CN111143495A - Road missing finding method and device - Google Patents
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Abstract
The invention discloses a method and a device for discovering road loss, which comprises the following steps: searching road nodes located in a preset range of a driving track from the basic road data; acquiring road description information of a road where the road node is located from the established data table; dividing road nodes with the same road description information into a group; determining a Freund distance between the road node and the driving track in each group; if the determined Freund rest distance is larger than the distance threshold, adding 1 to the frequency; and when the times exceed the threshold value, outputting a road missing notice containing the driving track to prompt a user to supplement the missing road to the basic road data. The road nodes in the driving track range are searched, the Freusch distance is calculated after the road nodes are grouped according to the same road, so that the form matching of the track and the road is realized, the accurate identification of the road deletion is realized according to the mismatching times, and the mismatching problem is avoided.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a road loss finding method and device.
Background
With the acceleration of urban and rural construction and the popularization of mobile internet map navigation application and vehicle navigation, electronic maps play an increasingly important role. How to quickly and accurately find map changes, especially newly opened roads, becomes increasingly important.
The current road missing mining model finds the road missing phenomenon of basic road data by matching the driving track with the basic road data.
However, the matching accuracy of the existing road missing mining model is low, so that the problem of mismatching the driving track to the nearby road easily occurs, and the accurate judgment of the road missing result is influenced.
Disclosure of Invention
The present invention is directed to a missing road finding method and device for overcoming the above-mentioned deficiencies in the prior art, and the object is achieved by the following technical solutions.
A first aspect of the present invention provides a method for discovering a road loss, the method including:
searching road nodes located in a preset range of track points from basic road data aiming at each track point in a driving track, wherein the driving track is derived from track data uploaded by a vehicle-mounted terminal on a truck;
acquiring road description information of a road where the road node is located from the established data table;
dividing road nodes with the same road description information into a group;
determining a Freusch distance between the road node and the driving track in each group;
if the determined Frey distance is larger than the distance threshold, adding 1 to the unmatched times and recording the driving track;
and when the mismatching times exceed the time threshold, outputting a road missing notice containing the recorded driving track to prompt a user to supplement the missing road into the basic road data according to the driving track.
A second aspect of the present invention proposes a road loss discovery apparatus, the apparatus comprising:
the searching module is used for searching road nodes located in a preset range of track points from basic road data aiming at each track point in a driving track, wherein the driving track is derived from track data uploaded by a vehicle-mounted terminal on a truck;
the acquisition module is used for acquiring the road description information of the road where the road node is located from the established data table;
the grouping module is used for dividing the road nodes with the same road description information into a group;
the determining module is used for determining the Freund distance between the road node and the driving track in each group;
the statistical module is used for adding 1 to the unmatched times and recording the driving track if the determined Frey distance is larger than the distance threshold;
and the prompting module is used for outputting a road missing notice containing the recorded driving track when the mismatching times exceed a time threshold so as to prompt a user to supplement the missing road into the basic road data according to the driving track.
In the embodiment of the invention, the driving track is intercepted from the track data uploaded by the truck, and the road nodes positioned in the preset range of the track points are searched from the basic road data aiming at each track point in the driving track, then acquiring the road description information of the road where the road node is located from the established data table, dividing the road nodes with the same road description information into a group, finally determining the Fourier distance between the road nodes in the group and the traffic track for each group, if the determined Fourier distance is larger than the distance threshold value, adding 1 to the unmatched times, and recording the traffic track, and when the mismatching times exceed a time threshold, outputting a road missing notice containing the recorded driving track to prompt a user to supplement the missing road into the basic road data according to the driving track.
Based on the above description, the trajectory source data of the present invention is derived from the vehicle-mounted terminal of the truck, and since the truck needs to travel a long distance and must upload the trajectory, the trajectory coverage is comprehensive and the trajectory is continuous. When matching is carried out, road nodes located in the range of the driving track are searched, and after the road nodes are grouped according to the same road, the track and the road data are matched in a form mode by calculating the Fourier distance, the mismatching times are updated according to the Fourier distance, the road missing accurate identification is realized according to the comparison between the mismatching times and the threshold value, and the mismatching problem is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a diagram illustrating a trajectory matching result of a road missing mining model in the related art;
FIG. 2A is a flowchart illustrating an embodiment of a road loss discovery method according to an exemplary embodiment of the present invention;
FIG. 2B is a diagram illustrating a trace matching result according to the embodiment shown in FIG. 2A;
FIG. 3 is a diagram illustrating a hardware configuration of an electronic device in accordance with an exemplary embodiment of the present invention;
fig. 4 is a flowchart illustrating an embodiment of a road loss discovering device according to an exemplary embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Fig. 1 is a schematic diagram of a track matching result of a road missing mining model in the related art, where a driving track is actually not on the forest harvesting road in fig. 1, but runs on a missing expressway, but the driving track is matched to a nearby forest harvesting road by a conventional road missing mining model, which affects accurate determination of a road missing result.
In addition, the data sources of the driving tracks used by the traditional road missing mining model are all track source data uploaded by a vehicle-mounted end of a small vehicle or a mobile phone terminal positioning program, and the track source data generally has certain defects, such as limited track coverage range, track uploading according to the desire of a user, and discontinuous track, so that a lot of problems that newly added roads cannot be found are caused.
In order to solve the technical problem, the invention provides a method for discovering the missing road, which comprises the steps of intercepting a driving track from track data uploaded by a truck, searching road nodes located in a preset range of the track points from basic road data aiming at each track point in the driving track, then obtaining road description information of a road where the road nodes are located from an established data table, dividing the road nodes with the same road description information into a group, finally determining the Fourier distance between the road nodes in the group and the driving track aiming at each group, adding 1 to the unmatched times if the determined Fourier distance is larger than a distance threshold value, recording the driving track, and outputting a road missing notice containing the recorded driving track when the unmatched times exceed the time threshold value, and prompting the user to supplement the missing road into the basic road data according to the driving track.
Based on the above description, the trajectory source data of the present invention is derived from the vehicle-mounted terminal of the truck, and since the truck needs to travel a long distance and must upload the trajectory, the trajectory coverage is comprehensive and the trajectory is continuous. When matching is carried out, road nodes located in the range of the driving track are searched, and after the road nodes are grouped according to the same road, the track and the road data are matched in a form mode by calculating the Fourier distance, the mismatching times are updated according to the Fourier distance, the road missing accurate identification is realized according to the comparison between the mismatching times and the threshold value, and the mismatching problem is avoided.
The missing road finding method proposed by the present invention is explained in detail below with specific examples.
Fig. 2A is a flowchart illustrating an embodiment of a road loss finding method according to an exemplary embodiment of the present invention, where the road loss finding method may be applied to an electronic device (e.g., a PC, a terminal, etc.). As shown in fig. 2A, the method for finding missing roads includes the following steps:
step 201: and searching road nodes located in a preset range of the track points from the basic road data aiming at each track point in the driving track.
In the invention, the driving track is derived from track data uploaded by a vehicle-mounted terminal on the truck. The basic road data includes road node data and road connecting line data.
Each road node in the road node data comprises information such as a node ID, a longitude value, a latitude value, whether the road node is an attribute identifier of an intersection and the like; the road link data includes information such as road topology constituted by node IDs, road name and road grade of each road.
In one example, the trajectory data may be selected as a driving trajectory that is a preset time (e.g., 2 minutes) before the current system time.
In another example, road nodes located within a preset radius (e.g., 1 km or 500 m) may be searched for in the basic road data with the track point as a center.
Step 202: and acquiring the road description information of the road where the road node is located from the established data table.
Before step 202 is performed, the process of creating the data table may be: and for each road node in the road node data, searching the road description information of the road where the road node is located from the road connecting line data, and correspondingly adding the road node and the searched road description information into a data table.
The road description information comprises road names and road grades.
For example, the road grades are divided into expressways, first-level roads, second-level roads, third-level roads and fourth-level roads according to the functional grade; the road grades are divided into national road, provincial road and county road according to the administrative level.
Step 203: the road nodes with the same road description information are divided into a group.
The road description information is the same, which means that the road name and the road grade are the same. The road nodes in each group all belong to the same road.
Step 204: for each group, determining a Freund's distance between the road node in the group and the trajectory.
In an embodiment, polynomial curve fitting may be performed by using the longitude value and the latitude value of each track point in the vehicle track to obtain a curve L, and according to the direction of the horizontal axis, a preset number of points are collected at equal intervals on the curve L to form a first point set, and simultaneously, by using the longitude value and the latitude value of each road node in the group, polynomial curve fitting is performed to obtain a curve R, and according to the direction of the horizontal axis, a preset number of points are collected at equal intervals on the curve R to form a second point set, and then the fraiche distance between the first point set and the second point set is calculated.
In order to improve the accuracy of curve fitting, when polynomial curve fitting is performed, a starting track point and a terminating track point in the driving track can be obtained, and if the latitude difference between the starting track point and the terminating track point is greater than a linear degree difference, polynomial curve fitting is performed by taking the latitude as the horizontal axis and the longitude as the vertical axis; otherwise, polynomial curve fitting is carried out by taking longitude as a horizontal axis and latitude as a vertical axis. That is, the horizontal coordinate difference between two coordinate points is always greater than the vertical coordinate difference.
It should be noted that, if the latitude is taken as the horizontal axis, the horizontal coordinate of each point in the first point set and the second point set obtained by the acquisition is located between the latitude value of the start track point and the latitude value of the end track point in the vehicle track. And if the longitude is taken as the horizontal axis, the horizontal coordinates of each point in the first point set and the second point set are both positioned between the longitude value of the starting track point and the longitude value of the ending track point in the driving track.
Illustratively, the curve fitting of the polynomial may employ a curve fitting of a cubic polynomial.
It will be understood by those skilled in the art that the process of calculating the freund distance between the first set of points and the second set of points can be implemented by using a calculation algorithm related to the freund distance, and the invention is not limited thereto.
Step 205: and if the determined Frey distance is larger than the distance threshold, adding 1 to the number of mismatching times, and recording the driving track.
If the Freund distance greater than the distance threshold value exists, the driving track is not matched with the basic road data, and the driving track is likely to belong to the data of the missing road.
It should be noted that when there is a freund distance greater than the distance threshold in the determined freund distances, connectivity check may be performed to avoid the problem of erroneous determination. Determining a communication result between an initial track point and a final track point in the driving track, if the communication result is communication, acquiring road nodes with the attributes of intersections from a group corresponding to the fretscher distance greater than a distance threshold, determining the communication result between each track point in the driving track and each road node with the attributes of intersections, judging whether each track point is communicated with the same road node according to the communication result, and if not, adding 1 to the unmatched times.
In the present invention, the number of mismatches refers to the number of trajectories that do not match the base road data. After selecting a driving track from the track data for matching, if the driving track is not matched with the basic road data, the number of mismatching times is increased by 1.
Step 206: and when the mismatching times exceed the time threshold, outputting a road missing notice containing the recorded driving track to prompt a user to supplement the missing road into the basic road data according to the driving track.
When the mismatching times exceed the time threshold value, the problem that the current basic road data is missing is represented, and the data needs to be updated, so that accurate services are provided for functions of follow-up overspeed reminding, position monitoring reminding and the like, and strong data bottom layer support is provided for follow-up active prevention and control of road running risks.
For example, the number threshold may be set according to practical experience.
In an exemplary scenario, as shown in fig. 2B, for the solution of the present invention, after the driving trajectory shown in fig. 1 is matched with the basic road data, it can be obviously found that the driving trajectory is not matched with the "forest acquisition road", and further a missing road is found, where the missing road is actually a high speed first-capital loop, and the basic road data has not been updated due to the late construction time.
In the embodiment, by intercepting the driving track from the track data uploaded by the truck, and aiming at each track point in the driving track, searching the road node located in the preset range of the track point from the basic road data, then acquiring the road description information of the road where the road node is located from the established data table, dividing the road nodes with the same road description information into a group, finally determining the Fourier distance between the road nodes in the group and the traffic track for each group, if the determined Fourier distance is larger than the distance threshold value, adding 1 to the unmatched times, and recording the traffic track, and when the mismatching times exceed a time threshold, outputting a road missing notice containing the recorded driving track to prompt a user to supplement the missing road into the basic road data according to the driving track.
Based on the above description, the trajectory source data of the present invention is derived from the vehicle-mounted terminal of the truck, and since the truck needs to travel a long distance and must upload the trajectory, the trajectory coverage is comprehensive and the trajectory is continuous. When matching is carried out, road nodes located in the range of the driving track are searched, and after the road nodes are grouped according to the same road, the track and the road data are matched in a form mode by calculating the Fourier distance, the mismatching times are updated according to the Fourier distance, the road missing accurate identification is realized according to the comparison between the mismatching times and the threshold value, and the mismatching problem is avoided.
Fig. 3 is a hardware block diagram of an electronic device according to an exemplary embodiment of the present invention, the electronic device including: a communication interface 301, a processor 302, a machine-readable storage medium 303, and a bus 304; wherein the communication interface 301, the processor 302, and the machine-readable storage medium 303 communicate with each other via a bus 304. The processor 302 may execute the above-described road loss discovery method by reading and executing machine-executable instructions in the machine-readable storage medium 303 corresponding to the control logic of the road loss discovery method, and the specific content of the method is described in the above-described embodiments, which will not be described again here.
The machine-readable storage medium 303 referred to in this disclosure may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: volatile memory, non-volatile memory, or similar storage media. In particular, the machine-readable storage medium 303 may be a RAM (Random Access Memory), a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., a compact disk, a DVD, etc.), or similar storage medium, or a combination thereof.
Corresponding to the embodiments of the road loss finding method, the invention also provides embodiments of a road loss finding device.
Fig. 4 is a flowchart illustrating an embodiment of a road loss finding apparatus according to an exemplary embodiment of the present invention, which may be applied to an electronic device. As shown in fig. 4, the road loss finding device includes:
the searching module 410 is configured to search, for each track point in a driving track, a road node located within a preset range of the track point from basic road data, where the driving track is derived from track data uploaded by a vehicle-mounted terminal on a truck;
an obtaining module 420, configured to obtain road description information of a road where the road node is located from an established data table;
the grouping module 430 is configured to divide the road nodes with the same road description information into a group;
a determining module 440, configured to determine, for each group, a frechet distance between a road node in the group and a driving track;
the counting module 450 is configured to add 1 to the mismatching times and record the driving track if the determined freaker distance is greater than the distance threshold;
and the prompting module 460 is configured to output a road missing notification including the recorded driving trajectory when the number of mismatching times exceeds the number threshold, so as to prompt a user to supplement the missing road to the basic road data according to the driving trajectory.
In an alternative implementation, the basic road data includes road node data and road link data, and the apparatus further includes (not shown in fig. 4):
the data table establishing module is used for searching the road description information of the road where the road node is located from the road connecting line data aiming at each road node in the road node data; and correspondingly adding the road node and the searched road description information into a data table.
In an optional implementation manner, the determining module 440 is specifically configured to perform polynomial curve fitting by using the longitude value and the latitude value of each track point in the driving track to obtain a curve L; collecting a preset number of points on a curve L at equal intervals according to the direction of a horizontal axis to form a first point set; performing polynomial curve fitting by using the longitude value and the latitude value of each road node in the group to obtain a curve R; collecting a preset number of points on the curve R at equal intervals according to the direction of the horizontal axis to form a second point set; a freundle distance between the first set of points and the second set of points is calculated.
In an alternative implementation, the polynomial curve fitting process includes: acquiring a starting track point and an ending track point in the driving track; if the difference of the latitudes between the starting track point and the ending track point is greater than a quadratic deviation, performing polynomial curve fitting by taking the latitude as a horizontal axis and the longitude as a vertical axis; otherwise, polynomial curve fitting is carried out by taking longitude as a horizontal axis and latitude as a vertical axis.
In an alternative implementation, the apparatus further comprises (not shown in fig. 4):
the inspection module is used for determining a communication result between the starting track point and the ending track point in the driving track when determining that the Frey distance greater than the distance threshold exists in the Frey distance; if the communication result is communication, acquiring road nodes with the attributes of the intersections from the groups corresponding to the Freund distances larger than the distance threshold, and determining the communication result between each track point in the driving track and each road node with the attributes of the intersections; judging whether each track point is communicated with the same road node or not according to the communication result; if not, adding 1 to the number of mismatching times.
In an alternative implementation, the road description information includes a road name and a road grade.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for discovering a road loss, the method comprising:
searching road nodes located in a preset range of track points from basic road data aiming at each track point in a driving track, wherein the driving track is derived from track data uploaded by a vehicle-mounted terminal on a truck;
acquiring road description information of a road where the road node is located from the established data table;
dividing road nodes with the same road description information into a group;
determining a Freusch distance between the road node and the driving track in each group;
if the determined Frey distance is larger than the distance threshold, adding 1 to the unmatched times and recording the driving track;
and when the mismatching times exceed the time threshold, outputting a road missing notice containing the recorded driving track to prompt a user to supplement the missing road into the basic road data according to the driving track.
2. The method of claim 1, wherein the basic road data comprises road node data and road link data, and the creating of the data table comprises:
for each road node in the road node data, searching the road description information of the road where the road node is located from the road connecting line data;
and correspondingly adding the road node and the searched road description information into a data table.
3. The method of claim 1, wherein determining the Freund's distance between the road nodes in the group and the trajectory comprises:
performing polynomial curve fitting by using the longitude value and the latitude value of each track point in the driving track to obtain a curve L; collecting a preset number of points on a curve L at equal intervals according to the direction of a horizontal axis to form a first point set;
performing polynomial curve fitting by using the longitude value and the latitude value of each road node in the group to obtain a curve R; collecting a preset number of points on the curve R at equal intervals according to the direction of the horizontal axis to form a second point set;
a freundle distance between the first set of points and the second set of points is calculated.
4. The method of claim 3, wherein the polynomial curve fitting process comprises:
acquiring a starting track point and an ending track point in the driving track;
if the difference of the latitudes between the starting track point and the ending track point is greater than a quadratic deviation, performing polynomial curve fitting by taking the latitude as a horizontal axis and the longitude as a vertical axis;
otherwise, polynomial curve fitting is carried out by taking longitude as a horizontal axis and latitude as a vertical axis.
5. The method of claim 1, further comprising:
if the determined Frey distance is larger than the distance threshold, determining a communication result between the initial track point and the termination track point in the driving track;
if the communication result is communication, acquiring road nodes with the attributes of the intersections from the groups corresponding to the Freund distances larger than the distance threshold, and determining the communication result between each track point in the driving track and each road node with the attributes of the intersections;
judging whether each track point is communicated with the same road node or not according to the communication result;
if not, adding 1 to the number of mismatching times.
6. The method according to any of claims 1-5, wherein the road description information comprises a road name and a road class.
7. A road loss discovery apparatus, the apparatus comprising:
the searching module is used for searching road nodes located in a preset range of track points from basic road data aiming at each track point in a driving track, wherein the driving track is derived from track data uploaded by a vehicle-mounted terminal on a truck;
the acquisition module is used for acquiring the road description information of the road where the road node is located from the established data table;
the grouping module is used for dividing the road nodes with the same road description information into a group;
the determining module is used for determining the Freund distance between the road node and the driving track in each group;
the statistical module is used for adding 1 to the unmatched times and recording the driving track if the determined Frey distance is larger than the distance threshold;
and the prompting module is used for outputting a road missing notice containing the recorded driving track when the mismatching times exceed a time threshold so as to prompt a user to supplement the missing road into the basic road data according to the driving track.
8. The device according to claim 7, wherein the determining module is specifically configured to perform polynomial curve fitting using the longitude value and the latitude value of each track point in the driving track to obtain a curve L; collecting a preset number of points on a curve L at equal intervals according to the direction of a horizontal axis to form a first point set; performing polynomial curve fitting by using the longitude value and the latitude value of each road node in the group to obtain a curve R; collecting a preset number of points on the curve R at equal intervals according to the direction of the horizontal axis to form a second point set; a freundle distance between the first set of points and the second set of points is calculated.
9. The method of claim 8, wherein the polynomial curve fitting process comprises: acquiring a starting track point and an ending track point in the driving track; if the difference of the latitudes between the starting track point and the ending track point is greater than a quadratic deviation, performing polynomial curve fitting by taking the latitude as a horizontal axis and the longitude as a vertical axis; otherwise, polynomial curve fitting is carried out by taking longitude as a horizontal axis and latitude as a vertical axis.
10. The apparatus of claim 7, further comprising:
the inspection module is used for determining a communication result between the starting track point and the ending track point in the driving track when determining that the Frey distance greater than the distance threshold exists in the Frey distance; if the communication result is communication, acquiring road nodes with the attributes of the intersections from the groups corresponding to the Freund distances larger than the distance threshold, and determining the communication result between each track point in the driving track and each road node with the attributes of the intersections; judging whether each track point is communicated with the same road node or not according to the communication result; if not, adding 1 to the number of mismatching times.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111750876A (en) * | 2020-06-16 | 2020-10-09 | 北京百度网讯科技有限公司 | Road network repairing method, device, equipment and storage medium |
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| CN111750876A (en) * | 2020-06-16 | 2020-10-09 | 北京百度网讯科技有限公司 | Road network repairing method, device, equipment and storage medium |
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| CN112530158B (en) * | 2020-10-27 | 2022-05-13 | 北方信息控制研究院集团有限公司 | Road network supplementing method based on historical track |
| CN113834496A (en) * | 2021-08-25 | 2021-12-24 | 深圳市跨越新科技有限公司 | Road data missing track matching method, system, terminal device and storage medium |
| CN113834496B (en) * | 2021-08-25 | 2024-05-14 | 深圳市跨越新科技有限公司 | Road data missing track matching method, system, terminal equipment and storage medium |
| CN115731261A (en) * | 2021-08-27 | 2023-03-03 | 河北省交通规划设计研究院有限公司 | Method and system for identifying lane changing behavior of vehicle based on expressway radar data |
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