RISC machine
  • the memory of the computing device 200 may store data/information acquired from any other component of the system 100 that provides yaw recognition from the application scene graph.
  • exemplary ROMs may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (PEROM), electrically erasable programmable ROM (EEPROM), compact disk ROM (CD-ROM), and digital Universal disk ROM, etc.
  • Exemplary RAM may include dynamic RAM (DRAM), double rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), zero capacitance (Z-RAM), and the like.
  • the input/output interface 260 may be used to input or output signals, data or information.
  • the input/output interface 260 can connect the object with the system 100 for yaw recognition provided by the application scene graph.
  • the input/output interface 260 may include an input device and an output device.
  • Exemplary input devices may include a keyboard, a mouse, a touch screen, a microphone, etc., or any combination thereof.
  • Exemplary output devices may include display devices, speakers, printers, projectors, etc., or any combination thereof.
  • Exemplary display devices may include liquid crystal displays (LCD), light emitting diode (LED) based displays, flat panel displays, curved displays, television equipment, cathode ray tubes (CRT), etc., or any combination thereof.
  • LCD liquid crystal displays
  • LED light emitting diode
  • CRT cathode ray tubes
  • the communication port 250 can be connected to a network for data communication.
  • the connection may be a wired connection, a wireless connection, or a combination of both.
  • Wired connections can include cables, optical cables, telephone lines, etc., or any combination thereof.
  • the wireless connection may include Bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, mobile networks (for example, 3G, 4G, or 5G, etc.), etc., or any combination thereof.
  • the communication port 250 may be a standardized port, such as RS232, RS485, and so on. In some embodiments, the communication port 250 may be a specially designed port.
  • Fig. 3 is a schematic diagram of exemplary hardware and/or software of a mobile device according to some embodiments of the present specification.
  • the mobile device 300 may include a communication unit 310, a display unit 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, an input/output unit 350, a memory 360, a storage unit 370, and the like.
  • the operating system 361 for example, iOS, Android, Windows Phone, etc.
  • the application program 362 may include a browser or an application program for receiving text, image, audio, or other related information from the system 100 that provides yaw recognition from the application scene graph.
  • a computing device or a mobile device can be used as a hardware platform for one or more components described in this application.
  • the hardware components, operating systems, and programming languages of these computers or mobile devices are conventional in nature, and those skilled in the art can adapt these technologies to the application scenario diagram described in this application after being familiar with these technologies.
  • the system 100 provides yaw recognition.
  • a computer with an object interface element can be used to implement a personal computer (PC) or other types of workstations or terminal devices, and if properly programmed, the computer can also act as a server.
  • PC personal computer
  • the primary navigation trajectory and the first navigation route can be the same concept
  • the secondary navigation trajectory and the second navigation route can be the same concept
  • Fig. 4 is a block diagram of an exemplary processing device according to some embodiments of the present application
  • Fig. 11 is a schematic structural diagram of a yaw recognition system according to some embodiments of the present application
  • Fig. 12 is a schematic diagram of a yaw recognition system according to some embodiments of the present application Schematic diagram of the structure of the yaw recognition system
  • Figure 13 is a schematic diagram of the structure of the yaw recognition system shown in some embodiments of the present application
  • Figure 25 is a structure of the yaw recognition module according to some embodiments of the present application Schematic.
  • the processing device 400 of the yaw recognition system may include an acquisition module 410, a judgment module 420 and a determination mold 430.
  • the obtaining module 410 may be used to obtain the first navigation route of the object traveling and one or more positioning location points during traveling.
  • the acquiring module 410 may include multiple sub-modules with different functions.
  • the acquiring module 410 may include a sub-module for acquiring the first navigation route and a sub-module for acquiring a positioning location point.
  • the obtaining module 410 may obtain information about one or more positioning location points. Such as location information and driving direction information of the positioning point.
  • the location information may include coordinates, and the driving direction information may include a direction angle.
  • the acquiring module 410 is also used to: acquire the precision factor, direction angle, and velocity value of each positioning position point; if the precision factor of the positioning position point is not greater than the set precision factor threshold, the direction angle of the positioning position point Not less than 0 and the speed value of the positioning point is not less than 0, then the positioning point information is retained; otherwise, the positioning point information is deleted.
  • the obtaining module 410 may include a route obtaining module 411, and the route obtaining module 411 is configured to obtain a real-time navigation route of the subject during travel.
  • the route acquisition module 411 can also be used to: acquire the real-time navigation determined by the subject based on the first driving departure place and the first driving destination in each travel route of the subject route.
  • the acquiring module 410 may include a peer location acquiring module 412. The peer location acquiring module 412 is used to acquire the second travel origin of the common travel request if it is detected that the subject has accepted the common travel request during the travel of the subject And the second driving destination, and the real-time driving position of the object.
  • the sub-module included in the acquiring module 410 may be a receiving module 413, which is configured to receive the location point information of the service provider reported by the service provider at a set time interval when serving the current order.
  • the receiving module 413 when used to receive the location point information of the service provider reported by the service provider at a set time interval when serving the current order, it includes: for each received location point information , Extract the precision factor, direction angle and speed value of the positioning position point in the positioning position point information; if the precision factor of the positioning position point is not greater than the set precision factor threshold, the direction angle of the positioning position point is not less than 0 and the positioning position point If the speed value of is not less than 0, the information of the positioning point is retained; otherwise, the information of the positioning point is deleted.
  • the acquiring module 410 may also be used to: during the travel of the subject, if it is detected that the subject has accepted a joint travel request, the first navigation route is from the subject’s first driving departure place to The navigation route of one of the routes of the first travel destination.
  • the first navigation route is determined based on the second travel departure place and the second travel destination in the common travel request, the current location point of the object, and the first travel destination.
  • the judging module 420 may be used to judge whether the first preset condition is satisfied based on the positional relationship between one or more positioning location points and the first navigation route.
  • the first preset condition is used to characterize that at least one of the one or more positioning position points does not deviate from the first navigation route.
  • the determining module 420 may also be used to determine whether there is a yaw position point in the one or more positioning position points based on the positional relationship between the one or more positioning position points and the first navigation route; if so, Then the first preset condition is not satisfied.
  • the acquisition module 410 and the judgment module 420 may be combined into one trajectory acquisition module 421.
  • the trajectory acquisition module 421 can be used to acquire the historical order trajectory corresponding to each historical travel order corresponding to the first driving place of the object and the first driving destination of the object (in this specification) if a change in the real-time navigation route is detected. Also known as historical driving route), the corresponding primary navigation trajectory before the real-time navigation route changes, and the secondary navigation trajectory generated after the real-time navigation route changes.
  • the trajectory acquisition module 421 can also acquire three navigation trajectories, four navigation trajectories, etc. generated after the real-time navigation route changes again.
  • the determining module 420 may also be used to determine whether there is a mapping location point of the current positioning location point on the first navigation route based on the position relationship between one or more positioning location points and the first navigation route; and , In response to that there is no mapping location point of the current positioning location point on the first navigation route, it is determined that the first preset condition is not met.
  • mapping location point of the current positioning location point on the first navigation route including: based on the location information of one or more positioning location points, The first distance between each positioning location point and the first navigation route is determined; based on the first distance, it is determined whether there is a mapping location point of the current positioning location point on the first navigation route.
  • determining whether there is a mapping location point of the current positioning location point on the first navigation route includes: determining one or more candidate mapping points on the first navigation route based on the first distance; and, based on one or more The driving direction information of the candidate mapping points and the driving direction information of the current positioning location point are judged whether there is a mapping location point of the current positioning location point on the first navigation route.
  • determining the first distance between each positioning location point and the first navigation route includes: determining each positioning location point based on the coordinates of one or more positioning location points The vertical distance to the first navigation route respectively; the vertical distance is regarded as the first distance; based on the first distance, judging whether there is a mapping position point of the current positioning position point on the first navigation route, including: based on each positioning position point and the first distance The first distance between a navigation route, determine the average vertical distance between multiple positioning location points and the first navigation route; based on the average vertical distance, the coordinates of the current positioning location point, the direction angle of the current positioning location point, and the first navigation route To determine whether there is a mapping location point of the current positioning location point on the first navigation route.
  • determining one or more candidate mapping points on the first navigation route includes: comparing the vertical distance from the current positioning point to the first navigation route with the average vertical distance; if the current positioning point reaches the first The vertical distance of the navigation route is greater than the average vertical distance, and it is judged that there is no mapping location point of the current positioning location point on the first navigation route; if the vertical distance from the current positioning location point to the navigation route is less than or equal to the average vertical distance, it is based on the current positioning location point
  • the coordinates and the average vertical distance of the first navigation route, and the location point on the first navigation route whose distance from the current location point is equal to the average vertical distance is used as the candidate mapping point; based on the driving direction information of one or more candidate mapping points and the current location location point
  • To determine whether there is a mapping position point of the current positioning position point on the first navigation route including: determining whether there is a direction angle of at least one candidate mapping point that matches the direction angle of the current positioning position point; if there is at least one candidate The direction
  • the determining module 420 may be used to determine whether there is a mapped location point of the current location point of the service provider on the navigation route corresponding to the current order.
  • each positioning location point information may include the coordinates and direction angle of the positioning location point
  • the judging module 420 may be used to determine whether there is a current positioning location point of the service provider on the navigation route corresponding to the current order in the following manner Mapping location points: Determine the vertical distance from each location location point to the navigation route based on the coordinates of multiple location location points corresponding to the current order containing the current location location point; according to each location location point to the navigation route Vertical distance, to determine the average vertical distance between multiple positioning location points and the navigation route; based on the average vertical distance, the coordinates of the current positioning location point, the direction angle of the current positioning location point and the direction angle of the navigation route to determine whether there is a current positioning on the navigation route The mapped location point of the location point.
  • the judging module 420 is used for judging whether there is a mapping position of the current location point on the navigation route based on the average vertical distance, the coordinates of the current location location point, the direction angle of the current location location point, and the direction angle of the navigation route.
  • Point including: comparing the vertical distance from the current positioning point to the navigation route with the average vertical distance; if the vertical distance from the current positioning point to the navigation route is greater than the average vertical distance, it is determined that there is no current positioning point on the navigation route Mapping the location point; if the vertical distance from the current location point to the navigation route is less than or equal to the average vertical distance, based on the coordinates of the current location location point and the average vertical distance, the distance to the current location location point found on the navigation route is equal to the average vertical distance
  • Candidate mapping point of distance judge whether there is at least one candidate mapping point where the direction angle of the navigation route matches the direction angle of the current positioning position point; if there is at least one candidate mapping point, the direction angle of the navigation route is consistent with the current positioning position point If the direction angles match, the candidate mapping point corresponding to the direction angle that matches the direction angle of the current positioning position point is used as the mapping position point.
  • the determining module 430 may be configured to determine whether the object is in a yaw driving state based on related information associated with the driving of the object in response to the first preset condition being not satisfied. For the related information associated with different object driving, the determining module 430 may include a plurality of sub-modules with different functions.
  • the determining module 430 may also be used to determine whether the object is in a yaw driving state based on one or more of the yaw rate, the first navigation route, and the second navigation route.
  • the determining module 430 may also be used to determine the yaw rate, and determining the yaw rate includes the following steps: obtaining one or more historical driving routes associated with the first navigation route; based on the one or more historical driving routes, The yaw rate at at least one positioning location point deviating from the first navigation route is determined. Based on one or more historical driving routes, determining the yaw rate at at least one positioning location point deviating from the first navigation route includes: determining, from the one or more historical driving routes, at least one positioning deviating from the first navigation route The first historical driving route where yaw driving occurs at the location point; the yaw rate is determined based on the quantitative relationship between the first historical driving route and the historical driving route.
  • the object Based on one or more of the yaw rate, the first navigation route, and the second navigation route, determine whether the object is in a yaw driving state, including: based on the yaw rate, and/or the second navigation route and the third navigation route It is determined whether the object is in a yaw driving state; wherein, the third navigation route is a route from at least one location point deviating from the first navigation route to the first driving destination in the first navigation route.
  • the sub-module included in the determining module 430 may be the state determining module 431, which is used to determine whether the object is in a yaw driving state based on multiple historical order trajectories, primary navigation trajectories, and secondary navigation trajectories.
  • the state determination module 431 when the state determination module 431 is used to determine whether the object is in a yaw driving state based on multiple historical order trajectories, primary navigation trajectories, and secondary navigation trajectories, the state determination module 431 may also be used to: When the real-time navigation route changes, the yaw position of the object (such as the yaw position point); based on multiple historical order trajectories, determine the yaw rate at the yaw position; if the yaw rate is less than the preset yaw Threshold value, and the path length of the secondary navigation trajectory is greater than the path length from the yaw position to the first driving destination in the primary navigation trajectory, it is determined that the object is in the yaw driving state, where the secondary navigation trajectory is the generated deviation The trajectory between the flight position and the first driving destination.
  • the state determination module 431 when the state determination module 431 is used to determine the yaw rate at the yaw position based on multiple historical order trajectories, the state determination module 431 is also used to: Order information, determine the historical order trajectory with yaw at the yaw position from multiple historical order trajectories; calculate the quantity ratio between the yaw historical order trajectory and multiple historical order trajectories, and determine the quantity ratio Is the yaw rate at the yaw position.
  • the determining module 430 may also be used to determine whether the object is in a yaw driving state based on the information of one or more positioning location points. Based on the information of one or more positioning location points, determining whether the object is in a yaw driving state includes: determining the second distance between each of the one or more positioning location points and the first navigation route; The second distance is to determine whether the current positioning position point deviates from the first navigation route; if the current positioning position point deviates from the first navigation route, the yaw position deviating from the first navigation route is determined from one or more positioning position points; based on the deviation The information of the waypoint point determines whether the object is in a yaw driving state.
  • determining whether the object is in a yaw driving state includes: determining whether the object is in a yaw driving state based on the number of yaw position points and a preset number threshold. Before determining whether the current location point deviates from the first navigation route based on the second distance, the method further includes: based on the coordinates of the current location location point, the coordinates of the previous location location point of the current location location, and the current location location point and the previous location.
  • the acquisition time interval of the positioning position point to determine the average speed value of the object from the last positioning position point to the current positioning position point; if the average speed value is less than or equal to the preset speed threshold, based on the accuracy factor of multiple positioning position points, obtain more The variance of the precision factor corresponding to each positioning location point; if the precision factor variance is less than the set precision factor threshold, the current location location point is retained.
  • Determining the second distance between each positioning position point in the at least one positioning position point and the first navigation route includes: based on the coordinates of the at least one positioning position point, determining the vertical direction of each positioning position point to the first navigation route. Distance; the vertical distance is regarded as the second distance.
  • determining whether the current positioning location point deviates from the first navigation route includes: determining the distance variance of a plurality of second distances based on the second distance between each positioning location point and the first navigation route; determining the distance variance Whether it exceeds the preset variance threshold; if the distance variance exceeds the preset variance threshold, it is determined that the current location point deviates from the first navigation route.
  • the determining module 430 may also be used to determine the vertical distances from the navigation route to the navigation route based on the multiple positioning position points corresponding to the current order and containing the current positioning position point after determining that there is no mapped position point on the navigation route. Whether the service provider deviates from the navigation route. In some embodiments, the determining module 430 is further configured to: after determining that there is a mapped location point on the navigation route, replace the coordinates of the current positioning location point in the driving route information of the service provider with the coordinates of the mapped location point; The subsequent driving route information of the service provider is sent to the service requester.
  • the method when the determining module 430 is used to determine whether the service provider deviates from the navigation route based on the vertical distances from the multiple positioning location points corresponding to the current order including the current positioning location points to the navigation route, the method includes: The vertical distances from multiple positioning points to the navigation route to determine whether the current positioning position point deviates from the navigation route; after determining that the current positioning position point deviates from the navigation route, based on the positioning position point that the service provider deviates from the navigation route during driving The number and the preset number threshold determine whether the service provider deviates from the navigation route.
  • each positioning location point information includes the precision factor and coordinates of the positioning location point.
  • the determining module 430 is also used to: based on the coordinates of the current positioning position point, the coordinates of the previous positioning position point of the current positioning position point, and receiving the current positioning position point and the previous positioning point The time interval of the location points, determine the corresponding average speed value when the service provider reaches the current location point from the last location location; after determining that the average speed value is less than or equal to the preset speed threshold, based on the accuracy of multiple location locations Factor to obtain the variance of the precision factor corresponding to multiple positioning location points; after determining that the variance of the precision factor is less than the set precision factor threshold, it is determined to retain the current location location point.
  • the determining module 803 is used to determine whether the current positioning position point deviates from the navigation route based on the vertical distances from the multiple positioning position points to the navigation route, including: Vertical distance, determine the distance variance of multiple vertical distances; determine whether the distance variance exceeds the preset variance threshold; after determining that the distance variance exceeds the preset variance threshold, determine that the current location point of the service provider deviates from the navigation route.
  • the determining module 430 is further configured to: update the pre-stored number library of deviated positioning points, and the number of deviated positioning points library is at the current positioning position.
  • the determination module 430 is used to determine whether the service provider deviates from the navigation route based on the number of location points that the service provider deviates from the navigation route during driving and the preset number threshold, Including: judging whether the number of deviated positioning points in the number database after the count has reached the preset number threshold; if it is determined that the number of deviating positioning points in the number database has reached the preset number threshold, determining whether the service provider deviates from the navigation route in some implementations
  • the determining module 430 is also used to: after determining that the service provider deviates from the navigation route, extract the coordinates of multiple positioning location points that deviate from the navigation route; based on the coordinates of the multiple positioning location points deviating from the navigation route, the current service provider’s current The location coordinates and the destination coordinates of the service provider determine the target navigation route that matches the coordinates of multiple positioning location points that deviate from the navigation route; the navigation route is updated
  • the processing device 400 of the yaw recognition system may further include a yaw prompt module 440, a yaw rate update module 450, a yaw ignore module 460, and/or a segment location determination module 470.
  • the yaw rate update module 450 is used to determine the yaw rate at the yaw position of the subject after the current trip based on multiple historical order trajectories and the actual driving route of the subject according to the real-time navigation route if the object is in a yaw driving state. Use the determined yaw rate to update the yaw rate in the basic road network data before the subject's trip.
  • the actual driving route includes the route between the object traveling from the first driving departure point to the yaw position in the primary navigation trajectory and the secondary navigation trajectory.
  • the yaw rate update module 450 may be used to: if the object is in a yaw driving state, based on one or more historical driving routes and the object’s actual driving route, determine at least one positioning position that deviates from the first navigation route. The new yaw rate of the point; use the new yaw rate to update the yaw rate at at least one fixed position point.
  • the yaw prompt module 440 may be used to send a yaw prompt to the object if the object is in a yaw driving state.
  • the yaw prompt module 440 is also used to: if the object is in a yaw driving state, determine whether the object is in a yaw driving state. The historical order trajectory with no yaw at the navigation position; determine the route similarity between the secondary navigation trajectory and the historical order trajectory without yaw; send the route similarity to the object, and send a yaw prompt to the object.
  • the yaw prompting module 440 may also be used to: if the object is in a yaw driving state, from one or more historical driving routes, determine that no yaw has occurred at at least one positioning position that deviates from the first navigation route. The second historical driving route; determine the route similarity between the second navigation route and the second historical driving route; send the route similarity to the object.
  • the yaw ignore module 460 is used to ignore the change of the real-time navigation route if the object is not in a yaw driving state.
  • the processing device 400 of the system for yaw recognition may further include a segment location determination module 470, which is configured to be based on the second driving origin, the second driving destination, the real-time driving position, and the object's first driving destination. , To determine the object's first travel departure place and first travel destination in each travel route.
  • the segment location determination module 470 is used to determine the object's travel route in each segment based on the second travel origin, the second travel destination, the real-time travel location, and the object's first travel destination.
  • the segment location determining module 470 is also used to: based on the geographic location of the second driving departure place, the geographic location of the second driving destination, and the real-time driving location And the geographic location of the first travel destination, determine the travel sequence of the object from the real-time travel location to the second travel departure place, the second travel destination, and the first travel destination; in accordance with the travel order, determine each adjacent The two locations are the departure place and the destination in each travel route, and the real-time navigation route corresponding to the real-time navigation route between each two adjacent locations.
  • the processing device 400 of the system for yaw recognition further includes an information replacement module.
  • the information replacement module is used to change the location of the current location point in response to the mapping location point of the current location location point on the first navigation route.
  • the information is replaced with the location information of the mapped location point.
  • the processing device 400 of the yaw recognition system also includes a quantity update module 491.
  • the quantity update module 490 is used for: after determining that the current positioning point deviates from the first navigation route, updating the quantity of the deviating positioning point; based on the deviating positioning point To determine whether the object is in a yaw driving state, including: if the number of points deviating from the positioning position after the update number deviates from the positioning position point is greater than or equal to the preset number threshold, determining whether the object is in a yaw driving state .
  • the processing device 400 of the yaw recognition system further includes a route update module: the route update module is used to update the first navigation route based on the information of the deviated location point and the information of the current location point in response to the object being in a yaw driving state .
  • system and its modules shown in FIG. 4 can be implemented in various ways.
  • the system and its modules may be implemented by hardware, software, or a combination of software and hardware.
  • the hardware part can be implemented using dedicated logic;
  • the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware.
  • processor control codes for example on a carrier medium such as a disk, CD or DVD-ROM, such as a read-only memory (firmware)
  • Such codes are provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.
  • the system and its modules in this specification can not only be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc. It may also be implemented by software executed by various types of processors, or may be implemented by a combination of the foregoing hardware circuit and software (for example, firmware).
  • the above description of the processing device 400 and its modules of the yaw recognition system is only for convenience of description, and does not limit this specification within the scope of the examples mentioned. It can be understood that for those skilled in the art, after understanding the principle of the system, it is possible to arbitrarily combine various modules, or form a subsystem to connect with other modules without departing from this principle.
  • the acquisition module 410, the judgment module 420, and the determination module 430 disclosed in FIG. 4 may be different modules in a system, or a module may implement the functions of the two or more modules mentioned above. .
  • each module may share a storage module, and each module may also have its own storage module. Such deformations are all within the protection scope of this specification.
  • Fig. 5 is an exemplary flowchart of a method for yaw recognition according to some embodiments of the present specification. As shown in FIG. 5, the process 500 includes one or more of the following steps. In some embodiments, the process 500 may be executed by the processing device 400.
  • the processing device 400 may obtain the first navigation route along which the object travels, and one or more positioning location points during the travel process.
  • step 510 may be performed by the obtaining module 410.
  • the object can be a device, terminal, vehicle or object to be recognized for yaw.
  • the object can be the service requester of the taxi-hailing software, the service provider, the service requester held by the service requester, the service provider or the vehicle of the service provider held by the service provider, etc., or the object can also be The object of the navigation software, the terminal held by the object, the vehicle driven by the object, etc.
  • the object may be a drone that performs an aerial photography mission or a delivery mission.
  • the object may be an entity being transported, for example, merchandise, takeaway, goods, drivers, passengers, pets, and so on.
  • the first navigation route may be a navigation route planned for the object based on the object's first driving departure place, first driving destination, or road conditions at the beginning of the trip.
  • the planning method may be based on preset conditions (for example, avoiding congestion, the shortest time, the shortest path, the least traffic lights, the least charges, etc.), preset algorithms, and so on.
  • the first driving departure place of the first navigation route may be the current location of the service vehicle of the taxi-hailing software, and the first driving destination may be the boarding point of the taxi-hailing user.
  • the first driving departure point of the first navigation route is the pick-up point of the taxi user
  • the first travel destination is the drop-off point of the taxi user (that is, the travel destination).
  • the first navigation route may be generated according to the driving departure place of the object, the first driving destination, and one or more common travel requests, and the first navigation route may be composed of multiple intermittent or continuous routes.
  • the object can change destinations during driving, and the first navigation route can include the route between the first driving place and the object's real-time location when the first driving destination is changed, and the first driving route is changed.
  • the destination is the route between the real-time location of the object and the changed first travel destination.
  • the first navigation route may be a section of the route from the subject’s first driving place to its first driving destination.
  • the first navigation route is determined based on the second travel departure place and the second travel destination in the common travel request, the current location point of the object, and the first travel destination.
  • the first navigation route may be a navigation route between the second driving departure place of the joint travel request and the current positioning location point, a navigation route between the second driving departure place and the second driving destination, and the like. It may be the service provider held by the service provider that receives the joint travel request.
  • the object may be the service provider
  • the first navigation route the object travels may be the navigation route corresponding to the current order of the service
  • one or more location points may be the service provider according to the current order when serving the current order. The location point of the service provider reported at the set time interval.
  • the first navigation route may be the first navigation trajectory at the beginning of the subject's journey.
  • the first navigation trajectory may refer to the navigation route corresponding to the initial navigation route generated according to the first driving departure place and the first driving destination of the original object before the real-time navigation route changes, or it may refer to Before the change of the real-time navigation route, the navigation route between the real-time location of the remaining objects on the initial navigation route and the first driving destination while the object is traveling according to the above-mentioned initial navigation route.
  • the first navigation route may be obtained by the obtaining module 410 after being generated by the terminal held by the object. In other embodiments, the first navigation route may also be generated by the obtaining module 410. It should also be noted that the navigation route may be a suggested driving route planned by the server or the target device for the object, and the driving route may be the actual driving route of the object.
  • the positioning location points may be acquired at intervals during the traveling of the object. Among the multiple positioning location points, any two adjacent positioning location points may be acquired based on the same interval time, or It is acquired based on different intervals.
  • the one or more positioning location points include at least the current positioning location point.
  • the current positioning location point may be the positioning location point that is closest to the current time at the acquisition time among the positioning location points acquired during driving.
  • the positioning location point may be a track point or a combination of track points in a route traveled by the object.
  • the time when the first navigation route is generated is the initial time, and the real-time position of the object is acquired every 1 minute as a track point, and one track point is used as a positioning location point.
  • the time when the first navigation route is generated is the initial time, and the real-time position of the object is acquired every 10s as a track point, and continuous A, B, C, D, E are acquired.
  • F six trajectory points, three consecutive trajectory points form a positioning position point (such as taking the average position of three trajectory points), that is, A, B, C form a trajectory point, D, E, F form another Track points.
  • obtaining the positioning location point may further include obtaining information of the positioning location point.
  • the information of the positioning location point may include location information of the positioning location point, driving direction information at the positioning time, driving speed information at the positioning time, signal strength information, signal source information, positioning mode information, and the like.
  • Obtaining the positioning location point can be at least obtaining the location information of the positioning location point.
  • the location information of the positioning location point can use the Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo Positioning System Etc., or any combination thereof.
  • GPS Global Positioning System
  • GLONASS Global Navigation Satellite System
  • Galileo Positioning System Etc. Galileo Positioning System Etc.
  • the location information of the positioning location point may also be obtained based on the Beidou navigation system or other satellite-based positioning methods.
  • the location information of the positioning location point may also be obtained based on a method of base station positioning, a method of positioning based on a wifi access point, and other methods.
  • the location information of the positioning location point when the location information of the positioning location point is obtained by the method of base station positioning, the location information of the device to be located may be obtained based on the time difference and/or signal strength of the communication between the base station and the device to be located.
  • the location information of the device to be located when obtaining the location information of the positioning location point by the method of wifi access point positioning, the location information of the device to be located can be determined by determining the location of the wifi access point and the distance between the device to be located and the wifi access point, etc. .
  • obtaining the positioning location point may further include: obtaining the precision factor, direction angle, and velocity value of each positioning location point; if the precision factor of the positioning location point is not greater than the set precision factor threshold, the direction of the positioning location point If the angle is not less than 0 and the speed value of the positioning position point is not less than 0, the positioning position point information is retained; otherwise, the positioning position point information is deleted.
  • the precision factor is a very important factor for measuring positioning accuracy. It can represent the vector amplification factor of the distance between the receiver and the space satellite caused by the GPS ranging error.
  • the direction angle of the positioning location point may be an angle formed between the driving direction and a preset direction (such as true north, true south, etc.).
  • the positioning location point may be represented by coordinates, for example, latitude and longitude coordinates. In other embodiments, the positioning location point may be represented by a cluster center or geometric center of at least one reference location point.
  • the reference position point may be a position point obtained by any of the above-mentioned positioning technologies. For example, the reference position point A of the object is obtained through satellite positioning, the reference position point B is obtained through wifi positioning, the reference position point C is obtained through base station positioning, the cluster center of the reference position point A, the reference position point B, and the reference position point C or The geometric center is the location point of the object.
  • each positioning location point may be preprocessed, such as detecting the received information of each positioning location point.
  • preprocessing refer to the figure. Description of step 1801 in the description of 18.
  • step 520 the processing device 400 may determine whether the first preset condition is satisfied based on the positional relationship between the one or more positioning location points and the first navigation route. Specifically, step 520 may be executed by the judgment module 420.
  • the position relationship between the one or more positioning location points and the first navigation route may be a spatial relative relationship between the positioning location points and the first navigation route.
  • the position relationship includes the distance between the positioning location point and the first navigation route (if not specified, the distance described here and below may be understood as a horizontal distance), a height difference (may be a vertical distance), and the like.
  • the relationship between the positioning location point and the first navigation route may be embodied by coordinates. For example only, the vertical distance between each positioning location point and the first navigation route may be determined based on the coordinates, and then the positioning location point and the first navigation route may be determined based on the vertical distance between each positioning location point and the first navigation route The positional relationship between the routes.
  • the positioning location point when the vertical distance between the positioning location point and the first navigation route is less than or equal to the preset distance threshold, it can be considered that the positioning location point is located on the first navigation route, and when the positioning location point is When the vertical distance between the navigation routes is greater than the preset distance threshold, it can be considered that the positioning location point is not located on the first navigation route.
  • the aforementioned preset distance threshold can be set by itself or adjusted according to actual application conditions (such as the strength of the positioning signal).
  • the first preset condition may be used to characterize that at least one of the one or more positioning position points does not deviate from the first navigation route. It should be noted that the deviation of the positioning position from the first navigation route does not mean that the object is in a yaw driving state. The deviation of the positioning position from the first navigation route may be caused by inaccurate positioning, or it may be caused by the object being less than the first navigation. Drive on a route with a better route. Therefore, after judging whether the first preset condition is met, a further determination operation is required to determine whether the object is in a yaw driving state. That is, if the first preset condition is not met, it means that at least one positioning location point deviates from the first navigation route.
  • the failure of the first preset condition may be that at least one positioning location point deviates from the first navigation route.
  • the at least one positioning position point deviating from the first navigation route may be the current positioning position point, or may be a positioning position point before the current positioning position point or a positioning position point after the current positioning position point.
  • the first preset condition may be that a yaw position point exists in one or more positioning position points.
  • the yaw position point can be understood as a position point that deviates from the first navigation route (the distance from the first navigation route is greater than the preset distance threshold).
  • the yaw position point deviates from the first navigation route, which may be due to positioning deviation ( For example, positioning deviation caused by weak positioning signal), it may also be because the object does not follow the first navigation route (it may be that the object is driving on a better driving route, which is not necessarily the object in a yaw driving state).
  • Judging whether there is a yaw position point in one or more positioning position points can be judged based on the positional relationship between the one or more positioning position points and the first navigation route. If there is a yaw position point in one or more positioning position points, the first preset condition is not satisfied, and if there is no yaw position point in one or more positioning position points, the first preset condition is satisfied.
  • the presence of a yaw position point (the first preset condition is not satisfied) in one or more positioning position points can be understood as a change in the real-time navigation route.
  • the real-time navigation route can be an initial navigation route generated based on the first driving departure place and the first driving destination obtained when the object starts traveling. When the object travels along the initial navigation route, the real-time position of the object on the initial navigation route is the same as the first navigation route.
  • the navigation route between the driving destinations can also be when the subject is traveling according to the initial navigation route during the trip, due to changes in the travel plan, such as changing the first driving destination, or needing to go to other locations during the period, combined with the object in the initial navigation route.
  • the re-navigation route between the real-time location on the navigation route and the changed first driving destination may refer to the navigation route between the real-time location of the object on the initial navigation route and the first travel destination.
  • the real-time navigation route changes, it may mean that the starting point and/or end point (for example, the real-time position of the object and the first driving destination) corresponding to the real-time navigation route remain unchanged, but the navigation route between the starting points has changed.
  • the first preset condition may be that there is a mapped location point of the current positioning location point on the first navigation route (for details, please refer to the relevant description of FIG. 15). Judging whether there is a mapped location point of the current positioning location point on the first navigation route can be determined based on the positional relationship between one or more positioning location points and the first navigation route. If there is no mapping location point of the current positioning location point on the first navigation route, the first preset condition is not met. If there is a mapping location point of the current positioning location point on the first navigation route, the first preset condition is satisfied.
  • the coordinate information of a positioning location point may be obtained, the positioning location point is taken as the center of the circle, a radius is set to determine a circle, and it is determined whether there is a track point of the first navigation route in the circle. If yes, it is determined that the positioning location point does not deviate from the first navigation route and the first preset condition is satisfied; if not, it is determined that the positioning location point deviates from the first navigation route and the first preset condition is not satisfied.
  • step 530 the processing device 400 may determine whether the object is in a yaw driving state based on related information associated with the driving of the object in response to that the first preset condition is not met. Specifically, step 530 may be performed by the determining module 430.
  • the related information associated with the subject's traveling may be information related to the subject's current traveling process.
  • the related information associated with the target driving may be navigation route information, driving route information, positioning location information, first driving departure information, first driving destination information, driving route information, road network environment information, and the like.
  • the yaw driving state may be a state where the object is not driving according to a predetermined navigation route (that is, driving on a route other than the predetermined navigation route).
  • the yaw driving state can also be understood as a deviation from a normal and reasonable driving route (such as taking the wrong road).
  • the related information associated with the object driving may be the yaw rate, the first navigation route, and the like.
  • the related information associated with the travel of the object may be the information of the positioning location point (such as location information, driving Direction information, etc.).
  • step 540 the processing device 400 may send a yaw prompt to the object in response to the object deviating from the driving state. Specifically, step 540 may be executed by the yaw reminding module 440.
  • the processing device 400 may send a yaw prompt to the object.
  • the processing device 400 may send a yaw prompt to the terminal used by the object or a car navigation terminal and other equipment, and the terminal may display a text prompt on the screen (such as "You have yaw" text prompt), the image prompt on the display screen, etc. to inform the subject of the yaw prompt.
  • determining whether the first preset condition is satisfied can be performed in multiple ways. In some embodiments, it may be determined based on the method shown in FIG. 6 whether the first preset condition is satisfied. In other embodiments, it may be determined based on the method shown in FIG. 15 whether the first preset condition is satisfied. In some other embodiments, it is also possible to judge whether the first preset condition is satisfied by judging the similarity between the actual driving route during the travel of the object and the first navigation route. It is understandable that other methods can also be used to determine whether the first preset conditions are all satisfied, and this application will not repeat them here.
  • Fig. 6 is an exemplary flow chart for judging whether the first preset condition is satisfied according to some embodiments of the present application.
  • FIG. 6 is a further description of step 520 in FIG. 5.
  • the process 600 of whether the first preset condition is satisfied includes one of the following steps.
  • the process 600 may be executed by the processing device 400.
  • the process 600 may be executed by the judgment module 420.
  • the determining module 420 may determine whether there is a yaw position point in the one or more positioning position points based on the position relationship between the one or more positioning position points and the first navigation route.
  • the positional relationship between one or more positioning location points and the first navigation route may be the distance between the positioning location point and the first navigation route.
  • the yaw location point may be a positioning location point that does not match the first navigation route.
  • the yaw position point may be a positioning position point whose vertical distance from the first navigation route is greater than a preset distance, or the yaw position point may not be located on the line segment corresponding to the first navigation route on the coordinate map Locate the location point.
  • the judging module 420 may determine that the first preset condition is not met in response to the yaw location point in the one or more positioning location points.
  • step 710 of the process shown in FIG. 7 can be continued to further determine whether the object is in a yaw driving state.
  • the judgment module 420 may determine that the first preset condition is satisfied in response to the absence of a yaw position point in the one or more positioning position points.
  • Fig. 7 is an exemplary flowchart for determining a yaw driving state according to some embodiments of the present application.
  • FIG. 7 is a further description of step 530 in FIG. 5.
  • the process 700 for determining whether the object is in a yaw driving state based on related information associated with the driving of the object includes one or more of the following steps.
  • the process 700 may be executed by the processing device 400.
  • the process 700 may be executed by the determining module 430.
  • the processing device 400 may obtain the yaw rate, the first navigation route, and the second navigation route.
  • the yaw rate, the first navigation route, and the second navigation route all belong to related information associated with the driving of the object.
  • the yaw rate may reflect the possibility of yaw driving from at least one positioning point deviating from the first navigation route.
  • the yaw rate may be a probability.
  • the second navigation route may be a new navigation route from at least one location point deviating from the first navigation route to the first travel destination under the condition that the first preset condition is not met.
  • the second navigation route may be a new route from the first travel departure place to the first travel destination.
  • the initial navigation trajectory (for example, the first navigation route) corresponds to the aforementioned initial navigation route generated according to the first driving departure place and the first driving destination of the original object before the real-time navigation route changes.
  • the secondary navigation trajectory is a new route generated from the yaw position (for example, the yaw position) to the first driving destination after the real-time navigation route is changed.
  • the yaw rate can be obtained in a variety of ways.
  • the yaw route may be obtained based on road condition information, for example, for at least one positioning location point, obtaining congestion degree information of multiple navigation routes between the positioning location point and the first driving destination, The yaw rate of the positioning location point is determined based on the congestion information.
  • the yaw rate can be further determined based on the congestion degree of each navigation route and the first navigation route (for example, marked by a percentage).
  • a basic yaw rate (such as 20%) can be set.
  • the basic yaw rate can be obtained based on historical navigation data of navigation software, or manually set in advance and stored in the database, or through Get it in other ways. If the congestion degree of a certain navigation route is lower than the congestion degree of the first navigation route, the yaw rate is increased on the basis of the basic yaw rate, for example, increased to 30%.
  • the yaw rate may be determined based on a historical driving route related to the first navigation route.
  • the process of determining the yaw rate includes the following steps: Obtain one or more historical driving routes associated with the first navigation route; Based on the one or more historical driving routes, determine at least one positioning point deviating from the first navigation route Yaw rate.
  • the historical driving route related to the first navigation route can be: a historical driving route that completely overlaps with the first navigation route (the origin and destination are the same as the first navigation route), or it can be the same as the first navigation route.
  • the historical driving route that partially overlaps the route for example, the first navigation route is a section of the historical driving route, or the historical driving route is a section of the first navigation route, or a section of the historical driving route overlaps with a section of the first navigation route ).
  • the historical driving route associated with the first navigation route may be a historical driving route of a different object. There may be multiple methods for determining the historical driving route associated with the first navigation route. In some embodiments, the historical driving route associated with the first navigation route may be determined based on a plurality of track points on the first navigation route. For example, the coordinates of any 100 track points on the first navigation route are acquired, and the number of track points where the 100 track points on the first navigation route are located on the historical driving route is calculated. The number threshold can be set to 70 in advance.
  • the historical driving route is not associated with the first navigation route of the current driving ; If the number of the 100 track points on the first navigation route in the historical driving route is greater than the number threshold, it is determined that the historical driving route is associated with the first navigation route of the current driving.
  • the similarity between the first navigation route and the historical driving route may be calculated, and the historical driving route whose similarity with the first navigation route is greater than the preset similarity threshold is used as the historical driving associated with the first navigation route. route. It is also possible to determine the historical driving route associated with the first navigation route in other ways, which will not be repeated in this specification.
  • the at least one positioning location point deviating from the first navigation route may be the current positioning location point
  • the yaw rate at the at least one positioning location point deviating from the first navigation route may be the yaw of the current positioning location point.
  • Rate, the yaw rate of the current location point can reflect the possibility (such as probability) of yaw driving from the current location.
  • the flow of the method for determining the yaw rate at at least one positioning location point deviating from the first navigation route may include the following steps: from the one or more historical driving routes, determining the deviation from the first navigation route The first historical driving route where yaw driving begins to occur at at least one positioning location point of the first navigation route; the yaw rate is determined based on the quantitative relationship between the first historical driving route and the historical driving route.
  • the first historical driving route may be a historical driving route in which yaw driving begins to occur at at least one positioning location point (such as a current positioning location point).
  • the quantitative relationship between the first historical driving route and the historical driving route may be the ratio of the number of the first historical driving route to the number of the historical driving route, or the ratio of the historical driving route to the first historical driving route. .
  • the quantitative relationship between the first historical travel route and the historical travel route may be the quantitative relationship between the first historical travel route and the historical travel route count value obtained by weighting both.
  • the count value of each first historical travel route and the count value of each historical travel route may be weighted when calculating the number of first historical travel routes and the number of historical travel routes.
  • the count value of each first historical driving route and the count value of the historical driving route can be weighted based on time.
  • the weight of the first historical driving route is 0.6
  • the weight of the second historical driving route is 0.8
  • the weight of the third historical driving route is 1
  • the weight of the fourth historical driving route is 1.
  • the weight is 1.2
  • the weight of the fifth historical driving route is 1.5.
  • the first and fourth historical driving routes are the first historical driving routes.
  • the yaw rate can be: (0.6+1.2)/(0.6+0.8+1+1.2+1.5) ⁇ 0.439.
  • the yaw rate may be determined in advance and stored in a storage device, and the yaw rate may be directly read from the storage device.
  • the object may yaw again on the basis of the second navigation route.
  • the processing device 400 or the object terminal may plan the navigation route again based on the positioning location point where the yaw occurs again to the first driving destination.
  • the fourth navigation route is planned (the same concept as the three navigation trajectories in this manual).
  • one or more historical driving routes associated with the second navigation route can be obtained.
  • the method for determining the historical driving route associated with the second navigation route is similar to the method for determining the historical driving route associated with the first navigation route. No longer.
  • the yaw rate at the location point deviating from the fourth navigation route can be determined based on one or more historical driving routes associated with the second navigation route (the method is the same as that of determining the location point deviating from the first navigation route).
  • the method of yaw rate is similar).
  • the object When the object is traveling, it may be in a yaw driving state for many times, and the yaw rate of each yaw positioning point can be determined separately for subsequent calculations.
  • a new yaw rate at at least one location point deviating from the first navigation route may be determined based on one or more historical driving routes and the actual driving route of the object; use The new yaw rate updates the yaw rate at at least one positioning location point.
  • the actual travel route of the object may be a combination of the route traveled on the first navigation route before the yaw and the route traveled along the second navigation route after the yaw.
  • the actual travel route of the object may be a new navigation route from the travel departure place to the first travel destination (only the second navigation route).
  • the actual travel route of the object can be the route traveled by the first navigation route before the first yaw, and the second yaw between the first yaw and the second yaw.
  • the processing device 400 may determine whether the object is in a yaw driving state based on one or more of the yaw rate, the first navigation route, and the second navigation route.
  • the processing device 400 may determine whether the object is in a yaw driving state based on the yaw rate, the first navigation route, or the second navigation route, and the processing device 400 may also determine based on a combination of any two of the above three or a combination of the above three Whether the object is in a yaw driving state.
  • the yaw rate is less than the preset yaw threshold, it is determined that the object is in a yaw driving state. For example, if the yaw rate of a certain location point deviating from the first navigation route is 60%, and the preset yaw threshold is 70%, it is determined that the object is in a yaw driving state.
  • the route from the location point deviating from the first navigation route to the first driving destination on the first navigation route can be acquired, and the first information related to the completion of the third navigation route can be acquired.
  • the first information related to the completion of the third navigation route can be acquired.
  • predicted travel time information, predicted fuel consumption information, path length information, etc., or a combination thereof can be obtained.
  • second information related to the second navigation route eg, predicted travel time information, predicted fuel consumption information, path length Information, etc.
  • the object is in a yaw driving state, for example, the fuel consumption value in the second information is greater than the fuel consumption value in the first information, and If the fuel consumption difference is greater than the preset fuel consumption difference, it can be judged that the object is in a yaw driving state. Or, if the path length in the second information of the second navigation route is greater than the path length in the first information of the third navigation route, it is determined that the object is in a yaw driving state.
  • the object is in a yaw driving state according to the yaw rate and the relationship between the second navigation route and the third navigation route, thereby reducing the possibility of misjudgment of yaw.
  • the relationship between the second navigation route and the third navigation route can be judged based on the above-mentioned first information and second information. For example, it is determined whether the yaw rate of at least one positioning location point deviating from the first navigation route is less than a preset yaw threshold, and the relationship between the path length of the second navigation route and the path length of the third navigation route is determined at the same time.
  • the object is in a yaw driving state.
  • the processing device 400 may perform one or more of the following operations: in response to the object deviating from the driving state, it may determine from one or more historical driving routes at least one positioning location deviating from the first navigation route Point the second historical driving route without yaw; determine the route similarity between the second navigation route and the second historical driving route; send the route similarity to the object.
  • the trajectory points can be selected on the second navigation route and the second historical driving route at preset intervals, and the similarity of the routes between the two can be determined based on the coordinates of the trajectory points.
  • the route similarity can be sent to the object together with the yaw prompt (such as the terminal used by the object or the device of the car navigation terminal, etc.). In other embodiments, sending route similarity can be used as a way of yaw prompt.
  • FIG. 8 is an exemplary flowchart of a method for yaw recognition shown in some other embodiments of the present application, and FIG. 8 is an embodiment of the method described in FIG. 5 above.
  • the method shown in FIG. 8 may be executed by one or more processors in the server, service requester, and/or service provider in the above-mentioned yaw recognition system, and the specific execution process is:
  • S801 Acquire a real-time navigation route of the subject during travel.
  • the corresponding initial navigation route cannot be simply regarded as a route generated based on the first travel departure place and the changed first travel destination , But from the route between the first travel destination and the object's real-time location when the first travel destination is changed, and between the object's real-time location when the first travel destination is changed and the changed first travel destination The route is composed.
  • the first departure place and first destination of the subject’s trip can be obtained first, and then the order origin and order destination can be obtained.
  • S803 Determine whether the object is in a yaw driving state based on multiple historical order trajectories, primary navigation trajectories, and secondary navigation trajectories.
  • multiple historical order trajectories, primary navigation trajectories, and secondary navigation trajectories can be used to make judgments to determine whether the object is off-track. Navigation status.
  • the object determines whether the object is in a yaw driving state, which may be to first obtain the yaw position of the object when a change in the real-time navigation route is detected.
  • the yaw position can be considered as the object driving along the above-mentioned initial navigation route, just before the object driving deviation
  • the real-time position on the initial navigation route may be the acquired current positioning position point of the object during the traveling process when the first preset condition is not met.
  • the basic road network data may refer to road network map data that stores road information, road point information, and the like.
  • the method of querying basic road network data can refer to the use of multiple historical order trajectories. From the data corresponding to the pre-calculated road points and historical order trajectories recorded in the basic road network data, query the yaw At the location, the yaw rate corresponding to multiple historical order trajectories, in this way, can save some data processing procedures, reduce the amount of data processing and processing time.
  • determining the yaw rate at the yaw position based on multiple historical order trajectories may be based on the order information of each historical travel order corresponding to the travel origination point and the first travel destination.
  • the historical order trajectory is filtered, and the historical order trajectory with yaw at the yaw position is determined from the multiple historical order trajectories, and then the number of historical order trajectories with yaw and the total number of multiple historical order trajectories are used to calculate
  • the quantity ratio between the historical order trajectory with yaw and multiple historical order trajectories, and the quantity ratio is determined as the yaw rate at the yaw position.
  • a yaw prompt can be issued to the object to remind the object to adjust in time.
  • the object is in a yaw driving state, you can first determine the historical order trajectory that does not appear yaw at the yaw position among the multiple historical order trajectories, and then determine the second navigation trajectory and the historical order trajectory without yaw
  • the degree of yaw can be determined by the similarity of the route between the two, and then the route similarity is sent to the object, and a yaw prompt is issued to the object.
  • the historical order trajectory without yaw may have multiple routes, and may include the aforementioned initial navigation trajectory.
  • each historical order trajectory without yaw can be basically considered to be the same, determine the route between the secondary navigation trajectory and the historical order trajectory without yaw
  • the similarity can be the similarity with any one of the historical order trajectories without yaw, or the average of the similarity with each historical order trajectory without yaw.
  • the method for yaw recognition obtains the real-time navigation route of the object during travel; if a change in the real-time navigation route is detected, obtains the relative difference between the object's first driving departure place and the object's first driving destination.
  • the trajectory and the secondary navigation trajectory determine whether the object is in a yaw driving state; if the object is in a yaw driving state, a yaw prompt is issued to the object.
  • FIG. 9 is an exemplary flow chart of a method for yaw recognition shown in some other embodiments of the present application.
  • the method can be determined by the server and the service requester in the above-mentioned yaw recognition system. And/or one or more processors in the service provider to execute, the specific execution process is:
  • S901 Acquire a real-time navigation route of the subject during travel.
  • S903 Based on multiple historical order trajectories, primary navigation trajectories, and secondary navigation trajectories, determine whether the object is in a yaw driving state.
  • steps S901 to S904 can refer to the descriptions of steps S801 to S804, and the same technical effect can be achieved, which will not be repeated here.
  • the detection method includes:
  • the object is in a yaw driving state, based on multiple historical order trajectories and the actual route the object travels according to the real-time navigation route, determine the yaw rate at the yaw position of the object after this trip, and use the determined yaw rate to update in The yaw rate in the basic road network data before the subject’s trip.
  • the basic road network data stores various road-related information, various road-point related information, etc., and the related information can be queried from the basic road network data for access. Therefore, it is also necessary to check the basic road network data in time.
  • the object is in a yaw driving state, because the yaw occurs at the yaw position, the actual route that the object travels according to the real-time navigation route at the yaw position also belongs to multiple historical order trajectories.
  • a historical order trajectory of a flight then multiple historical order trajectories and actual routes can be used to determine the yaw rate at the yaw position after the subject’s trip this time, and the determined yaw rate can be used To update the basic road network data to replace the yaw rate in the basic road network data before the subject’s trip with the determined yaw rate.
  • the actual route includes the route between the object in the first navigation trajectory from the first driving departure point to the yaw position and the secondary navigation trajectory.
  • the detection method may further include:
  • the travel of the subject if it is detected that the subject has accepted the joint travel request, obtain the second travel origin and destination of the common travel request, and the real-time travel position of the subject; based on the second travel origin and second travel The destination, the real-time driving position and the first driving destination of the object determine the first driving departure place and the first driving destination of the object in each driving route.
  • the itinerary may be changed during the driving process, which may cause misjudgment of yaw Therefore, during the travel of the subject, if it is detected that the subject has accepted the joint travel request, such as carpooling, ride-hailing, temporary pick-up, etc., the second travel origin and second travel purpose of the common travel request can be obtained The destination and the real-time driving position when the object accepts the joint travel request.
  • the order of arrival can be obtained by sorting the second driving place, second driving destination, real-time driving position, and first driving destination of the object , Thereby dividing multiple trips, obtaining multiple driving routes, and determining the first driving departure place and the first driving destination in each driving route.
  • the first driving origin and the first driving destination of the object in each driving route are determined. It is based on the geographic location of the second driving departure place, the geographic location of the second driving destination, the geographic location of the real-time driving location and the geographic location of the first driving destination, according to the order of arrival of the geographical location, or the arrival at each location. Convenience and other methods to determine the travel order of the object from the real-time driving position to the second driving departure place, the second driving destination and the first driving destination, that is, which place to arrive first, then which place to arrive, and then follow the travel order , And sequentially determine each two adjacent locations as the departure place and destination in each travel route, and the real-time navigation route between each adjacent two locations, and the real-time navigation route corresponding to the real-time navigation route.
  • Fig. 10 is a schematic diagram of real-time navigation route changes after the subject accepts the joint travel request.
  • the subject’ s first travel departure place 1001 and the first travel destination 1002 of the subject’s trip this time, and the subject’s first travel destination Traveling on the real-time navigation route 1003 corresponding to the first driving place 1001 and the first driving destination 1002, and when driving to the real-time driving position 1004, accepts the joint travel request from the second driving place 1005 and the second driving destination 1006, It can be sorted according to factors such as the real-time driving location 1004, the first driving destination 1002, the second driving departure place 1005, the geographic location to reach the destination 1006, and the riding demand.
  • each distance can be used as a separate real-time navigation route, according to the navigation route corresponding to each real-time navigation route Drive, and detect yaw in each real-time navigation route.
  • acquiring the real-time navigation route of the object during travel includes: acquiring the real-time navigation route determined by the object based on the first travel departure place and the first travel destination in each travel route of the object.
  • yaw recognition can be performed for each driving route separately, that is, each driving route of the object is obtained, and based on the first driving departure place and the first driving purpose of each driving route
  • the real-time navigation route can be determined accurately, which can effectively reduce the probability of misjudgment of yaw.
  • the yaw recognition recognition method and system obtain the real-time navigation route of the object during travel; if a change in the real-time navigation route is detected, obtain the first driving departure place of the object and the first driving of the object.
  • the yaw situation of the object can be identified by combining the historical order trajectory and the navigation route before and after the real-time navigation route change, so that the yaw situation can be found in time during the travel process, and the object can be reminded, with good real-time performance and yaw recognition
  • the high accuracy rate can effectively reduce the probability of detour and energy consumption due to yaw.
  • the device for yaw recognition acquires the real-time navigation route of the object during travel; if a change in the real-time navigation route is detected, it acquires the comparison between the object’s first driving departure place and the object’s first driving destination.
  • the trajectory and the secondary navigation trajectory determine whether the object is in a yaw driving state; if the object is in a yaw driving state, a yaw prompt is issued to the object.
  • the yaw situation of the object can be identified by combining the historical order trajectory and the navigation route before and after the real-time navigation route change, so that the yaw situation can be found in time during the travel process, and the object can be reminded, with good real-time performance and yaw recognition
  • the high accuracy rate can effectively reduce the probability of detour and energy consumption due to yaw.
  • an electronic device including a processor, a storage medium, and a bus.
  • the storage medium stores machine-readable instructions executable by the processor.
  • the processor and the storage medium are Through the bus communication, the processor executes machine-readable instructions to execute the steps of the method for yaw identification described above.
  • a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the above-mentioned yaw recognition method when the computer program is run by a processor.
  • FIG. 14 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device 1400 includes a processor 1410, a memory 1420, and a bus 1430.
  • the memory 1420 stores machine-readable instructions executable by the processor 1410.
  • the processor 1410 and the memory 1420 communicate through the bus 1430.
  • the machine-readable instructions are executed by the processor 1410, they can execute as described above.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is run by a processor, it can execute the method in the above-mentioned method embodiment shown in FIG. 8 and FIG.
  • the specific implementation manner can refer to the method embodiment, which will not be repeated here.
  • certain specific nouns may include information related to the noun.
  • the positioning location point contains positioning location point information.
  • operations involving specific nouns are actually performed on information related to them, and will not be described in detail later.
  • Fig. 15 is an exemplary flow chart for judging whether the first preset condition is satisfied according to still other embodiments of the present application. As shown in 15, the process 1500 includes one or more of the following steps. In some embodiments, the process 1500 may be executed by the processing device 400. Specifically, the process 1500 may be executed by the judgment module 420.
  • the judging module 420 may determine whether there is a mapping location point of the current location location on the first navigation route based on the location relationship between one or more location location points and the first navigation route.
  • the mapped location point may be a location point on the first navigation route that has a mapping relationship with one or more positioning location points.
  • the mapping relationship may be that a positioning position point is along a certain direction (for example, a direction having the closest distance to the first navigation route, a direction perpendicular to the moving direction of the object, etc.) on the first navigation route Projection.
  • the projection point of a positioning location point along the direction on the first navigation route must meet one or more conditions before it can be regarded as a mapping location point. The condition may be related to the distance between the positioning position point and the corresponding projection point.
  • the projection point may be regarded as the mapping location point.
  • the object's location point When the object is traveling, when the object's location point is on the first navigation route or is close to the first navigation route, the object's location location point can be determined on the first navigation route to map the location point, and the location The location points form a binding relationship.
  • the one or more positioning location points may include at least the current positioning location point.
  • the object may be the service provider
  • the first navigation route may be the navigation route corresponding to the current order of the service
  • the current location location may be the location reported by the service provider at the time that matches the current time when the current order is served.
  • the time matching the current time can include: the current time, the time closest to the current time (for example, the previous time point of the current time, the next time point of the current time, etc.), or the time difference between the current time and the current time is less than a threshold Time to wait.
  • the one or more positioning location points may include a previous positioning location point and/or a subsequent positioning location point of the current positioning location point.
  • the one or more positioning location points may also include other positioning location points acquired during the travel of the object. In step 1510, it can also be further determined whether there are mapped location points of other positioning location points on the first navigation route.
  • the position relationship may be the same as the specific position relationship described in step 610 (for example, the distance), or may be different from the position relationship described in step 610.
  • the judging module 420 may use various methods to judge whether there is a mapped location point of the current positioning location point on the first navigation route.
  • the current positioning position point may be the center of the circle, and a circle is drawn with a preset radius. If the circle intersects the first navigation route, there is a mapping position point of the current positioning position point. For another example, if the distance (such as vertical distance, straight line distance, etc.) between the current positioning location point and the first navigation route is greater than the preset distance, then there is a mapping location point of the current positioning location point.
  • the positional relationship between one or more positioning location points and the first navigation route may include a first distance between one or more positioning location points and the first navigation route, and the first distance may be based on one or more The location information of the location point is determined.
  • the determining module 420 may determine whether there is a mapped location point of the current positioning location point on the first navigation route based on the first distance. For the specific judgment method, please refer to the related description of FIG. 16, which will not be repeated here.
  • the first distance may refer to an amount that reflects the distance between each positioning location point and the first navigation route. There are many ways to calculate the first distance.
  • the first distance may be the vertical distance from each of the one or more positioning points to the first navigation route, or the first distance may also be the vertical distance from each of the one or more positioning points.
  • the distance to the first navigation route in a certain direction (such as a direction perpendicular to the driving direction).
  • the position of the current positioning point (also known as the current positioning position) may be the position reported by the positioning device on the drone in real time.
  • the first navigation route may be a preset aerial route or delivery route.
  • the judging module can judge whether there is a mapped location point of the current location location on the first navigation route based on the location relationship between the current location of the drone and the first navigation route. For example, if the height of the current location point of the drone is greater than a certain threshold of the maximum height of the track point on the first navigation route, it is determined that there is no mapping location point of the current location point. For another example, if the minimum distance from the current location point of the drone to the track point on the first navigation route is less than a certain threshold, it is determined that there is a mapped location point of the current location point.
  • the location of the current location point (also known as the current location location) may be carried by the entity or configured in the entity
  • the real-time location reported by mobile phones, bracelets, watches, locators and other devices on the Internet.
  • the first navigation route may be a preset transportation route.
  • the judging module can judge whether there is a mapping location point of the current location location point on the first navigation route based on the location relationship between the entity's current location location and the first navigation route.
  • the signal strength of the entity's current location location is less than a certain threshold of the minimum signal strength of the track point on the first navigation route, it is determined that there is no mapping location point of the current location location point. For another example, if the minimum distance from the current location point of the entity to the track point on the first navigation route is less than a certain threshold, it is determined that there is a mapped location point of the current location point.
  • the judging module 420 may determine that the first preset condition is not met in response to that there is no mapping location point of the current positioning location point on the first navigation route.
  • step 1700 of the flow shown in FIG. 17 can be continued to further determine whether the object is in a yaw driving state.
  • the judging module 420 may determine that the first preset condition is satisfied in response to the presence of the mapped location point of the current positioning location point on the first one-way route.
  • mapping location point of the current positioning location point on the first navigation route it means that the object is unlikely to be in a yaw driving state, or the real-time driving route of the object is consistent with the first navigation route, so no further judgment process is required.
  • the processing device can use multiple methods to determine whether there is a mapped location point of the current positioning location point on the first navigation route.
  • the first distance may be a vertical distance from each positioning location point to the first navigation route.
  • judging whether there is a mapping location point of the current positioning location point on the first navigation route may include the following steps: determining multiple vertical distances from each of the positioning location points to the first navigation route. The average vertical distance between the positioning location point and the first navigation route; based on the vertical distance from the current positioning location point to the first navigation route and the average vertical distance, it is determined whether there is any on the first navigation route. Describe the mapping position point of the current positioning position point.
  • the average vertical distance can also be replaced with an average value of other types of distances, or replaced with a weighted average vertical distance.
  • the weighted average vertical distance can be determined according to one or more of the following steps: Step 1, calculating the vertical distance from each positioning location point to the first navigation route.
  • Step 2 Set different weights for the vertical distance between each positioning location point obtained in Step 1 and the first navigation route.
  • the weight may be related to the distance between the positioning location point and the current positioning location point, for example, the farther the positioning location point is, the smaller the weight is.
  • the weight may also be related to the traveling direction of the object at the positioning location point. For example, the smaller the angle between the traveling direction of the positioning location point and the traveling direction of the current positioning location point, the greater the weight of the positioning location point.
  • the weight may also be related to the signal strength at the positioning location point. For example, the stronger the signal at the positioning location point, the greater the weight occupied by the positioning location point.
  • Step 3 Obtain a weighted average vertical distance according to the vertical distance between each positioning location point and the first navigation route and its weight.
  • the method shown in FIG. 16 may be used to determine whether there is a mapping location point of the current positioning location point on the first navigation route based on the first distance.
  • Fig. 16 is an exemplary flow chart of judging whether there is a mapping location point according to still other embodiments of the present application. As shown in FIG. 16, the process 1600 may include one or more of the following steps. In some embodiments, the process 1600 may be executed by the processing device 400.
  • the judgment module 420 may determine one or more candidate mapping points on the first navigation route based on the first distance.
  • the candidate mapping point may be a track point on the first navigation route that may be determined as a mapping location point. Based on the first distance, there may be multiple methods for determining one or more candidate mapping points on the first navigation route. In some embodiments, the vertical distance from the current positioning location point to the first navigation route may be compared with the average vertical distance, and the candidate mapping point may be the distance from the current positioning location point among the track points on the first navigation route. Positioning points less than the average vertical distance. In other embodiments, the candidate mapping point may be a position point whose distance from the current positioning position point is equal to the average vertical distance among the track points on the first navigation route. In some embodiments, if the vertical distance from the current positioning location point to the first navigation route is greater than the average vertical distance, it is determined that there is no mapping location point of the current positioning location point on the first navigation route.
  • a circle can be drawn on the map with the current location point as the center and the average vertical distance (for example, the weighted average vertical distance) as the radius, and the track point on the first navigation route within the circle can be used as a candidate Mapping point.
  • the average vertical distance for example, the weighted average vertical distance
  • the judging module 420 may determine whether there is a mapped location point of the current location point on the first navigation route based on the driving direction information of the one or more candidate mapping points and the current location location point.
  • the information of the current positioning location point may include location information (such as coordinates), driving direction information (such as direction angle), and the like.
  • the direction angle of the current location point may be an angle formed between the driving direction and a preset direction (such as true north, true south, etc.).
  • the information of candidate mapping points may include location information (such as coordinates) and direction information (such as direction angles).
  • the direction angle of the candidate mapping point may be the angle formed between the tangent of the first navigation route at the location of the candidate mapping point and the preset direction (such as true north, true south, etc.). Therefore, it can be further determined based on the information of the current positioning location point and the information of the candidate mapping point whether there is a mapping location point of the current positioning location point on the first navigation route.
  • the judgment may be made based on the direction angle of one or more candidate mapping points and the direction angle of the current positioning position point. For example, it is determined whether the direction angle of at least one candidate mapping point matches the direction angle of the current positioning position point; if the direction angle of at least one candidate mapping point matches the direction angle of the current positioning position point, it will match the direction angle of the current positioning position point.
  • the candidate mapping point corresponding to the direction angle matching the direction angle of the current positioning position point is used as the mapping position point.
  • the matching of the direction angle of the candidate mapping point and the direction angle of the current positioning position point can be understood as a small difference between the two (for example, less than a preset angle threshold).
  • multiple methods can be used to determine whether the direction angle of the candidate mapping point matches the direction angle of the current positioning position point. For example, if the difference between the direction angle of the candidate mapping point and the direction angle of the current positioning position point is less than the preset angle threshold (for example, 10°, 20°, etc.), the direction angle at the candidate mapping point is considered to be the same as the current positioning point. The direction angle of the location point matches. If the speed of the object at the current location point is too fast, such as exceeding the preset speed threshold (such as 80km/h), the accuracy of the collected direction angle may be low at this time, and the preset angle threshold can be increased appropriately, such as increasing 2°, 5°, etc.
  • the preset angle threshold for example, 10°, 20°, etc.
  • Step 1630 In response to the presence of the mapping location point of the current positioning location point on the first navigation route, the location information of the current positioning location point is replaced with the location information of the mapping location point. Specifically, step 1630 may be performed by the information replacement module.
  • the method of replacing the position information of the current positioning position point with the position information of the mapping position point may be to use the coordinates of the mapping position point to replace the coordinates of the current positioning position point.
  • the driving track of the vehicle driven by the service provider is displayed on the interface (such as the interface of the service requester held by the service requester)
  • the current location point is not displayed, but the mapped location point is displayed.
  • the service provider displayed by the service requester The trajectory of the vehicle driven by the user is still located on the first navigation route.
  • the related information associated with the traveling of the object may include at least one or more positioning location points. Based on the related information associated with the driving of the object, determining whether the object is in the yaw driving state may include: determining whether the object is in the yaw driving state based at least on the information of one or more positioning location points.
  • Fig. 17 is an exemplary flowchart for determining a yaw driving state according to still other embodiments of the present application.
  • the process 1700 for determining whether the object is in a yaw driving state includes the following steps.
  • the process 1700 may be executed by the processing device 400.
  • the process 1700 may be executed by the determining module 430.
  • the processing device 400 may obtain the current positioning location point and its related information.
  • the relevant information of the current positioning point may include the coordinates of the current positioning point, the coordinates of the previous positioning point of the current positioning point, and/or the acquisition time interval between the current positioning point and the previous positioning point.
  • the information of one or more positioning location points may include the precision factor and coordinates of each positioning location point.
  • the speed threshold may be preset according to the average speed value of the object from the last positioning point to the current positioning point to determine whether the current positioning point is a dead point. When the current positioning point is a dead point, you can change delete.
  • the current positioning position point it can be determined based on the coordinates of the current positioning position point, the coordinates of the previous positioning position point of the current positioning position point, and the acquisition time interval between the current positioning position point and the previous positioning position point to determine that the object arrives at the current position from the previous positioning position point.
  • the average speed value of the positioning point If the average speed value is less than or equal to the preset speed threshold, based on the precision factors of the multiple positioning location points including the current positioning location, the variances of the precision factors corresponding to the multiple positioning location points are obtained. If the variance of the precision factor is less than the set precision factor threshold, the current positioning position point is retained. Conversely, if the variance of the precision factor is greater than or equal to the preset precision factor threshold, the current positioning position point is deleted.
  • the preset speed threshold may be determined in advance according to the driving speed of a large number of service providers.
  • the processing device 400 may determine a second distance between each of the one or more positioning position points and the first navigation route.
  • the definition of the second distance and the first distance may be similar.
  • the first distance and the second distance may be the same, for example, they may both be the vertical distance from each of the one or more positioning points to the first navigation route.
  • the first distance and the second distance may also be different.
  • the first distance may be the vertical distance from each of one or more positioning points to the first navigation route
  • the second distance may be one or more positioning points. The distance from each location point in the location point to the first navigation route along a certain direction (for example, a direction perpendicular to the driving direction).
  • the vertical distance of each positioning position point to the first navigation route may be determined based on the coordinates of one or more positioning position points, and the vertical distance may be regarded as the second distance.
  • step 1730 the processing device 400 may determine whether the current positioning location point deviates from the first navigation route based on the second distance.
  • the distance variances of multiple second distances may be determined based on the second distance between each positioning position point of one or more positioning position points and the first navigation route, and then the determination Whether the distance variance exceeds a preset variance threshold; if the distance variance exceeds the preset variance threshold, it is determined that the current positioning location point deviates from the first navigation route.
  • the processing device 400 determines a deviation positioning location point that deviates from the first navigation route from one or more positioning location points.
  • the deviated positioning position may be a positioning position point that is not located on the first navigation route among one or more positioning position points.
  • step 1740 the processing device 400 may update the number of the deviating location points based on the current location location point in response to the current location location point deviating from the first navigation route. Specifically, step 1740 may be performed by the quantity update module 491.
  • information about the number of deviated positioning location points may be stored in a database, and if the current positioning location point deviates from the first navigation route, the number of deviating positioning location points is counted in the database and incremented by one.
  • the number of points deviating from the positioning position can be updated in time, so that it can be more accurately and timely to identify whether the object is in a yaw driving state.
  • the number of deviations from the positioning point may be counted in the database to zero.
  • Step 1750 If the current positioning position point deviates from the first navigation route, determine the deviation positioning position point deviating from the first navigation route from the one or more positioning position points.
  • determining the deviating location point may include determining the number of deviating location location points.
  • Step 1760 Determine whether the object is in a yaw driving state based on the information deviating from the positioning position point.
  • step 1710 the operation of judging whether the current positioning position point is deleted in step 1710 may not be executed, and the subsequent operation is directly performed in step 1720 based on the current positioning position point obtained.
  • step 1740 may be performed before step 1750, or may be performed after step 1760.
  • the first navigation route when it is determined that the object is in a yaw driving state, the first navigation route may be updated based on the information of the deviating location point and the information of the current location point. Specifically, the operation of updating the first navigation route may be performed by the route update module.
  • a color different from the first navigation route before the update may be used. For example, the first navigation route before the update is displayed in blue on the service request side, and the first navigation route after the update is displayed in yellow.
  • FIG. 18 is a schematic flowchart of a method for yaw recognition according to some other embodiments of the present application; in the following content, the object is a service provider as an example for description.
  • service request and “order” are used interchangeably to refer to requests initiated by passengers, service requesters, drivers, service providers, or suppliers, etc., or any combination thereof.
  • the person who accepts the "service request” or “order” may be a passenger, a service requester, a driver, a service provider, or a supplier, etc., or any combination thereof. Service requests can be paid or free.
  • the service provider when it is serving the current order, it can send its own location point information to the back-end server, and the back-end server can generate the driving trajectory information of the service provider based on the location location information, and send the driving trajectory information to the service
  • the location point information sent by the service provider to the back-end server is inaccurate due to the precision factor of the positioning component of the service provider or environmental factors
  • the back-end server generates the service based on the inaccurate location location information.
  • the driving trajectory information of the provider is also inaccurate, and the result of determining whether the service provider deviates from the navigation route (for example, the first navigation route) based on the driving trajectory information is also inaccurate.
  • the embodiment of the present application provides a The method of yaw recognition will be described in detail in conjunction with the following specific embodiments.
  • the method of yaw recognition includes the following specific steps 1801 to 1803:
  • Step 1801 Receive location point information of the service provider reported by the service provider at a set time interval when serving the current order.
  • the service provider may be a tablet computer, a laptop computer, or a built-in device in a motor vehicle such as a vehicle terminal associated with the service provider. In the field of travel, the service provider here is a driver.
  • the back-end server allocates the corresponding service provider to the service requesting end based on the service request, it can be based on the origin location information of the service requesting end in the order request and the current service provider's current The location information determines the navigation route corresponding to the current order, and then prompts the service provider to follow the navigation route to pick up and drive.
  • the service provider can report the location point information of the service provider to the back-end server every 1s during the driving process, and then the back-end server can determine the driving trajectory of the service provider based on the location point information , And then determine whether the driver side deviates from the navigation route.
  • step 1801 the service provider is received
  • the location point information of the service provider reported by the terminal at a set time interval when serving the current order may include:
  • the precision factor of the location location point may specify the horizontal precision factor of the coordinates of the location location point.
  • the smaller the precision factor the closer the coordinates of the service provider in the positioning location point information reported by the service provider are to the real position.
  • the precision factor is equal to 1000 dm, which indicates that the error range of the coordinates is 1000 dm.
  • setting the accuracy factor threshold is equivalent to setting a maximum error range. When the accuracy factor of the positioning location point is greater than the maximum error range, it is considered that the coordinates of the positioning location point are relatively different from the real position of the service provider. Large, you can delete the location point information.
  • the direction angle of the location point refers to the direction angle between the driving direction of the service provider and the true north direction of the geodetic coordinate system.
  • the direction angle can also be characterized by the speed direction.
  • the direction angle is normally greater than or If it is equal to 0, when the direction angle of the positioning location point is less than 0, it means that the positioning location point information provided by the service provider is wrong data, and the positioning location point information can also be deleted.
  • the speed value of the location point here refers to the instantaneous speed value of the service provider while driving. Under normal circumstances, the instantaneous speed value is greater than or equal to 0. When the instantaneous speed value is less than 0, it means the service provider The provided positioning point information is wrong data, and the positioning point information can also be deleted.
  • Step 1802 It is judged whether there is a mapping location point of the current positioning location point of the service provider on the navigation route (for example, the first navigation route) corresponding to the current order.
  • the navigation routes below can all be understood as the first navigation route, and will not be described in detail below.
  • the positioning location point drifts, that is, even if the service provider is located on the navigation route, the coordinates of the positioning location point reported by it may not be on the navigation route. In this case, you need to first consider whether In some ways, it is determined whether there is a mapping location point of the current positioning location point of the service provider on the navigation route.
  • each positioning location point may include the coordinates and direction angle of the positioning location point.
  • the mapping location point of specifically includes steps 1901 to 1902:
  • Step 1901 Determine the vertical distance of each positioning position point to the navigation route based on the coordinates of the multiple positioning position points corresponding to the current order and including the current positioning position point.
  • the coordinates of the multiple positioning location points and the navigation route can be converted into the image coordinate system, and then the vertical distance from each positioning location point to the navigation route can be determined in the image coordinate system.
  • Step 1902 Determine the average vertical distance between the multiple positioning location points and the navigation route according to the respective vertical distances of each positioning location point to the navigation route.
  • the average vertical distance can be calculated according to the following formula 1:
  • M is the mean vertical distance
  • n is the number of position location points
  • d i represents a vertical distance from the i-th position of the positioning points of the navigation route.
  • Step 1903 based on the average vertical distance, the coordinates of the current positioning position point, the direction angle of the current positioning position point, and the direction angle of the navigation route, it is determined whether there is a mapping position point of the current positioning position point on the navigation route.
  • the direction angle of the current location point is included in the location point information reported by the service provider.
  • the direction angle may indicate the angle between the driving direction of the service provider and the true north direction in the geodetic coordinate system
  • the direction angle of the navigation route indicates the angle between the navigation route and the true north direction in the geodetic coordinate system.
  • step 1903 based on the average vertical distance, the coordinates of the current positioning position point, the direction angle of the current positioning position point, and the direction angle of the navigation route, it is determined whether there is a mapping position point of the current positioning position point on the navigation route, as shown in Figure 20. As shown, it specifically includes the following steps 2001-2005:
  • step 2001 the vertical distance from the current location point to the navigation route is compared with the average vertical distance.
  • step 2002 if the vertical distance from the current positioning location point to the navigation route is greater than the average vertical distance, it is determined that there is no mapping location point of the current positioning location point on the navigation route.
  • the vertical distance from the current positioning point to the navigation route can specifically be the vertical distance from the current positioning point to the edge of the navigation route, if the navigation route is a curved route, it can be the tangent line from the current positioning point to the edge of the navigation route If the vertical distance is greater than the average vertical distance, it is determined that there is no mapping position point of the current positioning position point on the navigation route, that is, the current positioning position point cannot be bound to the navigation route.
  • step 2003 if the vertical distance from the current positioning point to the navigation route is less than or equal to the average vertical distance, based on the coordinates of the current positioning point and the average vertical distance, the distance from the current positioning point on the navigation route is equal to the average vertical Distance to be selected location point (for example, candidate mapping point).
  • a candidate location point whose distance from the current positioning location point is equal to the average vertical distance can be found on the navigation route. Specifically, you can Place both the navigation route and the current location point in the image coordinate system, because the navigation route can be seen as composed of multiple location points, you can find the candidate location in the image coordinate system that is equal to the average vertical distance from the current location point point.
  • the direction angle may be considered.
  • step 2004 it is judged whether the direction angle of the navigation route at at least one candidate location point matches the direction angle of the current positioning location point.
  • the direction angle of the navigation route at the candidate location point A1 refers to the direction angle between the tangent of the navigation route at the candidate location point A1 and the true north direction, where the tangent direction of the navigation route is the same as that of the service provider The driving direction corresponds.
  • Step 2005 if there is at least one candidate location point where the direction angle of the navigation route matches the direction angle of the current positioning location point, use the candidate location point corresponding to the direction angle that matches the direction angle of the current positioning location point as the mapping location point.
  • mapping location point of the current positioning location point A is A1.
  • the method for yaw recognition provided in the embodiment of the present application further includes:
  • the current location can be replaced with the coordinates of the mapped location point A1
  • the coordinates of the location point so that after the current location point drifts out of the navigation route, the current location location point can be replaced by the mapped location point on the navigation route.
  • the driver’s driving trajectory displayed on the passenger side is still in the navigation On the route, it is avoided that the location information reported by the service provider drifts, and the driving trajectory information of the service provider generated based on the drifted location location information is inaccurate, causing passengers to cancel orders and waste resources.
  • the distance between two adjacent points has a maximum preset distance threshold, which can be considered by considering the current Whether the distance between the positioning point and the last undeleted positioning point exceeds the corresponding maximum preset distance threshold, if it exceeds, it means that the current positioning point itself may be a bad point, and it will not be based on the current positioning
  • the mapped location point of the location point updates the driving trajectory information of the service provider.
  • the average speed value between the current location point and the last location location point can be set as a speed threshold.
  • the average speed value between the current positioning location point and the last positioning location point is greater than the speed threshold, it means that the current positioning location point itself may be a bad point, and the service will not be based on the mapping location point of the current positioning location point.
  • the driving trajectory information of the provider is updated.
  • the above method of judging whether there is a mapping location point of the current positioning location point of the service provider on the navigation route corresponding to the current order is just one of the specific embodiments, and other embodiments can also be used to determine whether there is a mapping location point, for example, according to The minimum distance between the current positioning location point and the track point corresponding to the navigation route is judged. Because the navigation route can be regarded as composed of a large number of track points, it can be considered whether the minimum distance between the current positioning location point and these track points is less than the preset value. The distance threshold is set to determine whether there is a mapping location point, which will not be repeated here.
  • step 1803 if it is determined that there is no mapped location point on the navigation route, it may be determined whether the service provider deviates from the navigation route based on the vertical distances from the multiple positioning location points corresponding to the current order and containing the current positioning location points to the navigation route.
  • the service provider may have a yaw at the time, in order to further determine whether the service provider has a yaw, the service can be determined based on the vertical distance from the navigation route to the multiple positioning location points corresponding to the current order and containing the current positioning location point. Whether the provider deviates from the navigation route.
  • step 1803 it is possible to determine whether the service provider deviates from the navigation route based on the vertical distances from the multiple positioning location points corresponding to the current order including the current positioning location points to the navigation route, including the following Specific steps 2201 ⁇ 2202:
  • Step 2201 Determine whether the current positioning position point deviates from the first navigation route based on the vertical distances from the multiple positioning position points to the first navigation route.
  • Step 2202 If it is determined that the current location point deviates from the navigation route, based on the number of location location points that the service provider deviates from the navigation route during driving and the preset number threshold, determine whether the service provider deviates from the navigation route.
  • the process of determining whether the service provider deviates from the navigation route can include two steps.
  • the first step can determine whether the current positioning point deviates from the navigation route based on the vertical distances from multiple positioning points to the navigation route.
  • a positioning location point can include the current positioning location point;
  • the second step can be after determining that the current positioning location point deviates from the navigation route, and then according to the number of positioning location points that the service provider deviates from the navigation route during driving and the preset number threshold , Continue to determine whether the service provider deviates from the navigation route.
  • each positioning location point information reported by the service provider includes the precision factor and coordinates of the positioning location point.
  • step 2201 determines whether the current location point deviates from the navigation route based on the vertical distances from the multiple location location points to the navigation route.
  • the provided yaw recognition method can also include:
  • the last location point is the previous location point adjacent to the current location point reserved by the server.
  • the service provider reports a location point information every 1s. If the current time is reached, the background server receives the first location point. 10 positioning position information, and the 10th positioning position point information has not been deleted, the current positioning position point is the 10th positioning position point, and the previous positioning position point of the current positioning position point is the same as the 10th positioning position point. Positioning position points that are adjacent to and have not been deleted.
  • the time interval for receiving these two positioning points is 1s; if the current positioning point is the 10th If the last positioning position point is the eighth positioning position point, the time interval for receiving these two positioning position points is 2s. In this way, if the distance difference between the last positioning position point and the current positioning position point is determined according to the coordinates, the average speed value corresponding to the service provider's arrival from the last positioning position point to the current positioning position point can be determined.
  • the variance of the precision factors corresponding to the multiple positioning location points can be obtained based on the precision factors of the multiple positioning location points.
  • the preset speed threshold here can be determined in advance according to the driving speed of a large number of service providers. If the average speed value is greater than the preset speed threshold, the current location point can be determined to be a dead point, and the current location point can be deleted directly , Continue to wait to receive the next positioning point.
  • V P represents the variance of the precision factor
  • n represents the number of positioning location points
  • P i represents the precision factor of the i-th positioning location point
  • the precision factor of the multiple historical positioning location points containing the current location point is small, and then it can be determined that the precision factor of the current location location point is more than the previous one.
  • the precision factors of the historical location points are relatively close, that is, the precision factor of the current location location is relatively stable, and it is not a dead pixel. You can continue to determine whether the current location location deviates from the navigation route.
  • step 2201 based on the vertical distances from the multiple positioning location points to the navigation route, it is determined whether the current positioning location point deviates from the navigation route, including the following specific steps 2301-2303:
  • the distance variances of the multiple vertical distances may be determined based on the vertical distances from the multiple positioning location points to the navigation route.
  • the average vertical distance corresponding to the multiple positioning location points can be calculated based on the vertical distances from the multiple positioning location points to the first navigation route, and then according to the vertical distance from each positioning location point to the navigation route, the average vertical distance And the following formula 3 to determine the distance variance of multiple vertical distances:
  • V d denotes a distance variance
  • n-number represents the position of the positioning points
  • D i represents the i th position location point navigation route vertical distance
  • M represents the average vertical distance
  • Step 2302 Determine whether the distance variance exceeds a preset variance threshold.
  • the preset variance threshold may be a value set in advance, which represents the maximum fluctuation range of the vertical distance between the multiple positioning position points including the current positioning position point and the navigation route.
  • Step 2303 If it is determined that the distance variance exceeds the preset variance threshold, it is determined that the current positioning location point of the service provider deviates from the navigation route.
  • the distance variance exceeds the maximum fluctuation range, it can be determined that the current location point of the service provider deviates from the navigation route.
  • the distance variance does not exceed the preset variance threshold, it means that the current positioning point of the service provider does not deviate from the navigation route. In this case, the current positioning point can be ignored and the judgment of the next positioning point is continued, i.e. the next positioning The position point is used as the current positioning position point, and step 1802 and subsequent yaw recognition are performed, which will not be repeated here.
  • the method for yaw recognition may further include:
  • the yaw position point quantity database can be cleared when the current positioning position point does not deviate from the navigation route.
  • the yaw location point quantity library can be used to store the count of the location location points that deviate from the navigation route. If it is determined that the current positioning point deviates from the navigation route, the count of the yaw position point number library can be increased by one; if it is determined that the current positioning point does not deviate from the navigation route, the yaw position point number library can be cleared.
  • the number of deviated location points library can also be cleared. if it is determined that there is a mapping location point of the current location location point on the navigation route, and the coordinates of the current location location point are replaced with the coordinates of the mapping location point, the number of deviated location points library can also be cleared. .
  • determining whether the service provider deviates from the navigation route based on the number of location points that the service provider deviates from the navigation route during the driving process and a preset number threshold may include:
  • the preset number threshold can be related to the variance of the precision factor of multiple positioning location points including the current location point. If the variance of the precision factor is small, the preset number threshold can be smaller. If the variance of the precision factor is large (not Exceeding the above-mentioned set precision factor threshold), the preset number threshold can be larger.
  • the precision factor can be divided into intervals, the first interval is greater than or equal to 0 and less than 10, and the second interval is greater than or Equal to 10 and less than 20, the third interval is greater than or equal to the set precision factor threshold of 20, when the precision factor variance here belongs to the first interval, the preset number threshold is L, when the precision factor variance here belongs to the second interval ,
  • the preset number threshold is H, and H is greater than L.
  • the preset number threshold can be changed.
  • the current preset number threshold is H, and it is determined that the current positioning position point deviates from the navigation route, and the number of yaw position points in the number library just reaches H, it can be determined that the service provider deviates from the navigation route.
  • the method for yaw recognition provided in the embodiment of the present application can also update the navigation route.
  • the navigation route can be updated as follows:
  • the current location coordinates of the service provider may be the coordinates of the current positioning location point, and the destination coordinates of the service provider may be the coordinates of the origin location of the service requester.
  • the current location coordinates of the service provider are used as the starting point, and the destination coordinates of the service provider are used as the ending point to re-determine whether there is a new navigation route.
  • the target navigation route can be determined.
  • the navigation route is updated based on the target navigation route.
  • Extract the coordinates of multiple positioning points that deviate from the navigation route such as extracting the coordinates of three positioning points A, B, and C that deviate from the navigation route continuously, when starting from the current position coordinates of the service provider Starting point, using the destination coordinates of the service provider as the ending point.
  • the positioning location point A, the positioning location point B, and the positioning location point C are further determined to coincide with the second navigation route. Then the second navigation route is determined as the target navigation route, and in addition, the target navigation route information can be sent to the service requesting terminal.
  • the positioning point After receiving the positioning point, it can first determine whether to delete the positioning point according to the instantaneous speed value, direction angle and precision factor of the positioning point. If the instantaneous speed value is not less than 0, the direction angle is not less than 0, and the precision factor is not greater than the setting. If the precision factor threshold is set, the positioning location point is not deleted, otherwise the positioning location point is deleted, and the next received positioning location point is judged.
  • the positioning location point can be tied successfully, that is, whether the mapping location point of the positioning location point can be found on the navigation route.
  • the specific method mentioned above can be used here. Without going into details, if the line can be tied successfully, and it is determined that the speed value of the service provider from the last positioning location point to the positioning location point is not greater than the preset speed threshold, then the mapping location point on the navigation route of the positioning location point will be passed Correct the positioning point.
  • the binding fails, and it is determined that the speed value of the service provider from the last location point to the location location point is not greater than the preset speed threshold, and the accuracy of the location location point is determined to be stable through multiple location locations, continue to judge Whether the positioning location point deviates from the navigation route, if it is determined that the positioning location point deviates from the navigation route, the count of the yaw quantity library is increased by 1, and then the service provider is judged whether the service provider is yaw based on the current count of the yaw quantity library.
  • the method for yaw recognition can determine whether the current positioning position point can be tied successfully (that can be mapped to the navigation route) after receiving the current positioning position point, if not, it will be explained There is a possibility of yaw at present, and then based on the vertical distances from the nearest multiple positioning location points to the navigation route, it is confirmed whether there is yaw. In this way, the yaw judgment can be realized without the need of accurate road network data.
  • the yaw result is comprehensively confirmed through two aspects: whether the binding is successful or not and the vertical distance from multiple positioning points to the navigation route, which improves the accuracy of yaw judgment.
  • the current location point can be replaced by the mapped location point on the navigation route, which is equivalent to correcting the error of the driver’s driving route and avoiding any problems caused by the service provider.
  • the drift of the positioning point uploaded by the positioning component or environmental factors makes the passenger display the driver’s driving trajectory deviate from the navigation route, thereby reducing the problem of passengers canceling orders due to the driver’s deviation from the navigation route and requiring re-allocation of orders, thereby improving Improve the efficiency of resource allocation.
  • An embodiment of the present application also provides an electronic device 2600.
  • a schematic structural diagram of the electronic device 2600 provided in this embodiment of the present application includes: a processor 2601, a storage medium 2602, and a bus 2603.
  • the storage medium 2602 stores machine-readable instructions executable by the processor 2601 (for example, execution instructions corresponding to the receiving module 410, the determining module 420, and the determining module 430 in the apparatus in FIG. 25).
  • the processor 2601 communicates with the storage medium 2602 through the bus 2603, and the machine-readable instructions are executed by the processor 2601 to perform the following processing: receive the service provider’s location point reported by the service provider at a set time interval when servicing the current order Information; determine whether there is a mapped location point of the current positioning location point of the service provider on the navigation route corresponding to the current order; after determining that the mapping location point does not exist on the navigation route, it is based on the current positioning location point corresponding to the current order The vertical distances from the multiple positioning location points to the navigation route are used to determine whether the service provider deviates from the navigation route.
  • the information of each positioning location point includes the coordinates and direction angle of the positioning location point
  • the instructions executed by the processor 2601 include: multiple positioning location points corresponding to the current order and containing the current positioning location point Determine the vertical distance of each positioning location point to the navigation route; determine the average vertical distance between multiple positioning location points and the navigation route according to the vertical distance of each positioning location point to the navigation route; based on the average vertical distance, The coordinates of the current positioning position point, the direction angle of the current positioning position point and the direction angle of the navigation route determine whether there is a mapping position point of the current positioning position point on the navigation route.
  • the instructions executed by the processor 2601 include: comparing the vertical distance from the current positioning point to the navigation route with the average vertical distance; if the vertical distance from the current positioning point to the navigation route is greater than the average vertical distance, It is determined that there is no mapping position point of the current positioning position point on the navigation route; if the vertical distance from the current positioning position point to the navigation route is less than or equal to the average vertical distance, based on the coordinates of the current positioning position point and the average vertical distance, in the navigation route Find the candidate location point whose distance from the current positioning location point is equal to the average vertical distance; determine whether there is at least one candidate location point where the direction angle of the navigation route matches the direction angle of the current positioning location point; if there is at least one The direction angle of the navigation route at the position to be selected matches the direction angle of the current positioning position point, and the candidate position point corresponding to the direction angle that matches the direction angle of the current positioning position point is used as the mapping position point.
  • the instructions executed by the processor 2601 further include: after determining that the mapped location point exists on the navigation route, replacing the coordinates of the current positioning location point in the driving trajectory information of the service provider with the mapped location point The coordinates of the service provider; send the updated driving track information of the service provider to the service requester.
  • the instructions executed by the processor 2601 include: for each received positioning position point information, extracting the precision factor, direction angle, and velocity value of the positioning position point in the positioning position point information;
  • the precision factor of the location point is not greater than the set precision factor threshold, the direction angle of the location location point is not less than 0, and the speed value of the location location point is not less than 0, then the location location point information is retained; if not, the location location point is deleted information.
  • the instructions executed by the processor 2601 include: judging whether the current positioning position point deviates from the navigation route based on the vertical distances from the multiple positioning position points to the navigation route; after determining that the current positioning position point deviates from the navigation route , Determine whether the service provider deviates from the navigation route based on the number of location points that the service provider deviates from the navigation route during driving and the preset number threshold.
  • each of the positioning location point information includes the precision factor and coordinates of the positioning location point.
  • the location of the navigation route is based on the multiple positioning location points.
  • the instructions executed by the processor 2601 include: determining the distance variance of the multiple vertical distances based on the vertical distances from the multiple positioning location points to the navigation route; determining whether the distance variance exceeds a preset variance threshold; After determining that the distance variance exceeds the preset variance threshold, it is determined that the current location point of the service provider deviates from the navigation route.
  • the instructions executed by the processor 2601 further include: updating the pre-stored yaw position point quantity database, and the yaw position point quantity database Clearing is performed when the current positioning point does not deviate from the navigation route; in some embodiments, the instructions executed by the processor 2601 include: determining whether the number in the yaw position point number database after the count has been updated reaches the preset number Threshold; if it is determined that the number of yaw position points in the database reaches the preset number threshold, it is determined that the service provider deviates from the navigation route.
  • the instructions executed by the processor 2601 further include: after determining that the service provider deviates from the navigation route, extracting the coordinates of a plurality of positioning location points that deviate from the navigation route; based on the plurality of positioning location points deviating from the navigation route The coordinates of the current location of the service provider, and the destination coordinates of the service provider are determined to determine the target navigation route that matches the coordinates of multiple positioning location points that deviate from the navigation route; the navigation route is updated based on the target navigation route.
  • numbers describing the number of ingredients and attributes are used. It should be understood that such numbers used in the description of the embodiments use the modifier "about”, “approximately” or “substantially” in some examples. Retouch. Unless otherwise stated, “approximately”, “approximately” or “substantially” indicates that the number is allowed to vary by ⁇ 20%.
  • the numerical parameters used in the specification and claims are approximate values, and the approximate values can be changed according to the required characteristics of individual embodiments. In some embodiments, the numerical parameter should consider the prescribed effective digits and adopt the method of general digit retention. Although the numerical ranges and parameters used to confirm the breadth of the ranges in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values is as accurate as possible within the feasible range.

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Abstract

一种偏航识别的方法和系统，方法包括：获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点（510）；基于一个或多个定位位置点与第一导航路线之间的位置关系，判断第一预设条件是否被满足（520）；以及，响应于第一预设条件未被满足，基于与对象行驶关联的相关信息，确定对象是否处于偏航行驶状态（530）。

Description

一种偏航识别的方法和系统
交叉引用
本申请要求2019年11月25日递交的申请号为201911166999.6的中国申请，以及2019年12月18日递交的申请号为201911311314.2中国申请的优先权，其所有内容通过引用的方式包含于此。
技术领域
本申请涉及导航定位技术领域，特别涉及一种偏航识别的方法和系统。
背景技术
人们在日常出现过程中，无论是步行、开车或者打车，都越来越依赖于导航，以便可以快速的到达目的地。但是在跟随导航行走或行驶的过程中，大多也会由于一些道路因素等客观原因和人为因素等主观原因出现偏离导航路线的情况，如何及时、准确地发现出行过程中识别对象是否处于偏航行驶的状态，是本领域亟待解决的问题。
发明内容
本申请实施例之一提供一种偏航识别的方法，其包括：获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点；基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断第一预设条件是否被满足；以及响应于所述第一预设条件未被满足，基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态。
本申请实施例之一提供一种偏航识别的系统，其包括：获取模块，获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点；判断模块，基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断第一预 设条件是否被满足；确定模块，响应于所述第一预设条件未被满足，基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态。
本申请实施例之一提供一种偏航识别的装置，所述装置包括处理器和存储器；所述存储器用于存储指令，所述指令被所述处理器执行时，所述装置实现上述技术方案中所述方法对应的操作。
本申请实施例之一提供一种计算机可读存储介质，所述存储介质存储计算机指令，当计算机读取所述存储介质中的计算机执指令时，所述计算机执行上述技术方案所述方法。
附图说明
本申请将以示例性实施例的方式进一步说明，这些示例性实施例将通过附图进行详细描述。这些实施例并非限制性的，在这些实施例中，相同的编号表示相同的结构，其中：
图1是根据本申请一些实施例所示的偏航识别的系统的应用场景示意图；
图2是根据本申请一些实施例所示的一种示例性计算设备的示意图；
图3是根据本申请一些实施例所示的移动设备的示例性硬件和/或软件的示意图；
图4是根据本申请一些实施例所示的示例性处理设备的模块图；
图5是根据本申请一些实施例所示的偏航识别的方法的示例性流程图；
图6是根据本申请一些实施例所示的判断第一预设条件是否被满足的示例性流程图；
图7是根据本申请一些实施例所示的确定偏航行驶状态的示例性流程图；
图8是本申请另一些实施例所示的偏航识别的方法的示例性流程图；
图9是本申请另一些实施例所示的偏航识别的方法的示例性流程图；
图10是对象接受共同出行请求后的实时导航路线变化示意图；
图11是本申请一些实施例所示的偏航识别的系统的结构示意图；
图12是本申请一些实施例所示的偏航识别的系统的结构示意图；
图13是本申请一些实施例所示的偏航识别的系统的结构示意图；
图14是本申请实施例所提供的一种电子设备的结构示意图；
图15是根据本申请又一些实施例所示的判断第一预设条件是否被满足的的示例性流程图；
图16是根据本申请又一些实施例所述的判断是否存在映射位置点的示例性流程图；
图17是根据本申请又一些实施例所示的确定偏航行驶状态的示例性流程图；
图18是根据本申请再一些实施例所示的偏航识别的方法的流程示意图；
图19是根据本申请再一些实施例所示的判断是否存在映射位置点的方法流程图；
图20是根据本申请再一些实施例所示的具体地判断是否存在映射位置点的方法流程图；
图21是根据本申请再一些实施例所示的在第一导航路线上选择映射位置点的示意图；
图22是根据本申请再一些实施例所示的确定对象是否处于偏航行驶状态的方法流程图；
图23是根据本申请再一些实施例所示的判断当前定位位置点是否偏离第一导航路线的方法流程图；
图24是根据本申请再一些实施例所示的具体的偏航识别的方法的流程示意图；
图25是根据本申请再一些实施例所示的偏航识别的模块的结构示意图；
图26是根据本申请再一些实施例所示的电子设备的结构示意图。
具体实施方式
为了更清楚地说明本说明书实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本说明书的一些示例或实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图将本说明书应用于其它类似情景。除非从语言环境中显而易见或另做说明，图中相同标号代表相同结构或操作。
应当理解，本文使用的“系统”、“装置”、“单元”和/或“模块”是用于区分不同级别的不同组件、元件、部件、部分或装配的一种方法。然而，如果其他词语可实现相同的目的，则可通过其他表达来替换所述词语。
如本说明书和权利要求书中所示，除非上下文明确提示例外情形，“一”、“一个”、“一种”和/或“该”等词并非特指单数，也可包括复数。一般说来，术语“包括”与“包含”仅提示包括已明确标识的步骤和元素，而这些步骤和元素不构成一个排它性的罗列，方法或者设备也可能包含其它的步骤或元素。
本说明书中使用了流程图用来说明根据本说明书的实施例的系统所执行的操作。应当理解的是，前面或后面操作不一定按照顺序来精确地执行。相反，可以按照倒序或同时处理各个步骤。同时，也可以将其他操作添加到这些过程中，或从这些过程移除某一步或数步操作。
图1是根据本说明书一些实施例所示的偏航识别的系统的应用场景示意图。
该偏航识别的系统100可以用于打车软件、导航软件等。在一些实施例中，该偏航识别的系统可以判定对象是否处于偏航行驶的状态。
在一些实施例中，偏航识别的系统可以用于诸如出租车、代驾服务、快车、拼车、公共汽车服务、驾驶员租赁、或班车服务之类的运输服务、或其任意组合的在线运输服务平台。
如图1所示，本申请的偏航识别的系统100可以包括服务器110、对象终端120、数据库130和网络140。
在一些实施例中，服务器110可以用于处理与偏航识别相关的信息和/或 数据。服务器110可以是独立的服务器或者服务器组。该服务器组可以是集中式的或者分布式的(如：服务器110可以是分布系统)。在一些实施例中该服务器110可以是区域的或者远程的。例如，服务器110可通过网络140访问存储于对象终端120、和/或数据库130的信息和/或资料。在一些实施例中，服务器110可直接与对象终端120和/或数据库130连接以访问存储于其中的信息和/或资料。在一些实施例中，服务器110可在云平台上执行。例如，该云平台可包括私有云、公共云、混合云、社区云、分散式云、内部云等中的一种或其任意组合。
在一些实施例中，服务器110可包含处理设备。该处理设备可处理与服务请求有关的数据和/或信息以执行一个或多个本申请中描述的功能。例如处理设备可基于从对象终端120获取的对象终端120的定位位置点，以及对象终端120的导航路线来判定对象终端120是否处于偏航行驶状态。在一些实施例中，处理设备可包含一个或多个子处理设备(如：单芯处理设备或多核多芯处理设备)。仅仅作为范例，处理设备可包含中央处理器(CPU)、专用集成电路(ASIC)、专用指令处理器(ASIP)、图形处理器(GPU)、物理处理器(PPU)、数字信号处理器(DSP)、现场可编程门阵列(FPGA)、可编辑逻辑电路(PLD)、控制器、微控制器单元、精简指令集电脑(RISC)、微处理器等或以上任意组合。
网络140可促进数据和/或信息的交换。在一些实施例中，偏航识别的系统100中的一个或多个组件(如服务器110、对象终端120和数据库130)可通过网络140发送数据和/或信息给偏航识别的系统100中的其他组件。例如，服务器110可通过网络140从对象终端120获取/获得对象终端120的在行驶路径上的一个或多个定位位置点。在一些实施例中，网络140可是任意类型的有线或无线网络。例如，网络140可包括一缆线网络、有线网络、光纤网络、电信网络、内部网络、网际网络、区域网络(LAN)、广域网络(WAN)、无线区域网络(WLAN)、都会区域网络(MAN)、公共电话交换网络(PSTN)、蓝牙网络、ZigBee网络、近场通讯(NFC)网络等或以上任意组合。在一些实施例中，网络140可包括一个或多个网络进出点。例如，网络140可包含有线或无线 网络进出点，如基站和/或网际网络交换点，通过这些进出点，偏航识别的系统100的一个或多个组件可连接到网络140上以交换数据和/或信息。
在一些实施例中，对象终端120可包括移动装置、平板电脑、膝上型电脑、机动车内置设备等中的一种或其任意组合。在一些实施例中，移动装置可包括可穿戴装置、智能行动装置、虚拟实境装置、增强实境装置等或其任意组合。在一些实施例中，可穿戴装置可包括智能手环、智能鞋袜、智能眼镜、智能头盔、智能手表、智能衣物、智能背包、智能配饰等或其任意组合。在一些实施例中，智能行动装置可包括智能电话、个人数位助理(PDA)、游戏装置、导航装置、POS装置等或其任意组合。在一些实施例中，虚拟实境装置和/或增强实境装置可包括虚拟实境头盔、虚拟实境眼镜、虚拟实境眼罩、增强实境头盔、增强实境眼镜、增强实境眼罩等或上述举例的任意组合。在一些实施例中，对象终端120可包括具有定位功能的装置，以确定对象和/或对象终端120的位置。在一些实施例中，对象终端120可以包括服务请求端和/或服务提供端。
数据库130可存储资料和/或指令。在一些实施例中，数据库130可存储从对象终端120中获取的资料。在一些实施例中，数据库130可存储供服务器110执行或使用的信息和/或指令，以执行本申请中描述的示例性方法。在一些实施例中，数据库130可包括大容量存储器、可移动存储器、挥发性读写存储器(例如随机存取存储器RAM)、只读存储器(ROM)等或以上任意组合。在一些实施例中，数据库130可在云平台上实现。例如，该云平台可包括私有云、公共云、混合云、社区云、社区云、分散式云、内部云等或以上任意组合。
在一些实施例中，数据库130可通过网络140连接以上偏航识别的系统100的一个或多个部件(如，服务器110、对象终端120等)通讯。偏航识别的系统100的一个或多个组件可通过网络140访问存储于数据库130中的资料或指令。在一些实施例中，数据库130可直接与偏航识别的系统100中的一个或多个组件(如，服务器110、对象终端120等)连接或通讯。在一些实施例中，数据库130可以是服务器110的一部分。
在一些实施例中，偏航识别的系统100中的一个或多个组件(如，服务器110、对象终端120等)可具有访问数据库130的权限。在一些实施例中，当满足一个或多个条件时，偏航识别的系统100中的一个或多个组件(如，服务器110、对象终端120等)可读取和/或修改与对象、和/或公知常识相关的信息。例如，在判断对象处于偏航行驶状态后，服务器110可修改/更新一个或多个对象的导航路线信息。
图2是根据本说明书一些实施例所示的一种示例性计算设备的示意图。
在一些实施例中，服务器110和/或对象终端120(如服务请求端或服务提供端)可以在计算设备200上实现。例如，处理设备400可以在计算设备200上实施并执行本申请所公开的处理设备400的功能。如图2所示，计算设备200可以包括处理器220、只读存储器230、随机存储器240、通信端口250、输入/输出接口260和硬盘270。
处理器220可以执行计算指令(程序代码)并执行本申请描述的应用场景图提供偏航识别的系统100的功能。所述计算指令可以包括程序、对象、组件、数据结构、过程、模块和功能(所述功能指本申请中描述的特定功能)。例如，处理器220可以处理从应用场景图提供偏航识别的系统100的其他任何组件获取的图像或文本数据。在一些实施例中，处理器220可以包括微控制器、微处理器、精简指令集计算机(RISC)、专用集成电路(ASIC)、应用特定指令集处理器(ASIP)、中央处理器(CPU)、图形处理单元(GPU)、物理处理单元(PPU)、微控制器单元、数字信号处理器(DSP)、现场可编程门阵列(FPGA)、高级RISC机(ARM)、可编程逻辑器件以及能够执行一个或多个功能的任何电路和处理器等，或其任意组合。仅为了说明，图2中的计算设备200只描述了一个处理器，但需要注意的是，本申请中的计算设备200还可以包括多个处理器。
计算设备200的存储器(例如，只读存储器(ROM)230、随机存储器(RAM)240、硬盘270等)可以存储从应用场景图提供偏航识别的系统100的 任何其他组件获取的数据/信息。示例性的ROM可以包括掩模ROM(MROM)、可编程ROM(PROM)、可擦除可编程ROM(PEROM)、电可擦除可编程ROM(EEPROM)、光盘ROM(CD-ROM)和数字通用盘ROM等。示例性的RAM可以包括动态RAM(DRAM)、双倍速率同步动态RAM(DDR SDRAM)、静态RAM(SRAM)、晶闸管RAM(T-RAM)和零电容(Z-RAM)等。
输入/输出接口260可以用于输入或输出信号、数据或信息。在一些实施例中，输入/输出接口260可以使对象与应用场景图提供偏航识别的系统100进行联系。在一些实施例中，输入/输出接口260可以包括输入装置和输出装置。示例性输入装置可以包括键盘、鼠标、触摸屏和麦克风等，或其任意组合。示例性输出装置可以包括显示设备、扬声器、打印机、投影仪等或其任意组合。示例性显示装置可以包括液晶显示器(LCD)、基于发光二极管(LED)的显示器、平板显示器、曲面显示器、电视设备、阴极射线管(CRT)等或其任意组合。通信端口250可以连接到网络以便数据通信。所述连接可以是有线连接、无线连接或两者的组合。有线连接可以包括电缆、光缆或电话线等或其任意组合。无线连接可以包括蓝牙、Wi-Fi、WiMax、WLAN、ZigBee、移动网络(例如，3G、4G或5G等)等或其任意组合。在一些实施例中，通信端口250可以是标准化端口，如RS232、RS485等。在一些实施例中，通信端口250可以是专门设计的端口。
图3是根据本说明书一些实施例所示的移动设备的示例性硬件和/或软件的示意图。
如图3所示，移动设备300可以包括通信单元310、显示单元320、图形处理器(GPU)330、中央处理器(CPU)340、输入/输出单元350、内存360、存储单元370等。在一些实施例中，操作系统361(例如，iOS、Android、Windows Phone等)和应用程序362可以从存储单元370加载到内存360中，以便由CPU340执行。应用程序362可以包括浏览器或用于从应用场景图提供偏航识别的系统100接收文字、图像、音频或其他相关信息的应用程序。
为了实现在本申请中描述的各种模块、单元及其功能，计算设备或移动设备可以用作本申请所描述的一个或多个组件的硬件平台。这些计算机或移动设备的硬件元件、操作系统和编程语言本质上是常规的，并且本领域技术人员熟悉这些技术后可将这些技术适应于本申请所描述的应用场景图提供偏航识别的系统100。具有对象界面元件的计算机可以用于实现个人计算机(PC)或其他类型的工作站或终端设备，如果适当地编程，计算机也可以充当服务器。
需要说明的是，初次导航轨迹与第一导航路线可以是相同的概念，二次导航轨迹与第二导航路线可以是相同的概念。
图4是根据本申请一些实施例所示的示例性处理设备的模块图；图11是本申请一些实施例所示的偏航识别的系统的结构示意图；图12是本申请一些实施例所示的偏航识别的系统的结构示意图；图13是本申请一些实施例所示的偏航识别的系统的结构示意图；图25是根据本申请再一些实施例所示的偏航识别的模块的结构示意图。
如图4、11-13和25所示，偏航识别的系统的处理设备400可以包括获取模块410、判断模块420和确定模具430。
获取模块410可以用于获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点。该获取模块410中可以包括多个不同功能的子模块，例如，获取模块410可以包括一个用于获取第一导航路线的子模块和一个用于获取定位位置点的子模块。
在一些实施例中，获取模块410可以获取一个或多个定位位置点的信息。如定位位置点的位置信息和行驶方向信息等。位置信息可以包括坐标，行驶方向信息可以包括方向角。
在一些实施例中，获取模块410还用于：获取每个定位位置点的精度因子、方向角和速度值；若定位位置点的精度因子不大于设定精度因子阈值、定位位置点的方向角不小于0且定位位置点的速度值不小于0，则保留该定位位置点信息；否则，删除该定位位置点信息。
在一些实施例中，获取模块410可以包括路线获取模块411，路线获取模块411用于获取对象在出行过程中的实时导航路线。路线获取模块411在用于获取对象在出行过程中的实时导航路线时，路线获取模块还可用于：获取对象在每段行驶路线中基于第一行驶出发地和第一行驶目的地确定的实时导航路线。在一些实施例中，获取模块410可以包括同行地点获取模块412，同行地点获取模块412用于在对象行驶过程中，若检测到对象接受了共同出行请求，获取共同出行请求的第二行驶出发地和第二行驶目的地，以及对象的实时行驶位置。
在一些实施例中，获取模块410所包括的子模块可以是接收模块413，接收模块413用于接收服务提供端在服务当前订单时按照设定时间间隔上报的该服务提供端的定位位置点信息。在一些实施例中，接收模块413在用于接收服务提供端在服务当前订单时按照设定时间间隔上报的该服务提供端的定位位置点信息时，包括：针对接收到的每一个定位位置点信息，提取该定位位置点信息中的定位位置点的精度因子、方向角和速度值；若定位位置点的精度因子不大于设定精度因子阈值、定位位置点的方向角不小于0且定位位置点的速度值不小于0，则保留该定位位置点信息；否则，删除该定位位置点信息。
在一些实施例中，获取模块410(同行地点获取模块412)还可用于：在对象行驶过程中，若检测到对象接受了共同出行请求，第一导航路线为从对象的第一行驶出发地到其第一行驶目的地的其中一段路线的导航路线，第一导航路线基于共同出行请求中的第二行驶出发地和第二行驶目的地、对象的当前定位位置点和第一行驶目的地确定。
判断模块420可用于基于一个或多个定位位置点与第一导航路线之间的位置关系，判断第一预设条件是否被满足。第一预设条件用于表征一个或多个定位位置点中的至少一个定位位置点不偏离第一导航路线。
在一些实施例中，判断模块420还可用于：基于一个或多个定位位置点与第一导航路线之间的位置关系，判断一个或多个定位位置点内是否存在偏航位置点；若是，则第一预设条件未被满足。
在一些实施例中，获取模块410和判断模块420可以合并成一个轨迹获取模块421。轨迹获取模块421可用于若检测到实时导航路线发生变化，获取与对象的第一行驶出发地和对象的第一行驶目的地相对应的每个历史出行订单对应的历史订单轨迹(在本说明书中也被称为历史行驶路线)，在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹。轨迹获取模块421还可以获取实时导航路线又发生变化之后生成的三次导航轨迹、四次导航轨迹等。
在一些实施例中，判断模块420还可用于：基于一个或多个定位位置点与第一导航路线之间的位置关系，判断第一导航路线上是否存在当前定位位置点的映射位置点；以及，响应于第一导航路线上不存在当前定位位置点的映射位置点，判断第一预设条件未被满足。基于一个或多个定位位置点与第一导航路线之间的位置关系，判断第一导航路线上是否存在当前定位位置点的映射位置点，包括：基于一个或多个定位位置点的位置信息，确定每个定位位置点与第一导航路线之间的第一距离；基于第一距离，判断第一导航路线上是否存在当前定位位置点的映射位置点。基于第一距离，判断第一导航路线上是否存在当前定位位置点的映射位置点，包括：基于第一距离，在第一导航路线上确定一个或多个候选映射点；以及，基于一个或多个候选映射点的行驶方向信息和当前定位位置点的行驶方向信息，判断第一导航路线上是否存在当前定位位置点的映射位置点。基于一个或多个定位位置点的位置信息，确定每个定位位置点与第一导航路线之间的第一距离，包括：基于一个或多个定位位置点的坐标，确定的每个定位位置点分别到第一导航路线的垂直距离；将垂直距离作为第一距离；基于第一距离，判断第一导航路线上是否存在当前定位位置点的映射位置点，包括：基于每个定位位置点与第一导航路线之间的第一距离，确定多个定位位置点与第一导航路线的平均垂直距离；基于平均垂直距离、当前定位位置点的坐标、当前定位位置点的方向角和第一导航路线的方向角，判断第一导航路线上是否存在当前定位位置点的映射位置点。基于第一距离，在第一导航路线上确定一个或多个候选映 射点，包括：将当前定位位置点到达第一导航路线的垂直距离与平均垂直距离进行比较；若当前定位位置点到达第一导航路线的垂直距离大于平均垂直距离，判断第一导航路线上不存在当前定位位置点的映射位置点；若当前定位位置点到达导航路线的垂直距离小于或等于平均垂直距离，基于当前定位位置点的坐标和平均垂直距离，将第一导航路线上的与当前定位位置点的距离等于平均垂直距离的位置点作为候选映射点；基于一个或多个候选映射点的行驶方向信息和当前定位位置点的行驶方向信息，判断第一导航路线上是否存在当前定位位置点的映射位置点，包括：判断是否存在至少一个候选映射点的方向角与当前定位位置点的方向角匹配；若存在至少一个候选映射点处的方向角与当前定位位置点的方向角匹配，将与当前定位位置点的方向角匹配的方向角对应的候选映射点作为映射位置点。
在一些实施例中，判断模块420可用于判断与当前订单对应的导航路线上是否存在服务提供端的当前定位位置点的映射位置点。在一些实施例中，每个定位位置点信息可以包括该定位位置点的坐标和方向角，判断模块420可用于按照以下方式判断与当前订单对应的导航路线上是否存在服务提供端的当前定位位置点的映射位置点：基于与当前订单对应的包含当前定位位置点的多个定位位置点的坐标，确定每个定位位置点分别到导航路线的垂直距离；根据每个定位位置点分别到导航路线的垂直距离，确定多个定位位置点与导航路线的平均垂直距离；基于平均垂直距离、当前定位位置点的坐标、当前定位位置点的方向角和导航路线的方向角判断导航路线上是否存在当前定位位置点的映射位置点。在一些实施方式中，判断模块420在用于基于平均垂直距离、当前定位位置点的坐标、当前定位位置点的方向角和导航路线的方向角判断导航路线上是否存在当前定位位置点的映射位置点时，包括：将当前定位位置点到达导航路线的垂直距离与平均垂直距离进行比较；若当前定位位置点到达导航路线的垂直距离大于平均垂直距离，确定导航路线上不存在当前定位位置点的映射位置点；若当前定位位置点到达导航路线的垂直距离小于或等于平均垂直距离，基于当前定 位位置点的坐标和平均垂直距离，在导航路线上查找到与当前定位位置点的距离等于平均垂直距离的候选映射点；判断是否存在至少一个候选映射点处的导航路线的方向角与当前定位位置点的方向角相符；若存在至少一个候选映射点处的导航路线的方向角与当前定位位置点的方向角相符，将与当前定位位置点的方向角相符的方向角对应的候选映射点作为映射位置点。
确定模块430可用于响应于第一预设条件未被满足，基于与对象行驶关联的相关信息，确定对象是否处于偏航行驶状态。针对不同的对象行驶关联的相关信息，确定模块430可以包括多个不同功能的子模块。
在一些实施例中，确定模块430还可用于：基于偏航率、第一导航路线以及第二导航路线中的一种或多种，确定对象是否处于偏航行驶状态。
在一些实施例中，确定模块430还可用于确定偏航率，确定偏航率包括以下步骤：获取与第一导航路线关联的一个或多个历史行驶路线；基于一个或多个历史行驶路线，确定在偏离第一导航路线的至少一个定位位置点处的偏航率。基于一个或多个历史行驶路线，确定在偏离第一导航路线的至少一个定位位置点的偏航率，包括：从一个或多个历史行驶路线中，确定在偏离第一导航路线的至少一个定位位置点开始发生偏航行驶的第一历史行驶路线；基于第一历史行驶路线与历史行驶路线之间的数量关系，确定偏航率。基于偏航率、第一导航路线以及第二导航路线中的一种或多种，确定对象是否处于偏航行驶状态，包括：基于偏航率，和/或第二导航路线与第三导航路线之间的关系，确定对象是否处于偏航行驶状态；其中，第三导航路线为第一导航路线中从偏离第一导航路线的至少一个定位位置点至第一行驶目的地的路线。基于偏航率，和/或第二导航路线与第三导航路线之间的关系，确定对象是否处于偏航行驶状态，包括：当偏航率小于预设偏航阈值，和/或第二导航路线的路径长度大于第三导航路线的路径长度，确定对象处于偏航行驶状态。
在一些实施例中，确定模块430所包括的子模块可以是状态确定模块431，用于基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于 偏航行驶状态。在一些实施例中，状态确定模块431在用于基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态时，状态确定模块431还可用于：获取在检测到实时导航路线发生变化时，对象所处的偏航位置(例如偏航位置点)；基于多个历史订单轨迹，确定在偏航位置处的偏航率；若偏航率小于预设偏航阈值，并且二次导航轨迹的路径长度大于初次导航轨迹中从偏航位置至第一行驶目的地之间的路径长度，确定对象处于偏航行驶状态，其中，二次导航轨迹为生成的从偏航位置至第一行驶目的地之间的轨迹。在本申请的一些实施例中，状态确定模块431在用于基于多个历史订单轨迹，确定在偏航位置处的偏航率时，状态确定模块431还用于：基于每个历史出行订单的订单信息，从多个历史订单轨迹中确定出在偏航位置处出现偏航的历史订单轨迹；计算出现偏航的历史订单轨迹与多个历史订单轨迹之间的数量比值，并将数量比值确定为在偏航位置处的偏航率。
在一些实施例中，确定模块430还可用于基于一个或多个定位位置点的信息，确定对象是否处于偏航行驶状态。基于一个或多个定位位置点的信息，确定对象是否处于偏航行驶状态，包括：确定一个或多个定位位置点中每个定位位置点与第一导航路线之间的第二距离；基于第二距离，确定当前定位位置点是否偏离第一导航路线；若当前定位位置点偏离第一导航路线，从一个或多个定位位置点中确定出偏离第一导航路线的偏航位置点；基于偏航位置点的信息，确定对象是否处于偏航行驶状态。基于偏航位置点的信息，确定对象是否处于偏航行驶状态，包括：基于偏航位置点的数量和预设数量阈值，确定对象是否处于偏航行驶状态。基于第二距离，确定当前定位位置点是否偏离第一导航路线之前，方法还包括：基于当前定位位置点的坐标、当前定位位置点的上一定位位置点的坐标以及当前定位位置点和上一定位位置点的获取时间间隔，确定对象由上一定位位置点到达当前定位位置点的平均速度值；若平均速度值小于或等于预设速度阈值，基于多个定位位置点的精度因子，获得多个定位位置点对应的精度因子方差；若精度因子方差小于设定精度因子阈值，保留当前定位位置点。确定至少一 个定位位置点中每个定位位置点与第一导航路线之间的第二距离，包括：基于至少一个定位位置点的坐标，确定的每个定位位置点分别到第一导航路线的垂直距离；将垂直距离作为第二距离。基于第二距离，确定当前定位位置点是否偏离第一导航路线，包括：基于每个定位位置点与第一导航路线之间的第二距离，确定多个第二距离的距离方差；判断距离方差是否超过预设方差阈值；若距离方差超过预设方差阈值，确定当前定位位置点偏离第一导航路线。
在一些实施例中，确定模块430还可用于在确定导航路线上不存在映射位置点后，基于与当前订单对应的包含当前定位位置点的多个定位位置点分别到导航路线的垂直距离，确定服务提供端是否偏离导航路线。在一些实施方式中，确定模块430还用于：在确定导航路线上存在映射位置点后，将所服务提供端的行驶路线信息中的当前定位位置点的坐标替换为映射位置点的坐标；将更新后的该服务提供端的行驶路线信息发送至服务请求端。在一些实施方式中，确定模块430在用于基于与当前订单对应的包含当前定位位置点的多个定位位置点分别到导航路线的垂直距离，确定服务提供端是否偏离导航路线时，包括：基于多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离导航路线；在确定所当前定位位置点偏离导航路线后，基于服务提供端在行驶过程中偏离导航路线的定位位置点的数量和预设数量阈值，确定服务提供端是否偏离导航路线。在一些实施方式中，每个定位位置点信息包括该定位位置点的精度因子和坐标，在确定所导航路线上不存在映射位置点后，基于多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离导航路线之前，确定模块430还用于：基于当前定位位置点的坐标、该当前定位位置点的上一定位位置点的坐标，以及接收当前定位位置点和上一定位位置点的时间间隔，确定服务提供端由上一定位位置点到达当前定位位置点时对应的平均速度值；在确定平均速度值小于或等于预设速度阈值后，基于多个定位位置点的精度因子，得到多个定位位置点对应的精度因子方差；在确定精度因子方差小于设定精度因子阈值后，确定保留当前定位位置点。在一些实施方式中，确定模块803在用于基于 多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离导航路线时，包括：基于多个定位位置点分别到导航路线的垂直距离，确定多个垂直距离的距离方差；判断距离方差是否超过预设方差阈值；在确定距离方差超过预设方差阈值后，确定服务提供端的当前定位位置点偏离导航路线。在一些实施方式中，在确定服务提供端的当前定位位置点偏离导航路线后，确定模块430还用于：对预存的偏离定位位置点数量库进行计数更新，偏离定位位置点数量库在当前定位位置点未偏离导航路线时进行清零处理；确定模块430在用于基于服务提供端在行驶过程中偏离导航路线的定位位置点的数量和预设数量阈值，确定服务提供端是否偏离导航路线时，包括：判断计数更新后的偏离定位位置点数量库中的数量是否达到预设数量阈值；若确定偏离定位位置点数量库中的数量达到预设数量阈值，确定服务提供端偏离导航路线在一些实施方式中，确定模块430还用于：在确定服务提供端偏离导航路线后，提取多个偏离导航路线的定位位置点的坐标；基于多个偏离导航路线的定位位置点的坐标、服务提供端的当前位置坐标和服务提供端的目的地坐标，确定与多个偏离导航路线的定位位置点的坐标匹配的目标导航路线；基于目标导航路线对导航路线进行更新。
在一些实施例中，偏航识别的系统的处理设备400还可以包括偏航提示模块440、偏航率更新模块450、偏航忽略模块460和/或分段地点确定模块470等。
偏航率更新模块450用于若对象处于偏航行驶状态，基于多个历史订单轨迹和对象按照实时导航路线行驶的实际行驶路线，确定在对象此次出行后偏航位置处的偏航率，使用确定出的偏航率更新在对象此次出行前的基础路网数据中的偏航率。在本申请的一些实施例中，实际行驶路线包括初次导航轨迹中对象从第一行驶出发地行驶至偏航位置之间的路线和二次导航轨迹。
在一些实施例中，偏航率更新模块450可用于：若对象处于偏航行驶状态，基于一个或多个历史行驶路线和对象的实际行驶路线，确定在偏离第一导航路线的至少一个定位位置点的新偏航率；使用新偏航率更新至少一个定位位置 点处的偏航率。
在一些实施例中，偏航提示模块440可用于若对象处于偏航行驶状态，向对象发出偏航提示。偏航提示模块440在用于若对象处于偏航行驶状态，向对象发出偏航提示时，偏航提示模块440还用于：若对象处于偏航行驶状态，确定多个历史订单轨迹中在偏航位置处未出现偏航的历史订单轨迹；确定二次导航轨迹与未出现偏航的历史订单轨迹之间的路线相似度；将路线相似度发送给对象，并向对象发出偏航提示。
在一些实施例中，偏航提示模块440还可用于：若对象处于偏航行驶状态，从一个或多个历史行驶路线中，确定在偏离第一导航路线的至少一个定位位置点未发生偏航的第二历史行驶路线；确定第二导航路线与第二历史行驶路线之间的路线相似度；将路线相似度发送给对象。
偏航忽略模块用460于若对象未处于偏航行驶状态，忽略此次实时导航路线的变化。
在一些实施例，偏航识别的系统的处理设备400还可以包括分段地点确定模块470，用于基于第二行驶出发地、第二行驶目的地、实时行驶位置和对象的第一行驶目的地，确定对象在每段行驶路线中的第一行驶出发地和第一行驶目的地。在本申请的一些实施例中，分段地点确定模块470在用于基于第二行驶出发地、第二行驶目的地、实时行驶位置和对象的第一行驶目的地，确定对象在每段行驶路线中的第一行驶出发地和第一行驶目的地时，分段地点确定模块470还用于：基于第二行驶出发地的地理位置、第二行驶目的地的地理位置、实时行驶位置的地理位置和第一行驶目的地的地理位置，确定对象从实时行驶位置依次去往第二行驶出发地、第二行驶目的地和第一行驶目的地的出行次序；按照出行次序，依次确定每相邻的两个地点为每段行驶路线中的出发地和目的地，以及每相邻的两个地点之间的实时导航路线所对应的实时导航路线。
在一些实施例中，偏航识别的系统的处理设备400还包括信息替换模块，信息替换模块用于响应于第一导航路线上存在当前定位位置点的映射位置点， 将当前定位位置点的位置信息替换为映射位置点的位置信息。
偏航识别的系统的处理设备400的还包括数量更新模块491，数量更新模块490用于：确定当前定位位置点偏离第一导航路线之后，将偏离定位位置点进行数量更新；基于偏离定位位置点的数量和预设数量阈值，确定对象是否处于偏航行驶状态，包括：若数量更新后的偏离定位位置点的数量偏离定位位置点的数量大于等于预设数量阈值，确定对象处于偏航行驶状态。
偏航识别的系统的处理设备400的还包括路线更新模块：路线更新模块用于响应于对象处于偏航行驶状态，基于偏离定位位置点的信息和当前定位位置点的信息，更新第一导航路线。
应当理解，图4所示的系统及其模块可以利用各种方式来实现。例如，在一些实施例中，系统及其模块可以通过硬件、软件或者软件和硬件的结合来实现。其中，硬件部分可以利用专用逻辑来实现；软件部分则可以存储在存储器中，由适当的指令执行系统，例如微处理器或者专用设计硬件来执行。本领域技术人员可以理解上述的方法和系统可以使用计算机可执行指令和/或包括在处理器控制代码中来实现，例如在诸如磁盘、CD或DVD-ROM的载体介质、诸如只读存储器(固件)的可编程的存储器或者诸如光学或电子信号载体的数据载体上提供了这样的代码。本说明书的系统及其模块不仅可以有诸如超大规模集成电路或门阵列、诸如逻辑芯片、晶体管等的半导体、或者诸如现场可编程门阵列、可编程逻辑设备等的可编程硬件设备的硬件电路实现，也可以用例如由各种类型的处理器所执行的软件实现，还可以由上述硬件电路和软件的结合(例如，固件)来实现。
需要注意的是，以上对于偏航识别的系统的处理设备400及其模块的描述，仅为描述方便，并不能把本说明书限制在所举实施例范围之内。可以理解，对于本领域的技术人员来说，在了解该系统的原理后，可能在不背离这一原理的情况下，对各个模块进行任意组合，或者构成子系统与其他模块连接。在一些实施例中，图4中披露的获取模块410、判断模块420和确定模块430等模块可以 是一个系统中的不同模块，也可以是一个模块实现上述的两个或两个以上模块的功能。例如，各个模块可以共用一个存储模块，各个模块也可以分别具有各自的存储模块。诸如此类的变形，均在本说明书的保护范围之内。
图5是根据本说明书一些实施例所示的偏航识别的方法的示例性流程图。如图5所示，流程500包括下述步骤中的一个或多个。在一些实施例中，流程500可以由处理设备400执行。
步骤510，处理设备400可以获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点。
具体地，步骤510可以由获取模块410执行。对象可以为待进行偏航识别的设备、终端、车辆或对象等。例如，对象可以是打车软件的服务请求者、服务提供者、服务请求者所持有的服务请求端、服务提供者所持有的服务提供端或服务提供者的车辆等，或对象也可以是导航软件的对象、对象所持有的终端、对象所驾驶的车辆等。
在一些实施例中，对象可以是执行航拍任务或投递任务的无人机。在另一些实施例中，对象可以是被运输的实体，例如，商品、外卖、货物、驾驶员、乘客、宠物等。
第一导航路线可以为对象在行程开始时基于对象的第一行驶出发地、第一行驶目的地和或路况等信息为对象规划的导航路线。规划的方法可以是基于预设条件(例如，躲避拥堵、时间最短、路径最短、红绿灯最少、收费最少等)、预设算法等进行规划。在一些实施中，第一导航路线的第一行驶出发地可以是打车软件的服务车辆的当前位置，第一行驶目的地可以是打车用户的上车点。在一些实施中，第一导航路线的第一行驶出发地是打车用户的上车点，第一行驶目的地是打车用户的下车点(即，行程目的地)。在一些实施例中，可以根据对象的行驶出发地、第一行驶目的地以及一个或多个共同出行请求生成第一导航路线，该第一导航路线可以由多段间断或连续的路线构成。在另一些实施例中，对象可以在行驶过程中更换目的地，第一导航路线可以包括第一行驶出发地与变更第 一行驶目的地时对象的实时位置之间的路线，和变更第一行驶目的地时所述对象的实时位置与变更后的第一行驶目的地之间的路线。
在一些实施例中，在对象行驶过程中，若检测到对象接受了共同出行请求，第一导航路线可以为从对象的第一行驶出发地到其第一行驶目的地的其中一段路线的导航路线，第一导航路线基于共同出行请求中的第二行驶出发地和第二行驶目的地、对象的当前定位位置点和第一行驶目的地确定。例如，第一导航路线可以是共同出行请求的第二行驶出发地和当前定位位置点之间的导航路线、第二行驶出发地到第二行驶目的地之间的导航路线等。接收共同出行请求的可以是服务提供者所持有的服务提供端。
在一些实施例中，对象可以是服务提供端，则对象行驶的第一导航路线可以是服务的当前订单对应的导航路线，一个或多个定位位置点可以是服务提供端在服务当前订单时按照设定时间间隔上报的该服务提供端的定位位置点。
一些实施例中，第一导航路线可以为对象的行程开始时的初次导航轨迹。其中，所述初次导航轨迹，可以是指在实时导航路线发生变化之前，根据最初的对象的第一行驶出发地和第一行驶目的地生成的初始导航路线对应的导航路线，也可以是指在实时导航路线发生变化之前，对象在按照上述的初始导航路线行驶过程中，初始导航路线上剩余的对象的实时位置与第一行驶目的地之间的导航路线。
在一些实施例中，第一导航路线可以是对象所持有的终端生成后再被获取模块410获取的。在另一些实施例中，第一导航路线也可以是获取模块410生成的。还需说明的是，导航路线可以为服务器或对象端设备为对象规划的建议行驶的路线，行驶路线可以为对象实际行驶的路线。
在一些实施例中，定位位置点可以是在对象的行驶过程中间隔获取的，在多个定位位置点中，任意相邻的两个定位位置点可以是基于相同的间隔时间获取的，也可以是基于不同的间隔时间获取的。在一些实施例中，一个或多个定位位置点至少包括当前定位位置点。当前定位位置点可以为在行驶过程中获取的 定位位置点中，获取时刻离当前时刻最近的一个定位位置点。
在一些实施例中，定位位置点可以是对象行驶过的路线中的轨迹点或轨迹点的组合。例如，在对象的行驶的过程中，以第一导航路线生成的时间为初始时间，每1分钟获取一次对象所处的实时位置作为一个轨迹点，以一个轨迹点为一个定位位置点。又例如，在对象的行驶的过程中，以第一导航路线生成的时间为初始时间，每10s获取一次对象所处的实时位置作为一个轨迹点，获取连续的A、B、C、D、E、F六个轨迹点，将连续的三个轨迹点组成一个定位位置点(如取三个轨迹点的平均位置)，即A、B、C组成一个轨迹点，D、E、F组成另一个轨迹点。
在步骤510中，获取定位位置点可以进一步包括获取定位位置点的信息。定位位置点的信息可以包括定位位置点的位置信息、定位时刻的行驶方向信息、定位时刻的行驶速度信息、信号强度信息、信号来源信息、定位方式信息等。
获取定位位置点可以为至少获取定位位置点的位置信息，定位位置点的位置信息可以使用全球定位系统(Global Positioning System,GPS)、全球导航卫星系统(Global Navigation Satellite System,GLONASS)、伽利略定位系统等，或其任意组合来获取。在一些实施例中，定位位置点的位置信息还可以基于北斗导航系统，或者其他基于卫星的定位方法来获取。定位位置点的位置信息还可以基于基站定位的方法、基于wifi接入点定位的方法等方法来获取。例如，通过基站定位的方法获取定位位置点的位置信息时，可以基于基站与待定位设备之间通信的时差和/或信号强度等来获得待定位设备的位置信息。又例如，通过wifi接入点定位的方法获取定位位置点的位置信息时，可以是通过确定wifi接入点的位置以及待定位设备与wifi接入点的距离等来确定待定位设备的位置信息。
在一些实施例中，获取定位位置点还可以包括：获取每个定位位置点的精度因子、方向角和速度值；若定位位置点的精度因子不大于设定精度因子阈值、定位位置点的方向角不小于0且所述定位位置点的速度值不小于0，则保留该定位位置点信息；否则，删除该定位位置点信息。精度因子是衡量定位精度的很重 要的一个系数，它可以代表GPS测距误差造成的接收机与空间卫星间的距离矢量放大因子。定位位置点的方向角可以为行驶方向与预设方向(如正北方、正南方等)之间形成的角。
在一些实施例中，定位位置点可以由坐标表示，例如，经纬度坐标。在另一些实施例中，定位位置点可以由至少一个参考位置点的聚类中心或几何中心表示。参考位置点可以是通过上述任意一种定位技术得到的位置点。例如，通过卫星定位得到对象的参考位置点A、通过wifi定位得到参考位置点B、通过基站定位得到参考位置点C，参考位置点A、参考位置点B、参考位置点C的聚类中心或几何中心即为对象的定位位置点。
在一些实施例中，在获取一个或多个定位位置点后，可以对每个定位位置点进行预处理，如对接收到的每个定位位置点的信息进行检测，具体的预处理可以参见图18的说明中的步骤1801的相关说明。
步骤520，处理设备400可以基于一个或多个定位位置点与第一导航路线之间的位置关系，判断第一预设条件是否被满足。具体地，步骤520可以由判断模块420执行。
一个或多个定位位置点与第一导航路线之间的位置关系可以为定位位置点与第一导航路线之间的空间相对关系。位置关系包括定位位置点与第一导航路线之间的距离(如未特别说明，此处和下文所述的距离可以理解为水平距离)、高度差(可以为竖直距离)等。在一些实施例中，定位位置点与第一导航路线之间的关系可以通过坐标来体现。仅作为示例，可以基于坐标确定每个定位位置点与第一导航路线之间的垂直距离，再基于每个定位位置点与第一导航路线之间的垂直距离来确定定位位置点与第一导航路线之间的位置关系。在一些实施例中，当定位位置点与第一导航路线之间的垂直距离小于或等于预设距离阈值时，可以认为该定位位置点位于第一导航路线上，而当定位位置点与第一导航路线之间的垂直距离大于预设距离阈值时，可以认为该定位位置点不位于第一导航路线上。上述预设距离阈值可以自行设置或者根据实际应用情况(如定位信号的 强弱)调整。
第一预设条件可以为用于表征一个或多个定位位置点中的至少一个定位位置点不偏离第一导航路线。需要说明的是，定位位置点偏离第一导航路线不等同于对象处于偏航行驶状态，定位位置点偏离第一导航路线可能是由于定位不准造成的，也可能是由于对象在比第一导航路线更优的路线上行驶，因此，在判段第一预设条件是否满足后，还需进行进一步的确定操作，以确定对象是否处于偏航行驶状态。也就是说，第一预设条件未被满足，则说明至少一个定位位置点偏离第一导航路线。在一些实施例中，第一预设条件未被满足可以是至少一个定位位置点偏离第一导航路线。偏离第一导航路线的至少一个定位位置点可以是当前定位位置点，也可以是当前定位位置点的前一个定位位置或者当前定位位置点的后一个定位位置点。
在一些实施例中，第一预设条件可以是一个或多个定位位置点内存在偏航位置点。偏航位置点可以理解为偏离第一导航路线(可以是与第一导航路线之间的距离大于预设距离阈值)的位置点，偏航位置点偏离第一导航路线，可能是因为定位偏差(如定位信号弱造成的定位偏差)，也可能是因为对象未按照第一导航路线行驶(可能是对象在更优的行驶路线上行驶，该情况不一定是对象处于偏航行驶状态)。判断一个或多个定位位置点内是否存在偏航位置点，可以基于一个或多个定位位置点与第一导航路线之间的位置关系进行判断。若一个或多个定位位置点内存在偏航位置点，第一预设条件未被满足，若一个或多个定位位置点内不存在偏航位置点，第一预设条件被满足。
在一些实施例中，一个或多个定位位置点内存在偏航位置点(第一预设条件未被满足)可以理解为实时导航路线发生变化。实时导航路线可以是根据对象在开始出行时得到的第一行驶出发地和第一行驶目的地生成的初始导航路线，对象在沿初始导航路线行驶时，初始导航路线上对象的实时位置与第一行驶目的地之间的导航路线，也可以是对象在出行过程中按照初始导航路线行驶时，由于出行计划变更，例如变更第一行驶目的地，或者期间需要先去其他地点等，结 合对象在初始导航路线上的实时位置与变更后的第一行驶目的地之间的再次导航路线。优选的，本申请实施例中，实时导航路线可以是指初始导航路线上对象的实时位置与第一行驶目的地之间的导航路线。
其中，实时导航路线发生变化，可以是指实时导航路线对应的起始点和/或终点(例如对象的实时位置和第一行驶目的地)不变，而起始点之间导航路线发生了变化。
在一些实施例中，第一预设条件可以是第一导航路线上存在当前定位位置点的映射位置点(具体请参见图15的相关说明)。判断第一导航路线上是否存在当前定位位置点的映射位置点，可以基于一个或多个定位位置点与第一导航路线之间的位置关系进行判断。若第一导航路线上不存在当前定位位置点的映射位置点，则第一预设条件未被满足。若第一导航路线上存在当前定位位置点的映射位置点，则第一预设条件被满足。
在又一些实施例中，可以获取一个定位位置点的坐标信息，以该定位位置点为圆心，设定半径确定一个圆，判断该圆内是否存在第一导航路线的轨迹点。若是，判断该定位位置点没有偏离第一导航路线，第一预设条件被满足，若否，则判断该定位位置点偏离第一导航路线，第一预设条件未被满足。
步骤530，处理设备400可以响应于第一预设条件未被满足，基于与对象行驶关联的相关信息，确定对象是否处于偏航行驶状态。具体地，步骤530可以由确定模块430执行。
与对象行驶关联的相关信息可以为对象此次的行驶过程相关的信息。例如，与对象行驶关联的相关信息可以是导航路线信息、行驶路线信息、定位位置信息、第一行驶出发地信息、第一行驶目的地信息、行驶途经点信息、路网环境信息等。
在一些实施例中，偏航行驶状态可以为对象处于没有按照既定的导航路线行驶(即行驶在预定的导航路线之外的路线上)的状态。偏航行驶状态也可以理解为偏离了正常合理的行驶路线(如走错路)。在一些实施例中，当第一预设 条件是一个或多个定位位置点内存在偏航位置点时，与对象行驶关联的相关信息可以是偏航率、第一导航路线等。在另一些实施例中，当第一预设条件为第一导航路线上存在当前定位位置点的映射位置点时，与对象行驶关联的相关信息可以是定位位置点的信息(如位置信息、行驶方向信息等)。
步骤540，处理设备400可以响应于对象偏离行驶状态，向对象发出偏航提示。具体地，步骤540可以由偏航提醒模块440执行。
在一些实施例中，当确定对象处于偏航行驶状态，处理设备400可以将偏航提示发送给对象。例如，处理设备400可以将偏航提示发送给对象所使用的终端或车载导航的终端等设备，终端可以通过语音提示(如“您已偏航”的语音播报)，显示画面的文字提示(如“您已偏航”的文字提示)、显示画面的图像提示等来将偏航提示告知对象。
需要注意的是，以上对于偏航识别的方法和系统的描述，仅仅是为了方便对本发明的理解，并不能把本申请限制在所举实施例范围之内。可以理解的是，本领域普通技术人员在了解该原理后，可能在不背离这一原理的情况下，对实施上述方法和系统进行形式上和细节上的各种修正和改变，本发明中的多个步骤可能被分拆、合并或者在不影响后续步骤正常执行的前提下改变执行顺序或者穿插执行。本领域普通技术人员也可能在不改变本发明核心思想的前提下以及不明显影响本发明的执行效果的情况下添加或减少一些操作步骤。
在一些实施例中，判断第一预设条件是否被满足可以由多种方式来进行。在一些实施例中，可以基于图6所示的方法来判断第一预设条件是否被满足。在另一些实施例中，可以基于图15所示的方法来判断第一预设条件是否被满足。在其他一些实施例中，还可以通过判断对象行驶过程中的实际行驶路线与第一导航路线之间的相似度来判断第一预设条件是否被满足。可以理解地，还可以通过其他方式来判断第一预设条件是都被满足，本申请在此不在赘述。
图6是根据本申请一些实施例所示的判断第一预设条件是否被满足的示例性流程图。图6为图5中的步骤520的进一步说明。如图6所示，基于一个 或多个定位位置点与第一导航路线之间的位置关系，第一预设条件是否被满足的流程600包括下述步骤中的一个。在一些实施例中，流程600可以由处理设备400执行。具体地，流程600可以由判断模块420执行。
步骤610，判断模块420可以基于一个或多个定位位置点与第一导航路线之间的位置关系，判断一个或多个定位位置点内是否存在偏航位置点。
在本实施例中，一个或多个定位位置点与第一导航路线之间的位置关系可以是定位位置点与第一导航路线之间的距离。偏航位置点可以为与第一导航路线不匹配的定位位置点。例如，偏航位置点可以是与第一导航路线之间的垂直距离大于预设距离的定位位置点，或者偏航位置点可以是在坐标图上不位于第一导航路线所对应的线段上的定位位置点。
步骤620，判断模块420可以响应于一个或多个定位位置点内存在偏航位置点，判断第一预设条件未被满足。
当一个或多个定位位置点内存在偏航位置点，说明对象有可能处于偏航行驶状态，或者说对象的实时行驶路线开始与第一导航路线不符，此时，则判断第一预设条件未被满足，并可以继续执行图7所示流程的步骤710，以进一步确定对象是否处于偏航行驶状态。
步骤630，判断模块420可以响应于一个或多个定位位置点内不存在偏航位置点，判断第一预设条件被满足。
当一个或多个定位位置点内不存在偏航位置点时，说明对象不太可能处于偏航行驶状态，或者说对象的实时行驶路线与第一导航路线相符，因此无需执行进一步的判断流程。
图7是根据本申请一些实施例所示的确定偏航行驶状态的示例性流程图。图7为图5中的步骤530的进一步说明。如图7所示，基于与对象行驶关联的相关信息，确定对象是否处于偏航行驶状态的流程700包括下述步骤中的一个或多个。在一些实施例中，流程700可以由处理设备400执行。具体地，流程700可以由确定模块430执行。
步骤710，处理设备400可以获取偏航率、第一导航路线和第二导航路线。
可以理解地，偏航率、第一导航路线和第二导航路线均属于与对象行驶关联的相关信息。偏航率可以反映从偏离第一导航路线的至少一个定位位置点开始发生偏航行驶的可能性。在一些实施例中，偏航率可以为一个概率。
第二导航路线可以为第一预设条件未被满足的情况下从偏离第一导航路线的至少一个定位位置点至第一行驶目的地的新导航路线。当对象从第一行驶出发地开始即偏离第一导航路线时，第二导航路线可以是第一行驶出发地至第一行驶目的地的新路线。
在一些实施例中，初次导航轨迹(例如第一导航路线)为在实时导航路线发生变化之前，根据最初的对象的第一行驶出发地和第一行驶目的地生成的上述的初始导航路线对应的导航路线。二次导航轨迹为实时导航路线发生变化后，生成的从偏航位置(例如偏航位置点)至第一行驶目的地之间的新的路线。
偏航率可以通过多种方式获取。在一些实施例中，偏航路线可以基于路况信息来获得，例如，对于至少一个定位位置点而言，获取该定位位置点与第一行驶目的地之间的多条导航路线的拥堵程度信息，基于该拥堵信息确定该定位位置点的偏航率。如进一步可以基于各条导航路线以及第一导航路线的拥堵程度(例如以百分比标识)来进一步确定偏航率。仅作为示例，可以设置一个基础偏航率(如20％)，该基础偏航率可以是基于导航软件的历史导航数据获得，也可以是预先人工设定而存储到数据库中，还可以是通过其他方式获取。如果某条导航路线的拥堵程度低于第一导航路线的拥堵程度，则在基础偏航率的基础上增大偏航率，如增大到30％。
在另一些实施例中，偏航率可以基于与第一导航路线相关的历史行驶路线来确定。确定偏航率的流程包括以下步骤：获取与第一导航路线关联的一个或多个历史行驶路线；基于一个或多个历史行驶路线，确定在偏离第一导航路线的至少一个定位位置点处的偏航率。
可以理解地，与第一导航路线相关的历史行驶路线可以是：与第一导航路 线完全重合(出发地和目的地与第一导航路线均相同)的历史行驶路线，也可以是与第一导航路线部分重合的历史行驶路线(如，第一导航路线是历史行驶路线中的一段，或者历史行驶路线是第一导航路线中的一段，又或者历史行驶路线的一段与第一导航路线的一段重合)。
与第一导航路线关联的历史行驶路线可以是不同对象的历史行驶路线。确定与第一导航路线关联的历史行驶路线的方法可以有多种。在一些实施例中，可以基于第一导航路线上的多个轨迹点确定与第一导航路线关联的历史行驶路线。例如，获取第一导航路线上的任意100个轨迹点的坐标，计算第一导航路线上的该100个轨迹点位于历史行驶路线上的轨迹点的个数。可以预先设置个数阈值为70，若第一导航路线上的100个轨迹点位于历史行驶路线中的个数小于个数阈值，则判断该历史行驶路线与本次行驶的第一导航路线不关联；若第一导航路线上的该100个轨迹点位于历史行驶路线中的个数大于个数阈值，则判断该历史行驶路线与本次行驶的第一导航路线关联。
在另一些实施例中，可以计算第一导航路线与历史行驶路线的相似度，将与第一导航路线的相似度大于预设相似度阈值的历史行驶路线作为与第一导航路线关联的历史行驶路线。还可以通过其他的方式来确定与第一导航路线关联的历史行驶路线，本说明书中不再赘述。
在一些实施例中，偏离第一导航路线的至少一个定位位置点可以为当前定位位置点，在偏离第一导航路线的至少一个定位位置点处的偏航率可以为当前定位位置点的偏航率，当前定位位置点的偏航率可以为反映从当前定位位置开始发生偏航行驶的可能性(如概率)。
基于一个或多个历史行驶路线，确定在偏离第一导航路线的至少一个定位位置点处的偏航率的方法的流程可以包括以下步骤：从一个或多个历史行驶路线中，确定在偏离所述第一导航路线的至少一个定位位置点开始发生偏航行驶的第一历史行驶路线；基于第一历史行驶路线与历史行驶路线之间的数量关系，确定偏航率。
第一历史行驶路线可以为在至少一个定位位置点(如当前定位位置点)处开始发生偏航行驶的历史行驶路线。在一些实施例中，第一历史行驶路线与历史行驶路线之间的数量关系可以是第一历史行驶路线的数量与历史行驶路线的数量的比例，或者历史行驶路线与第一历史行驶路线的比例。
在另一些实施例中，第一历史行驶路线与历史行驶路线之间的数量关系可以是将第一历史行驶路线的计数值和历史行驶路线的计数值均加权后得到的二者的数量关系。具体地，可以在计算第一历史行驶路线的数量和历史行驶路线的数量时为各个第一历史行驶路线的计数值和各个历史行驶路线的计数值赋予权重。例如，可以基于时间为各个第一历史行驶路线的计数值和历史行驶路线的计数值赋予权重，第一历史行驶路线和历史行驶路线的完成时间越靠近当前时间，则赋予权重越高(如可以为1.2、1.5等)，第一历史行驶路线和历史行驶路线的完成时间越远离当前时间，则赋予权重越低(如可以为0.6、0.8等)。仅作为示例，5个历史行驶路线中第1个历史行驶路线的权重为0.6，第2个历史行驶路线的权重为0.8，第3个历史行驶路线的权重为1，第4个历史行驶路线的权重为1.2，第5个历史行驶路线的权重为1.5。其中第1个和第4个历史行驶路线为第一历史行驶路线。则偏航率可以为：(0.6+1.2)/(0.6+0.8+1+1.2+1.5)≈0.439。
在一些实施例中，偏航率可以提前确定，并被存储在存储设备中，偏航率可以直接从存储设备中读取。
在一些实施例中，对象可能在第二导航路线的基础上再次发生偏航，此时处理设备400或对象终端可以基于再次发生偏航的定位位置点到第一行驶目的地再次规划导航路线，如规划出第四导航路线(与本说明书中的三次导航轨迹概念相同)。此时可以获取与第二导航路线关联的一个或多个历史行驶路线，与第二导航路线关联的历史行驶路线的确定方法和与第一导航路线关联的历史行驶路线的确定方法类似，在此不再赘述。然后，可以基于与第二导航路线关联的一个或多个历史行驶路线确定在偏离第四导航路线的定位位置点处的偏航率(方 法与确定在偏离第一导航路线的定位位置点处的偏航率的方法类似)。在对象行驶的过程中，其可能多次处于偏航行驶状态，可以分别确定每个偏航的定位位置点的偏航率，以进行后续的计算。
在一些实施例中，若对象处于偏航行驶状态，可以基于一个或多个历史行驶路线和对象的实际行驶路线，确定在偏离第一导航路线的至少一个定位位置点的新偏航率；使用新偏航率更新至少一个定位位置点处的偏航率。在本实施例中，对象的实际行驶路线可以是偏航前沿第一导航路线行驶的路线与偏航后沿着第二导航路线行驶的路线的组合。当对象从第一行驶出发地开始即偏离第一导航路线时，对象的实际行驶路线可以是行驶出发地至第一行驶目的地的新导航路线(仅为第二导航路线)。当对象在第二导航路线上再次偏航时，对象的实际行驶路线可以是第一次偏航前沿第一导航路线行驶的路线、第一次偏航和第二次偏航之间沿第二导航路线行驶的路线，以及第二次偏航后沿第二次偏航的定位位置点到第一行驶目的地确定的新导航路线行驶的路线的组合。
步骤720，处理设备400可以基于偏航率、第一导航路线和第二导航路线中的一种或多种确定对象是否处于偏航行驶状态。
处理设备400可以基于偏航率、第一导航路线或第二导航路线来确定对象是否偏航行驶状态，处理设备400也可以基于上述三者中任意两者的组合或上述三者的组合来确定对象是否处于偏航行驶状态。
在一些实施例中，可以根据偏航率确定对象是否处于偏航行驶状态，可以通过设置预设偏航阈值，将偏航率与预设偏航阈值进行比较，确定对象对象是否处于偏航行驶状态。在一些实施例中，当偏航率小于预设偏航阈值，则确定对象处于偏航行驶状态。例如，偏离第一导航路线的某个定位位置点的偏航率为60％，预设的偏航阈值为70％，则确定对象处于偏航行驶状态。
在另一些实施例中，可以根据第一导航路线以及第二导航路线确定对象是否处于偏航行驶状态。具体地，可以获取在第一导航路线上从偏离第一导航路线的定位位置点至第一行驶目的地的路线(即第三导航路线)，获取与完成该第 三导航路线相关的第一信息(例如，预测的行驶时间信息、预测的油耗信息、路径长度信息等或其组合)，并获取第二导航路线相关的第二信息(例如，预测的行驶时间信息、预测的油耗信息、路径长度信息等或其组合)，再将第一信息与第二信息进行比对，确定所述对象是否处于偏航行驶状态，例如，第二信息中油耗的数值大于第一信息中油耗的数值，且之间的油耗差值大于预设的油耗差值，则可判断对象处于偏航行驶状态。或者，第二导航路线的第二信息中的路径长度大于第三导航路线的第一信息中的路径长度，则判断对象处于偏航行驶状态。
在一些实施例中，可以根据偏航率以及第二导航路线与第三导航路线之间的关系来共同确定对象是否处于偏航行驶状态，从而减小误判偏航的可能性。第二导航路线与第三导航路线之间的关系可以基于上述第一信息和第二信息来进行判断。例如，判断偏离第一导航路线的至少一个定位位置点的偏航率是否小于预设偏航阈值，同时判断基于第二导航路线的路径长度与第三导航路线的路径长度之间的关系。如果偏航率小于预设偏航阈值，且第二导航路线的第二信息中的路径长度大于第三导航路线的第一信息中的路径长度，则判断对象处于偏航行驶状态。
在一些实施例中，处理设备400可以执行以下操作中的一个或多个：响应于对象偏离行驶状态，可以从一个或多个历史行驶路线中，确定在偏离第一导航路线的至少一个定位位置点未发生偏航的第二历史行驶路线；确定第二导航路线与第二历史行驶路线之间的路线相似度；将路线相似度发送给对象。
可以理解地，计算第二导航路线与第二历史行驶路线之间的路线相似度的方法可以有多种。例如，可以在第二导航路线与第二历史行驶路线上分别间隔预设时间选取轨迹点，基于轨迹点的坐标来确定二者的路线相似度。又例如，可以先获取第二导航路线和第二历史行驶路线上的道路分叉点，再获取第二导航路线和第二历史行驶路线上各个道路分叉点后间隔预设时间的一个或多个轨迹点，再基于第二导航路线和第二历史行驶路线上道路分叉点后的轨迹点的坐标来确定二者的路线相似度。在一些实施例中，路线相似度可以与偏航提示一同发 给对象(如对象所使用的终端或车载导航的终端等设备等)。在另一些实施例中，发送路线相似度可以作为一种偏航提示的方式。
参照图8所示，图8是本申请另一些实施例所示的偏航识别的方法的示例性流程图，图8为上述图5所介绍的方法的一个实施例。图8所示的方法可以由上述的偏航识别的系统中的服务器、服务请求端和/或服务提供端中的一个或者多个处理器来执行，具体执行过程为：
S801：获取对象在出行过程中的实时导航路线。
进一步的，如果对象按照初始导航路线行驶时，第一行驶目的地临时变更，那么相应的初始导航路线就不能简单的认为是根据第一行驶出发地和变更后的第一行驶目的地生成的路线，而是由第一行驶出发地与变更第一行驶目的地时对象的实时位置之间的路线，和变更第一行驶目的地时对象的实时位置与变更后的第一行驶目的地之间的路线所组成。
S802：若检测到实时导航路线发生变化，获取与对象的第一行驶出发地和对象的第一行驶目的地相对应的每个历史出行订单对应的历史行驶路线，在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹。检测实时导航路线是否发生变化的方法，可参见上文的步骤520中判断第一预设条件是否被满足的具体方法。
该步骤中，如果在对象行驶的过程中，检测到实时导航路线发生变化的话，可以先获取对象此次出行的第一行驶出发地和第一行驶目的地，然后得到订单始发地和订单目的地，分别与第一行驶出发地和第一行驶目的地相对应的多个历史出行订单，和每个历史出行订单对应的历史订单轨迹(例如上文所述的历史行驶路线)，然后可以获取在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹。
S803：基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态。
该步骤中，在获取到多个历史订单轨迹、初次导航轨迹和二次导航轨迹后， 可以使用多个历史订单轨迹、初次导航轨迹和二次导航轨迹来进行判定，以确定出对象是否处于偏航行驶状态。
具体的，基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态，可以是先获取在检测到实时导航路线发生变化时，对象所处的偏航位置，鉴于行驶出现偏离的位置和出现偏离前一刻时的位置很近，可以认为是同一个位置，即偏航位置可以认为是对象在按照上述的初始导航路线行驶时，在对象行驶出现偏离的前一刻在初始导航路线上的实时位置。也就是说，此处的偏航位置可以为第一预设条件未被满足时，获取到的对象的行驶过程中的当前定位位置点。
然后可以从获取到的多个历史订单轨迹，通过计算或者查询基础路网数据等方式，确定出在偏航位置处的偏航率，将偏航率与预设偏航阈值进行比较，如果偏航率小于预设偏航阈值，并且二次导航轨迹的路径长度大于初次导航轨迹中从偏航位置至第一行驶目的地之间的路径长度，确定对象处于偏航行驶状态。
其中，基础路网数据，可以是指存储有各道路信息、各路点信息等的路网地图数据。相应的，查询基础路网数据的方式，可以是指使用多个历史订单轨迹，从基础路网数据记载的预先计算好的各路点和各历史订单轨迹相对应的数据中，查询在偏航位置处，与多个历史订单轨迹相对应的偏航率，这样，可以省去一些数据处理过程，减少数据处理量和处理时间。
进一步的，基于多个历史订单轨迹，确定在偏航位置处的偏航率，可以是根据与出行始发点和第一行驶目的地相对应的每个历史出行订单的订单信息，对多个历史订单轨迹进行筛选，从多个历史订单轨迹中确定出在偏航位置处出现偏航的历史订单轨迹，然后使用出现偏航的历史订单轨迹的数量和多个历史订单轨迹的总数量，计算出现偏航的历史订单轨迹与多个历史订单轨迹之间的数量比值，并将数量比值确定为在偏航位置处的偏航率。
S804：若对象处于偏航行驶状态，向对象发出偏航提示。
该步骤中，如果对象处于偏航行驶状态的话，可以向对象发出偏航提示，以提醒对象及时调整等。
具体的，如果对象处于偏航行驶状态，可以先确定多个历史订单轨迹中在偏航位置处未出现偏航的历史订单轨迹，然后确定二次导航轨迹与未出现偏航的历史订单轨迹之间的路线相似度，从而可以来判定偏航的程度，然后将路线相似度发送给对象，并向对象发出偏航提示。
其中，未出现偏航的历史订单轨迹，可以有多条路线，并且可以包括上述的初次导航轨迹。
由于未出现偏航的历史订单轨迹有多条，并且每条未出现偏航的历史订单轨迹基本可以认为是一致的，所以确定二次导航轨迹与未出现偏航的历史订单轨迹之间的路线相似度，可以是与未出现偏航的历史订单轨迹中的任意一条之间的相似度，也可以是与每条未出现偏航的历史订单轨迹的相似度的平均值。
本申请实施例提供的偏航识别的方法，获取对象在出行过程中的实时导航路线；若检测到实时导航路线发生变化，获取与对象的第一行驶出发地和对象的第一行驶目的地相对应的每个历史出行订单对应的历史订单轨迹，在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹；基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态；若对象处于偏航行驶状态，向对象发出偏航提示。
通过结合历史订单轨迹和实时导航路线变化前后的导航路线来识别对象的偏航情况，从而在出行过程中可以及时发现偏航情况，并对对象进行提醒，实时性佳，偏航识别的准确率高，可以有效降低由于偏航导致绕路和精力消耗的概率。
参照图9所示，[0017]图9是本申请另一些实施例所示的偏航识别的方法的示例性流程图，该方法可以由上述的偏航识别的系统中的服务器、服务请求端和/或服务提供端中的一个或者多个处理器来执行，具体执行过程为：
S901：获取对象在出行过程中的实时导航路线。
S902：若检测到实时导航路线发生变化，获取与对象的第一行驶出发地和对象的第一行驶目的地相对应的每个历史出行订单对应的历史订单轨迹，在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹。
S903：基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态。
S904：若对象处于偏航行驶状态，向对象发出偏航提示。
其中，步骤S901至步骤S904的描述可以参照步骤S801至步骤S804的描述，并可以达到相同的技术效果，在此不做赘述。
S905：若对象未处于偏航行驶状态，忽略此次实时导航路线的变化。
该步骤中，如果判断出对象未处于偏航行驶状态的话，那么就可以忽略此次实时导航路线的变化，认为对象的行驶没有问题。
在本申请的一些实施例中，在基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态之后，检测方法包括：
若对象处于偏航行驶状态，基于多个历史订单轨迹和对象按照实时导航路线行驶的实际路线，确定在对象此次出行后偏航位置处的偏航率，使用确定出的偏航率更新在对象此次出行前的基础路网数据中的偏航率。
该步骤中，基础路网数据中存储有各道路相关信息、各路点相关信息等，并且可以从基础路网数据中对相关信息进行查询以便取用，因此，也需要及时对基础路网数据进行更新，相应的，如果对象处于偏航行驶状态的话，由于在偏航位置处发生了偏航，对象按照实时导航路线行驶的实际路线在偏航位置处也属于多个历史订单轨迹中出现偏航的一个历史订单轨迹，那么就可以使用多个历史订单轨迹和实际路线来通过计算等方式，确定在对象此次出行后偏航位置处的偏航率，并且可以使用确定出的偏航率来对基础路网数据进行更新，以将在对象此次出行前的基础路网数据中的偏航率替换成确定出的偏航率。
其中，实际路线包括初次导航轨迹中对象从第一行驶出发地行驶至偏航位置之间的路线和二次导航轨迹。
在本申请的一些实施例中，在步骤S901之前，检测方法还可以包括：
在对象行驶过程中，若检测到对象接受了共同出行请求，获取共同出行请求的第二行驶出发地和第二行驶目的地，以及对象的实时行驶位置；基于第二行驶出发地、第二行驶目的地、实时行驶位置和对象的第一行驶目的地，确定对象在每段行驶路线中的第一行驶出发地和第一行驶目的地。
该步骤中，在对象的出行过程中，可能会遇到有人拼车，或者有人需要搭乘顺风车等情况，在这些情况下，可能会在行驶过程中改变行程，由此易产生偏航的误判断，因此，在对象行驶过程中，如果检测到对象接受了共同出行请求，例如有人拼车、搭乘顺风车、需要临时去接人等，可以获取共同出行请求的第二行驶出发地和第二行驶目的地，以及在对象接受共同出行请求时的实时行驶位置，然后可以通过将第二行驶出发地、第二行驶目的地、实时行驶位置和对象的第一行驶目的地进行排序，得到先后到达的顺序，从而划分出多段行程，得到多段行驶路线，并且可以确定出每段行驶路线中的第一行驶出发地和第一行驶目的地。
具体的，基于第二行驶出发地、第二行驶目的地、实时行驶位置和对象的第一行驶目的地，确定对象在每段行驶路线中的第一行驶出发地和第一行驶目的地，可以是基于第二行驶出发地的地理位置、第二行驶目的地的地理位置、实时行驶位置的地理位置和第一行驶目的地的地理位置，按照地理位置到达的先后，或者是到达每个地点的便利度等方式，确定对象从实时行驶位置依次去往第二行驶出发地、第二行驶目的地和第一行驶目的地的出行次序，即先到达哪个地点，再到达哪个地点，然后按照出行次序，依次确定每相邻的两个地点为每段行驶路线中的出发地和目的地，以及每相邻的两个地点之间的实时导航路线，以及实时导航路线所对应的实时导航路线。
示例性的，如图10所示，图10是对象接受共同出行请求后的实时导航 路线变化示意图，例如对象此次出行的第一行驶出发地1001和第一行驶目的地1002，对象在的第一行驶出发地1001和第一行驶目的地1002对应的实时导航路线1003中行驶，并在行驶到实时行驶位置1004时接受了第二行驶出发地1005和第二行驶目的地1006的共同出行请求，可以根据实时行驶位置1004、第一行驶目的地1002、第二行驶出发地1005和达到目的地1006的地理位置、乘车需求等因素，进行排序，例如可以先去第二行驶出发地1005接人，然后再将人送到达到目的地1006，最后去往第一行驶目的地1002，这样，可以将剩下的行程划分为三段，即从实时行驶位置1004到第二行驶出发地1005，再从第二行驶出发地1005到达到目的地1006，最后是从达到目的地1006到第一行驶目的地1002，每段路程可以作为一个单独的实时导航路线，按照每段实时导航路线对应的导航路线进行行驶，并在每段实时导航路线中检测偏航情况。
相应的，获取对象在出行过程中的实时导航路线，包括：获取对象在每段行驶路线中基于第一行驶出发地和第一行驶目的地确定的实时导航路线。
该步骤中，在有多段行驶路线的时候，可以针对每段行驶路线分别进行偏航识别，即获取对象的每段行驶路线，并基于每段行驶路线的第一行驶出发地和第一行驶目的地确定实时导航路线，从而可以有效减少偏航误判的几率。
本申请实施例提供的偏航识别的识别方法和系统，获取对象在出行过程中的实时导航路线；若检测到实时导航路线发生变化，获取与对象的第一行驶出发地和对象的第一行驶目的地相对应的每个历史出行订单对应的历史订单轨迹，在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹；基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态；若对象处于偏航行驶状态，向对象发出偏航提示；若对象未处于偏航行驶状态，忽略此次实时导航路线的变化。
这样，能够通过结合历史订单轨迹和实时导航路线变化前后的导航路线来识别对象的偏航情况，从而在出行过程中可以及时发现偏航情况，并对对象进行提醒，实时性佳，偏航识别的准确率高，可以有效降低由于偏航导致绕路和精 力消耗的概率。
本申请实施例提供的偏航识别的装置，获取对象在出行过程中的实时导航路线；若检测到实时导航路线发生变化，获取与对象的第一行驶出发地和对象的第一行驶目的地相对应的每个历史出行订单对应的历史订单轨迹，在实时导航路线发生变化之前对应的初次导航轨迹，以及在实时导航路线发生变化之后生成的二次导航轨迹；基于多个历史订单轨迹、初次导航轨迹和二次导航轨迹，确定对象是否处于偏航行驶状态；若对象处于偏航行驶状态，向对象发出偏航提示。
这样，能够通过结合历史订单轨迹和实时导航路线变化前后的导航路线来识别对象的偏航情况，从而在出行过程中可以及时发现偏航情况，并对对象进行提醒，实时性佳，偏航识别的准确率高，可以有效降低由于偏航导致绕路和精力消耗的概率。
根据本申请的另一个方面，提供一种电子设备，包括：处理器、存储介质和总线，存储介质存储有处理器可执行的机器可读指令，当电子设备运行时，处理器与存储介质之间通过总线通信，处理器执行机器可读指令，以执行如上述偏航识别的方法的步骤。
根据本申请的另一个方面，提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，计算机程序被处理器运行时执行如上述偏航识别的方法的步骤。
请参阅图14，图14是本申请实施例所提供的一种电子设备的结构示意图。如图14中所示，电子设备1400包括处理器1410、存储器1420和总线1430。
存储器1420存储有处理器1410可执行的机器可读指令，当电子设备1400运行时，处理器1410与存储器1420之间通过总线1430通信，机器可读指令被处理器1410执行时，可以执行如上述图8以及图9所示方法实施例中的偏航识别的方法的步骤，具体实现方式可参见方法实施例，在此不再赘述。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质 上存储有计算机程序，该计算机程序被处理器运行时可以执行如上述图8以及图9所示方法实施例中的偏航识别的方法的步骤，具体实现方式可参见方法实施例，在此不再赘述。
在本说明书一些实施例中，某些具体的名词可以包括与此名词相关的信息。例如，定位位置点包含定位位置点信息。相应的，在一些实施例中，涉及具体名词的操作，实际是针对与其相关的信息进行操作，后续不再赘述。
图15是根据本申请又一些实施例所示的判断第一预设条件是否被满足的的示例性流程图。如15所示，流程1500包括下述步骤中的一个或多个。在一些实施例中，流程1500可以由处理设备400执行。具体地，流程1500可以由判断模块420执行。
步骤1510，判断模块420可以基于一个或多个定位位置点与第一导航路线之间的位置关系，判断第一导航路线上是否存在当前定位位置点的映射位置点。
在一些实施例中，映射位置点可以是第一导航路线上与一个或多个定位位置点具有映射关系的位置点。在一些实施例中，所述映射关系可以是一个定位位置点沿着某个方向(例如，与第一导航路线具有最近距离的方向，与对象移动方向垂直的方向等)在第一导航路线上的投影。在一些实施例中，一个定位位置点沿着该方向在第一导航路线上的投影点要满足一个或多个条件才能被视为映射位置点。所述条件可以与该定位位置点与对应的投影点之间的距离有关。例如，如果该定位位置点与对应的投影点之间的距离小于或等于距离阈值，则该投影点可以被视为映射位置点。在对象行驶的过程中，当对象的定位位置点在第一导航路线上或与第一导航路线的距离较近时，对象的定位位置点可以在第一导航路线上确定映射位置点，与定位位置点形成绑定关系。
在一些实施例中，一个或多个定位位置点可以至少包括当前定位位置点。在一些实施例中，对象可以是服务提供端，第一导航路线可以是服务的当前订单对应的导航路线，当前定位位置可以是服务提供端在服务当前订单时与当前时 间匹配的时间上报的定位位置，与当前时间匹配的时间可以包括：当前时间、与当前时间最近的时间(例如，当前时间的前一个时间点，当前时间的后一个时间点等)、或者与当前时间之间时间差小于阈值的时间等。在另一些实施例中，一个或多个定位位置点可以包括当前定位位置点的前一定位位置点和/或后一定位位置点。在其他一些实施例中，一个或多个定位位置点也可以包括对象行驶过程中获取的其他定位位置点。在步骤1510中，也可以进一步判断第一导航路线上是否存在其他定位位置点的映射位置点。
位置关系可以与步骤610中所述的具体的位置关系相同(如距离)，也可以与步骤610中所述的位置关系不同。
判断模块420可以以多种方法，判断第一导航路线上是否存在当前定位位置点的映射位置点。在一些实施例中，可以当前定位位置点为圆心，以预先设定的半径画圆，如果该圆与第一导航路线有交点，则存在当前定位位置点的映射位置点。又例如，如果当前定位位置点与第一导航路线之间的距离(如垂直距离、直线距离等)大于预设距离，则存在当前定位位置点的映射位置点。
在一些实施例中，一个或多个定位位置点与第一导航路线的位置关系，可以包括一个或多个定位位置点与第一导航路线的第一距离，第一距离可以基于一个或多个定位位置点的位置信息来确定。判断模块420可以基于第一距离，判断第一导航路线上是否存在当前定位位置点的映射位置点。具体的判断方法可参见图16的相关说明，此处不再赘述。
第一距离可以指反映各个定位位置点与第一导航路线的远近程度的量。计算第一距离的方法，可以有多种。例如，第一距离可以是一个或多个定位位置点中每个定位位置点到第一导航路线的垂直距离，或者第一距离也可以是一个或多个定位位置点中每个定位位置点沿着某一方向(如与行驶方向垂直的方向)到第一导航路线的距离。
仅作为示例，如果对象是执行航拍任务或投递任务的无人机，那么当前定位位置点的位置(又称当前定位位置)可以是无人机上的定位装置实时上报的位 置。第一导航路线可以是预先设定的航拍路线或投递路线。判断模块可以基于无人机的当前定位位置与第一导航路线的位置关系，判断第一导航路线上是否存在当前定位位置点的映射位置点。例如，如果无人机的当前定位位置点的高度大于第一导航路线上的轨迹点的最大高度一定阈值，则判定不存在该当前定位位置点的映射位置点。又例如，如果无人机的当前定位位置点到第一导航路线上的轨迹点的最小距离小于一定阈值，则判定存在该当前定位位置点的映射位置点。
作为另一示例，如果对象是被运输的实体，例如，商品、外卖、货物、驾驶员、乘客、宠物等，当前定位位置点的位置(又称当前定位位置)可以是实体携带或配置在实体上的手机、手环、手表、定位器等装置实时上报的位置。第一导航路线可以是预先设定的运输路线。判断模块可以基于实体的当前定位位置与第一导航路线的位置关系，判断第一导航路线上是否存在当前定位位置点的映射位置点。例如，如果实体的当前定位位置的信号强度小于第一导航路线上的轨迹点的信号强度最小值一定阈值，则判定不存在该当前定位位置点的映射位置点。又例如，如果实体的当前定位位置点到第一导航路线上的轨迹点的最小距离小于一定阈值，则判定存在该当前定位位置点的映射位置点。
步骤1520，判断模块420可以响应于第一导航路线上不存在当前定位位置点的映射位置点，判断所述第一预设条件未被满足。
若第一导航路线上不存在当前定位位置点的映射位置点，说明对象有可能处于偏航行驶状态，或者说对象的实时行驶路线开始与第一导航路线不符，此时，则判断第一预设条件未被满足，并可以继续执行图17所示流程的步骤1700，以进一步确定对象是否处于偏航行驶状态。
步骤1530，判断模块420可以响应于第一单行路线上存在当前定位位置点的映射位置点，判断第一预设条件被满足。
如果第一导航路线上存在当前定位位置点的映射位置点，则说明对象不太可能处于偏航行驶状态，或者说对象的实时行驶路线与第一导航路线相符，因此无需执行进一步的判断流程。
基于第一距离，处理设备可以使用多种方法，判断第一导航路线上是否存在当前定位位置点的映射位置点。
在一些实施例中，第一距离可以为各个定位位置点到第一导航路线的垂直距离。基于第一距离，判断第一导航路线上是否存在当前定位位置点的映射位置点，可以包括以下步骤：根据每个所述定位位置点分别到所述第一导航路线的垂直距离，确定多个定位位置点与所述第一导航路线的平均垂直距离；基于所述当前定位位置点到所述第一导航路线的垂直距离以及所述平均垂直距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点。例如，如果当前定位位置点到第一导航路线的垂直距离大于平均垂直距离，则确定第一导航路线上不存在当前定位位置点的映射位置点，如果当前定位位置点到达第一导航路线的垂直距离小于等于平均垂直距离，则确定第一导航路线上存在当前定位位置点的映射位置点。可以理解地，在本实施例中，平均垂直距离也可以替换为其他类型距离的平均值，或者替换为加权平均垂直距离。
需要说明的是，加权平均垂直距离可以按照以下步骤中的一个或多个确定：步骤一，计算每个定位位置点到第一导航路线的垂直距离。步骤二，为步骤一得到的各个定位位置点与第一导航路线的垂直距离，设置不同的权重。该权重可以与定位位置点与当前定位位置点的远近有关，例如，越远的定位位置点所占权重越小。该权重还可以与对象在定位位置点的行进方向有关，例如，定位位置点行进方向与当前定位位置点行进方向的夹角越小，该定位位置点所占权重越大。该权重还可以与定位位置点处的信号强度有关，例如，定位位置点处的信号越强，该定位位置点所占权重越大。步骤三，根据各个定位位置点与第一导航路线的垂直距离及其权重，得到加权平均垂直距离。
在一些实施例中，可以按图16所示的方法，基于第一距离，判断第一导航路线上是否存在当前定位位置点的映射位置点。
图16是根据本申请又一些实施例所述的判断是否存在映射位置点的示例性流程图。如图16所示，流程1600可以包括下述步骤中的一个或多个。在一些 实施例中，流程1600可以由处理设备400执行。
步骤1610，判断模块420可以基于第一距离，在第一导航路线上确定一个或多个候选映射点。
候选映射点可以为有可能被确定为映射位置点的第一导航路线上的轨迹点。基于第一距离，在第一导航路线上确定一个或多个候选映射点的方法可以有多种。在一些实施例中，可以将当前定位位置点到所述第一导航路线的垂直距离与平均垂直距离进行比较，候选映射点可以为第一导航路线上的轨迹点中与当前定位位置点的距离小于平均垂直距离的定位位置点。在另一些实施例中，候选映射点可以是第一导航路线上的轨迹点中与当前定位位置点的距离等于所述平均垂直距离的位置点。在一些实施例中，如果当前定位位置点到第一导航路线的垂直距离大于所述平均垂直距离，则判断第一导航路线上不存在当前定位位置点的映射位置点。
在另一些实施例中，可以在地图上以当前定位位置点为圆心，以平均垂直距离(例如加权平均垂直距离)为半径画圆，位于圆内的第一导航路线上的轨迹点可以作为候选映射点。
在一些实施例中，可以基于当前定位点的位置信息和候选映射点的位置信息来判断第一导航路线上是否存在当前定位位置点的映射位置点。例如，可以在第一导航路线上初步选择若干个轨迹点，计算当前定位位置点与若干个轨迹点中每个轨迹点之间的距离。可以将上述各个距离进行排序，然后挑选出距离最近的预设数量(如3个或5个等)的轨迹点作为候选映射点。
步骤1620，判断模块420可以基于一个或多个候选映射点的行驶方向信息和当前定位位置点的行驶方向信息，判断第一导航路线上是否存在当前定位位置点的映射位置点。
在一些实施例中，当前定位位置点的信息可以包括位置信息(如坐标)、行驶方向信息(如方向角)等。当前定位位置点的方向角可以为行驶方向与预设方向(如正北方、正南方等)之间形成的角。候选映射点的信息可以包括位置信 息(如坐标)、方向信息(如方向角)。候选映射点的方向角可以为候选映射点所在位置处第一导航路线的切线与预设方向(如正北方、正南方等)之间形成的角。因此，可以进一步基于当前定位位置点的信息和候选映射点的信息来判断第一导航路线上是否存在当前定位位置点的映射位置点。
在另一些实施例中，可以基于一个或多个候选映射点的方向信息和当前定位位置点的行驶方向信息，来判断第一导航路线上是否存在当前定位位置点的映射位置点。
在一些实施例中，可以基于一个或多个候选映射点的方向角和当前定位位置点的方向角进行判断。例如，判断是否存在至少一个候选映射点的方向角与当前定位位置点的方向角匹配；若存在至少一个候选映射点处的方向角与所述当前定位位置点的方向角匹配，则将与所述当前定位位置点的方向角匹配的方向角对应的候选映射点作为所述映射位置点。在一些实施例中，候选映射点的方向角与当前定位位置点的方向角匹配可以理解为二者相差较小(如小于预设角度阈值)。
在一些实施例中，可以通过多种方法判断候选映射点的方向角与当前定位位置点的方向角是否匹配。例如，如果候选映射点的方向角与当前定位位置点的方向角的差值小于预设角度阈值(例如，10°、20°等)，则认为候选映射点处的方向角与所述当前定位位置点的方向角匹配。如果对象在当前定位位置点处车速过快，如超过预设车速阈值(如80km/h)，此时所采集的方向角的精度可能较低，该预设角度阈值可以适度增大，如增大2°、5°等。
步骤1630，响应于第一导航路线上存在所述当前定位位置点的映射位置点，将当前定位位置点的位置信息替换为映射位置点的位置信息。具体地，步骤1630可以由信息替换模块执行。
在一些实施例中，将当前定位位置点的位置信息替换为映射位置点的位置信息的方法可以是，使用映射位置点的坐标来替换当前定位位置点的坐标。在界面(如服务请求者所持有的服务请求端的界面)上显示的服务提供者所驾驶车 辆的行驶轨迹时，不显示当前定位位置点，而显示映射位置点，服务请求端显示的服务提供者所驾驶的车辆的行驶轨迹仍然位于第一导航路线上。
在一些实施例中，与对象行驶关联的相关信息可以至少包括一个或多个定位位置点的信息。基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态，可以包括：至少基于一个或多个定位位置点的信息，确定对象是否处于偏航行驶状态。
图17是根据本申请又一些实施例所示的确定偏航行驶状态的示例性流程图。如图17所示，基于一个或多个定位位置点的信息，确定对象是否处于偏航行驶状态的流程1700包括下述步骤。在一些实施例中，流程1700可以由处理设备400执行。具体地，流程1700可以由确定模块430执行。
步骤1710，处理设备400可以获取当前定位位置点及其相关信息。
在步骤1710中，当前定位位置点的相关信息可以包括当前定位位置点的坐标、当前定位位置点的上一定位位置点的坐标和/或当前定位位置点与上一定位位置点的获取时间间隔。一个或多个定位位置点的信息可以包括各个定位位置点的精度因子和坐标。
在一些实施例中可以根据对象由上一定位位置点到达当前定位位置点的平均速度值预设速度阈值，确定当前定位位置点是否为坏点，当当前定位位置点为坏点时，可以将删除。
具体地，可以基于当前定位位置点的坐标、当前定位位置点的上一定位位置点的坐标以及当前定位位置点和上一定位位置点的获取时间间隔，确定对象由上一定位位置点到达当前定位位置点的平均速度值。若平均速度值小于或等于预设速度阈值，则基于包含当前定位位置的多个定位位置点的精度因子，获得多个定位位置点对应的精度因子方差。若精度因子方差小于设定精度因子阈值，保留当前定位位置点。反之，若精度因子方差大于等于预设精度因子阈值，则删除当前定位位置点。通过这样的方法，可以提高所获取到的当前定位位置点的精度，保证后续识别对象是否处于偏航行驶状态的判断精准度。预设速度阈值可以 是提前根据大量服务提供端的行驶速度确定。
步骤1720，处理设备400可以确定一个或多个定位位置点中每个定位位置点与第一导航路线之间的第二距离。
在一些实施例中，第二距离与第一距离的定义可以是类似的。在一些实施例中，第一距离和第二距离可以是相同的，例如可以都是一个或多个定位点中每个定位位置点到第一导航路线的垂直距离。第一距离与第二距离也可以是不同的，例如第一距离可以是一个或多个定位点中每个定位位置点到第一导航路线的垂直距离，第二距离可以是一个或多个定位位置点中每个定位位置点沿着某一方向(如与行驶方向垂直的方向)到第一导航路线的距离。
在一些实施例中，可以基于一个或多个定位位置点的坐标，确定每个定位位置点分别到第一导航路线的垂直距离，并将垂直距离作为第二距离。
步骤1730，处理设备400可以基于第二距离，确定当前定位位置点是否偏离第一导航路线。
在一些实施例中，可以基于当前定位位置点到第一导航路线的第二距离，进一步确定当前定位位置点是否偏离第一导航路线。在一些实施例中，如果当前定位位置点到第一导航路线的第二距离小于或等于预设的第二距离阈值，则认为当前定位位置点没有偏离第一导航路线；如果当前定位位置点到第一导航路线的第二距离大于预设的第二距离阈值，则认为当前定位位置点偏离第一导航路线。
在另一些实施例中，可以基于一个或多个定位位置点的每个定位位置点与第一导航路线之间的第二距离，确定多个所述第二距离的距离方差，再判断所述距离方差是否超过预设方差阈值；若所述距离方差超过所述预设方差阈值，则确定所述当前定位位置点偏离所述第一导航路线。
在一些实施例中，处理设备400响应于当前定位位置点偏离第一导航路线，从一个或多个定位位置点中确定出偏离第一导航路线的偏离定位位置点。偏离定位位置可以为一个或多个定位位置点中不位于第一导航路线上的定位位置 点。
步骤1740，处理设备400可以响应于当前定位位置点偏离所述第一导航路线，基于当前定位位置点，将偏离定位位置点进行数量更新。具体地，步骤1740可以由数量更新模块491执行。
在一些实施例中，偏离定位位置点的数量信息可以存储在数据库中，如果当前定位位置点偏离第一导航路线，则在数据库中将偏离定位位置点的数量进行计数加一。通过这样的方法，可以对偏离定位位置点的数量及时进行更新，从而能够更准确更及时地识别出对象是否处于偏航行驶状态。
在一些实施例中，如果当前定位位置点没有偏离第一导航路线，可以在数据库中将偏离定位点的数量进行计数清零。
步骤1750，若当前定位位置点偏离第一导航路线，从一个或多个定位位置点中确定出偏离第一导航路线的偏离定位位置点。
判断一个或多个定位位置点中除当前定位位置点之外的其他定位位置点(即在获取当前定位位置点之前获取的定位位置点)是否偏离第一导航路线(即是否是偏离定位位置点)的方法与判断判断当前定位位置点是否偏离第一导航路线的方法类似。在一些实施例中，确定偏离定位位置点可以包括确定偏离定位位置点的数量。
步骤1760，基于偏离定位位置点的信息，确定对象是否处于偏航行驶状态。
在一些实施例中，可以基于所述偏离定位位置点的数量和预设数量阈值，确定所述对象是否处于偏航行驶状态。例如，如果偏离定位位置点的数量小于预设数量阈值，则确定对象未处于偏航行驶状态；如果偏离定位位置点的数量大于或等于预设数量阈值，则确定对象处于偏航行驶状态。
需要说明的是，在上述步骤中，步骤1710中判断当前定位位置点是否删除的操作可以不执行，直接在步骤1720中直接基于获取到的当前定位位置点执行后续操作。另外，步骤1740可以在步骤1750之前执行，也可以在步骤1760 后再执行。
在一些实施例中，当确定对象处于偏航行驶状态后，可以基于偏离定位位置点的信息和当前定位位置点的信息，更新所述第一导航路线。具体地，该更新第一导航路线的操作可以由路线更新模块执行。
在一些实施例中，将第一导航路线在服务请求端更新时，可以使用与更新前的第一导航路线不同的颜色。例如，更新前的第一导航路线在服务请求端以蓝色显示，更新后的第一导航路线以黄色显示。
图18是根据本申请再一些实施例所示的偏航识别的方法的流程示意图；在以下内容中，以对象为服务提供端为例进行说明。
术语“服务请求”和“订单”可互换使用，以指代由乘客、服务请求方、司机、服务提供方、或供应商等、或其任意组合发起的请求。接受该“服务请求”或“订单”的可以是乘客、服务请求方、司机、服务提供方、或供应商等、或其任意组合。服务请求可以是收费的或免费的。
目前，服务提供端在服务当前订单时，可以将自身的定位位置点信息发送至后台服务器，后台服务器能够基于这些定位位置点信息生成服务提供端的行驶轨迹信息，并将该行驶轨迹信息发送至服务请求端，若因服务提供端的定位部件的精度因子问题或者环境因素，导致服务提供端向后台服务器发送的定位位置点信息不准确，因此后台服务器基于这些不准确的定位位置点信息生成的该服务提供端的行驶轨迹信息也就不准确，进而导致基于该行驶轨迹信息确定的服务提供端是否偏离导航路线(例如第一导航路线)的结果也就不准确，针对此本申请实施例提供了一种偏航识别的方法，将结合以下具体实施例进行详细阐述。
如图18所示，偏航识别的方法，包括以下具体步骤1801～1803：
步骤1801，接收服务提供端在服务当前订单时按照设定时间间隔上报的该服务提供端的定位位置点信息。
在一些实施例中，服务提供端可以是与服务提供方关联的平板计算机、膝 上型计算机、或机动车辆中的内置设备比如车载终端，在出行领域，这里的服务提供方为司机。
当服务请求端(乘客端)发起订单请求，后台服务器基于该服务请求为服务请求端分配对应的服务提供端后，即可以基于该订单请求中的服务请求端的出发地位置信息和服务提供端的当前位置信息确定与该当前订单对应的导航路线，然后提示服务提供端按照该导航路线前往接驾。
服务提供端在前往接驾过程中，可以按照设定时间间隔，比如每隔1s向后台服务器上报该服务提供端的定位位置点信息，然后后台服务器能够根据该定位位置点信息确定服务提供端的行驶轨迹，进而确定司机端是否偏离导航路线。
在一些实施例中，考虑到服务提供端上报的定位位置点信息有些可能是明显不准确的，因此需要对接收到的每个定位位置点信息进行检测，具体地，步步骤1801中接收服务提供端在服务当前订单时按照设定时间间隔上报的该服务提供端的定位位置点信息，可以包括：
(1)针对接收到的每一个定位位置点信息，提取该定位位置点信息中的定位位置点的精度因子、方向角和速度值；
(2)若定位位置点的精度因子不大于设定精度因子阈值、定位位置点的方向角不小于0且定位位置点的速度值不小于0，则保留该定位位置点信息；否则，删除该定位位置点信息。
在一些实施例中，定位位置点的精度因子可以指定位位置点的坐标的水平精度因子。在一些实施例中，精度因子越小，表明服务提供端上报的定位位置点信息中该服务提供端的坐标越接近真实位置，比如精度因子等于1000dm，则表明该坐标的误差范围为1000dm。在一些实施例中，设定精度因子阈值相当于设定一个最大误差范围，当定位位置点的精度因子大于该最大误差范围时，考虑到该定位位置点的坐标与服务提供端的真实位置相差较大，可以将该定位位置点信息删除。
这里定位位置点的方向角是指服务提供端的行驶方向与大地坐标系的正北方向之间的方向夹角，该方向角也可以通过速度方向来表征，该方向角在正常情况下是大于或者等于0的，当定位位置点的方向角小于0时，说明该服务提供端提供的定位位置点信息是错误的数据，也可以将该定位位置点信息删除。
这里的定位位置点的速度值是指服务提供端在行驶时的瞬时速度值，该瞬时速度值在正常情况下是大于或等于0的，当该瞬时速度值小于0时，说明该服务提供端提供的定位位置点信息是错误的数据，也可以将该定位位置点信息删除。
步骤1802，判断与当前订单对应的导航路线(例如第一导航路线)上是否存在服务提供端的当前定位位置点的映射位置点。下文中的导航路线均可以理解为第一导航路线，下文中不再赘述。
考虑到服务提供端的定位部件的精度问题，使得定位位置点产生漂移，即服务提供端即使位于导航路线上，但是其上报的定位位置点的坐标可能不在导航路线上，此时需要首先考虑能否通过一些方式在确定导航路线上是否存在服务提供端的当前定位位置点的映射位置点。
具体地，这里每个定位位置点信息可以包括该定位位置点的坐标和方向角，如图19所示，可以按照以下方式判断与当前订单对应的导航路线上是否存在服务提供端的当前定位位置点的映射位置点，具体包括步骤1901～1902：
步骤1901，基于与当前订单对应的包含当前定位位置点的多个定位位置点的坐标，确定每个定位位置点分别到导航路线的垂直距离。
具体地，可以将这里多个定位位置点的坐标以及导航路线均转换至图像坐标系中，然后可以在图像坐标系中确定出每个定位位置点分别到导航路线的垂直距离。
步骤1902，根据每个定位位置点分别到导航路线的垂直距离，确定多个定位位置点与导航路线的平均垂直距离。
这里可以按照如下公式1计算平均垂直距离：
Figure PCTCN2020131562-appb-000001
其中，M表示平均垂直距离，n表示定位位置点的个数，d i表示第i个定位位置点与导航路线的垂直距离。
步骤1903，基于平均垂直距离、当前定位位置点的坐标、当前定位位置点的方向角和导航路线的方向角判断导航路线上是否存在当前定位位置点的映射位置点。
这里当前定位位置点的方向角包含在服务提供端上报的定位位置点信息中。方向角可以表示服务提供端的行驶方向与大地坐标系中的正北方向的夹角，导航路线的方向角表示导航路线与大地坐标系中的正北方向的夹角。
具体地，步骤1903中，基于平均垂直距离、当前定位位置点的坐标、当前定位位置点的方向角和导航路线的方向角判断导航路线上是否存在当前定位位置点的映射位置点，如图20所示，具体包括以下步骤2001～2005：
步骤2001，将当前定位位置点到达导航路线的垂直距离与平均垂直距离进行比较。
步骤2002，若当前定位位置点到达导航路线的垂直距离大于平均垂直距离，确定导航路线上不存在当前定位位置点的映射位置点。
这里若当前定位位置点到达导航路线的垂直距离具体可以是当前定位位置点到达导航路线的边缘的垂直距离，若导航路线为弯曲状路线，则可以是当前定位位置点到达导航路线的边缘的切线的垂直距离，若垂直距离大于平均垂直距离，则确定导航路线上不存在当前定位位置点的映射位置点，即无法将该当前定位位置点绑定在导航路线上。
步骤2003，若当前定位位置点到达导航路线的垂直距离小于或等于平均垂直距离，则基于当前定位位置点的坐标和平均垂直距离，在导航路线上查找到与当前定位位置点的距离等于平均垂直距离的待选位置点(例如，候选映射点)。
如果确定当前定位位置点到达第一导航路线的垂直距离小于或等于平均 垂直距离，则可以在导航路线上查找到与当前定位位置点的距离等于平均垂直距离的待选位置点，具体地，可以将导航路线和当前定位位置点均放置于图像坐标系中，因为导航路线可以看成有多个位置点构成的，可以在图像坐标系中找到与当前定位位置点等于平均垂直距离的待选位置点。
在一些实施例中，为了更加准确地判断这些待选位置点是否为该当前定位位置点的映射位置点，需要进一步考虑其它因素，比如可以考虑方向角。
步骤2004，判断是否存在至少一个待选位置点处的导航路线的方向角与当前定位位置点的方向角相符。
比如，如图21所示，针对当前定位位置点A，在导航路线上找到该当前定位位置点A的两个待选位置点A1和A2，其中当前定位位置点A的方向角与正北方向的夹角为角1，待选位置点A1处的导航路线的方向角是指待选位置点A1处的导航路线的切线与正北方向的方向角，这里导航路线的切线方向与服务提供端的行驶方向对应，比如图21中，若根据服务提供端的轨迹朝向，判断出服务提供端的行驶方向为东，则可以看出待选位置点A1对应的方向角为角2，待选位置点A2对应的方向角为角3，进一步通过比对，可以确定角2与角1更接近，则可以确定导航路线上存在待选位置点A1处的导航路线的方向角与当前定位位置点的方向角相符。
步骤2005，若存在至少一个待选位置点处的导航路线的方向角与当前定位位置点的方向角相符，将与当前定位位置点的方向角相符的方向角对应的待选位置点作为映射位置点。
以上述实施例为例，可以确定当前定位位置点A的映射位置点为A1。
进一步地，本申请实施例提供的偏航识别的方法还包括：
(1)在确定导航路线上存在映射位置点后，将服务提供端的行驶轨迹信息中的当前定位位置点的坐标替换为映射位置点的坐标；
(2)将更新后的该服务提供端的行驶轨迹信息发送至服务请求端。
在一些实施例中，在确定出导航路线上存在映射位置点后，比如上述确定 出导航路线上存在当前定位位置点A的映射位置点A1后，可以用该映射位置点A1的坐标替换当前定位位置点的坐标，这样，在当前定位位置点漂移出导航路线之外后，可以用导航路线上的映射位置点来替换该当前定位位置点，这样，乘客端显示的司机端的行驶轨迹仍然位于导航路线上，从而避免因服务提供端上报的定位位置点信息发生漂移，因而基于漂移的定位位置点信息生成的服务提供端的行驶轨迹信息不准确，造成乘客取消订单，浪费资源的问题。
另外，这里在将服务提供端的行驶轨迹信息中的当前定位位置点的坐标替换为映射位置点的坐标之前，还可以考虑当前定位位置点是否为一个坏点，比如当前定位位置点与上一个定位位置点相差的距离超过了预设距离阈值，如按照车辆的正常行驶速度，在时间间隔为1秒时，相邻的两个点之间的距离有个最大预设距离阈值，可以通过考虑当前定位位置点与上一个未被删除的定位位置点之间的距离是否超过对应的最大预设距离阈值，若超过了，说明该当前定位位置点本身可能是坏点，则不会基于该当前定位位置点的映射位置点对服务提供端的行驶轨迹信息进行更新。
另外，这里还可以考虑通过计算当前定位位置点与上一个定位位置点之间的平均速度值，通过判断该平均速度值是否大于预设速度阈值来确定该定位位置点是否为坏点，比如，两个相邻的定位位置点之间的间隔时间为1s，服务提供端按照正常行驶速度行驶时，从上一个定位位置点行驶至该当前定位位置点的平均速度值可以设置一个速度阈值，当确定当前定位位置点与上一个定位位置点之间的平均速度值大于该速度阈值时，说明该当前定位位置点本身可能是坏点，同样不会基于该当前定位位置点的映射位置点对服务提供端的行驶轨迹信息进行更新。
以上判断与当前订单对应的导航路线上是否存在服务提供端的当前定位位置点的映射位置点的方式只是其中一种具体的实施例，还可以通过其它实施例判断是否存在映射位置点，比如可以根据当前定位位置点与导航路线对应的轨迹点之间的最小距离来判断，因为导航路线可以看成由大量的轨迹点构成，可 以考虑当前定位位置点与这些轨迹点之间的最小距离是否小于预设距离阈值来判断是否存在映射位置点，在此不再赘述。
步骤1803，如果确定导航路线上不存在映射位置点，可以基于与当前订单对应的包含当前定位位置点的多个定位位置点分别到导航路线的垂直距离，确定服务提供端是否偏离导航路线。
在一些实施例中，如果确定出导航路线上不存在映射位置点，即不能对该当前定位位置点绑线成功时，考虑到该当前定位位置点与导航路线之间的垂直距离比较远，此时服务提供端可能发生了偏航，为了进一步确定服务提供端是否发生偏航，可以基于与当前订单对应的包含当前定位位置点的多个定位位置点分别到导航路线的垂直距离，来确定服务提供端是否偏离导航路线。
具体地，如图22所示，步骤1803中，可以基于与当前订单对应的包含当前定位位置点的多个定位位置点分别到导航路线的垂直距离，确定服务提供端是否偏离导航路线，包括以下具体步骤2201～2202：
步骤2201，基于多个定位位置点分别到第一导航路线的垂直距离，判断当前定位位置点是否偏离第一导航路线；
步骤2202，如果确定当前定位位置点偏离导航路线，基于服务提供端在行驶过程中偏离导航路线的定位位置点的数量和预设数量阈值，确定服务提供端是否偏离导航路线。
这里在确定服务提供端是否偏离导航路线的过程可以包括两个步骤，第一个步骤可以基于多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离导航路线，这里的多个定位位置点可以包含当前定位位置点；第二个步骤可以在确定当前定位位置点偏离导航路线后，再根据服务提供端在行驶过程中偏离导航路线的定位位置点的数量和预设数量阈值，继续判断服务提供端是否偏离导航路线。
在一些实施例中，，服务提供端上报的每个定位位置点信息包括该定位位置点的精度因子和坐标。在一些实施例中，如果步骤1803确定导航路线上不存 在映射位置点，步骤2201基于多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离导航路线之前，本申请实施例提供的偏航识别的方法还可以包括：
(1)基于当前定位位置点的坐标、该当前定位位置点的上一定位位置点的坐标，以及接收当前定位位置点和上一定位位置点的时间间隔，确定服务提供端由上一定位位置点到达当前定位位置点时对应的平均速度值。
这里上一定位位置点为服务器保留的与当前定位位置点相邻的上一个定位位置点，比如服务提供端按照每隔1s上报一个定位位置点信息，若截止到当前时刻，后台服务器接收到第10个定位位置点信息，且该第10个定位位置点信息未被删除，则当前定位位置点即为第10个定位位置点，当前定位位置点的上一定位位置点为与该第10个定位位置点相邻的且未被删除的定位位置点。
这里，若当前定位位置点为第10个定位位置点，上一个定位位置点为第9个定位位置点，则接收这两个定位位置点的时间间隔为1s；若当前定位位置点为第10个定位位置点，上一个定位位置点为第8个定位位置点，则接收这两个定位位置点的时间间隔为2s。这样，若根据坐标确定了上一定位位置点与当前定位位置点之间距离差，则可以确定出服务提供端由上一定位位置点到达当前定位位置点时对应的平均速度值。
(2)如果确定平均速度值小于或等于预设速度阈值，可以基于多个定位位置点的精度因子，得到多个定位位置点对应的精度因子方差。
这里的预设速度阈值可以是提前根据大量服务提供端的行驶速度确定的，若平均速度值大于该预设速度阈值，则可以确定当前定位位置点为坏点，可以直接将该当前定位位置点删除，继续等待接收下一个定位位置点。
在确定上述确定的平均速度值小于或等于预设速度阈值后，还可以继续基于包含当前位置点的多个定位位置点的精度因子，确定多个定位位置点对应的精度因子方差，具体可以根据以下公式2来确定该精度因子方差：
Figure PCTCN2020131562-appb-000002
其中，V P表示精度因子方差；n表示定位位置点个数；P i表示第i个定位位置点的精度因子；
Figure PCTCN2020131562-appb-000003
表示n个定位位置点的精度因子的平均值。
(3)如果确定精度因子方差小于设定精度因子阈值，则确定保留当前定位位置点。
如果确定精度因子方差小于设定精度因子阈值，说明包含该当前定位位置点的多个历史定位位置点的精度因子的波动范围较小，则可以确定该当前定位位置点的精度因子与之前的多个历史定位位置点的精度因子比较接近，即该当前定位位置点的精度因子比较稳定，不是坏点，后续可以继续判断该当前定位位置点是否偏离导航路线。
具体地，如图23所示，步骤2201中，基于多个定位位置点分别到所述导航路线的垂直距离，判断当前定位位置点是否偏离导航路线，包括以下具体步骤2301～2303：
步骤2301，可以基于多个定位位置点分别到导航路线的垂直距离，确定多个垂直距离的距离方差。
具体地，可以基于多个定位位置点分别到第一导航路线的垂直距离，计算多个定位位置点对应的平均垂直距离，然后根据每个定位位置点到导航路线的垂直距离、该平均垂直距离以及以下公式3来确定多个垂直距离的距离方差：
Figure PCTCN2020131562-appb-000004
其中，V d表示距离方差；n表示定位位置点个数；d i表示第i个定位位置点到导航路线的垂直距离；M表示平均垂直距离。
步骤2302，判断距离方差是否超过预设方差阈值。
所述预设方差阈值可以为提前设置的数值，表示允许包含当前定位位置 点的多个定位位置点与导航路线之间的垂直距离的最大波动范围。
步骤2303，如果确定距离方差超过预设方差阈值，则确定服务提供端的当前定位位置点偏离导航路线。
在一些实施例中，如果确定该距离方差超过该最大波动范围，则可以确定服务提供端的当前定位位置点偏离了导航路线。
如果距离方差未超过预设方差阈值，说明服务提供端的当前定位位置点未偏离导航路线，这种情况下，可以忽略该当前定位位置点，继续进行下一定位位置点的判断，即将下一定位位置点作为当前定位位置点，执行步骤1802以及之后的偏航识别，在此不再赘述。
在一些实施例中，偏航识别的方法还可以包括：
对预存的偏航位置点数量库进行计数更新。例如，偏航位置点数量库在当前定位位置点未偏离导航路线时可以进行清零处理。
偏航位置点数量库可以用于存储对偏离导航路线的定位位置点的计数。如果确定当前定位位置点偏离导航路线，偏航位置点数量库的计数可以加1；如果确定当前定位位置点未偏离导航路线，偏航位置点数量库可以被清零。
在一些实施例中，假如确定导航路线上存在当前定位位置点的映射位置点，且用该映射位置点的坐标替换了当前定位位置点的坐标，也可以对偏离位置点数量库进行清零处理。
具体地，步骤2202中，基于服务提供端在行驶过程中偏离导航路线的定位位置点的数量和预设数量阈值，确定服务提供端是否偏离所述导航路线，可以包括：
(1)判断计数更新后的偏航位置点数量库中的数量是否达到预设数量阈值。
预设数量阈值可以与包含当前定位位置点在内的多个定位位置点的精度因子方差有关，若该精度因子方差较小，预设数量阈值可以较小，若该精度因子方差较大(未超过上文提到的设定精度因子阈值)，则预设数量阈值可以较大， 比如，可以对精度因子进行划分区间，第一区间为大于或等于0且小于10，第二区间为大于或等于10且小于20，第三区间为大于或等于设定精度因子阈值20，当这里的精度因子方差属于第一区间时，预设数量阈值为L，当这里的精度因子方差属于第二区间时，预设数量阈值为H，且H大于L。
因为当前定位位置点随着接收的定位位置点的增加一直在变化，则多个定位位置点对应的精度因子方差也会发生变化，故预设数量阈值可以更改。
(2)若确定偏航位置点数量库中的数量达到预设数量阈值，确定服务提供端偏离导航路线。
假如当前的预设数量阈值为H，且确定当前定位位置点偏离导航路线，偏航位置点数量库中的数量正好达到H，则可以确定服务提供端偏离导航路线。
另外，在确定服务提供端偏离导航路线后，若从服务提供端的当前地理位置到达服务请求端的出发地位置存在多条路线时，本申请实施例提供的偏航识别的方法还可以更新导航路线。
具体地，可以按照以下方式更新导航路线：
(1)提取多个偏离导航路线的定位位置点的坐标。
(2)基于多个偏离导航路线的定位位置点的坐标、服务提供端的当前位置坐标和服务提供端的目的地坐标，确定与多个偏离导航路线的定位位置点的坐标匹配的目标导航路线。
服务提供端的当前位置坐标可以是当前定位位置点的坐标，服务提供端的目的地坐标可以为服务请求端的出发地位置的坐标。在一些实施例中，可以基于粗略的导航数据，以该服务提供端的当前位置坐标为起始点，以该服务提供端的目的地坐标为终止点，重新确定是否存在新的导航路线，在存在多条时，确定提取的多个偏离导航路线的定位位置点的坐标与哪条新的导航重合，然后可以确定出目标导航路线。
(3)基于目标导航路线对导航路线进行更新。
提取多个偏离导航路线的定位位置点的坐标，比如提取3个连续偏离导 航路线的定位位置点A、定位位置点B和定位位置点C的坐标，当以该服务提供端的当前位置坐标为起始点，以该服务提供端的目的地坐标为终止点，重新确定存在3条新的导航路线时，进一步确定出定位位置点A、定位位置点B和定位位置点C与第2条导航路线重合，则将第2条导航路线确定为目标导航路线，此外可以将该目标导航路线信息发送至服务请求端。
下面结合图24以一种具体的实施例对本申请实施例提供的偏航识别的方法进行说明，如下：
接收定位位置点后，首先可以根据该定位位置点的瞬时速度值、方向角以及精度因子判断是否删除该定位位置点，若瞬时速度值不小于0、方向角不小于0且精度因子不大于设定精度因子阈值，则不删除该定位位置点，否则删除该定位位置点，继续判断下一个接收的定位位置点。
如果确定不删除该定位位置点，可以判断该定位位置点是否能够绑线成功，即是否能够在导航路线上找到该定位位置点的映射位置点，具体可以根据上文提到的方法，在此不再赘述，若能够绑线成功，且确定服务提供端从上一个定位位置点到达该定位位置点的速度值不大于预设速度阈值，则通过该定位位置点在导航路线上的映射位置点对该定位位置点进行修正。
若绑线失败，且确定服务提供端从上一个定位位置点到达该定位位置点的速度值不大于预设速度阈值，且通过多个定位位置点判断该定位位置点的精度稳定时，继续判断该定位位置点是否偏离导航路线，如果确定该定位位置点偏离导航路线，将偏航数量库的计数加1，然后再根据偏航数量库当前的计数判断服务提供端是否偏航。
综上，本申请实施例提供的偏航识别的方法，可以在接收到当前定位位置点后，确定是否能够对该当前定位位置点绑线成功(能够映射到导航路线上)，若不能，说明当前存在偏航可能，然后再基于最近的多个定位位置点分别到导航路线的垂直距离，确认是否偏航。如此，在无需精准的路网数据的情况下就可以实现偏航判断。另外，通过绑线是否成功，以及多个定位位置点到导航路线的垂 直距离两个方面来综合确认偏航结果，提高了偏航判断的准确性。
在一些实施例中，如果确定当前定位位置点存在映射位置点，可以通过导航路线上的该映射位置点替换当前定位位置点，相当于对司机端的行驶路线进行了误差修正，避免由于服务提供端的定位部件上传的定位位置点的漂移或者环境因素，使得乘客端显示司机端的行驶轨迹偏离导航路线的情况发生，从而降低乘客因司机偏离导航路线的原因取消订单，需要重新分配订单的问题，从而提高了资源配置效率。
本申请实施例还提供了一种电子设备2600，如图26所示，为本申请实施例提供的电子设备2600的结构示意图，包括：处理器2601、存储介质2602和总线2603。存储介质2602存储有处理器2601可执行的机器可读指令(比如，图25中的装置中接收模块410、判断模块420、确定模块430对应的执行指令等)，当电子设备2600运行时，处理器2601与存储介质2602之间通过总线2603通信，机器可读指令被处理器2601执行时执行如下处理：接收服务提供端在服务当前订单时按照设定时间间隔上报的该服务提供端的定位位置点信息；判断与当前订单对应的导航路线上是否存在服务提供端的当前定位位置点的映射位置点；在确定导航路线上不存在所述映射位置点后，基于与当前订单对应的包含当前定位位置点的多个定位位置点分别到导航路线的垂直距离，确定服务提供端是否偏离所述导航路线。
在一些实施例中，每个定位位置点信息包括该定位位置点的坐标和方向角，处理器2601执行的指令中，包括：基于与当前订单对应的包含当前定位位置点的多个定位位置点的坐标，确定每个定位位置点分别到导航路线的垂直距离；根据每个定位位置点分别到导航路线的垂直距离，确定多个定位位置点与导航路线的平均垂直距离；基于平均垂直距离、当前定位位置点的坐标、当前定位位置点的方向角和导航路线的方向角判断导航路线上是否存在当前定位位置点的映射位置点。
在一些实施例中，处理器2601执行的指令中，包括：将当前定位位置点 到达导航路线的垂直距离与平均垂直距离进行比较；若当前定位位置点到达导航路线的垂直距离大于平均垂直距离，确定导航路线上不存在当前定位位置点的映射位置点；若当前定位位置点到达导航路线的垂直距离小于或等于平均垂直距离，基于当前定位位置点的坐标和所述平均垂直距离，在导航路线上查找到与当前定位位置点的距离等于平均垂直距离的待选位置点；判断是否存在至少一个待选位置点处的导航路线的方向角与当前定位位置点的方向角相符；若存在至少一个待选位置点处的导航路线的方向角与当前定位位置点的方向角相符，将与当前定位位置点的方向角相符的方向角对应的待选位置点作为所述映射位置点。
在一些实施例中，处理器2601执行的指令中，还包括：在确定导航路线上存在所述映射位置点后，将服务提供端的行驶轨迹信息中的当前定位位置点的坐标替换为映射位置点的坐标；将更新后的该服务提供端的行驶轨迹信息发送至服务请求端。
在一些实施例中，处理器2601执行的指令中，包括：针对接收到的每一个定位位置点信息，提取该定位位置点信息中的定位位置点的精度因子、方向角和速度值；若定位位置点的精度因子不大于设定精度因子阈值、定位位置点的方向角不小于0且定位位置点的速度值不小于0，则保留该定位位置点信息；若否，则删除该定位位置点信息。
在一些实施例中，处理器2601执行的指令中，包括：基于多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离导航路线；在确定当前定位位置点偏离导航路线后，基于服务提供端在行驶过程中偏离导航路线的定位位置点的数量和预设数量阈值，确定服务提供端是否偏离导航路线。
在一些实施例中，每个所述定位位置点信息包括该定位位置点的精度因子和坐标，在确定导航路线上不存在所述映射位置点后，基于多个定位位置点分别到导航路线的垂直距离，判断当前定位位置点是否偏离所述导航路线之前，处理器901执行的指令中，还包括：基于当前定位位置点的坐标、该当前定位位置 点的上一定位位置点的坐标，以及接收当前定位位置点和上一定位位置点的时间间隔，确定服务提供端由上一定位位置点到达当前定位位置点时对应的平均速度值；在确定平均速度值小于或等于预设速度阈值后，基于多个定位位置点的精度因子，得到多个定位位置点对应的精度因子方差；在确定精度因子方差小于设定精度因子阈值后，确定保留当前定位位置点。
在一些实施例中，处理器2601执行的指令中，包括：基于多个定位位置点分别到导航路线的垂直距离，确定多个垂直距离的距离方差；判断距离方差是否超过预设方差阈值；在确定距离方差超过预设方差阈值后，确定服务提供端的当前定位位置点偏离导航路线。
在一些实施例中，在确定服务提供端的当前定位位置点偏离导航路线后，处理器2601执行的指令中，还包括：对预存的偏航位置点数量库进行计数更新，偏航位置点数量库在当前定位位置点未偏离导航路线时进行清零处理；在一些实施例中，处理器2601执行的指令中，包括：判断计数更新后的偏航位置点数量库中的数量是否达到预设数量阈值；若确定偏航位置点数量库中的数量达到预设数量阈值，确定服务提供端偏离导航路线。
在一些实施例中，处理器2601执行的指令中，还包括：在确定服务提供端偏离导航路线后，提取多个偏离导航路线的定位位置点的坐标；基于多个偏离导航路线的定位位置点的坐标、服务提供端的当前位置坐标和服务提供端的目的地坐标，确定与多个偏离导航路线的定位位置点的坐标匹配的目标导航路线；基于目标导航路线对导航路线进行更新。
上文已对基本概念做了描述，显然，对于本领域技术人员来说，上述详细披露仅仅作为示例，而并不构成对本说明书的限定。虽然此处并没有明确说明，本领域技术人员可能会对本说明书进行各种修改、改进和修正。该类修改、改进和修正在本说明书中被建议，所以该类修改、改进、修正仍属于本说明书示范实施例的精神和范围。
同时，本说明书使用了特定词语来描述本说明书的实施例。如“一个实施 例”、“一实施例”、和/或“一些实施例”意指与本说明书至少一个实施例相关的某一特征、结构或特点。因此，应强调并注意的是，本说明书中在不同位置两次或多次提及的“一实施例”或“一个实施例”或“一个替代性实施例”并不一定是指同一实施例。此外，本说明书的一个或多个实施例中的某些特征、结构或特点可以进行适当的组合。
此外，除非权利要求中明确说明，本说明书所述处理元素和序列的顺序、数字字母的使用、或其他名称的使用，并非用于限定本说明书流程和方法的顺序。尽管上述披露中通过各种示例讨论了一些目前认为有用的发明实施例，但应当理解的是，该类细节仅起到说明的目的，附加的权利要求并不仅限于披露的实施例，相反，权利要求旨在覆盖所有符合本说明书实施例实质和范围的修正和等价组合。例如，虽然以上所描述的系统组件可以通过硬件设备实现，但是也可以只通过软件的解决方案得以实现，如在现有的服务器或移动设备上安装所描述的系统。
同理，应当注意的是，为了简化本说明书披露的表述，从而帮助对一个或多个发明实施例的理解，前文对本说明书实施例的描述中，有时会将多种特征归并至一个实施例、附图或对其的描述中。但是，这种披露方法并不意味着本说明书对象所需要的特征比权利要求中提及的特征多。实际上，实施例的特征要少于上述披露的单个实施例的全部特征。
一些实施例中使用了描述成分、属性数量的数字，应当理解的是，此类用于实施例描述的数字，在一些示例中使用了修饰词“大约”、“近似”或“大体上”来修饰。除非另外说明，“大约”、“近似”或“大体上”表明所述数字允许有±20％的变化。相应地，在一些实施例中，说明书和权利要求中使用的数值参数均为近似值，该近似值根据个别实施例所需特点可以发生改变。在一些实施例中，数值参数应考虑规定的有效数位并采用一般位数保留的方法。尽管本说明书一些实施例中用于确认其范围广度的数值域和参数为近似值，在具体实施例中，此类数值的设定在可行范围内尽可能精确。
针对本说明书引用的每个专利、专利申请、专利申请公开物和其他材料，如文章、书籍、说明书、出版物、文档等，特此将其全部内容并入本说明书作为参考。与本说明书内容不一致或产生冲突的申请历史文件除外，对本说明书权利要求最广范围有限制的文件(当前或之后附加于本说明书中的)也除外。需要说明的是，如果本说明书附属材料中的描述、定义、和/或术语的使用与本说明书所述内容有不一致或冲突的地方，以本说明书的描述、定义和/或术语的使用为准。
最后，应当理解的是，本说明书中所述实施例仅用以说明本说明书实施例的原则。其他的变形也可能属于本说明书的范围。因此，作为示例而非限制，本说明书实施例的替代配置可视为与本说明书的教导一致。相应地，本说明书的实施例不仅限于本说明书明确介绍和描述的实施例。

Claims (56)

  1. 一种偏航识别的方法，其特征在于，包括：
    获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点；
    基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断第一预设条件是否被满足；以及
    响应于所述第一预设条件未被满足，基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态。
  2. 如权利要求1所述的方法，其特征在于，所述第一预设条件用于表征所述一个或多个定位位置点中的至少一个定位位置点不偏离所述第一导航路线。
  3. 根据权利要求2所述的方法，其特征在于，所述与所述对象行驶关联的相关信息包括：偏航率、所述第一导航路线以及第二导航路线中的一种或多种；其中，所述偏航率反映从偏离所述第一导航路线的所述至少一个定位位置点开始发生偏航行驶的可能性，所述第二导航路线为所述第一预设条件未被满足的情况下从偏离所述第一导航路线的所述至少一个定位位置点至第一行驶目的地的新导航路线；
    所述基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态，包括基于所述偏航率、所述第一导航路线以及所述第二导航路线中的一种或多种，确定所述对象是否处于偏航行驶状态。
  4. 根据权利要求3所述的方法，其特征在于，进一步包括：确定所述偏航率，包括以下步骤：
    获取与所述第一导航路线关联的一个或多个历史行驶路线；以及
    基于所述一个或多个历史行驶路线，确定在偏离所述第一导航路线的所述至少一个定位位置点处的所述偏航率。
  5. 根据权利要求4所述的方法，其特征在于，所述基于所述一个或多个历 史行驶路线，确定在偏离所述第一导航路线的所述至少一个定位位置点的所述偏航率，包括：
    从所述一个或多个历史行驶路线中，确定在偏离所述第一导航路线的所述至少一个定位位置点开始发生偏航行驶的第一历史行驶路线；以及
    基于所述第一历史行驶路线与所述历史行驶路线之间的数量关系，确定所述偏航率。
  6. 根据权利要求5所述的方法，其特征在于，所述基于所述偏航率、所述第一导航路线以及所述第二导航路线中的一种或多种，确定所述对象是否处于偏航行驶状态，包括：
    基于所述偏航率，和/或所述第二导航路线与第三导航路线之间的关系，确定所述对象是否处于偏航行驶状态；其中，所述第三导航路线为所述第一导航路线中从偏离所述第一导航路线的所述至少一个定位位置点至所述第一行驶目的地的路线。
  7. 根据权利要求6所述的方法，其特征在于，所述基于所述偏航率，和/或所述第二导航路线与第三导航路线之间的关系，确定所述对象是否处于偏航行驶状态，包括：
    响应于确定所述偏航率小于预设偏航阈值，和/或所述第二导航路线的路径长度大于第三导航路线的路径长度，确定所述对象处于偏航行驶状态。
  8. 根据权利要求1所述的方法，其特征在于，所述基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断第一预设条件是否被满足，包括：
    基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断所述一个或多个定位位置点内是否存在偏航位置点；以及
    响应于所述一个或多个定位位置点内存在偏航位置点，确定所述第一预设条件未被满足。
  9. 根据权利要求1所述的方法，其特征在于，进一步包括：
    响应于确定所述对象处于偏航行驶状态，向所述对象发出偏航提示。
  10. 根据权利要求4所述的方法，其特征在于，进一步包括：
    响应于确定所述对象处于偏航行驶状态，从所述一个或多个历史行驶路线中，确定在偏离所述第一导航路线的所述至少一个定位位置点未发生偏航的第二历史行驶路线；
    确定所述第二导航路线与所述第二历史行驶路线之间的路线相似度；以及
    将所述路线相似度发送给所述对象。
  11. 根据权利要求4所述的方法，其特征在于，进一步包括：
    响应于所述对象处于偏航行驶状态，
    基于所述一个或多个历史行驶路线和所述对象的实际行驶路线，确定在偏离所述第一导航路线的所述至少一个定位位置点的新偏航率；以及
    使用所述新偏航率更新所述至少一个定位位置点处的偏航率。
  12. 根据权利要求1所述的方法，其特征在于，进一步包括：
    在所述对象行驶过程中，响应于检测到所述对象接受了共同出行请求，且所述第一导航路线为从所述对象的第一行驶出发地到其第一行驶目的地的其中一段路线的导航路线，基于所述共同出行请求中的第二行驶出发地和第二行驶目的地、所述对象的当前定位位置点和第一行驶目的地确定所述第一导航路线。
  13. 根据权利要求2所述的方法，其特征在于，所述一个或多个定位位置点至少包括当前定位位置点；
    所述基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断第一预设条件是否被满足，包括：
    基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点；以及
    响应于所述第一导航路线上不存在所述当前定位位置点的映射位置点，判断所述第一预设条件未被满足。
  14. 根据权利要求13所述的方法，其特征在于，所述基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点，包括：
    基于所述一个或多个定位位置点的位置信息，确定每个所述定位位置点与所述第一导航路线之间的第一距离；以及
    基于所述第一距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点。
  15. 根据权利要求14所述的方法，其特征在于，所述基于所述第一距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点，包括：
    基于所述第一距离，在所述第一导航路线上确定一个或多个候选映射点；
    基于所述一个或多个候选映射点的行驶方向信息和所述当前定位位置点的行驶方向信息，判断所述第一导航路线上是否存在所述当前定位位置点的所述映射位置点。
  16. 根据权利要求15所述的方法，其特征在于，所述位置信息包括坐标，所述行驶方向信息包括方向角，所述基于所述一个或多个定位位置点的位置信息，确定每个所述定位位置点与所述第一导航路线之间的第一距离，包括：
    基于所述一个或多个定位位置点的坐标，确定每个所述定位位置点分别到 所述第一导航路线的垂直距离；以及
    将所述垂直距离作为所述第一距离；
    所述基于所述第一距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点，包括：
    基于每个所述定位位置点与所述第一导航路线之间的所述第一距离，确定多个所述定位位置点与所述第一导航路线的平均垂直距离；以及
    基于所述平均垂直距离、所述当前定位位置点的坐标、所述当前定位位置点的方向角和所述第一导航路线的方向角，判断所述第一导航路线上是否存在所述当前定位位置点的所述映射位置点。
  17. 根据权利要求16所述的偏航识别方法，其特征在于，所述基于所述第一距离，在所述第一导航路线上确定一个或多个候选映射点，包括：
    将所述当前定位位置点到所述第一导航路线的垂直距离与所述平均垂直距离进行比较；以及
    响应于确定所述当前定位位置点到所述第一导航路线的垂直距离大于所述平均垂直距离，判断所述第一导航路线上不存在所述当前定位位置点的所述映射位置点；或
    响应于确定所述当前定位位置点到所述第一导航路线的垂直距离小于或等于所述平均垂直距离，将所述第一导航路线上的与所述当前定位位置点的距离等于所述平均垂直距离的位置点作为候选映射点；
    所述基于所述一个或多个候选映射点的行驶方向信息和所述当前定位位置点的行驶方向信息，判断所述第一导航路线上是否存在所述当前定位位置点的所述映射位置点，包括：
    判断是否存在至少一个候选映射点的方向角与所述当前定位位置点的方向角匹配；
    响应于存在至少一个候选映射点处的方向角与所述当前定位位置点的方向 角匹配，将与所述当前定位位置点的方向角匹配的方向角对应的候选映射点作为所述映射位置点。
  18. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    响应于所述第一导航路线上存在所述当前定位位置点的映射位置点，将所述当前定位位置点的位置信息替换为所述映射位置点的位置信息。
  19. 根据权利要求13所述的方法，其特征在于，所述获取行驶过程中一个或多个定位位置点，包括：
    获取每个所述定位位置点的精度因子、方向角和速度值；以及
    响应于所述定位位置点的精度因子不大于设定精度因子阈值、所述定位位置点的方向角不小于0且所述定位位置点的速度值不小于0，保留该定位位置点信息；或
    响应于所述定位位置点的精度因子大于设定精度因子阈值、所述定位位置点的方向角小于0或所述定位位置点的速度值小于0，删除该定位位置点信息。
  20. 根据权利要求13所述的方法，其特征在于，所述对象行驶关联的相关信息包括所述一个或多个定位位置点的信息；
    所述基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态，包括：
    基于所述一个或多个定位位置点的信息，确定所述对象是否处于偏航行驶状态。
  21. 如权利要求20所述的方法，其特征在于，所述基于所述一个或多个定位位置点的信息，确定所述对象是否处于偏航行驶状态，包括：
    确定所述一个或多个定位位置点中每个所述定位位置点与所述第一导航路线之间的第二距离；
    基于所述第二距离，确定所述当前定位位置点是否偏离所述第一导航路线；以及
    响应于所述当前定位位置点偏离所述第一导航路线，
    从所述一个或多个定位位置点中确定出偏离所述第一导航路线的偏离定位位置点；以及
    基于所述偏离定位位置点的信息，确定所述对象是否处于偏航行驶状态。
  22. 根据权利要求21所述的方法，其特征在于，所述基于所述偏离定位位置点的信息，确定所述对象是否处于偏航行驶状态，包括：
    基于所述偏离定位位置点的数量和预设数量阈值，确定所述对象是否处于偏航行驶状态。
  23. 根据权利要求22所述的方法，其特征在于，所述一个或多个定位位置点的信息包括各个所述定位位置点的精度因子和坐标，所述方法还包括：
    基于所述当前定位位置点的坐标、所述当前定位位置点的上一定位位置点的坐标以及所述当前定位位置点和所述上一定位位置点的获取时间间隔，确定所述对象由所述上一定位位置点到达所述当前定位位置点的平均速度值；以及
    响应于所述平均速度值小于或等于预设速度阈值，
    基于多个所述定位位置点的精度因子，获得多个所述定位位置点对应的精度因子方差；以及
    响应于所述精度因子方差小于设定精度因子阈值，保留所述当前定位位置点。
  24. 根据权利要求22所述的方法，其特征在于，所述确定所述至少一个定位位置点中每个所述定位位置点与所述第一导航路线之间的第二距离，包括：
    基于所述至少一个定位位置点的坐标，确定每个所述定位位置点分别到所 述第一导航路线的垂直距离；以及
    将所述垂直距离作为所述第二距离。
  25. 根据权利要求24所述的方法，其特征在于，所述基于所述第二距离，确定所述当前定位位置点是否偏离所述第一导航路线，包括：
    基于每个所述定位位置点与所述第一导航路线之间的所述第二距离，确定多个所述第二距离的距离方差；
    判断所述距离方差是否超过预设方差阈值；以及
    响应于所述距离方差超过所述预设方差阈值，确定所述当前定位位置点偏离所述第一导航路线。
  26. 根据权利要求25所述的方法，其特征在于，进一步包括：
    将所述偏离定位位置点进行数量更新；
    所述基于所述偏离定位位置点的数量和预设数量阈值，确定所述对象是否处于偏航行驶状态，包括：
    响应于数量更新后的所述偏离定位位置点的数量大于或等于所述预设数量阈值，确定所述对象处于偏航行驶状态。
  27. 根据权利要求22所述的方法，其特征在于，进一步包括：
    响应于所述对象处于偏航行驶状态，基于所述偏离定位位置点的信息和所述当前定位位置点的信息，更新所述第一导航路线。
  28. 一种偏航识别的系统，其特征在于，包括
    获取模块，获取对象行驶的第一导航路线，和行驶过程中一个或多个定位位置点；
    判断模块，基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断第一预设条件是否被满足；
    确定模块，响应于所述第一预设条件未被满足，基于与所述对象行驶关联的相关信息，确定所述对象是否处于偏航行驶状态。
  29. 根据权利要求28所述的系统，其特征在于，所述第一预设条件用于表征所述一个或多个定位位置点中的至少一个定位位置点不偏离所述第一导航路线。
  30. 根据权利要求29所述的系统，其特征在于，所述与所述对象行驶关联的相关信息包括：偏航率、所述第一导航路线以及第二导航路线中的一种或多种；其中，所述偏航率反映从偏离所述第一导航路线的所述至少一个定位位置点开始发生偏航行驶的可能性，所述第二导航路线为所述第一预设条件未被满足的情况下从偏离所述第一导航路线的所述至少一个定位位置点至第一行驶目的地的新导航路线；
    所述确定模块还用于：
    基于所述偏航率、所述第一导航路线以及所述第二导航路线中的一种或多种，确定所述对象是否处于偏航行驶状态。
  31. 根据权利要求30所述的系统，其特征在于，所述确定模块还用于确定所述偏航率，确定所述偏航率，包括以下步骤：
    获取与所述第一导航路线关联的一个或多个历史行驶路线；以及
    基于所述一个或多个历史行驶路线，确定在偏离所述第一导航路线的所述至少一个定位位置点处的所述偏航率。
  32. 根据权利要求31所述的系统，其特征在于，所述基于所述一个或多个历史行驶路线，确定在偏离所述第一导航路线的所述至少一个定位位置点的所述偏航率，包括：
    从所述一个或多个历史行驶路线中，确定在偏离所述第一导航路线的所述 至少一个定位位置点开始发生偏航行驶的第一历史行驶路线；以及
    基于所述第一历史行驶路线与所述历史行驶路线之间的数量关系，确定所述偏航率。
  33. 根据权利要求32所述的系统，其特征在于，所述基于所述偏航率、所述第一导航路线以及所述第二导航路线中的一种或多种，确定所述对象是否处于偏航行驶状态，包括：
    基于所述偏航率，和/或所述第二导航路线与第三导航路线之间的关系，确定所述对象是否处于偏航行驶状态；其中，所述第三导航路线为所述第一导航路线中从偏离所述第一导航路线的所述至少一个定位位置点至所述第一行驶目的地的路线。
  34. 根据权利要求33所述的系统，其特征在于，所述基于所述偏航率，和/或所述第二导航路线与第三导航路线之间的关系，确定所述对象是否处于偏航行驶状态，包括：
    响应于确定所述偏航率小于预设偏航阈值，和/或所述第二导航路线的路径长度大于第三导航路线的路径长度，确定所述对象处于偏航行驶状态。
  35. 根据权利要求28所述的系统，其特征在于，所述判断模块还用于：
    基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断所述一个或多个定位位置点内是否存在偏航位置点；以及
    响应于所述一个或多个定位位置点内存在偏航位置点，确定所述第一预设条件未被满足。
  36. 根据权利要求28所述的系统，其特征在于，还包括偏航提示模块，所述偏航提示模块用于：
    响应于确定所述对象处于偏航行驶状态，向所述对象发出偏航提示。
  37. 根据权利要求31所述的系统，其特征在于，所述偏航提示模块还用于：
    响应于确定所述对象处于偏航行驶状态，从所述一个或多个历史行驶路线中，确定在偏离所述第一导航路线的所述至少一个定位位置点未发生偏航的第二历史行驶路线；
    确定所述第二导航路线与所述第二历史行驶路线之间的路线相似度；以及
    将所述路线相似度发送给所述对象。
  38. 根据权利要求31所述的系统，其特征在于，还包括偏航率更新模块，所述偏航率更新模块用于：
    响应于所述对象处于偏航行驶状态，基于所述一个或多个历史行驶路线和所述对象的实际行驶路线，确定在偏离所述第一导航路线的所述至少一个定位位置点的新偏航率；以及
    使用所述新偏航率更新所述至少一个定位位置点处的偏航率。
  39. 根据权利要求28所述的系统，其特征在于，所述获取模块还用于：
    在所述对象行驶过程中，响应于检测到所述对象接受了共同出行请求，且所述第一导航路线为为从所述对象的第一行驶出发地到其第一行驶目的地的其中一段路线的导航路线，，基于所述共同出行请求中的第二行驶出发地和第二行驶目的地、所述对象的当前定位位置点和第一行驶目的地确定所述第一导航路线。
  40. 根据权利要求29所述的系统，其特征在于，所述一个或多个定位位置点至少包括当前定位位置点；
    所述判断模块还用于：
    基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点；以及，
    响应于所述第一导航路线上不存在所述当前定位位置点的映射位置点，判 断所述第一预设条件未被满足。
  41. 根据权利要求40所述的系统，其特征在于，所述基于所述一个或多个定位位置点与所述第一导航路线之间的位置关系，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点，包括：
    基于所述一个或多个定位位置点的位置信息，确定每个所述定位位置点与所述第一导航路线之间的第一距离；以及
    基于所述第一距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点。
  42. 根据权利要求41所述的系统，其特征在于，所述基于所述第一距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点，包括：
    基于所述第一距离，在所述第一导航路线上确定一个或多个候选映射点；
    基于所述一个或多个候选映射点的行驶方向信息和所述当前定位位置点的行驶方向信息，判断所述第一导航路线上是否存在所述当前定位位置点的所述映射位置点。
  43. 根据权利要求42所述的系统，其特征在于，所述获取模块还用于获取一个或多个定位位置点的位置信息和行驶方向信息，所述位置信息包括坐标，所述行驶方向信息包括方向角，所述基于所述一个或多个定位位置点的位置信息，确定每个所述定位位置点与所述第一导航路线之间的第一距离，包括：
    基于所述一个或多个定位位置点的坐标，确定每个所述定位位置点分别到所述第一导航路线的垂直距离；以及
    将所述垂直距离作为所述第一距离；
    所述基于所述第一距离，判断所述第一导航路线上是否存在所述当前定位位置点的映射位置点，包括：
    基于每个所述定位位置点与所述第一导航路线之间的所述第一距离，确定多个所述定位位置点与所述第一导航路线的平均垂直距离；以及
    基于所述平均垂直距离、所述当前定位位置点的坐标、所述当前定位位置点的方向角和所述第一导航路线的方向角，判断所述第一导航路线上是否存在所述当前定位位置点的所述映射位置点。
  44. 根据权利要求43所述的系统，其特征在于，所述基于所述第一距离，在所述第一导航路线上确定一个或多个候选映射点，包括：
    将所述当前定位位置点到所述第一导航路线的垂直距离与所述平均垂直距离进行比较；以及
    响应于所述当前定位位置点到所述第一导航路线的垂直距离大于所述平均垂直距离，判断所述第一导航路线上不存在所述当前定位位置点的所述映射位置点；或
    响应于所述当前定位位置点到所述第一导航路线的垂直距离小于或等于所述平均垂直距离，将所述第一导航路线上的与所述当前定位位置点的距离等于所述平均垂直距离的位置点作为候选映射点；
    所述基于所述一个或多个候选映射点的行驶方向信息和所述当前定位位置点的行驶方向信息，判断所述第一导航路线上是否存在所述当前定位位置点的所述映射位置点，包括：
    判断是否存在至少一个候选映射点的方向角与所述当前定位位置点的方向角匹配；
    若存在至少一个候选映射点处的方向角与所述当前定位位置点的方向角匹配，将与所述当前定位位置点的方向角匹配的方向角对应的候选映射点作为所述映射位置点。
  45. 根据权利要求40所述的系统，其特征在于，所述还包括信息替换模块：
    响应于所述第一导航路线上存在所述当前定位位置点的映射位置点，将所述当前定位位置点的位置信息替换为所述映射位置点的位置信息。
  46. 根据权利要求40所述的系统，其特征在于，所述获取模块还用于：
    获取每个所述定位位置点的精度因子、方向角和速度值；以及
    响应于所述定位位置点的精度因子不大于设定精度因子阈值、所述定位位置点的方向角不小于0且所述定位位置点的速度值不小于0，保留该定位位置点信息；
    响应于所述定位位置点的精度因子大于设定精度因子阈值、所述定位位置点的方向角小于0或所述定位位置点的速度值小于0，删除该定位位置点信息。
  47. 根据权利要求40所述的系统，其特征在于，所述对象行驶关联的相关信息包括所述一个或多个定位位置点的信息；
    所述确定模块还用于：
    基于所述一个或多个定位位置点的信息，确定所述对象是否处于偏航行驶状态。
  48. 如权利要求47所述的系统，其特征在于，所述基于所述一个或多个定位位置点的信息，确定所述对象是否处于偏航行驶状态，包括：
    确定所述一个或多个定位位置点中每个所述定位位置点与所述第一导航路线之间的第二距离；
    基于所述第二距离，确定所述当前定位位置点是否偏离所述第一导航路线；以及
    响应于所述当前定位位置点偏离所述第一导航路线，从所述一个或多个定位位置点中确定出偏离所述第一导航路线的偏离定位位置点；以及
    基于所述偏离定位位置点的信息，确定所述对象是否处于偏航行驶状态。
  49. 根据权利要求48所述的系统，其特征在于，所述基于所述偏离定位位置点的信息，确定所述对象是否处于偏航行驶状态，包括：
    基于所述偏离定位位置点的数量和预设数量阈值，确定所述对象是否处于偏航行驶状态。
  50. 根据权利要求49所述的系统，其特征在于，所述一个或多个定位位置点的信息包括各个所述定位位置点的精度因子和坐标；
    所述方法还包括：
    基于所述当前定位位置点的坐标、所述当前定位位置点的上一定位位置点的坐标以及所述当前定位位置点和所述上一定位位置点的获取时间间隔，确定所述对象由所述上一定位位置点到达所述当前定位位置点的平均速度值；以及
    响应于所述平均速度值小于或等于预设速度阈值，基于多个所述定位位置点的精度因子，获得多个所述定位位置点对应的精度因子方差；以及
    响应于所述精度因子方差小于设定精度因子阈值，保留所述当前定位位置点。
  51. 根据权利要求49所述的系统，其特征在于，所述确定所述至少一个定位位置点中每个所述定位位置点与所述第一导航路线之间的第二距离，包括：
    基于所述至少一个定位位置点的坐标，确定每个所述定位位置点分别到所述第一导航路线的垂直距离；以及
    将所述垂直距离作为所述第二距离。
  52. 根据权利要求51所述的系统，其特征在于，所述基于所述第二距离，确定所述当前定位位置点是否偏离所述第一导航路线，包括：
    基于每个所述定位位置点与所述第一导航路线之间的所述第二距离，确定多个所述第二距离的距离方差；
    判断所述距离方差是否超过预设方差阈值；以及
    响应于所述距离方差超过所述预设方差阈值，确定所述当前定位位置点偏离所述第一导航路线。
  53. 根据权利要求52所述的系统，其特征在于，所述系统还包括数量更新模块：
    将所述偏离定位位置点进行数量更新；
    所述基于所述偏离定位位置点的数量和预设数量阈值，确定所述对象是否处于偏航行驶状态，包括：
    响应于数量更新后的所述偏离定位位置点的数量大于或等于所述预设数量阈值，确定所述对象处于偏航行驶状态。
  54. 根据权利要求49所述的系统，其特征在于，进一步包括路线更新模块：
    所述路线更新模块用于响应于所述对象处于偏航行驶状态，基于所述偏离定位位置点的信息和所述当前定位位置点的信息，更新所述第一导航路线。
  55. 一种偏航识别的装置，所述装置包括处理器和存储器；所述存储器用于存储指令，其特征在于，所述指令被所述处理器执行时，所述装置实现如权利要求1～27中任一项所述方法对应的操作。
  56. 一种计算机可读存储介质，其特征在于，所述存储介质存储计算机指令，当计算机读取所述存储介质中的计算机执指令时，所述计算机执行如权利要求1～27中任一项所述方法。
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