Ground clothing support vehicle driving track generation method and device, electronic equipment and medium

Abstract

The invention provides a ground clothing support vehicle driving track generation method and device, electronic equipment and a medium. The method comprises the steps that initial driving tracks are clustered according to the similarity between the initial driving tracks of all ground clothing support vehicles, and an intermediate driving track is obtained; judging whether the number of the positioning points in the middle driving track is greater than the preset number of the positioning points; if yes, determining a weighted triangle area of a triangle formed by each positioning point except the last two positioning points and two corresponding subsequent positioning points in the middle driving track; removing the positioning point with the minimum weighted triangle area in the middle driving track to obtain the latest middle driving track; continuously judging the middle driving track; otherwise, determining the middle driving track as the target driving track. According to the invention, the validity of the positioning data in the ground clothing guarantee vehicle driving track can be improved, and the data storage amount of the ground clothing guarantee vehicle driving track and the number of calculation resources for airport operation monitoring are reduced.

Description

Technical Field

[0001] The present invention relates to the field of airport ground service support, and in particular to a method, device, electronic equipment and medium for generating a driving trajectory of a ground service support vehicle. Background Art

[0002] The driving trajectory of the airport ground service vehicle refers to the directed route formed by the positions that the ground service vehicle passes through from the start time of the ground service to the end time of the ground service. The conventional method is to connect the vehicle satellite positioning points in chronological order to generate the driving trajectory of the ground service vehicle.

[0003] However, due to the irregular stationary state when avoiding aircraft and some vehicles operating during driving, the positioning data of ground service vehicles when stationary and driving in a straight line has almost no business value, resulting in low effectiveness of the positioning data in the driving trajectory of ground service support vehicles, which increases the data storage volume of the driving trajectory of ground service support vehicles and the number of computing resources for airport operation monitoring. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method, device, electronic device and medium for generating a driving trajectory of a ground service support vehicle. By removing worthless positioning data at two angles, between each driving trajectory and within the driving trajectory, the effectiveness of the positioning data in the driving trajectory of the ground service support vehicle can be improved, thereby reducing the data storage volume of the driving trajectory of the ground service support vehicle and the number of computing resources for airport operation monitoring.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a driving trajectory of a ground service vehicle, the method comprising:

[0006] Obtaining initial driving trajectories of service vehicles in various locations; each initial driving trajectory includes multiple positioning points;

[0007] Clustering the initial driving trajectories according to the similarity between the initial driving trajectories to obtain the intermediate driving trajectories;

[0008] For each intermediate driving trajectory, determining whether the number of positioning points in the intermediate driving trajectory is greater than the preset number of positioning points;

[0009] If it is greater than, determine the weighted triangular area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory;

[0010] Remove the positioning point with the smallest weighted triangle area in the middle driving trajectory to obtain the latest middle driving trajectory; and continue to judge the middle driving trajectory;

[0011] Otherwise, the intermediate driving trajectory is determined as the target driving trajectory.

[0012] In a possible implementation, obtaining initial driving trajectories of service vehicles in various locations includes:

[0013] Obtain the satellite positioning driving trajectory of service vehicles in various places; the satellite positioning driving trajectory includes multiple positioning points;

[0014] Calculate the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory based on the corresponding previous positioning point;

[0015] Calculate the abnormal value corresponding to each positioning point in each satellite positioning driving trajectory according to the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory;

[0016] The positioning points with abnormal values ​​within the preset abnormal range in each satellite positioning driving trajectory are removed to obtain the initial driving trajectories of the service guarantee vehicles in each location.

[0017] In a possible implementation, the similarity between the initial driving trajectories is determined by the following steps:

[0018] Calculate the second driving distance, the second driving speed, the second driving azimuth and the second driving acceleration of each positioning point in each initial driving trajectory based on the corresponding previous positioning point;

[0019] The similarity between the initial driving trajectories is determined according to the second driving distances, the second driving speeds, the second driving azimuths and the second driving accelerations corresponding to all the positioning points in all the initial driving trajectories.

[0020] In a possible implementation, determining the similarity between the initial driving trajectories according to the second driving distances, the second driving speeds, the second driving azimuths, and the second driving accelerations corresponding to all positioning points in all the initial driving trajectories includes:

[0021] Calculating the driving distance similarity between the initial driving trajectories according to the second driving distances corresponding to all positioning points in all the initial driving trajectories;

[0022] Calculating the driving speed similarity between the initial driving trajectories according to the second driving speeds corresponding to all positioning points in all the initial driving trajectories;

[0023] Calculate the driving azimuth similarity between the initial driving trajectories according to the second driving azimuths corresponding to all positioning points in all the initial driving trajectories;

[0024] Calculating the driving acceleration similarity between the initial driving trajectories according to the second driving accelerations corresponding to all positioning points in all the initial driving trajectories;

[0025] The similarity between the initial driving trajectories is determined according to the driving distance similarity, the driving speed similarity, the driving azimuth similarity and the driving acceleration similarity between the initial driving trajectories.

[0026] In a possible implementation, clustering the initial driving trajectories according to the similarities between the initial driving trajectories to obtain the intermediate driving trajectories includes:

[0027] Determine whether the distances between all initial driving trajectories are greater than or equal to a preset distance;

[0028] If the distances between all initial driving trajectories are greater than or equal to the preset distance, each initial driving trajectory is determined as an intermediate driving trajectory;

[0029] Otherwise, the initial driving trajectories are merged in pairs according to the similarities between the initial driving trajectories to obtain the latest initial driving trajectory; and the distance between the initial driving trajectories is further determined;

[0030] Among the two initial driving trajectories to be merged, the similarity between the first initial driving trajectory and the second initial driving trajectory is greater than the similarity between the first initial driving trajectory and any initial driving trajectory other than the second initial driving trajectory and itself; and each initial driving trajectory is merged only once.

[0031] In a possible implementation, determining the weighted triangular area of ​​a triangle formed by each positioning point other than the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory includes:

[0032] Calculate the area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the middle driving trajectory;

[0033] Calculate the third driving speed, the third driving azimuth and the third driving acceleration of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point;

[0034] The weighted triangle area corresponding to each positioning point is determined according to the area of ​​the triangle corresponding to each positioning point in the intermediate driving trajectory, the third driving acceleration, the third driving azimuth and the third driving acceleration.

[0035] In a possible implementation, determining the weighted triangle area corresponding to each positioning point according to the area of ​​the triangle corresponding to each positioning point in the intermediate driving trajectory, the third driving acceleration, the third driving azimuth, and the third driving acceleration includes:

[0036] Determine the sum of the third driving speed, the third driving azimuth and the third driving acceleration corresponding to each positioning point in the intermediate driving trajectory as the weight of the triangle corresponding to each positioning point in each intermediate driving trajectory;

[0037] The weighted triangle area corresponding to each positioning point in each intermediate driving track is determined as the product of the weight of the triangle corresponding to each positioning point in each intermediate driving track and the area of ​​the triangle.

[0038] In a second aspect, an embodiment of the present application further provides a device for generating a driving trajectory of a ground service vehicle, the device comprising:

[0039] An acquisition module is used to acquire initial driving trajectories of various service vehicles; each initial driving trajectory includes multiple positioning points;

[0040] A clustering module, used for clustering the initial driving trajectories according to the similarities between the initial driving trajectories to obtain intermediate driving trajectories;

[0041] A judging module, used for judging, for each intermediate driving track, whether the number of positioning points in the intermediate driving track is greater than the preset number of positioning points;

[0042] A determination module, for determining the weighted triangular area of ​​a triangle formed by each positioning point other than the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory if it is greater than;

[0043] A removal module is used to remove the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continue to judge the intermediate driving trajectory;

[0044] The determination module is further configured to determine the intermediate driving trajectory as the target driving trajectory otherwise.

[0045] In a possible implementation, an acquisition module is specifically used to acquire the satellite positioning driving trajectory of service and support vehicles in various places; the satellite positioning driving trajectory includes multiple positioning points; a first driving distance, a first driving speed, and a first driving azimuth of each positioning point in each satellite positioning driving trajectory are calculated based on the corresponding previous positioning point; according to the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory, an abnormal value corresponding to each positioning point in each satellite positioning driving trajectory is calculated; the positioning points in each satellite positioning driving trajectory whose abnormal values ​​are within a preset abnormal range are removed to obtain the initial driving trajectories of service and support vehicles in various places.

[0046] In a possible implementation manner, the determination module is further configured to:

[0047] Calculate the second driving distance, the second driving speed, the second driving azimuth and the second driving acceleration of each positioning point in each initial driving trajectory based on the corresponding previous positioning point;

[0048] The similarity between the initial driving trajectories is determined according to the second driving distances, the second driving speeds, the second driving azimuths and the second driving accelerations corresponding to all the positioning points in all the initial driving trajectories.

[0049] In a possible implementation, the determination module is specifically used to calculate the driving distance similarity between each initial driving trajectories according to the second driving distance corresponding to all the positioning points in all the initial driving trajectories; calculate the driving speed similarity between each initial driving trajectories according to the second driving speed corresponding to all the positioning points in all the initial driving trajectories; calculate the driving azimuth similarity between each initial driving trajectories according to the second driving azimuth corresponding to all the positioning points in all the initial driving trajectories; calculate the driving acceleration similarity between each initial driving trajectories according to the second driving acceleration corresponding to all the positioning points in all the initial driving trajectories; determine the similarity between each initial driving trajectories according to the driving distance similarity, driving speed similarity, driving azimuth similarity and driving acceleration similarity between each initial driving trajectories.

[0050] In a possible implementation, the clustering module is specifically used to determine whether the distances between all initial driving trajectories are greater than or equal to a preset distance; if the distances between all initial driving trajectories are greater than or equal to the preset distance, each initial driving trajectory is determined as an intermediate driving trajectory; otherwise, the initial driving trajectories are merged in pairs based on the similarities between the initial driving trajectories to obtain the latest initial driving trajectory; and the distances between the initial driving trajectories are continued to be determined; wherein, of the two initial driving trajectories to be merged, the similarity between the first initial driving trajectory and the second initial driving trajectory is greater than the similarity between the first initial driving trajectory and any initial driving trajectory other than the second initial driving trajectory and itself; and each initial driving trajectory is merged only once.

[0051] In a possible implementation, the determination module is specifically used to calculate the area of ​​a triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory; calculate the third driving speed, third driving azimuth and third driving acceleration of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point; determine the weighted triangle area corresponding to each positioning point according to the area of ​​the triangle corresponding to each positioning point in the intermediate driving trajectory, the third driving acceleration, the third driving azimuth and the third driving acceleration.

[0052] In a possible implementation manner, the determination module is further configured to:

[0053] Determine the sum of the third driving speed, the third driving azimuth and the third driving acceleration corresponding to each positioning point in the intermediate driving trajectory as the weight of the triangle corresponding to each positioning point in each intermediate driving trajectory;

[0054] The weighted triangle area corresponding to each positioning point in each intermediate driving track is determined as the product of the weight of the triangle corresponding to each positioning point in each intermediate driving track and the area of ​​the triangle.

[0055] In the third aspect, an embodiment of the present application also provides an electronic device, including: a processor, a storage medium and a bus, the storage medium stores machine-readable instructions executable by the processor, when the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the steps of the method for generating a driving trajectory of a ground service guarantee vehicle as described in any one of the items in the first aspect.

[0056] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for generating a driving trajectory of a ground service support vehicle as described in any one of the first aspects are executed.

[0057] The embodiment of the present application provides a method, device, electronic device and medium for generating a driving trajectory of a ground service support vehicle, the method comprising: obtaining each initial driving trajectory of each local service support vehicle; each initial driving trajectory includes multiple positioning points; clustering the initial driving trajectories according to the similarity between each initial driving trajectory to obtain an intermediate driving trajectory; for each intermediate driving trajectory, judging whether the number of positioning points in the intermediate driving trajectory is greater than the preset number of positioning points; if greater than, determining the weighted triangle area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory; removing the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continuing to judge the intermediate driving trajectory; otherwise, determining the intermediate driving trajectory as the target driving trajectory. The present application can improve the validity of the positioning data in the driving trajectory of the ground service support vehicle by removing worthless positioning data at two angles between each driving trajectory and within the driving trajectory, thereby reducing the data storage volume of the driving trajectory of the ground service support vehicle and the number of computing resources for airport operation monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 A flow chart of a method for generating a driving trajectory of a ground service support vehicle provided in an embodiment of the present application is shown;

[0060] Figure 2 A flowchart of another method for generating a driving trajectory of a ground service support vehicle provided in an embodiment of the present application is shown;

[0061] Figure 3 A schematic diagram of the structure of a device for generating a driving trajectory of a ground service support vehicle provided in an embodiment of the present application is shown;

[0062] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0063] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0064] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0065] In order to enable those skilled in the art to use the contents of this application, the following implementation methods are provided in conjunction with the specific application scenario "field of airport ground service support". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "field of airport ground service support", it should be understood that this is only an exemplary embodiment.

[0066] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0067] The following is a detailed description of a method for generating a driving trajectory of a ground service support vehicle provided in an embodiment of the present application.

[0068] Reference Figure 1 As shown, it is a flow chart of a method for generating a driving trajectory of a ground service support vehicle provided in an embodiment of the present application. The specific execution process of the method for generating a driving trajectory of a ground service support vehicle is as follows:

[0069] S101. Obtain initial driving trajectories of service vehicles in various locations.

[0070] S102 , clustering the initial driving trajectories according to the similarities between the initial driving trajectories to obtain intermediate driving trajectories.

[0071] S103: for each intermediate driving trajectory, determine whether the number of positioning points in the intermediate driving trajectory is greater than the preset number of positioning points.

[0072] S104: If it is greater than, determine the weighted triangle area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory.

[0073] S105, removing the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continuing to judge the intermediate driving trajectory.

[0074] S106: Otherwise, determine the intermediate driving trajectory as the target driving trajectory.

[0075] The embodiment of the present application provides a method for generating a driving trajectory of a ground service support vehicle, the method comprising: obtaining each initial driving trajectory of each local service support vehicle; each initial driving trajectory includes multiple positioning points; clustering the initial driving trajectories according to the similarity between each initial driving trajectory to obtain an intermediate driving trajectory; for each intermediate driving trajectory, judging whether the number of positioning points in the intermediate driving trajectory is greater than the preset number of positioning points; if greater, determining the weighted triangle area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory; removing the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continuing to judge the intermediate driving trajectory; otherwise, determining the intermediate driving trajectory as the target driving trajectory. The present application can improve the validity of the positioning data in the driving trajectory of the ground service support vehicle by removing worthless positioning data at two angles, between each driving trajectory and within the driving trajectory, thereby reducing the data storage volume of the driving trajectory of the ground service support vehicle and the number of computing resources for airport operation monitoring.

[0076] The following is a description of the exemplary steps of the present application embodiment:

[0077] S101. Obtain initial driving trajectories of service vehicles in various locations.

[0078] In the implementation mode of the present application, the positions of service vehicles in various places in the airport are located by satellite, forming multiple satellite positioning driving trajectories; each satellite positioning driving trajectory contains multiple positioning points; each positioning point carries the position information of the corresponding ground service vehicle. Since the terminal buildings, corridors and aircraft in the airport will interfere with or block the reflection and refraction of the satellite positioning signal, the satellite positioning driving trajectory obtained based on satellite positioning has a large error, which will cause the generated ground service vehicle driving trajectory to be inaccurate. Therefore, it is necessary to eliminate the abnormal points in the satellite positioning driving trajectory to obtain the initial driving trajectories of the service vehicles in various places.

[0079] Here, the satellite positioning trajectory P = p 1 ,p 2 ,…,p i ,…,p n ; Among them, p i =(λ i ,φ i ,t i ) represents the i-th positioning point in the satellite positioning trajectory, (λ i ,φ i ,t i ) are the longitude, latitude and positioning time of the ith positioning point, and n is the number of positioning points in the satellite positioning driving trajectory.

[0080] Specifically, the abnormal points in the satellite positioning driving trajectory are eliminated through the following steps:

[0081] Step 1: Obtain the satellite positioning driving trajectory of service vehicles in various places; the satellite positioning driving trajectory includes multiple positioning points.

[0082] Step 2: Calculate the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory based on the corresponding previous positioning point.

[0083] In the implementation manner of the present application, the first driving distance of each positioning point in each satellite positioning driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0084]

[0085] in, is the i-th positioning point p i The corresponding first driving distance (i.e., two consecutive positioning points p i-1 and p i The shortest distance on the surface of the earth between the two), R is the radius of the earth (the value of R in the present invention is 6371 kilometers), λ i and They are the positioning points p i The longitude and latitude, λ i-1 and φ i-1 are the i-1th positioning point p i-1 longitude and latitude.

[0086] The first driving speed of each positioning point in each satellite positioning driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0087]

[0088] in, Indicates that the vehicle is at the i-th positioning point p i The first driving speed (i.e., the driving speed on the earth's surface), t i-1 and t i are the positioning points p i-1 and p i Positioning time.

[0089] The first driving azimuth of each positioning point in each satellite positioning driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0090]

[0091] in, Represents the positioning point p i The first driving azimuth, λ i and φi They are the positioning points p i The longitude and latitude, λ i-1 and φ i-1 They are the positioning points p i-1 longitude and latitude.

[0092] Step three: Calculate the abnormal value corresponding to each positioning point in each satellite positioning driving trajectory according to the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory.

[0093]

[0094] Among them, i is the positioning point p i The corresponding abnormal value.

[0095] Step 4: Remove the positioning points whose abnormal values ​​in the satellite positioning driving trajectories are within the preset abnormal range to obtain the initial driving trajectories of the service guarantee vehicles in various places.

[0096] In the implementation mode of the present application, based on the fact that the apron road is mainly composed of straight lines and arcs, the vehicle must slow down when turning when driving, combined with the business point that the speed limit of special vehicles within the red line range of the parking space is 5KM / H and the speed limit of normal roads is 25KM / H, the preset abnormal range of the positioning point is analyzed to be 0.09 <sa i <0.24; if the abnormal value of the positioning point is within the preset abnormal range, it means that the positioning point is an abnormal point and needs to be removed.

[0097] S102 , clustering the initial driving trajectories according to the similarities between the initial driving trajectories to obtain intermediate driving trajectories.

[0098] In the implementation of the present application, the ground service vehicle is in a static state of irregular time when avoiding aircraft and some vehicles are operating. The positioning data when it is static and driving in a straight line has almost no business value. The initial driving trajectories with high similarity are clustered into an intermediate driving trajectory through clustering. The higher the similarity between the initial driving trajectories, the greater the probability that the initial driving trajectories belong to the same cluster.

[0099] Furthermore, the similarity between the initial driving trajectories is determined by the following steps:

[0100] Step 1: Calculate the second driving distance, the second driving speed, the second driving azimuth and the second driving acceleration of each positioning point in each initial driving trajectory based on the corresponding previous positioning point.

[0101] In the implementation manner of the present application, the second driving distance of each positioning point in each initial driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0102]

[0103] in, is the i-th positioning point p i The corresponding second driving distance (i.e., the two consecutive positioning points p i-1 and p i The shortest distance on the surface of the earth between the two), R is the radius of the earth (the value of R in the present invention is 6371 kilometers), λ i and They are the positioning points p i The longitude and latitude, λ i-1 and are the i-1th positioning point p i-1 longitude and latitude.

[0104] The second driving speed of each positioning point in each initial driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0105]

[0106] in, Indicates that the vehicle is at the i-th positioning point p i The second driving speed (i.e., the driving speed on the earth's surface), t i-1 and t i are the positioning points p i-1 and p i Positioning time.

[0107] The second driving azimuth of each positioning point in each initial driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0108]

[0109] in, Represents the positioning point p i The second driving azimuth, λ i and They are the positioning points p i The longitude and latitude, λ i-1 and They are the positioning points p i-1 longitude and latitude.

[0110] The second driving acceleration of each positioning point in each initial driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0111]

[0112] in, is the positioning point p iThe second driving acceleration, is the second driving speed of the i-1th positioning point.

[0113] Step 2: Determine the similarity between the initial driving trajectories according to the second driving distance, the second driving speed, the second driving azimuth, and the second driving acceleration corresponding to all positioning points in all the initial driving trajectories.

[0114] Here, the similarity between the initial driving trajectories is determined according to the second driving distance, the second driving speed, the second driving azimuth and the second driving acceleration corresponding to all positioning points in all the initial driving trajectories through the following steps:

[0115] a. Calculate the driving distance similarity between the initial driving trajectories according to the second driving distances corresponding to all positioning points in all the initial driving trajectories.

[0116] In the implementation manner of the present application, the second driving distances corresponding to all positioning points in all initial driving trajectories are substituted into the following formula to obtain the driving distance similarity between the initial driving trajectories:

[0117]

[0118] Among them, S d(k,z) is the driving distance similarity between the kth initial driving trajectory and the zth initial driving trajectory, γ d is the preset driving distance similarity parameter, n is the number of positioning points in the kth initial driving trajectory, m is the number of positioning points in the zth initial driving trajectory, is the second driving distance corresponding to the i-th positioning point in the k-th initial driving trajectory, is the second driving distance corresponding to the i-th positioning point in the z-th initial driving trajectory.

[0119] b. Calculate the driving speed similarity between the initial driving trajectories according to the second driving speeds corresponding to all positioning points in all the initial driving trajectories.

[0120] In the implementation manner of the present application, the second driving speeds corresponding to all positioning points in all initial driving trajectories are substituted into the following formula to obtain the driving speed similarity between the initial driving trajectories:

[0121]

[0122] Among them, S v(k,z) is the driving speed similarity between the kth initial driving trajectory and the zth initial driving trajectory, γ vis the preset driving speed similarity parameter, n is the number of positioning points in the kth initial driving trajectory, m is the number of positioning points in the zth initial driving trajectory, is the second driving speed corresponding to the i-th positioning point in the k-th initial driving trajectory, is the second driving speed corresponding to the i-th positioning point in the z-th initial driving trajectory.

[0123] c. Calculate the driving azimuth similarity between the initial driving trajectories based on the second driving azimuths corresponding to all positioning points in all the initial driving trajectories.

[0124] In the implementation manner of the present application, the second driving azimuths corresponding to all positioning points in all initial driving trajectories are substituted into the following formula to obtain the driving azimuth similarity between the initial driving trajectories:

[0125]

[0126] Among them, S θ(k,z) is the driving azimuth similarity between the kth initial driving trajectory and the zth initial driving trajectory, γ θ is the preset driving azimuth similarity parameter, n is the number of positioning points in the kth initial driving trajectory, m is the number of positioning points in the zth initial driving trajectory, is the second driving azimuth corresponding to the i-th positioning point in the k-th initial driving trajectory, is the second driving azimuth corresponding to the ith positioning point in the zth initial driving trajectory.

[0127] d. Calculate the driving acceleration similarity between the initial driving trajectories based on the second driving accelerations corresponding to all positioning points in all the initial driving trajectories.

[0128] In the implementation manner of the present application, the second driving accelerations corresponding to all positioning points in all initial driving trajectories are substituted into the following formula to obtain the driving acceleration similarity between the initial driving trajectories:

[0129]

[0130] Among them, S a(k,z) is the driving acceleration similarity between the kth initial driving trajectory and the zth initial driving trajectory, γ θ is the preset driving acceleration similarity parameter, n is the number of positioning points in the kth initial driving trajectory, m is the number of positioning points in the zth initial driving trajectory, is the second driving acceleration corresponding to the i-th positioning point in the k-th initial driving trajectory, is the second driving acceleration corresponding to the i-th positioning point in the z-th initial driving trajectory.

[0131] e. Determine the similarity between the initial driving trajectories based on the driving distance similarity, driving speed similarity, driving azimuth similarity and driving acceleration similarity between the initial driving trajectories.

[0132] In an embodiment of the present application, a weighted average of the driving distance similarity, driving speed similarity, driving azimuth similarity and driving acceleration similarity between each initial driving trajectory is taken to determine the similarity between each initial driving trajectory; or an average of the driving distance similarity, driving speed similarity, driving azimuth similarity and driving acceleration similarity between each initial driving trajectory is taken to determine the similarity between each initial driving trajectory.

[0133] S103: for each intermediate driving trajectory, determine whether the number of positioning points in the intermediate driving trajectory is greater than the preset number of positioning points.

[0134] In the implementation manner of the present application, the greater the number of positioning points in the intermediate driving trajectory, the lower the validity of the positioning data in the driving trajectory of the ground service support vehicle.

[0135] S104: If it is greater than, determine the weighted triangle area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory.

[0136] In the implementation manner of the present application, if the number of positioning points in the middle driving trajectory is greater than the preset number of positioning points, it is necessary to remove the positioning points in the middle driving trajectory.

[0137] Specifically, the weighted triangular area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory is determined by the following steps:

[0138] Step 1: Calculate the area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory.

[0139] In the implementation manner of the present application, each positioning point except the last two positioning points in the middle driving trajectory and the corresponding subsequent two positioning points are substituted into the following formula to obtain the area of ​​the triangle corresponding to each positioning point:

[0140]

[0141] Among them, A i is the area of ​​the triangle corresponding to the i-th positioning point, x i is the plane horizontal coordinate of the i-th positioning point, x i+2 is the plane horizontal coordinate of the i+2th positioning point, x i+1is the plane horizontal coordinate of the i+1th positioning point, y i is the plane ordinate of the i-th positioning point, y i+2 is the plane ordinate of the i+2th positioning point, y i+1 is the plane ordinate of the i+1th positioning point, and R is the radius of the earth. i+2 、x i+1 ,y i+1 ,y i+2 The calculation method is the same as x i and i Same reason.

[0142] Step 2: Calculate the third driving speed, the third driving azimuth and the third driving acceleration of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point.

[0143] In the implementation manner of the present application, the third driving speed of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0144]

[0145] in, Indicates that the vehicle is at the i-th positioning point p i The third speed (i.e. the speed on the earth's surface), t i-1 and t i are the positioning points p i-1 and p i Positioning time.

[0146] The third driving azimuth of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0147]

[0148] in, Represents the positioning point p i The third driving azimuth, λ i and They are the positioning points p i The longitude and latitude, λ i-1 and They are the positioning points p i-1 longitude and latitude.

[0149] The third driving acceleration of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point is calculated by the following formula:

[0150]

[0151] in, is the positioning point p iThe third driving acceleration, is the third driving speed of the i-1th positioning point.

[0152] Step 3: Determine the weighted triangle area corresponding to each positioning point according to the area of ​​the triangle corresponding to each positioning point in the intermediate driving trajectory, the third driving acceleration, the third driving azimuth and the third driving acceleration.

[0153] Specifically, the third driving speed corresponding to each positioning point in the middle driving trajectory The third driving angle and the third driving acceleration of The weights of the triangles corresponding to the positioning points in the intermediate driving trajectories are determined.

[0154] Specifically, the weights of the triangles corresponding to the positioning points in each intermediate driving trajectory are and the area of ​​the triangle A i The product of is determined as the weighted triangle area corresponding to each positioning point in each intermediate driving trajectory.

[0155] S105, removing the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continuing to judge the intermediate driving trajectory;

[0156] In the implementation manner of the present application, the smaller the weighted triangle area is, the lower the effectiveness of the generated ground service support vehicle driving trajectory is.

[0157] S106: Otherwise, determine the intermediate driving trajectory as the target driving trajectory.

[0158] In an embodiment of the present application, if the number of positioning points in the intermediate driving trajectory is less than or equal to the preset number of positioning points, it means that the validity of the positioning data in the intermediate driving trajectory has met the requirements, and the intermediate driving trajectory is determined as the target driving trajectory.

[0159] Reference Figure 2 As shown, it is a flowchart of another method for generating a driving trajectory of a ground service support vehicle provided in an embodiment of the present application. The exemplary steps of the embodiment of the present application are described below:

[0160] S201. Determine whether the distances between all initial driving trajectories are greater than or equal to a preset distance.

[0161] In the implementation of the present application, the preset distance should be related to the road width of the airport, generally a preset multiple of the road width of the airport; the multiple is generally 1.5 times. The greater the distance between the initial driving trajectories, the more effective the generated ground service vehicle driving trajectory is.

[0162] S202: If the distances between all the initial driving trajectories are greater than or equal to a preset distance, each initial driving trajectory is determined as an intermediate driving trajectory.

[0163] In an embodiment of the present application, if the distances between all initial driving trajectories are greater than or equal to a preset distance, each initial driving trajectory is determined as an intermediate driving trajectory.

[0164] S203 , otherwise, merging the initial driving trajectories in pairs according to the similarities between the initial driving trajectories to obtain the latest initial driving trajectory; and continuing to judge the distance between the initial driving trajectories.

[0165] In the implementation manner of the present application, each initial driving trajectory is merged only once, and the similarity between the first initial driving trajectory and the second initial driving trajectory of the two initial driving trajectories to be merged is greater than the similarity between the first initial driving trajectory and any initial driving trajectory other than the second initial driving trajectory and itself.

[0166] For example, the initial driving trajectory includes A, B, C, D, and E. The similarity between the initial driving trajectory A and the initial driving trajectory C is greater than the similarity between the initial driving trajectory A and the initial driving trajectory B, the similarity between the initial driving trajectory A and the initial driving trajectory D, and the similarity between the initial driving trajectory A and the initial driving trajectory E; then the initial driving trajectory A (i.e., the first initial driving trajectory) and the initial driving trajectory C (i.e., the second initial driving trajectory) are merged to obtain the latest initial driving trajectory; according to the principle that each initial driving trajectory is merged only once, the initial driving trajectory A and the initial driving trajectory C will not be merged again; the similarity between the initial driving trajectory B and the initial driving trajectory E is greater than the similarity between the initial driving trajectory B and the initial driving trajectory D, then the initial driving trajectory B (i.e., the first initial driving trajectory) and the initial driving trajectory E (i.e., the second initial driving trajectory) are merged to obtain a new and latest initial driving trajectory; currently only the initial driving trajectory D is left, and the initial driving trajectory D is determined as the latest initial driving trajectory.

[0167] Furthermore, the first initial driving trajectory and the second initial driving trajectory are merged, including: taking the position information of the i-th positioning point in the first initial driving trajectory and the average of the longitude and latitude of the i-th positioning point in the second initial driving trajectory as the longitude and latitude of the i-th positioning point in the latest initial driving trajectory; or taking the weighted average of the longitude and latitude of the i-th positioning point in the first initial driving trajectory and the longitude and latitude of the i-th positioning point in the second initial driving trajectory as the longitude and latitude of the i-th positioning point in the latest initial driving trajectory.

[0168] The embodiment of the present application provides another method for generating a driving trajectory of a ground service support vehicle, which can remove positioning data of almost no business value when the ground service support vehicle is in a stationary state for an irregular period of time when avoiding aircraft or some vehicles during operation, thereby improving the validity of the positioning data in the generated driving trajectory of the ground service support vehicle.

[0169] Based on the same inventive concept, an embodiment of the present application also provides a ground service support vehicle driving trajectory generation device corresponding to the ground service support vehicle driving trajectory generation method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned ground service support vehicle driving trajectory generation method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0170] Reference Figure 3 FIG. 1 is a schematic diagram of a ground service support vehicle driving trajectory generation device provided in an embodiment of the present application, and the ground service support vehicle driving trajectory generation device includes:

[0171] The acquisition module 301 is used to acquire each initial driving trajectory of the service support vehicles in each region; each initial driving trajectory includes a plurality of positioning points;

[0172] A clustering module 302 is used to cluster the initial driving trajectories according to the similarities between the initial driving trajectories to obtain intermediate driving trajectories;

[0173] A judging module 303 is used to judge, for each intermediate driving track, whether the number of positioning points in the intermediate driving track is greater than a preset number of positioning points;

[0174] A determination module 304 is used to determine the weighted triangular area of ​​the triangle formed by each positioning point other than the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory if it is greater than;

[0175] A removal module 305 is used to remove the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continue to judge the intermediate driving trajectory;

[0176] The determination module 304 is further configured to determine the intermediate driving trajectory as the target driving trajectory otherwise.

[0177] In a possible implementation, the acquisition module 301 is specifically used to obtain the satellite positioning driving trajectory of service support vehicles in various places; the satellite positioning driving trajectory includes multiple positioning points; the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory are calculated based on the corresponding previous positioning point; according to the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory, the abnormal value corresponding to each positioning point in each satellite positioning driving trajectory is calculated; the positioning points in each satellite positioning driving trajectory whose abnormal values ​​are within a preset abnormal range are removed to obtain the initial driving trajectories of service support vehicles in various places.

[0178] In a possible implementation, the determination module 304 is further configured to:

[0179] Calculate a second driving distance, a second driving speed, a second driving azimuth, and a second driving acceleration of each positioning point in each initial driving trajectory based on the corresponding previous positioning point;

[0180] The similarity between the initial driving trajectories is determined according to the second driving distances, the second driving speeds, the second driving azimuths and the second driving accelerations corresponding to all the positioning points in all the initial driving trajectories.

[0181] In a possible implementation, the determination module 304 is specifically used to calculate the driving distance similarity between each initial driving trajectories according to the second driving distance corresponding to all the positioning points in all the initial driving trajectories; calculate the driving speed similarity between each initial driving trajectories according to the second driving speed corresponding to all the positioning points in all the initial driving trajectories; calculate the driving azimuth similarity between each initial driving trajectories according to the second driving azimuth corresponding to all the positioning points in all the initial driving trajectories; calculate the driving acceleration similarity between each initial driving trajectories according to the second driving acceleration corresponding to all the positioning points in all the initial driving trajectories; determine the similarity between each initial driving trajectories according to the driving distance similarity, driving speed similarity, driving azimuth similarity and driving acceleration similarity between each initial driving trajectories.

[0182] In a possible implementation, the clustering module 302 is specifically used to determine whether the distances between all initial driving trajectories are greater than or equal to a preset distance; if the distances between all initial driving trajectories are greater than or equal to the preset distance, each initial driving trajectory is determined as an intermediate driving trajectory; otherwise, the initial driving trajectories are merged in pairs according to the similarities between the initial driving trajectories to obtain the latest initial driving trajectory; and the distances between the initial driving trajectories are continued to be determined; wherein, the similarity between the first initial driving trajectory and the second initial driving trajectory of the two merged initial driving trajectories is greater than the similarity between the first initial driving trajectory and any initial driving trajectory other than the second initial driving trajectory and itself; and each initial driving trajectory is merged only once.

[0183] In a possible implementation, the determination module 304 is specifically used to calculate the area of ​​a triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory; calculate the third driving speed, the third driving azimuth and the third driving acceleration of each positioning point in the intermediate driving trajectory based on the corresponding previous positioning point; determine the weighted triangle area corresponding to each positioning point according to the area of ​​the triangle corresponding to each positioning point in the intermediate driving trajectory, the third driving acceleration, the third driving azimuth and the third driving acceleration.

[0184] In a possible implementation, the determination module 304 is further configured to:

[0185] Determine the sum of the third driving speed, the third driving azimuth and the third driving acceleration corresponding to each positioning point in the intermediate driving trajectory as the weight of the triangle corresponding to each positioning point in each intermediate driving trajectory;

[0186] The weighted triangle area corresponding to each positioning point in each intermediate driving track is determined as the product of the weight of the triangle corresponding to each positioning point in each intermediate driving track and the area of ​​the triangle.

[0187] The embodiment of the present application provides a device for generating a driving trajectory of a ground service support vehicle, the device comprising: an acquisition module 301, used to acquire each initial driving trajectory of each ground service support vehicle; each initial driving trajectory includes multiple positioning points; a clustering module 302, used to cluster the initial driving trajectories according to the similarity between each initial driving trajectory to obtain an intermediate driving trajectory; a judgment module 303, used to judge whether the number of positioning points in the intermediate driving trajectory is greater than the preset number of positioning points for each intermediate driving trajectory; a determination module 304, used to determine the weighted triangle area of ​​the triangle composed of each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory if it is greater; a removal module 305, used to remove the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continue to judge the intermediate driving trajectory; the determination module 304 is also used to determine the intermediate driving trajectory as the target driving trajectory otherwise. The present invention can improve the validity of the positioning data in the driving trajectory of ground service vehicles by removing worthless positioning data at two angles: between each driving trajectory and within the driving trajectory, thereby reducing the data storage volume of the driving trajectory of the ground service vehicles and the number of computing resources for airport operation monitoring.

[0188] like Figure 4 As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, the memory 402 stores machine-readable instructions executable by the processor 401, when the electronic device is running, the processor 401 and the memory 402 communicate through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the method for generating a driving trajectory of a ground service support vehicle as described above.

[0189] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memory and processor, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the above-mentioned ground service support vehicle driving trajectory generation method can be executed.

[0190] Corresponding to the above-mentioned method for generating a driving trajectory of a ground service support vehicle, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for generating a driving trajectory of a ground service support vehicle are executed.

[0191] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0192] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0193] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0194] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0195] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for generating a driving trajectory of a ground service vehicle, characterized in that: The method comprises: Obtaining initial driving trajectories of service vehicles in various locations; each initial driving trajectory includes multiple positioning points; Clustering the initial driving trajectories according to the similarity between the initial driving trajectories to obtain the intermediate driving trajectories; For each intermediate driving trajectory, determining whether the number of positioning points in the intermediate driving trajectory is greater than a preset number of positioning points; If it is greater than, determining the weighted triangular area of ​​the triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory; Removing the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continuing to judge the intermediate driving trajectory; Otherwise, the intermediate driving trajectory is determined as the target driving trajectory.

2. The method for generating a driving trajectory of a ground service vehicle according to claim 1, characterized in that: The obtaining of initial driving trajectories of service vehicles in various locations includes: Obtaining the satellite positioning driving trajectory of service vehicles in various places; the satellite positioning driving trajectory includes multiple positioning points; Calculate the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory based on the corresponding previous positioning point; Calculate the abnormal value corresponding to each positioning point in each satellite positioning driving trajectory according to the first driving distance, the first driving speed, and the first driving azimuth of each positioning point in each satellite positioning driving trajectory; The positioning points with abnormal values ​​within the preset abnormal range in each satellite positioning driving trajectory are removed to obtain the initial driving trajectories of the service guarantee vehicles in each location.

3. The method for generating a driving trajectory of a ground service vehicle according to claim 1, characterized in that: The similarity between the initial driving trajectories is determined by the following steps: Calculate the second driving distance, the second driving speed, the second driving azimuth and the second driving acceleration of each positioning point in each initial driving trajectory based on the corresponding previous positioning point; The similarity between the initial driving trajectories is determined according to the second driving distance, the second driving speed, the second driving azimuth, and the second driving acceleration corresponding to all positioning points in all the initial driving trajectories.

4. The method for generating a driving trajectory of a ground service vehicle according to claim 3, characterized in that: The determining the similarity between the initial driving trajectories according to the second driving distance, the second driving speed, the second driving azimuth, and the second driving acceleration corresponding to all positioning points in all the initial driving trajectories includes: Calculating the driving distance similarity between the initial driving trajectories according to the second driving distances corresponding to all positioning points in all the initial driving trajectories; Calculating the driving speed similarity between the initial driving trajectories according to the second driving speeds corresponding to all positioning points in all the initial driving trajectories; Calculating the driving azimuth similarity between the initial driving trajectories according to the second driving azimuths corresponding to all positioning points in all the initial driving trajectories; Calculating the driving acceleration similarity between the initial driving trajectories according to the second driving accelerations corresponding to all positioning points in all the initial driving trajectories; The similarity between the initial driving trajectories is determined according to the driving distance similarity, the driving speed similarity, the driving azimuth similarity and the driving acceleration similarity between the initial driving trajectories.

5. The method for generating a driving trajectory of a ground service vehicle according to claim 1, characterized in that: The step of clustering the initial driving trajectories according to the similarities between the initial driving trajectories to obtain the intermediate driving trajectories includes: Determine whether the distances between all initial driving trajectories are greater than or equal to a preset distance; If the distances between all initial driving trajectories are greater than or equal to the preset distance, each initial driving trajectory is determined as an intermediate driving trajectory; Otherwise, the initial driving trajectories are merged in pairs according to the similarities between the initial driving trajectories to obtain the latest initial driving trajectory; and the distance between the initial driving trajectories is further determined; Among the two initial driving trajectories to be merged, the similarity between the first initial driving trajectory and the second initial driving trajectory is greater than the similarity between the first initial driving trajectory and any initial driving trajectory other than the second initial driving trajectory and itself; and each initial driving trajectory is merged only once.

6. The method for generating a driving trajectory of a ground service vehicle according to claim 1, characterized in that: The determining of the weighted triangular area of ​​a triangle formed by each positioning point except the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory includes: Calculating the area of ​​a triangle formed by each positioning point other than the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory; Calculating a third driving speed, a third driving azimuth, and a third driving acceleration of each positioning point in the intermediate driving trajectory based on a corresponding previous positioning point; The weighted triangle area corresponding to each positioning point is determined according to the area of ​​the triangle corresponding to each positioning point in the intermediate driving trajectory, the third driving acceleration, the third driving azimuth and the third driving acceleration.

7. The method for generating a driving trajectory of a ground service vehicle according to claim 6, characterized in that: The step of determining the weighted triangle area corresponding to each positioning point in the intermediate driving trajectory according to the area of ​​the triangle corresponding to each positioning point, the third driving acceleration, the third driving azimuth, and the third driving acceleration includes: Determine the sum of the third driving speed, the third driving azimuth and the third driving acceleration corresponding to each positioning point in the intermediate driving trajectory as the weight of the triangle corresponding to each positioning point in each intermediate driving trajectory; The weighted triangle area corresponding to each positioning point in each intermediate driving track is determined as the product of the weight of the triangle corresponding to each positioning point in each intermediate driving track and the area of ​​the triangle.

8. A device for generating a driving trajectory of a ground service vehicle, characterized in that: The device comprises: An acquisition module is used to acquire initial driving trajectories of various service vehicles; each initial driving trajectory includes multiple positioning points; A clustering module, used for clustering the initial driving trajectories according to the similarities between the initial driving trajectories to obtain intermediate driving trajectories; A judging module, used for judging, for each intermediate driving track, whether the number of positioning points in the intermediate driving track is greater than a preset number of positioning points; A determination module, configured to determine the weighted triangular area of ​​a triangle formed by each positioning point other than the last two positioning points and the corresponding subsequent two positioning points in the intermediate driving trajectory if it is greater than; A removal module, used for removing the positioning point with the smallest weighted triangle area in the intermediate driving trajectory to obtain the latest intermediate driving trajectory; and continuing to judge the intermediate driving trajectory; The determination module is further configured to, otherwise, determine the intermediate driving trajectory as the target driving trajectory.

9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the method for generating a driving trajectory of a ground service support vehicle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for generating a driving trajectory of a ground service support vehicle as described in any one of claims 1 to 7 are executed.

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