CN113453157B - Time-space trajectory calibration method and device, storage medium and electronic equipment - Google Patents
Time-space trajectory calibration method and device, storage medium and electronic equipment Download PDFInfo
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- CN113453157B CN113453157B CN202111008552.3A CN202111008552A CN113453157B CN 113453157 B CN113453157 B CN 113453157B CN 202111008552 A CN202111008552 A CN 202111008552A CN 113453157 B CN113453157 B CN 113453157B
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- H04W4/02—Services making use of location information
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Abstract
The embodiment of the application discloses a method and a device for calibrating a space-time trajectory, a storage medium and electronic equipment. The method comprises the following steps: determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and walking; determining a calibration location based on the movement type, a predetermined road route and positioning information; the calibration position comprises a center line of a same-direction motor vehicle lane, a same-direction motor vehicle lane and a center line of a sidewalk; calibrating offset space-time points in a space-time trajectory to be calibrated of the target object by using the calibration positions to obtain a calibrated space-time trajectory; the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated. According to the technical scheme, the space-time trajectory to be calibrated of the target object is calibrated based on the center line of the equidirectional motor vehicle lane, the center line of the equidirectional motor vehicle lane or the center line of the sidewalk, so that the accuracy of the space-time trajectory calibration is improved, and the space-time trajectory which is more in line with the actual situation is obtained.
Description
Technical Field
The embodiment of the application relates to the technical field of trajectory calibration, in particular to a method and a device for calibrating a space-time trajectory, a storage medium and electronic equipment.
Background
In order to analyze the spatiotemporal trajectory of the target, the spatiotemporal trajectory of the relevant internet of things information needs to be referenced. For example, if the camera fails to clearly capture facial information of a person on site, the Mobile phone information track before and after the camera is analyzed according to the collected information such as Mobile phone imei (International Mobile Equipment Identity), imsi (International Mobile Subscriber Identity), wifi mac, and the like, so as to provide a reference. However, due to the installation of the acquisition device or the excessive distance between the acquisition device and the mobile phone, each acquired space-time point may deviate from the actual space-time point. Especially, the positioning deviation of the mobile phone position is larger for the mobile phone base station.
A common solution is to make corrections with reference to road network planning, since there is a high probability that moving objects will move along the actual traffic route.
However, the simple reference road network has low accuracy of the space-time trajectory calibration.
Disclosure of Invention
The embodiment of the application provides a space-time trajectory calibration method, a device, a storage medium and electronic equipment, wherein the space-time trajectory to be calibrated of a target object is calibrated based on a center line of a co-directional motor vehicle lane, a center line of a co-directional motor vehicle lane or a center line of a sidewalk, so that the accuracy of the space-time trajectory calibration is improved, and the space-time trajectory which is more in line with the actual situation is obtained.
In a first aspect, an embodiment of the present application provides a method for calibrating a spatiotemporal trajectory, where the method includes:
determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
determining a calibration location based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object by using the calibration position to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
In a second aspect, an embodiment of the present application provides a spatiotemporal trajectory calibration apparatus, including:
the mobile type determining module is used for determining a mobile type according to the moving speed of the target object; wherein the movement types include motor vehicles and foot traffic;
a calibration position determination module for determining a calibration position based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
the calibration space-time trajectory obtaining module is used for calibrating the offset space-time points in the space-time trajectory to be calibrated of the target object by using the calibration positions to obtain a calibration space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
In a third aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a spatiotemporal trajectory calibration method according to embodiments of the present application.
In a fourth aspect, embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the spatiotemporal trajectory calibration method according to embodiments of the present application when executing the computer program.
According to the technical scheme provided by the embodiment of the application, the movement type is determined according to the movement speed of the target object; determining a calibration location based on the movement type, the predetermined road route and the positioning information; the calibration position comprises a center line of a same-direction motor vehicle lane, a same-direction motor vehicle lane and a center line of a sidewalk; and calibrating the offset space-time points in the space-time trajectory to be calibrated of the target object by using the calibration positions to obtain a calibrated space-time trajectory. According to the technical scheme, the space-time trajectory to be calibrated of the target object is calibrated based on the center line of the equidirectional motor vehicle lane, the center line of the equidirectional motor vehicle lane or the center line of the sidewalk, so that the accuracy of the space-time trajectory calibration is improved, and the space-time trajectory which is more in line with the actual situation is obtained.
Drawings
FIG. 1 is a flowchart of a spatiotemporal trajectory calibration method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a calibration process of a space-time trajectory of a motor vehicle according to a second embodiment of the present application;
FIG. 3 is a schematic view of the center line of a co-directional motor vehicle lane provided in the second embodiment of the present application;
FIG. 4 is a diagram illustrating a walking spatiotemporal trajectory calibration process provided in a third embodiment of the present application;
FIG. 5 is a schematic structural diagram of a spatiotemporal trajectory calibration apparatus according to a fourth embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a spatiotemporal trajectory calibration method according to an embodiment of the present application, where the present embodiment is applicable to a case of calibrating an offset spatiotemporal point in a spatiotemporal trajectory, and the method may be performed by a spatiotemporal trajectory calibration apparatus according to an embodiment of the present application, where the apparatus may be implemented by software and/or hardware, and may be integrated in an intelligent terminal or the like for trajectory calibration.
As shown in fig. 1, the method for calibrating the spatiotemporal trajectory includes:
s110, determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
in the scheme, the mobile communication base station of the urban traffic has the capability of collecting imei, imsi or wifi mac information of nearby mobile phones and determining the positions of the mobile phones according to a three-point positioning principle. In order to collect the space-time trajectory to be calibrated of the target object, the trajectory can be determined based on mobile phone information collected and mobile phone information in a period of time before and after the collected mobile phone information is analyzed. The space-time trajectory to be calibrated is a recording sequence of the position and time of the target object, and the position can be latitude and longitude coordinates.
Here, the moving speed may refer to a speed at which the target object is displaced in a specific direction. The vehicle adopted by the target object, i.e. the type of movement of the target object, can be determined from the speed of movement. For example, if the moving speed of the target object exceeds a certain threshold value for a longer time, a motor vehicle is adopted; if the moving speed of the target object is less than a certain threshold, walking is used. The mobile communication base station can be used for collecting mobile phone information to calculate the moving speed of the target object.
In this technical solution, optionally, determining the movement type according to the movement speed of the target object includes:
if the moving speed meets a first preset speed constraint condition, determining that the moving type is a motor vehicle;
if the moving speed meets a second preset speed constraint condition, determining that the moving type is walking;
if the moving speed meets a third preset speed constraint condition, calculating the average speed of the target object within a preset time period by using the space-time trajectory to be calibrated, and if the average speed meets the first preset speed constraint condition, determining that the moving type is the motor vehicle.
In this embodiment, the first preset speed constraint condition may be used to characterize that the moving speed is greater than or equal to the first speed threshold. Wherein the first speed threshold may be set according to an average speed of the vehicle. For example, if the first speed threshold value is set to 40 km/hour, that is, if the moving speed of the target object is 40 km/hour or more, the moving type is determined to be a motor vehicle.
Optionally, the first preset speed constraint condition may be that the moving speeds in the preset time node are all greater than or equal to a first speed threshold; the number of times that the movement speed is equal to or higher than the first speed threshold value within the preset time node may exceed the set threshold value. In order to avoid the condition that the temporary acceleration of the sports bicycle generates misjudgment, the preset time node is divided into time sections, the average speed of the target object in each time section is calculated, and the times that the average speed is greater than or equal to the first speed threshold value exceed the preset threshold value. For example, the first preset speed constraint may be that the number of times that the mobile speed is equal to or greater than 40 km/h exceeds 3 times within a preset time node.
In this embodiment, the second preset speed constraint condition may be used to characterize that the moving speed is less than the second speed threshold. Wherein the second speed threshold may be set according to an average speed of the vehicle. For example, the second speed threshold may be set to 6 km/hour, that is, the moving speed of the target object is less than 6 km/hour, and then the moving type is determined to be walking.
In this scheme, the third preset constraint condition may be that the moving speed is less than the first speed threshold; alternatively, the number of times the moving speed is equal to or higher than the first speed threshold does not exceed the set threshold. And backtracking to historical time before several hours based on the space-time trajectory to be calibrated of the target object, calculating the average speed of the target object in each time period from the historical time to the current time, and determining that the movement type is the motor vehicle if the number of times that the average speed is greater than or equal to the first speed threshold exceeds a preset threshold. For example, when the moving speed of a target object is always below 40 km/h, or the time periods exceeding 40 km/h are not more than 3, establishing a historical space-time trajectory for the moving target, backtracking from the current moment to 2 hours ago (the backtracking duration can be preset), extracting the space-time moving trajectory to be calibrated of the target object from 2 hours ago to the present from a storage device, calculating the average speed of each time period from 2 hours ago to the present, and if the average speed of more than 3 time periods exceeds 40 km/h, determining that the moving type is a motor vehicle.
By judging the moving speed of the target object, the moving type of the target object can be determined in real time based on the moving speed at the current moment, and the accuracy of dividing the moving type of the target object is improved. And the condition that the temporary acceleration of the sports bicycle generates misjudgment can be avoided.
S120, determining a calibration position based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
in the present embodiment, the road route includes a motor vehicle road route, a sidewalk road route, and a non-motor vehicle road route. The road route can be determined by acquiring the road information of the electronic map of the city by conventional means such as a high-grade map or a Baidu map. The real-time situation of urban road information needs to be referred to in the process of determining the road route. For example, a motor vehicle is required to use a single cycle in a specific area during peak hours on duty, while a normal traffic in both directions is used during non-peak hours; still other cities use tidal lanes, which end up with the prescribed direction of travel of the individual routes changing. The predetermined traveling direction of the route may be changed by determining whether the predetermined traveling direction of the vehicle on the route is changed based on the traveling speeds and traveling directions of the plurality of vehicles. For rural routes, climate and latitude information also need to be comprehensively considered, and for part of areas, paddy fields in winter are dry and can walk; the lake freezes very thickly, can walk everywhere.
The vehicle position can be formed from a transverse position and a longitudinal position. The walking position may also be comprised of a lateral position and a longitudinal position. The positioning information of the target object can be determined by collecting the mobile phone information through the base station.
In this embodiment, the co-directional motor vehicle lane center line may refer to the total center of the N parallel co-directional routes. In the process of determining the center line of the lane of the equidirectional motor vehicles, the direction of a road route needs to be adjusted according to the real-time condition of urban roads.
In the scheme, if the mobile type is a motor vehicle, the center line of the co-directional motor vehicle lane can be determined based on the motor vehicle route and the motor vehicle position. Wherein, the center line of the equidirectional motor vehicle lane comprises the center lines of the motor vehicle lanes in two directions; the co-directional vehicle lanes may also be determined based on the vehicle route and the number of vehicles. When the lanes of the equidirectional motor vehicles are determined, the condition that multiple mobile phones possibly exist in the same vehicle is considered, the synchronous integration of the movement rhythms is judged to be one vehicle according to the synchronism analysis of the movement rhythms positioned by the mobile phones, and the number of lanes of the equidirectional motor vehicles is determined by calculating the number of the motor vehicles of the motor vehicle route within the preset length; if the movement type is walking, a sidewalk centerline is determined based on the walking road route and the walking position.
S130, calibrating an offset space-time point in a space-time trajectory to be calibrated of the target object by using the calibration position to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
In the scheme, if the mobile type is a motor vehicle, when the motor vehicle meets traffic constraint conditions, the space-time trajectory to be calibrated of a target object is calibrated according to the center line of the same-direction motor vehicle lane, and the space-time point can be calibrated to a near-side road of the motor vehicle road, which accords with traffic habits and rules; when the motor vehicles do not meet the traffic constraint condition, calculating according to the number of the motor vehicles and the length of the motor vehicle sections to obtain the number of lanes of the motor vehicles in the same direction, and calibrating the space-time trajectory to be calibrated of the target object according to the lanes of the motor vehicles in the same direction; if the movement type is walking, offset spatiotemporal points in the to-be-calibrated spatiotemporal trajectory of the target object may be calibrated to the sidewalk centerline.
According to the technical scheme provided by the embodiment of the application, the movement type is determined according to the movement speed of the target object; determining a calibration location based on the movement type, the predetermined road route and the positioning information; the calibration position comprises a center line of a same-direction motor vehicle lane, a same-direction motor vehicle lane and a center line of a sidewalk; and calibrating the offset space-time points in the space-time trajectory to be calibrated of the target object by using the calibration positions to obtain a calibrated space-time trajectory. By executing the technical scheme, the space-time trajectory to be calibrated of the motor vehicle is calibrated based on the center line of the equidirectional motor vehicle lane or the equidirectional motor vehicle lane, the accuracy of the calibration of the space-time trajectory to be calibrated of the motor vehicle can be improved by combining the actual condition of the urban motor vehicle in the specified driving direction, the space-time trajectory to be calibrated walking is calibrated based on the center line of the sidewalk, the accuracy of the calibration of the space-time trajectory to be calibrated of the walking can be improved by combining the climate and latitude information, the road information, the moving speed, the social environment, the climate information and the like of the target object are comprehensively analyzed, the space-time trajectory of the target object is calibrated by combining a knowledge base and the clustering information of other target trajectories, and the space-time trajectory which is more in line with the actual condition can be obtained.
Example two
Fig. 2 is a schematic diagram of a calibration process of a space-time trajectory of a motor vehicle according to a second embodiment of the present invention, which is further optimized based on the first embodiment. The concrete optimization is as follows: determining a calibration location based on the movement type, a predetermined road route, and location information, comprising: under the condition that the movement type is the motor vehicle, the position or the number of the motor vehicles in the same direction in at least one motor vehicle section is obtained; the motor vehicle road section is divided according to the road route according to a first preset length to obtain a road section; if the pre-acquired traffic information meets the preset traffic constraint condition, calculating to obtain an average value of the lateral distances of the motor vehicles according to the positions of the motor vehicles, and determining the center line of the motor vehicle lane in the same direction according to the average value; wherein the vehicle lateral distance comprises a distance in a direction perpendicular to a road; and if the pre-acquired traffic information does not meet the preset traffic constraint condition, calculating the number of lanes of the equidirectional motor vehicles according to the number of the motor vehicles and the length of the motor vehicle section, and determining lanes of the equidirectional motor vehicles according to the number of lanes of the equidirectional motor vehicles. The details which are not described in detail in this embodiment are shown in the first embodiment. As shown in fig. 2, the method comprises the steps of:
s210, determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
s220, under the condition that the movement type is the motor vehicle, the position or the number of the motor vehicles in the same direction in at least one motor vehicle section is obtained; the motor vehicle road section is divided according to the road route according to a first preset length to obtain a road section;
the road route may be divided into a plurality of motor vehicle sections according to a first predetermined length. For example, a road route may be cut into a plurality of motor vehicle segments of 20 meter length. And collecting the positions of all the motor vehicles in the same direction or the number of the motor vehicles in a motor vehicle section by using the base station.
S230, if the pre-acquired traffic information meets a preset traffic constraint condition, calculating to obtain an average value of the lateral distances of the motor vehicles according to the positions of the motor vehicles, and determining the center line of the motor vehicle lane in the same direction according to the average value; wherein the vehicle lateral distance comprises a distance in a direction perpendicular to a road;
in this embodiment, the traffic constraint condition may be set according to the traffic road condition. The traffic road condition can be determined according to the driving time of the same motor vehicle when the same motor vehicle passes through the specified distance. If the running time is greater than or equal to a preset threshold value, the traffic road condition is considered to be crowded; and if the running time is less than the preset threshold value, the traffic road condition is not crowded. For example, a road of 100 meters is selected, the time spent by the motor vehicle from entering the road to leaving the road of 100 meters is measured, and if the driving time exceeds a preset threshold value, the traffic road condition is considered to be crowded; otherwise, the traffic road condition is not crowded. Alternatively, the traffic constraint condition may be set to a condition that the traffic conditions are not congested.
In this embodiment, if the traffic information acquired in advance meets the preset traffic constraint condition, that is, the traffic road condition is not crowded, the average value of the lateral distances of all the motor vehicle positions in the motor vehicle section is calculated based on the motor vehicle positions, and the average value is used as the center line of the lane of the motor vehicle in the same direction.
For example, fig. 3 is a schematic view of the center line of the co-directional motor vehicle lane provided in the second embodiment of the present application; as shown in fig. 3, the road route is a two-way two-lane road, m1, m2, m3 and m4 represent four vehicles of one vehicle section, and the abscissa of the circle represents the average value of the lateral distances of the vehicles; the ordinate is the ordinate of the motor vehicle position. By calculating the average of the lateral distances of m1, m2, m3 and m4, the lateral positions of the four vehicle nodes m1, m2, m3 and m4 on the first road section are corrected to the average, and then the four points are connected into a line, and the average is taken as the center line of the equidirectional vehicle lane.
S240, if the pre-acquired traffic information does not meet the preset traffic constraint condition, calculating to obtain the number of lanes of the equidirectional motor vehicles according to the number of the motor vehicles and the length of the motor vehicle section, and determining lanes of the equidirectional motor vehicles according to the number of lanes of the equidirectional motor vehicles;
in this embodiment, if the traffic information acquired in advance does not satisfy the preset traffic constraint condition, that is, the traffic road condition is congested, all vehicles in a certain section of motor vehicle road section where the motor vehicle is in a waiting red light or traffic jam state are acquired, and the number of lanes of the motor vehicle in the same direction is calculated based on the number of the motor vehicles and the length of the motor vehicle road section. Alternatively, assuming that the average length of the vehicles is a meters and the spacing is B meters, the vehicles occupy a + B meters of space. If the number of motor vehicles in the section is C, and the length of the motor vehicle section is D, the number of the equidirectional motor vehicle lanes is C/(D/(A + B)). And if the obtained calculation result of the number of the lanes of the equidirectional motor vehicles is not a positive integer, adjusting the number of the lanes of the equidirectional motor vehicles to be a positive integer close to the calculation result. For example, for a 20 meter stretch, assuming that the vehicles are 4 meters in average length, spaced 1 meter apart, so that each vehicle occupies 5 meters of space; if 11 vehicles exist on the site, 11/(20/5) =2.75, and the number of lanes is about 3 equidirectional motor vehicles.
In the scheme, the number of the acquired motor vehicles can be adjusted by utilizing the mobile phone information of the motor vehicle section in the preset time period. As there may be multiple handsets in a single vehicle. The same rhythm analysis mode is adopted. And collecting the mobile phone information of the motor vehicle position within the motor vehicle road section at the moment, and keeping real-time tracking. In a congestion state, the vehicle can continuously perform periodic motion of starting, running, braking and stopping, and the positioning positions of all mobile phones on the same vehicle can also be in synchronous periodic motion, even if the positioning positions of the mobile phones are dispersed due to different operators and are not concentrated in a small area with the size of the cross section of the vehicle, the motion rhythms of the positioning positions of two mobile phones on different vehicles are different. Therefore, according to the synchronization analysis of the movement rhythm positioned by the mobile phone, the following judgment can be made: and (4) synchronously merging the movement rhythms into one vehicle within a period of time (the time length can be preset), so that the actual number of the vehicles can be calculated. For example, in a stopped state, 41 mobile phone signals are obtained on a 20-meter road segment, the 41 mobile phone signals are tracked, the mobile phone signals with synchronous motion rhythmicity are classified, and a total of 11 classes is obtained, so that the vehicle is considered to be 11 vehicles. Assuming that the average length of the vehicles is 4 meters and the distance is 1 meter, each vehicle occupies 5 meters of space; then 11/(20/5) =2.75, approximately 3 co-directional vehicle lanes.
S250, calibrating offset space-time points in the space-time trajectory to be calibrated of the target object by using the center line of the equidirectional motor vehicle lane or the equidirectional motor vehicle lane to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
In the embodiment, if the pre-acquired traffic information meets the preset traffic constraint condition, calibrating an offset space-time point in a space-time trajectory to be calibrated of a target object to a center line of a equidirectional motor vehicle lane; and if the pre-acquired traffic information does not meet the preset traffic constraint condition, calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object to the equidirectional motor vehicle lane.
Optionally, calibrating the offset space-time point in the to-be-calibrated space-time trajectory of the target object by using the center line of the co-directional vehicle lane, including:
calibrating the offset space-time points in the space-time trajectory to be calibrated to the center line of the equidirectional motor vehicle lane according to the pre-acquired traffic rules and the motor vehicle moving direction; wherein the traffic regulation comprises driving to the right.
In this embodiment, the equidirectional vehicle lane center line may be divided into an ascending equidirectional vehicle lane center line and a descending equidirectional vehicle lane center line according to the vehicle moving direction. For example, assume a motor vehicle lane is a two-way four-lane, east-west trend. According to the rule that the motor vehicle runs to the right, the center line of the equidirectional motor vehicle lane in the moving direction from the west to the east of the motor vehicle can be divided into the center line of the ascending equidirectional motor vehicle lane, and the center line of the equidirectional motor vehicle lane in the moving direction from the east to the west is the center line of the descending equidirectional motor vehicle lane. If the moving direction of the motor vehicle is from west to east, calibrating an offset space-time point in the space-time trajectory to be calibrated to the center line of the lane of the motor vehicle in the same direction at the upstream; if the moving direction of the motor vehicle is from east to west, the offset space-time points in the space-time trajectory to be calibrated can be calibrated to the central line of the lane of the motor vehicle in the same direction in the descending direction.
The space-time trajectory to be calibrated of the target object is calibrated based on the center line of the equidirectional motor vehicle lane, so that the accuracy of the space-time trajectory calibration can be improved, and the space-time trajectory of the target object is more accurate.
Optionally, the co-directional vehicle lane comprises a first lane and a second lane; wherein the first lane comprises a lane closest to a road surface centerline; the second lane comprises a lane farthest from a center line of a road surface;
correspondingly, the calibration of the offset space-time point in the space-time trajectory to be calibrated of the target object by using the equidirectional motor vehicle lane comprises the following steps:
and calibrating the offset space-time point in the space-time trajectory to be calibrated to the first lane or the second lane according to the pre-acquired traffic rule, the motor vehicle moving direction and the offset space-time point position.
In the scheme, the offset space-time points in the space-time trajectory to be calibrated can be calibrated to the near-side road according with the traffic rules and the moving direction of the motor vehicle. For example, assume a motor vehicle lane is a two-way four-lane, east-west trend. And the vehicle runs to the right, and the moving direction of the vehicle moves from the west to the east. If the offset space-time point in the space-time trajectory to be calibrated positioned by the base station is offset to the north of the road, calibrating the offset space-time point in the space-time trajectory to be calibrated to a first lane; and if the offset space-time point in the space-time trajectory to be calibrated positioned by the base station is offset to the south of the road, calibrating the offset space-time point in the space-time trajectory to be calibrated to the second lane.
The space-time trajectory to be calibrated of the target object is calibrated based on the equidirectional motor vehicle lane, so that the accuracy of the space-time trajectory calibration can be improved, and the space-time trajectory of the target object is more accurate.
According to the technical scheme provided by the embodiment of the application, the movement type is determined according to the movement speed of the target object; acquiring the position or the number of the motor vehicles in the same direction in at least one motor vehicle section under the condition that the movement type is the motor vehicle; if the pre-acquired traffic information meets the preset traffic constraint condition, calculating to obtain an average value of the lateral distances of the motor vehicles according to the positions of the motor vehicles, determining the center line of the same-direction motor vehicle lane according to the average value, and calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object by using the center line of the same-direction motor vehicle lane; if the pre-acquired traffic information does not meet the preset traffic constraint condition, calculating according to the number of the motor vehicles and the length of the motor vehicle road section to obtain the number of lanes of the motor vehicles in the same direction, determining lanes of the motor vehicles in the same direction according to the number of lanes of the motor vehicles in the same direction, and calibrating the offset space-time points in the space-time trajectory to be calibrated of the target object by using the lanes of the motor vehicles in the same direction to obtain the calibrated space-time trajectory. By executing the technical scheme, the space-time trajectory to be calibrated of the target object is calibrated based on the center line of the equidirectional motor vehicle lane or the equidirectional motor vehicle lane, so that the accuracy of the calibration of the space-time trajectory of the motor vehicle is improved, and the space-time trajectory which is more in line with the actual situation is obtained.
EXAMPLE III
FIG. 4 is a schematic diagram of a walking spatiotemporal trajectory calibration process provided in the third embodiment of the present application, which is further optimized based on the first embodiment. The concrete optimization is as follows: determining a calibration location based on the movement type, a predetermined road route, and location information, comprising: acquiring walking positions in the same direction in at least one walking road section under the condition that the movement type is walking; the walking road section is divided according to the road route and a second preset length; and calculating to obtain the average value of the walking transverse distance according to the walking position, and determining the center line of the sidewalk according to the average value of the walking transverse distance. The details which are not described in detail in this embodiment are shown in the first embodiment. As shown in fig. 4, the method comprises the steps of:
s410, determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
s420, under the condition that the movement type is walking, acquiring walking positions in the same direction in at least one walking road section; the walking road section is divided according to the road route and a second preset length;
wherein the road route may be divided into a plurality of pedestrian sections according to a second preset length. For example, a road route may be cut into a plurality of pedestrian sections of 20 meter length. And collecting all walking positions in the same direction in a walking road section by using the base station.
S430, calculating to obtain an average value of walking transverse distances according to the walking positions, and determining a center line of the sidewalk according to the average value of the walking transverse distances;
in the present embodiment, assuming that the pedestrian has no headway violation, the average value of the lateral distances of all walking positions is calculated based on the walking positions, and the average value is taken as the sidewalk center line.
S440, calibrating an offset space-time point in a space-time trajectory to be calibrated of the target object by using the sidewalk central line to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
In the scheme, the offset space-time point in the space-time trajectory to be calibrated can be calibrated to the center line of the sidewalk according to the walking traffic rule and the walking moving direction.
Optionally, the calibrating, by using the center line of the sidewalk, an offset space-time point in a to-be-calibrated space-time trajectory of the target object includes:
if the pre-acquired climate information does not accord with the climate constraint condition, calibrating the offset space-time point in the space-time trajectory to be calibrated to the center line of the sidewalk according to the pre-acquired traffic rule and the walking moving direction; wherein the climate constraint conditions comprise rice field dry-out and lake icing.
In this embodiment, the climate constraints may include climate factors that cause portions of the area to walk. Namely, the rice field is dry and the lake is frozen, so people can walk.
In the scheme, if the pre-acquired climate information does not accord with the climate constraint condition, calibrating an offset space-time point in the space-time trajectory to be calibrated to the center line of the sidewalk; and if the pre-acquired climate information accords with the climate constraint condition, not calibrating the offset space-time point in the space-time trajectory to be calibrated.
The space-time trajectory to be calibrated of the target object is calibrated based on the center line of the sidewalk, and the accuracy of the space-time trajectory calibration is improved by referring to climatic factors, so that the space-time trajectory of the target object is more accurate.
According to the technical scheme provided by the embodiment of the application, the movement type is determined according to the movement speed of the target object; acquiring walking positions in the same direction in at least one walking road section under the condition that the movement type is walking; and calculating to obtain the average value of the walking transverse distance according to the walking position, and determining the center line of the sidewalk according to the average value of the walking transverse distance. And calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object by using the center line of the sidewalk to obtain a calibrated space-time trajectory. By executing the technical scheme, the space-time trajectory to be calibrated of the target object is calibrated based on the center line of the sidewalk, so that the accuracy of the calibration of the walking space-time trajectory is improved, and the space-time trajectory which is more in line with the actual situation is obtained.
Example four
Fig. 5 is a schematic structural diagram of a spatiotemporal trajectory calibration apparatus according to a fourth embodiment of the present application, and as shown in fig. 5, the spatiotemporal trajectory calibration apparatus includes:
a movement type determination module 510, configured to determine a movement type according to a movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
a calibration position determination module 520 for determining a calibration position based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises a positioning position and a positioning number of the target object;
a calibrated space-time trajectory obtaining module 530, configured to calibrate an offset space-time point in a space-time trajectory to be calibrated of the target object by using the calibration position, so as to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
In this embodiment, optionally, the calibration position determining module 520 includes:
the motor vehicle position or motor vehicle number determining unit is used for acquiring the motor vehicle positions or the motor vehicle numbers in the same direction in at least one motor vehicle section under the condition that the movement type is the motor vehicle; the motor vehicle road section is divided according to the road route according to a first preset length to obtain a road section;
the center line determining unit of the same-direction motor vehicle lane is used for calculating the average value of the transverse distances of the motor vehicles according to the positions of the motor vehicles if the pre-acquired traffic information meets the preset traffic constraint conditions, and determining the center line of the same-direction motor vehicle lane according to the average value; wherein the vehicle lateral distance comprises a distance in a direction perpendicular to a road;
and the lane determining unit of the same-direction motor vehicles is used for calculating the number of lanes of the same-direction motor vehicles according to the number of the motor vehicles and the length of the motor vehicle section if the pre-acquired traffic information does not meet the preset traffic constraint condition, and determining lanes of the same-direction motor vehicles according to the number of lanes of the same-direction motor vehicles.
In this embodiment, optionally, the calibration spatiotemporal trajectory obtaining module 530 includes:
the equidirectional motor vehicle lane center line calibration unit is used for calibrating the offset time-space points in the time-space trajectory to be calibrated to the equidirectional motor vehicle lane center line according to the traffic rule and the motor vehicle moving direction which are acquired in advance; wherein the traffic regulation comprises driving to the right.
In this technical solution, optionally, the co-directional motor vehicle lane includes a first lane and a second lane; wherein the first lane comprises a lane closest to a road surface centerline; the second lane comprises a lane farthest from a center line of a road surface;
accordingly, the calibrating spatiotemporal trajectory obtaining module 530 further comprises:
and the equidirectional motor vehicle lane calibration unit is used for calibrating the offset space-time point in the space-time trajectory to be calibrated to the first lane or the second lane according to the pre-acquired traffic rules, the motor vehicle moving direction and the offset space-time point position.
In this embodiment, optionally, the calibration position determining module 520 further includes:
a walking position acquisition unit for acquiring walking positions in the same direction in at least one walking section in a case where the movement type is walking; the walking road section is divided according to the road route and a second preset length;
and the sidewalk center line determining unit is used for calculating and obtaining the average value of the walking transverse distances according to the walking positions and determining the sidewalk center line according to the average value of the walking transverse distances.
In this embodiment, optionally, the module 530 for obtaining a calibrated spatiotemporal trajectory further includes:
the sidewalk center line calibration unit is used for calibrating the offset space-time point in the space-time track to be calibrated to the sidewalk center line according to the pre-acquired traffic rule and the walking moving direction if the pre-acquired climate information does not accord with the climate constraint condition; wherein the climate constraint conditions comprise rice field dry-out and lake icing.
In this technical solution, optionally, the movement type determining module 510 is specifically configured to:
if the moving speed meets a first preset speed constraint condition, determining that the moving type is a motor vehicle;
if the moving speed meets a second preset speed constraint condition, determining that the moving type is walking;
if the moving speed meets a third preset speed constraint condition, calculating the average speed of the target object within a preset time period by using the space-time trajectory to be calibrated, and if the average speed meets the first preset speed constraint condition, determining that the moving type is the motor vehicle.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Embodiments of the present application also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of spatiotemporal trajectory calibration, the method comprising:
determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
determining a calibration location based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object by using the calibration position to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided in the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the spatiotemporal trajectory calibration operations described above, and may also perform related operations in the spatiotemporal trajectory calibration method provided in any embodiments of the present application.
EXAMPLE six
The embodiment of the application provides electronic equipment, and the space-time trajectory calibration device provided by the embodiment of the application can be integrated in the electronic equipment. Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present application. As shown in fig. 6, the present embodiment provides an electronic device 600, which includes: one or more processors 620; a storage 610 for storing one or more programs which, when executed by the one or more processors 620, cause the one or more processors 620 to implement the spatiotemporal trajectory calibration method provided by embodiments of the present application, the method comprising:
determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
determining a calibration location based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object by using the calibration position to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated.
Of course, those skilled in the art will appreciate that the processor 620 may also implement the solution of the spatiotemporal trajectory calibration method provided in any of the embodiments of the present application.
The electronic device 600 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 6, the electronic device 600 includes a processor 620, a storage device 610, an input device 630, and an output device 640; the number of the processors 620 in the electronic device may be one or more, and one processor 620 is taken as an example in fig. 6; the processor 620, the storage device 610, the input device 630, and the output device 640 in the electronic apparatus may be connected by a bus or other means, and are exemplified by being connected by a bus 650 in fig. 6.
The storage device 610 is a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions corresponding to the spatiotemporal trajectory calibration method in the embodiments of the present application.
The storage device 610 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. In addition, the storage 610 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 610 may further include memory located remotely from the processor 620, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 630 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 640 may include a display screen, a speaker, and other electronic devices.
The electronic equipment provided by the embodiment of the application can achieve the purpose of improving the accuracy of the space-time trajectory calibration.
The spatiotemporal trajectory calibration device, the storage medium and the electronic device provided in the above embodiments may execute the spatiotemporal trajectory calibration method provided in any embodiment of the present application, and have corresponding functional modules and beneficial effects for executing the method. For technical details not described in detail in the above embodiments, reference may be made to the spatio-temporal trajectory calibration method provided in any of the embodiments of the present application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (8)
1. A method for calibrating spatiotemporal trajectories, comprising:
determining a movement type according to the movement speed of the target object; wherein the movement types include motor vehicles and foot traffic;
determining a calibration location based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
calibrating the offset space-time point in the space-time trajectory to be calibrated of the target object by using the calibration position to obtain a calibrated space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated;
wherein determining a calibration location based on the movement type, a predetermined road route and positioning information comprises:
under the condition that the movement type is the motor vehicle, the position or the number of the motor vehicles in the same direction in at least one motor vehicle section is obtained; the motor vehicle road section is divided according to the road route according to a first preset length to obtain a road section;
if the pre-acquired traffic information meets the preset traffic constraint condition, calculating to obtain an average value of the lateral distances of the motor vehicles according to the positions of the motor vehicles, and determining the center line of the motor vehicle lane in the same direction according to the average value; wherein the vehicle lateral distance comprises a distance in a direction perpendicular to a road;
if the pre-acquired traffic information does not meet the preset traffic constraint condition, calculating to obtain the number of lanes of the equidirectional motor vehicles according to the number of the motor vehicles and the length of the motor vehicle section, and determining lanes of the equidirectional motor vehicles according to the number of lanes of the equidirectional motor vehicles;
wherein determining a calibration location based on the movement type, a predetermined road route and positioning information further comprises:
acquiring walking positions in the same direction in at least one walking road section under the condition that the movement type is walking; the walking road section is divided according to the road route and a second preset length;
and calculating to obtain the average value of the walking transverse distance according to the walking position, and determining the center line of the sidewalk according to the average value of the walking transverse distance.
2. The method of claim 1, wherein calibrating offset spatiotemporal points in a spatiotemporal trajectory to be calibrated of a target object using the calibration positions comprises:
calibrating the offset space-time points in the space-time trajectory to be calibrated to the center line of the equidirectional motor vehicle lane according to the pre-acquired traffic rules and the motor vehicle moving direction; wherein the traffic regulation comprises driving to the right.
3. The method of claim 1, wherein the co-directional vehicle lane comprises a first lane and a second lane; wherein the first lane comprises a lane closest to a road surface centerline; the second lane comprises a lane farthest from a center line of a road surface;
correspondingly, the calibration of the offset space-time point in the space-time trajectory to be calibrated of the target object by using the calibration position comprises the following steps:
and calibrating the offset space-time point in the space-time trajectory to be calibrated to the first lane or the second lane according to the pre-acquired traffic rule, the motor vehicle moving direction and the offset space-time point position.
4. The method of claim 1, wherein calibrating offset spatiotemporal points in a spatiotemporal trajectory to be calibrated of a target object using the calibration positions comprises:
if the pre-acquired climate information does not accord with the climate constraint condition, calibrating the offset space-time point in the space-time trajectory to be calibrated to the center line of the sidewalk according to the pre-acquired traffic rule and the walking moving direction; wherein the climate constraint conditions comprise rice field dry-out and lake icing.
5. The method of claim 1, wherein determining the type of movement based on the speed of movement of the target object comprises:
if the moving speed meets a first preset speed constraint condition, determining that the moving type is a motor vehicle;
if the moving speed meets a second preset speed constraint condition, determining that the moving type is walking;
if the moving speed meets a third preset speed constraint condition, calculating the average speed of the target object within a preset time period by using the space-time trajectory to be calibrated, and if the average speed meets the first preset speed constraint condition, determining that the moving type is the motor vehicle.
6. A spatiotemporal trajectory calibration device, comprising:
the mobile type determining module is used for determining a mobile type according to the moving speed of the target object; wherein the movement types include motor vehicles and foot traffic;
a calibration position determination module for determining a calibration position based on the movement type, a predetermined road route and positioning information; wherein the calibration position comprises a co-directional motor lane center line, a co-directional motor lane and a sidewalk center line; the road route is determined according to road information of the electronic map; the positioning information comprises motor vehicle positions, motor vehicle numbers and walking positions;
the calibration space-time trajectory obtaining module is used for calibrating the offset space-time points in the space-time trajectory to be calibrated of the target object by using the calibration positions to obtain a calibration space-time trajectory; wherein the offset space-time points comprise space-time points of an offset road route in the space-time trajectory to be calibrated;
wherein the calibration position determination module comprises:
the motor vehicle position or motor vehicle number determining unit is used for acquiring the motor vehicle positions or the motor vehicle numbers in the same direction in at least one motor vehicle section under the condition that the movement type is the motor vehicle; the motor vehicle road section is divided according to the road route according to a first preset length to obtain a road section;
the center line determining unit of the same-direction motor vehicle lane is used for calculating the average value of the transverse distances of the motor vehicles according to the positions of the motor vehicles if the pre-acquired traffic information meets the preset traffic constraint conditions, and determining the center line of the same-direction motor vehicle lane according to the average value; wherein the vehicle lateral distance comprises a distance in a direction perpendicular to a road;
the lane determining unit of the same-direction motor vehicles is used for calculating the number of lanes of the same-direction motor vehicles according to the number of the motor vehicles and the length of the motor vehicle section to obtain the lane number of the same-direction motor vehicles if the pre-acquired traffic information does not meet the preset traffic constraint condition, and determining the lane number of the same-direction motor vehicles according to the lane number of the same-direction motor vehicles;
wherein, calibrating the position determination module, further comprises:
a walking position acquisition unit for acquiring walking positions in the same direction in at least one walking section in a case where the movement type is walking; the walking road section is divided according to the road route and a second preset length;
and the sidewalk center line determining unit is used for calculating and obtaining the average value of the walking transverse distances according to the walking positions and determining the sidewalk center line according to the average value of the walking transverse distances.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the spatiotemporal trajectory calibration method according to any one of claims 1 to 5.
8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program when executed by the processor implements the spatiotemporal trajectory calibration method of any of claims 1-5.
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