Trajectory processing method, device and electronic equipment

Abstract

The present invention discloses a trajectory processing method, device and electronic equipment. The trajectory processing method comprises: obtaining a selected driving direction of a designated intersection and a conflicting driving direction having a conflicting relationship with the selected driving direction; obtaining a first trajectory that passes through the designated intersection within a preset statistical period and matches the selected driving direction, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction; determining a signal cycle duration of the designated intersection according to the first trajectory and the second trajectory; and performing traffic control on the designated intersection according to the signal cycle duration.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control, and more specifically, to a trajectory processing method, a trajectory processing device, an electronic device, and a computer-readable medium. Background Art

[0002] As digital construction continues to advance, intelligent transportation has received increasing attention as a solution to "urban diseases". Among them, intelligent transportation is to reshape the relationship between people, vehicles and roads through technologies such as big data, cloud computing, and artificial intelligence to manage urban traffic.

[0003] In the prior art, the signal cycle duration of a traffic light is the most basic input information in intelligent transportation. It is usually necessary to formulate a traffic control plan for a corresponding intersection based on the signal cycle duration of the traffic light to control the traffic at the intersection.

[0004] However, in the prior art, it is difficult to directly obtain the signal cycle duration of traffic lights from traffic light manufacturers. Furthermore, the phases maintained by traffic light manufacturers and the travel time information corresponding to each phase are incomplete and inaccurate. This may result in the inability to formulate a traffic control plan for the corresponding intersection; or may cause the traffic control plan formulated for the corresponding intersection to be inaccurate, making it impossible for the traffic control at the corresponding intersection to achieve the expected effect. Summary of the invention

[0005] One object of the present invention is to provide a new technical solution for obtaining the signal cycle duration of a designated intersection based on a trajectory passing through the designated intersection.

[0006] According to a first aspect of the present invention, there is provided a trajectory processing method, comprising:

[0007] Acquire a selected driving direction of a designated intersection and a conflicting driving direction that has a conflicting relationship with the selected driving direction;

[0008] Acquire a first trajectory that passes through the designated intersection and matches the selected driving direction within a preset statistical period, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction;

[0009] Determine the signal cycle duration of the designated intersection according to the first trajectory and the second trajectory;

[0010] Traffic control is performed on the designated intersection according to the signal cycle duration.

[0011] Optionally, the selected driving direction is any straight direction or left turn direction; the conflicting driving direction is a straight direction and a left turn direction that are perpendicular to the selected driving direction.

[0012] Optionally, the step of determining the signal cycle duration of the designated intersection according to the first trajectory and the second trajectory includes:

[0013] According to the first trajectory and the second trajectory, respectively determine the number of first trajectories and the number of second trajectories corresponding to each sampling moment;

[0014] According to the number of the first trajectories and the number of the second trajectories corresponding to each sampling moment, a time series including each sampling moment is obtained; wherein the sampling moment corresponding to the selected driving direction in the time series is of the first type, and the sampling moment corresponding to the conflicting driving direction in the time series is of the second type;

[0015] The signal cycle duration of the designated intersection is determined according to the time series.

[0016] Optionally, the step of obtaining a time series including each sampling moment according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment comprises:

[0017] Mark the sampling moments when the number of the first tracks is greater than a first set value and the number of the second tracks is less than or equal to a second set value as a first type, and mark the sampling moments when the number of the second tracks is greater than a second set value and the number of the first tracks is less than or equal to the first set value as a second type;

[0018] The sampling moments at which the number of the first trajectories is greater than a first set value and the number of the second trajectories is greater than a second set value are marked as the same type as the next sampling moment, and the sampling moments at which the number of the first trajectories is less than or equal to the first set value and the number of the second trajectories is less than or equal to the second set value are marked as the same type as the previous sampling moment, to obtain the time series.

[0019] Optionally, the step of determining the signal cycle length according to the time series includes:

[0020] Obtain a data set containing multiple candidate cycles;

[0021] Traversing the candidate periods in the data set, dividing the time series into at least one sub-time series with the same duration as the corresponding candidate period;

[0022] According to the type of each sampling moment in the sub-time series, determining at least one first time period in the corresponding candidate period that only includes sampling moments of the first type, and at least one second time period that only includes sampling moments of the second type;

[0023] Selecting the optimal candidate period corresponding to the selected driving direction according to the first time period and the second time period;

[0024] The signal cycle duration of the designated intersection is obtained according to the optimal candidate cycle corresponding to the selected driving direction.

[0025] Optionally, the step of dividing the time series into at least one sub-time series having the same duration as the candidate period includes:

[0026] According to the corresponding candidate period, the time series is divided according to the order of sampling moments, and at most one sub-time series whose duration is less than the corresponding candidate period is discarded.

[0027] Optionally, the sub-time series are at least two,

[0028] The step of determining, according to the type of each sampling moment in the sub-time series, at least one first time period in the corresponding candidate period that contains only sampling moments of the first type and at least one second time period that contains only sampling moments of the second type comprises:

[0029] If the sampling moments at the same sorting position in each sub-time series are all of the first type, the corresponding moments in the candidate period are divided into the corresponding first time period;

[0030] If the sampling moments at the same sorting position in each sub-time series are all of the second type, the corresponding moments in the candidate period are divided into the corresponding second time period.

[0031] Optionally, the step of selecting the optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period includes:

[0032] Determine a time period other than the first time period and the second time period in the corresponding candidate cycle as a third time period;

[0033] A candidate cycle including a first time period within a first set range, a second time period within a second set range, a third time period within a third set range, and a minimum ratio between the duration of the third time period and the duration of the corresponding candidate cycle is selected as the optimal candidate cycle corresponding to the selected driving direction.

[0034] Optionally, the selected driving directions are at least two.

[0035] The step of obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle corresponding to the selected driving direction comprises:

[0036] An average value of the optimal candidate cycles corresponding to each selected driving direction is determined as the signal cycle duration of the designated intersection.

[0037] Optionally, the statistical time period is at least two,

[0038] The step of obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle of the selected driving direction comprises:

[0039] Determine the variance of the optimal candidate cycle corresponding to the selected driving direction in each statistical period respectively, and obtain the variance corresponding to each statistical period;

[0040] The average value of the optimal candidate cycles corresponding to the selected driving direction within the statistical time period with the smallest variance is determined as the cycle duration of the designated intersection.

[0041] Optionally, the trajectory processing method further includes:

[0042] Determine the green light time of the phase corresponding to the selected driving direction according to the total duration of the first time period included in the optimal candidate cycle corresponding to the selected driving direction;

[0043] The green-to-signal ratio of the phase corresponding to the selected driving direction is determined according to the green light time and the signal cycle duration, so as to perform traffic control on the designated intersection according to the green-to-signal ratio.

[0044] According to a second aspect of the present invention, there is provided a trajectory processing device, comprising:

[0045] A direction acquisition module, used to acquire a selected driving direction of a designated intersection and a conflicting driving direction having a conflicting relationship with the selected driving direction;

[0046] A trajectory acquisition module, used to acquire a first trajectory that passes through the designated intersection and matches the selected driving direction within a preset statistical period, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction;

[0047] A cycle determination module, configured to determine a signal cycle duration of the designated intersection according to the first trajectory and the second trajectory;

[0048] The traffic control module is used to perform traffic control on the designated intersection according to the signal cycle duration.

[0049] According to a third aspect of the present invention, there is provided an electronic device, comprising the trajectory processing device according to the second aspect of the present invention; or comprising a processor and a memory, wherein the memory is used to store executable instructions, and the instructions are used to control the processor to execute the trajectory processing method according to the first aspect of the present invention.

[0050] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the trajectory processing method according to the first aspect of the present invention.

[0051] In an embodiment of the present invention, by acquiring a first trajectory matching the selected driving direction of the designated intersection and a second trajectory matching the conflicting driving direction, the signal cycle duration of the designated intersection is determined, and traffic control is performed on the designated intersection according to the signal cycle duration. In this way, the signal cycle duration of the designated intersection can be obtained according to the trajectory passing through the designated intersection, so as to accurately control traffic on the designated intersection.

[0052] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0054] Figure 1 is a block diagram of an example of a hardware configuration of an electronic device that can be used to implement an embodiment of the present invention.

[0055] Figure 2 is a block diagram of another example of a hardware configuration of an electronic device that can be used to implement an embodiment of the present invention;

[0056] Figure 3 is a schematic flow chart of a trajectory processing method according to an embodiment of the present invention;

[0057] Figure 4 is a schematic diagram of an example of a designated intersection according to an embodiment of the present invention;

[0058] Figure 5 is a schematic diagram of a sub-time series according to an embodiment of the present invention;

[0059] Figure 6 is a flow chart of an example of a trajectory processing method according to an embodiment of the present invention;

[0060] Figure 7 is a principle block diagram of a trajectory processing device according to an embodiment of the present invention;

[0061] Figure 8 is a principle block diagram of an electronic device provided according to a first embodiment of the present invention;

[0062] Fig. 9 FIG. 4 is a schematic diagram of the hardware structure of an electronic device provided according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0063] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0064] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0065] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0066] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0067] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0068] <Hardware Configuration>

[0069] Figure 1 and Figure 2 is a block diagram of the hardware configuration of an electronic device 1000 that can be used to implement the trajectory processing method according to any embodiment of the present invention.

[0070] In one embodiment, Figure 1 As shown, the electronic device 1000 may be a server 1100 .

[0071] Server 1100 provides a business point for processing, database, and communication facilities. Server 1100 can be a monolithic server or a distributed server across multiple computers or computer data centers. The server can be of various types, such as but not limited to, a network server, a news server, a mail server, a message server, an advertising server, a file server, an application server, an interactive server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or an embedded logic component or a combination of two or more such components for executing the appropriate functions supported or implemented by the server. For example, a server such as a blade server, a cloud server, etc., or a server group consisting of multiple servers, which may include one or more of the above-mentioned types of servers, etc.

[0072] In this embodiment, the server 1100 can be as follows Figure 1As shown, it includes a processor 1110 , a memory 1120 , an interface device 1130 , a communication device 1140 , a display device 1150 , and an input device 1160 .

[0073] In this embodiment, the server 1100 may also include a speaker, a microphone, etc., which are not limited here.

[0074] The processor 1110 may be a dedicated server processor, or a desktop processor or a mobile processor that meets the performance requirements, which is not limited here. The memory 1120 includes, for example, ROM (read-only memory), RAM (random access memory), non-volatile memory such as a hard disk, etc. The interface device 1130 includes, for example, various bus interfaces, such as a serial bus interface (including a USB interface), a parallel bus interface, etc. The communication device 1140 is capable of wired or wireless communication, for example. The display device 1150 is, for example, a liquid crystal display, an LED display, a touch display, etc. The input device 1160 may include, for example, a touch screen, a keyboard, etc.

[0075] In this embodiment, the memory 1120 of the server 1100 is used to store instructions, which are used to control the processor 1110 to operate to at least perform the trajectory processing method according to any embodiment of the present invention. A technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0076] Despite Figure 1 , multiple devices of the server 1100 are shown; however, the present invention may only involve some of the devices, for example, the server 1100 only involves the memory 1120 and the processor 1110 .

[0077] In one embodiment, the electronic device 1000 may be a terminal device 1200 such as a PC or a laptop computer used by an operator, which is not limited here.

[0078] In this embodiment, refer to Figure 2 As shown, the terminal device 1200 may include a processor 1210, a memory 1220, an interface device 1230, a communication device 1240, a display device 1250, an input device 1260, a speaker 1270, a microphone 1280, and the like.

[0079] The processor 1210 may be a mobile version processor. The memory 1220 may include, for example, a ROM (read-only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, etc. The interface device 1230 may include, for example, a USB interface, a headphone interface, etc. The communication device 1240 may, for example, be capable of wired or wireless communication. The communication device 1240 may include a short-range communication device, for example, any device for short-range wireless communication based on short-range wireless communication protocols such as Hilink protocol, WiFi (IEEE 802.11 protocol), Mesh, Bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, etc. The communication device 1240 may also include a remote communication device, for example, any device for WLAN, GPRS, 2G / 3G / 4G / 5G remote communication. The display device 1250 may, for example, be a liquid crystal display, a touch display, etc. The input device 1260 may include, for example, a touch screen, a keyboard, etc. The user may input / output voice information through the speaker 1270 and the microphone 1280.

[0080] In this embodiment, the memory 1220 of the terminal device 1200 is used to store instructions, and the instructions are used to control the processor 1210 to operate to at least perform the trajectory processing method according to any embodiment of the present invention. A technician can design instructions according to the scheme disclosed in the present invention. How instructions control the processor to operate is well known in the art, so it will not be described in detail here.

[0081] Despite Figure 2 , multiple devices of the terminal device 1200 are shown, but the present invention may only involve some of the devices, for example, the terminal device 1200 only involves the memory 1220, the processor 1210, and the display device 1250.

[0082] <Method Example>

[0083] In this embodiment, a trajectory processing method is provided. The trajectory processing method may be implemented by an electronic device. The electronic device may be Figure 1 The server 1100 shown, or Figure 2 Terminal device 1200 is shown.

[0084] according to Figure 3 As shown, the trajectory processing method of this embodiment may include the following steps S1000 to S4000:

[0085] Step S1000, obtaining a selected driving direction of a designated intersection and a conflicting driving direction that has a conflicting relationship with the selected driving direction.

[0086] In this embodiment, the selected driving direction may be any straight direction or left turn direction. The conflicting driving direction may be a straight direction and a left turn direction perpendicular to the selected driving direction.

[0087] In such Figure 4 In the designated intersection shown, the four extending directions of the cross intersection are represented by A, C, B and D respectively, and the intersection center of the cross intersection is represented by O; the two lanes that intersect each other perpendicularly in the designated intersection are both two-way lanes, one of which is a two-way lane that goes from A through O to B or from B through O to A, and the other lane perpendicular to it is a two-way lane that goes from C through O to D or from D through O to C.

[0088] In such Figure 4 In the designated intersection shown, if the selected driving direction is any one of the direction from A to B through O, the direction from B to A through O, the direction from B to O and turning left to D, and the direction from A to O and turning left to C, then the corresponding conflicting driving directions may include the direction from C to D through O, the direction from D to C through O, the direction from D to A and C to B. If the selected driving direction is any one of the direction from C to D through O, the direction from D to C through O, the direction from D to A and C to B, then the corresponding conflicting driving directions may include the direction from A to B through O, the direction from B to A through O, the direction from B to D and A, and the direction from A to C and O and turning left to C.

[0089] Step S2000, obtaining a first trajectory that passes through a designated intersection and matches a selected driving direction within a preset statistical period, and a second trajectory that passes through a designated intersection and matches a conflicting driving direction.

[0090] The statistical period in this embodiment can be set according to the application scenario or specific needs. For example, the statistical period can be 7:00-11:00 of a certain historical date, then the trajectory that passes through the designated intersection and matches the selected driving direction between 7:00-11:00 of the historical date can be obtained as the first trajectory, and the trajectory that passes through the designated intersection and matches the conflicting driving direction between 7:00-11:00 of the historical date can be obtained as the second trajectory.

[0091] Furthermore, the statistical period in this embodiment may be one or more. In the case where multiple statistical periods are preset, the first trajectory and the second trajectory corresponding to each statistical period may be acquired respectively.

[0092] The first track and the second track in this embodiment are sampled data, which can be extracted from a specified navigation application. Each track may include a spatial position sequence and a corresponding sampling time that record the vehicle's travel process. The spatial position sequence contains multiple points, and each point may include longitude and latitude position information. Therefore, based on the longitude and latitude position information of each point in the spatial position sequence, the driving direction matched by each track passing through the specified intersection can be determined.

[0093] Step S3000: Determine the signal cycle duration of a designated intersection according to the first trajectory and the second trajectory.

[0094] The signal cycle length, including the time required for the signal light to change and run a cycle, is equal to the sum of the green, yellow and red light times; it is also equal to the sum of the green light time and the yellow light time (generally fixed) required for all phases.

[0095] The phase in this embodiment has a meaning known in the industry. For example, it may include that within a signal cycle, a sequence of signal states of one or several traffic flows with the same signal light color display is called a phase. Phases are divided according to the timing of the traffic flow obtaining signal displays, and there are as many phases as there are different timing arrangements. Each control state corresponds to a group of different light color combinations, which is called a phase. In short, a phase is also called a control state. For another example, for a group of non-conflicting traffic flows that simultaneously obtain the right of way, the corresponding signal display state can be called a phase. It can be seen that the phase is divided according to the alternation of the right of way at the intersection within a signal cycle.

[0096] The above definitions are only used to exemplify the specific embodiments of the present invention and are not to be interpreted as limiting the scope of protection of the invention.

[0097] In one embodiment, the step of determining the signal cycle duration of the designated intersection according to the first trajectory and the second trajectory may include the following steps S3100 to S3300:

[0098] Step S3100: Determine the number of first trajectories and the number of second trajectories corresponding to each sampling moment respectively according to the first trajectories and the second trajectories.

[0099] The sampling moments in this embodiment may be all the moments at which the first trajectory and the second trajectory are sampled in the corresponding statistical period.

[0100] Since each of the first track and the second track corresponds to a sampling moment, the number of the first tracks and the number of the second tracks corresponding to each sampling moment can be determined.

[0101] Step S3200: obtaining a time series including each sampling moment according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment.

[0102] Among them, the sampling moments corresponding to the selected driving direction in the time series are of the first type, and the sampling moments corresponding to the conflicting driving directions are of the second type.

[0103] In this embodiment, the first setting value and the second setting value can be respectively set in advance according to the application scenario or specific requirements, and the first setting value and the second setting value can be the same or different. For example, the first setting value and the second setting value can both be 0.

[0104] In one embodiment, according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment, a specific method of obtaining a time series including each sampling moment may include:

[0105] First, the sampling moments when the number of the first track is greater than the first set value and the number of the second track is less than or equal to the second set value are marked as the first type; the sampling moments when the number of the second track is greater than the second set value and the number of the first track is less than or equal to the first set value are marked as the second type. Then, the sampling moments when the number of the first track is greater than the first set value and the number of the second track is greater than the second set value are marked as the same type as the next sampling moment; the sampling moments when the number of the first track is less than or equal to the first set value and the number of the second track is less than or equal to the second set value are marked as the same type as the previous sampling moment. In this way, each sampling moment in the obtained time series is marked as a corresponding type.

[0106] Then, if the number of first tracks corresponding to sampling time 1 is greater than the first set value, and the number of second tracks is less than or equal to the second set value, sampling time 1 can be marked as the first type. If the number of second tracks corresponding to sampling time 2 is greater than the second set value, and the number of first tracks is less than or equal to the first set value, sampling time 2 can be marked as the second type. If the number of first tracks corresponding to sampling time 3 is greater than the first set value, and the number of second tracks is greater than the second set value, sampling time 3 can be marked as the same type as the next sampling time. Among them, the next sampling time can be the sampling time that has been marked with the type after sampling time 3 and closest to sampling time 3. If the number of first tracks corresponding to sampling time 4 is less than or equal to the first set value, and the number of second tracks is less than or equal to the second set value, sampling time 4 can be marked as the same type as the previous sampling time. Among them, the previous sampling time can be the sampling time that has been marked with the type after sampling time 4 and closest to sampling time 4.

[0107] Furthermore, the sampling moment may be marked by dyeing. For example, marking the sampling moment as the first type may dye the corresponding sampling moment into a first set color; marking the sampling moment as the second type may dye the corresponding sampling moment into a second set color. The first set color and the second set color may be set in advance according to the application scenario or specific needs, and the first set color and the second set color are different for easy distinction.

[0108] In another embodiment, according to the number of first tracks and the number of second tracks corresponding to each sampling moment, a specific method of obtaining a time series including each sampling moment may include:

[0109] The sampling moments when the number of the first track is greater than the first set value and the number of the second track is less than or equal to the second set value are marked as the first type; the sampling moments when the number of the second track is greater than the second set value and the number of the first track is less than or equal to the first set value are marked as the second type; the sampling moments when the number of the first track is greater than the first set value and the number of the second track is greater than the second set value are marked as the same type as the next sampling moment; the sampling moments when the number of the first track is less than or equal to the first set value and the number of the second track is less than or equal to the second set value are not marked.

[0110] Step S3300: Determine the signal cycle duration of the designated intersection based on the time series.

[0111] In one embodiment, the step of determining the signal cycle duration according to the time series may include the following steps S3310 to S3350:

[0112] Step S3310, obtaining a set including multiple candidate cycles.

[0113] The multiple candidate periods in the set in this embodiment may be pre-set fixed values, or may be obtained according to a preset period range and step length.

[0114] For example, the preset period range may be 30-300s with a step length of 1s, then the set may be {30, 31, 32, 33, 34, ..., 298, 299, 300}.

[0115] Step S3320, traverse the candidate periods in the set, and divide the time series into at least one sub-time series with the same duration as the corresponding candidate period.

[0116] Each sub-time series contains multiple consecutive sampling moments.

[0117] In one example, only one sub-time series consisting of multiple consecutive sampling moments and having the same duration as the corresponding candidate period may be extracted from the time series. For example, when the candidate period is 100 seconds, the duration of the extracted sub-time series is also 100 seconds.

[0118] The duration of the sub-time series can be determined by the start sampling time and the end sampling time. For example, if the sampling times included in the sub-time series include {00:00:01, 00:00:02, ..., 00:01:29, 00:01:30}, then the duration of the sub-time series can be 90s.

[0119] In an example, if the number of obtained sub-time series is multiple, then the method of dividing the time series into at least one sub-time series having the same duration as the corresponding candidate period may include:

[0120] According to the corresponding candidate period, the time series is divided according to the order of sampling moments, and at most one sub-time series whose duration is less than the corresponding candidate period is discarded.

[0121] For example, when the sampling moments in the time series include {00:00:01, 00:00:02, ..., 00:03:59, 00:04:00}, if the candidate period is 60s, the obtained sub-time series may include {00:00:01, 00:00:02, ..., 00:00:59, 00:01:00}, {00:01:01, 00:01:02, ..., 00:01:59, 00:02:00}, ..., {03:59:01, 03:59:02, ..., 03:59:59, 04:00:00}. If the candidate period is 61s, the time series is divided according to the candidate period and the order of sampling moments, and the obtained sub-time series may include {00:00:01, 00:00:02, ..., 00:00:59, 00:01:01}, {00:01:02, 00:01:03, ..., 00:02:00, 00:02:02}, ..., {03:59:01, 03:59:02, ..., 03:59:55, 03:59:56}, and {03:59:57, 03:59:58, 03:59:59, 04:00:00}. If the duration of {03:59:57,03:59:58,03:59:59,04:00:00} is less than 61 seconds, the sub-time series {03:59:57,03:59:58,03:59:59,04:00:00} is discarded, and the final sub-time series may include {00:00:01,00:00:02, …, 00:00:59,00:01:01}, {00:01:02,00:01:03, …, 00:02:00,00:02:02}, …, {03:59:01,03:59:02, …, 03:59:55,03:59:56}.

[0122] Step S3330: Determine the first time period and the second time period included in the corresponding candidate period according to the type of each sampling moment in the sub-time series.

[0123] The sampling moments corresponding to the sorting positions of each moment included in the first time period are all of the first type, and the sampling moments corresponding to the sorting positions of each moment included in the second time period are all of the second type. In addition, the first time period and the second time period obtained by step S3330 may be composed of at least two consecutive moments.

[0124] In one embodiment, according to the type of each sampling moment in the sub-time series, a method of determining the first time period and the second time period in the corresponding candidate period may include:

[0125] If the sampling moments at the same sorting position in each sub-time series are all of the first type (which may also include unmarked sampling moments), the corresponding moments in the candidate period are divided into the corresponding first time period; if the sampling moments at the same sorting position in each sub-time series are all of the second type (which may also include unmarked sampling moments), the corresponding moments in the candidate period are divided into the corresponding second time period.

[0126] When each sub-time series includes N sampling moments, the candidate period also includes N moments, the sampling moment corresponding to the sorting position of the first moment is the first sampling moment in each sub-time series, and the nth moment corresponds to the nth sampling moment in each sub-time series.

[0127] In such Figure 5 In the example shown, the sampling moments corresponding to the ranking positions of the 1st to 5th and 14th to 17th moments in each sub-time series are all of the first type, so the 1st to 5th and 14th to 17th moments in the candidate period can be divided into the corresponding first time period T1. The sampling moments corresponding to the ranking positions of the 9th to 11th and 20th to 22nd moments in each sub-time series are all of the second type, so the 9th to 11th and 20th to 22nd moments in the candidate period can be divided into the corresponding second time period T2. Then, the 1st to 5th moments can constitute a first time period, the 14th to 17th moments can constitute a first time period; the 9th to 11th moments can constitute a second time period, and the 20th to 22nd moments can constitute a second time period. Alternatively, the time period from the 1st moment to the 6th moment can constitute a first time period, the time period from the 14th moment to the 18th moment can constitute a first time period; the time period from the 9th moment to the 12th moment can constitute a second time period, and the time period from the 20th moment to the 23rd moment can constitute a second time period.

[0128] In another embodiment of the present invention, if the sampling moments at the same sorting position in each sub-time series are not marked with types, then the corresponding moments in the candidate period are also not marked with types. If the two first time periods in the candidate period only contain moments of unmarked types (i.e., do not contain the first time period, the second time period, and the sampling moments of the marked types at the same sorting position), then the time period between the two first time periods can also be divided into the first time period. If the two second time periods in the candidate period only contain moments of unmarked types (i.e., do not contain the first time period, the second time period, and the sampling moments of the marked types at the same sorting position), then the time period between the two second time periods can also be divided into the second time period. If the first time period and the second time period in the candidate period only contain moments of unmarked types (i.e., do not contain the first time period, the second time period, and the sampling moments of the marked types at the same sorting position), the moments closer to the first time period can be divided into the first time period, and the moments closer to the second time period can be divided into the second time period, so as to obtain the final first time period and second time period.

[0129] Step S3340, selecting the optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period.

[0130] In one embodiment, a method of selecting the optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period may include:

[0131] Step S3341: determine a time period other than the first time period and the second time period in the corresponding candidate cycle as a third time period.

[0132] In another embodiment, if the types of sampling moments at the same sorting position in each sub-time series are different, the corresponding moments in the candidate period are divided into corresponding third time periods.

[0133] Step S3342, select the candidate cycle whose number of first time periods belongs to the first set range, the number of second time periods belongs to the second set range, the number of third time periods belongs to the third set range, and the ratio between the total duration of the third time period and the duration of the corresponding candidate cycle is the smallest, as the optimal candidate cycle corresponding to the selected driving direction.

[0134] The first setting range, the second setting range, and the third setting range may be set in advance according to application scenarios or specific requirements, and the first setting range, the second setting range, and the third setting range may be the same or different. For example, the first setting range, the second setting range, and the third setting range may all be greater than or equal to 1 and less than or equal to 2. Then, the candidate cycle in which the number of the first time periods, the number of the second time periods, and the number of the third time periods are all greater than or equal to 1 and less than or equal to 2, and the ratio between the total duration of the third time period and the duration of the corresponding candidate cycle is the smallest, may be selected as the optimal candidate cycle corresponding to the selected driving direction.

[0135] Step S3350, obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle corresponding to the selected driving direction.

[0136] In one embodiment, the optimal candidate cycle corresponding to the selected driving direction may be used as the signal cycle duration of the designated intersection.

[0137] In another embodiment, in order to improve the accuracy of obtaining the signal cycle duration of the designated intersection, at least two selected driving directions may be predetermined, and the optimal candidate cycle corresponding to each selected driving direction may be determined according to the steps described in the above embodiment. Then, the step of obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle corresponding to the selected driving direction may include:

[0138] The average value of the optimal candidate cycle corresponding to each selected driving direction is determined as the signal cycle duration of the designated intersection.

[0139] On this basis, if there are multiple statistical time periods preset, then the optimal candidate cycle corresponding to each selected driving direction in each statistical time period may be determined respectively. Then, according to the optimal candidate cycle corresponding to the selected driving direction, the step of obtaining the signal cycle duration of the designated intersection may include:

[0140] Determine the equation of the optimal candidate cycle corresponding to the selected driving direction in each statistical period respectively, and obtain the variance corresponding to each statistical period; determine the average value of the optimal candidate cycle corresponding to the selected driving direction in the statistical period with the smallest corresponding variance as the signal cycle duration of the designated intersection.

[0141] Step S4000: Perform traffic control on the designated intersection according to the signal cycle duration.

[0142] Specifically, the manner of performing traffic control on the designated intersection may include, for example but not limited to, correspondingly controlling the phase difference of at least one phase at multiple designated intersections.

[0143] The phase difference refers to the difference between the start time of the green light (or red light) of the same phase at two adjacent intersections, with respect to two signalized intersections.

[0144] In an embodiment of the present invention, by acquiring a first trajectory matching the selected driving direction of the designated intersection and a second trajectory matching the conflicting driving direction, the signal cycle duration of the designated intersection is determined, and traffic control is performed on the designated intersection according to the signal cycle duration. In this way, the signal cycle duration of the designated intersection can be obtained according to the trajectory passing through the designated intersection, so as to accurately control traffic on the designated intersection.

[0145] In one embodiment, the trajectory processing method may also include: determining the green light time of the phase corresponding to the selected driving direction based on the total duration of the first time period contained in the optimal candidate cycle corresponding to the selected driving direction; determining the green-to-signal ratio of the phase corresponding to the selected driving direction based on the green light time and the signal cycle duration, and performing traffic control on the designated intersection based on the green-to-signal ratio.

[0146] The green-to-signal ratio refers to the proportion of time that can be used for vehicle traffic within a signal light cycle. That is, the ratio of the green light time of a certain phase to the cycle length. The green light time can be the actual green light time or the effective green light time.

[0147] The actual green light time can be the time from when the green light is turned on to when the green light is turned off. The effective green light time: includes the actual vehicle passage time that is effectively utilized, which is equal to the sum of the green light time and the yellow light time minus the loss time. The loss time includes two parts. One is the time when the vehicle starts when the green light signal is turned on; and when the green light is turned off and the yellow light is turned on, only vehicles that cross the stop line can continue to pass, so there is also a part of loss time, which is the actual green light time minus the start time acceleration end lag time. The end lag time is the effectively utilized part of the yellow light time. The loss time of each phase is the difference between the start delay time and the end lag time.

[0148] <Example>

[0149] Figure 6 This is a flow chart of an example of a trajectory processing method according to an embodiment of the present invention, which may specifically include the following steps S6001 to S6010:

[0150] Step S6001, obtaining a selected driving direction of a designated intersection and a conflicting driving direction that has a conflicting relationship with the selected driving direction.

[0151] Step S6002, obtaining a first trajectory that passes through a designated intersection and matches the selected driving direction within a preset statistical period, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction.

[0152] Step S6003: Determine the number of first trajectories and the number of second trajectories corresponding to each sampling moment respectively according to the first trajectories and the second trajectories.

[0153] Step S6004: obtaining a time series including each sampling moment according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment.

[0154] Step S6005: Obtain a set including multiple candidate cycles.

[0155] Step S6006, traverse the candidate periods in the set, and divide the time series into at least one sub-time series with the same duration as the corresponding candidate period.

[0156] Step S6007: Determine the first time period and the second time period included in the corresponding candidate period according to the type of each sampling moment in the sub-time series.

[0157] Step S6008: Determine a time period other than the first time period and the second time period in the corresponding candidate cycle as a third time period.

[0158] Step S6009, select a candidate cycle whose number of first time periods belongs to the first set range, the number of second time periods belongs to the second set range, the number of third time periods belongs to the third set range, and the ratio between the total duration of the third time period and the duration of the corresponding candidate cycle is the smallest, as the optimal candidate cycle corresponding to the selected driving direction.

[0159] Step S6010, according to the optimal candidate cycle corresponding to each selected driving direction in each statistical period, respectively determine the equation of the optimal candidate cycle corresponding to the selected driving direction in each statistical period, and obtain the variance corresponding to each statistical period.

[0160] Step S6011, determining the average value of the optimal candidate cycle corresponding to the selected driving direction within the statistical time period with the smallest corresponding variance as the signal cycle duration of the designated intersection.

[0161] Step S6012: Perform traffic control on the designated intersection according to the signal cycle duration.

[0162] <Device Example>

[0163] In this embodiment, a trajectory processing device 7000 is provided, such as Figure 7As shown, it includes a direction acquisition module 7100, a trajectory acquisition module 7200, a cycle determination module 7300 and a traffic control module 7400. The direction acquisition module 7100 is used to acquire the selected driving direction of the designated intersection and the conflicting driving direction having a conflicting relationship with the selected driving direction; the trajectory acquisition module 7200 is used to acquire a first trajectory that passes through the designated intersection and matches the selected driving direction within a preset statistical period, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction; the cycle determination module 7300 is used to determine the signal cycle duration of the designated intersection according to the first trajectory and the second trajectory; and the traffic control module 7400 is used to perform traffic control on the designated intersection according to the signal cycle duration.

[0164] In one embodiment, the selected driving direction is any straight direction or left turn direction; the conflicting driving directions are the straight direction and left turn direction perpendicular to the selected driving direction.

[0165] In one embodiment, the period determination module 7300 may also be used to:

[0166] According to the first track and the second track, respectively determine the number of the first track and the number of the second track corresponding to each sampling moment;

[0167] According to the number of first trajectories and the number of second trajectories corresponding to each sampling moment, a time series including each sampling moment is obtained; wherein the sampling moment corresponding to the selected driving direction in the time series is of the first type, and the sampling moment corresponding to the conflicting driving direction in the time series is of the second type;

[0168] Determine the signal cycle duration of a specified intersection based on the time series.

[0169] In one embodiment, according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment, obtaining a time series including each sampling moment may include:

[0170] The sampling moments when the number of the first track is greater than the first set value and the number of the second track is less than or equal to the second set value are marked as the first type, and the sampling moments when the number of the second track is greater than the second set value and the number of the first track is less than or equal to the first set value are marked as the second type;

[0171] The sampling moments when the number of the first trajectory is greater than the first set value and the number of the second trajectory is greater than the second set value are marked as the same type as the next sampling moment, and the sampling moments when the number of the first trajectory is less than or equal to the first set value and the number of the second trajectory is less than or equal to the second set value are marked as the same type as the previous sampling moment, and a time series is obtained.

[0172] In one embodiment, determining the signal cycle duration according to the time series may include:

[0173] Obtain a data set containing multiple candidate cycles;

[0174] Traverse the candidate periods in the data set and divide the time series into at least one sub-time series with the same duration as the corresponding candidate period;

[0175] According to the type of each sampling moment in the sub-time series, determining at least one first time period in the corresponding candidate period that only includes sampling moments of the first type, and at least one second time period that only includes sampling moments of the second type;

[0176] Selecting an optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period;

[0177] According to the optimal candidate cycle corresponding to the selected driving direction, the signal cycle duration of the designated intersection is obtained.

[0178] In one embodiment, dividing the time series into at least one sub-time series having the same duration as the candidate period may include:

[0179] According to the corresponding candidate period, the time series is divided according to the order of sampling moments, and at most one sub-time series whose duration is less than the corresponding candidate period is discarded.

[0180] In one embodiment, there are at least two sub-time series. Then, according to the type of each sampling moment in the sub-time series, determining at least one first time period that only includes the first type of sampling moments and at least one second time period that only includes the second type of sampling moments in the corresponding candidate period may include:

[0181] If the sampling moments at the same sorting position in each sub-time series are all of the first type, the corresponding moments in the candidate period are divided into the corresponding first time period;

[0182] If the sampling moments at the same sorting position in each sub-time series are all of the second type, the corresponding moments in the candidate period are divided into the corresponding second time period.

[0183] In one embodiment, selecting the optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period may include:

[0184] Determine a time period other than the first time period and the second time period in the corresponding candidate period as a third time period;

[0185] A candidate cycle including a first time period whose number belongs to a first set range, a second time period whose number belongs to a second set range, a third time period whose number belongs to a third set range, and a minimum ratio between the duration of the third time period and the duration of the corresponding candidate cycle is selected as the optimal candidate cycle corresponding to the selected driving direction.

[0186] In one embodiment, at least two driving directions are selected, and obtaining the signal cycle duration of a designated intersection according to the optimal candidate cycle corresponding to the selected driving directions may include:

[0187] The average value of the optimal candidate cycle corresponding to each selected driving direction is determined as the signal cycle duration of the designated intersection.

[0188] In one embodiment, there are at least two statistical time periods, and obtaining the signal cycle duration of a designated intersection according to the optimal candidate cycle of the selected driving direction may include:

[0189] Determine the variance of the optimal candidate cycle corresponding to the selected driving direction in each statistical period respectively, and obtain the variance corresponding to each statistical period;

[0190] The average value of the optimal candidate cycle corresponding to the selected driving direction within the statistical period with the smallest variance is determined as the cycle duration of the designated intersection.

[0191] In one embodiment, the trajectory processing device may further include:

[0192] A module for determining the green light time of the phase corresponding to the selected driving direction according to the total duration of the first time period included in the optimal candidate cycle corresponding to the selected driving direction;

[0193] Used to determine the modulus of the green-to-signal ratio of the phase corresponding to the selected driving direction according to the green light time and the signal cycle length;

[0194] The traffic control module 7400 can also perform traffic control at designated intersections based on green signal comparison.

[0195] Those skilled in the art should understand that the trajectory processing device 7000 can be implemented in various ways. For example, the trajectory data processing device 7000 can be implemented by configuring the processor through instructions. For example, the instructions can be stored in a ROM, and when the device is started, the instructions are read from the ROM into a programmable device to implement the trajectory processing device 7000. For example, the trajectory processing device 7000 can be solidified into a dedicated device (such as an ASIC). The trajectory processing device 7000 can be divided into independent units, or they can be combined together for implementation. The trajectory processing device 7000 can be implemented by one of the various implementations described above, or it can be implemented by a combination of two or more of the various implementations described above.

[0196] In this embodiment, the trajectory processing device 7000 can have multiple implementation forms. For example, the trajectory processing device 7000 can be a functional module running in any software product or application that provides trajectory data processing services, or it can be a peripheral embedded component, plug-in, patch, etc. of these software products or applications, or it can also be these software products or applications themselves.

[0197] <Electronic equipment>

[0198] In this embodiment, an electronic device 8000 is also provided. The electronic device 8000 may be Figure 1 The server 1100 shown may also be Figure 2 The terminal device 1200 is shown.

[0199] On the one hand, Figure 8 As shown, the electronic device 8000 may include the aforementioned trajectory processing device 7000, which is used to implement the trajectory processing method of any embodiment of the present invention.

[0200] On the other hand, Fig. 9 As shown, the electronic device 8000 may further include a processor 8100 and a memory 8200, wherein the memory 8200 is used to store executable instructions; the processor 8100 is used to control the electronic device 8000 to execute the trajectory processing method according to any embodiment of the present invention according to the control of the instructions.

[0201] <Computer Readable Storage Medium>

[0202] In this embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the trajectory processing method according to any embodiment of the present invention is implemented.

[0203] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0204] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0205] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0206] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0207] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0208] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0209] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0210] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0211] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A trajectory processing method, wherein: include: Acquire a selected driving direction of a designated intersection and a conflicting driving direction that has a conflicting relationship with the selected driving direction; Acquire a first trajectory that passes through the designated intersection and matches the selected driving direction within a preset statistical period, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction; According to the first trajectory and the second trajectory, respectively determine the number of first trajectories and the number of second trajectories corresponding to each sampling moment; According to the number of the first trajectories and the number of the second trajectories corresponding to each sampling moment, a time series including each sampling moment is obtained; wherein the sampling moment corresponding to the selected driving direction in the time series is of the first type, and the sampling moment corresponding to the conflicting driving direction in the time series is of the second type; Determining, based on the time series, an optimal candidate cycle corresponding to the selected driving direction; Obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle corresponding to the selected driving direction; Performing traffic control on the designated intersection according to the signal cycle duration; The step of determining the optimal candidate cycle corresponding to the selected driving direction according to the time series comprises: Obtain a data set containing multiple candidate cycles; Traversing the candidate periods in the data set, dividing the time series into at least one sub-time series with the same duration as the corresponding candidate period; According to the type of each sampling moment in the sub-time series, determining at least one first time period in the corresponding candidate period that only includes sampling moments of the first type, and at least one second time period that only includes sampling moments of the second type; An optimal candidate period corresponding to the selected driving direction is selected according to the first time period and the second time period.

2. The trajectory processing method according to claim 1, wherein: The selected driving direction is any straight direction or left turn direction; the conflicting driving direction is a straight direction and a left turn direction perpendicular to the selected driving direction.

3. The trajectory processing method according to claim 1, wherein: The step of obtaining a time series including each sampling moment according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment comprises: Mark the sampling moments when the number of the first tracks is greater than a first set value and the number of the second tracks is less than or equal to a second set value as a first type, and mark the sampling moments when the number of the second tracks is greater than a second set value and the number of the first tracks is less than or equal to the first set value as a second type; The sampling moments at which the number of the first trajectories is greater than a first set value and the number of the second trajectories is greater than a second set value are marked as the same type as the next sampling moment, and the sampling moments at which the number of the first trajectories is less than or equal to the first set value and the number of the second trajectories is less than or equal to the second set value are marked as the same type as the previous sampling moment, to obtain the time series.

4. The trajectory processing method according to claim 1, wherein: The step of dividing the time series into at least one sub-time series with the same duration as the candidate period comprises: According to the corresponding candidate period, the time series is divided according to the order of sampling moments, and at most one sub-time series whose duration is less than the corresponding candidate period is discarded.

5. The trajectory processing method according to claim 1, wherein: The sub-time series are at least two, The step of determining, according to the type of each sampling moment in the sub-time series, at least one first time period in the corresponding candidate period that contains only sampling moments of the first type and at least one second time period that contains only sampling moments of the second type comprises: If the sampling moments at the same sorting position in each sub-time series are all of the first type, the corresponding moments in the candidate period are divided into the corresponding first time period; If the sampling moments at the same sorting position in each sub-time series are all of the second type, the corresponding moments in the candidate period are divided into the corresponding second time period.

6. The trajectory processing method according to claim 5, wherein: The step of selecting the optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period comprises: Determine a time period other than the first time period and the second time period in the corresponding candidate cycle as a third time period; A candidate cycle including a first time period within a first set range, a second time period within a second set range, a third time period within a third set range, and a minimum ratio between the duration of the third time period and the duration of the corresponding candidate cycle is selected as the optimal candidate cycle corresponding to the selected driving direction.

7. The trajectory processing method according to claim 1, wherein: The selected driving directions are at least two, The step of obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle corresponding to the selected driving direction comprises: An average value of the optimal candidate cycles corresponding to each selected driving direction is determined as the signal cycle duration of the designated intersection.

8. The trajectory processing method according to claim 7, wherein: The statistical time period is at least two, The step of obtaining the signal cycle duration of the designated intersection according to the optimal candidate cycle of the selected driving direction comprises: Determine the variance of the optimal candidate cycle corresponding to the selected driving direction in each statistical period respectively, and obtain the variance corresponding to each statistical period; The average value of the optimal candidate cycles corresponding to the selected driving direction within the statistical time period with the smallest variance is determined as the cycle duration of the designated intersection.

9. The trajectory processing method according to claim 1, wherein: The trajectory processing method also includes: Determine the green light time of the phase corresponding to the selected driving direction according to the total duration of the first time period included in the optimal candidate cycle corresponding to the selected driving direction; The green-to-signal ratio of the phase corresponding to the selected driving direction is determined according to the green light time and the signal cycle duration, so as to perform traffic control on the designated intersection according to the green-to-signal ratio.

10. A trajectory processing device, wherein: include: A direction acquisition module, used to acquire a selected driving direction of a designated intersection and a conflicting driving direction having a conflicting relationship with the selected driving direction; A trajectory acquisition module, used to acquire a first trajectory that passes through the designated intersection and matches the selected driving direction within a preset statistical period, and a second trajectory that passes through the designated intersection and matches the conflicting driving direction; A cycle determination module, used to determine the number of first trajectories and the number of second trajectories corresponding to each sampling moment according to the first trajectory and the second trajectory respectively; obtain a time series including each sampling moment according to the number of first trajectories and the number of second trajectories corresponding to each sampling moment; wherein the sampling moment corresponding to the selected driving direction in the time series is of the first type, and the sampling moment corresponding to the conflicting driving direction in the time series is of the second type; determine the optimal candidate cycle corresponding to the selected driving direction according to the time series; obtain the signal cycle duration of the designated intersection according to the optimal candidate cycle corresponding to the selected driving direction; A traffic control module, used for performing traffic control on the designated intersection according to the signal cycle duration; The cycle determination module, when determining the optimal candidate cycle corresponding to the selected driving direction according to the time series, is specifically used to: obtain a data set containing multiple candidate cycles; traverse the candidate cycles in the data set, and divide the time series into at least one sub-time series with the same duration as the corresponding candidate cycle; according to the type of each sampling moment in the sub-time series, determine at least one first time period in the corresponding candidate cycle that only contains sampling moments of the first type, and at least one second time period that only contains sampling moments of the second type; and select the optimal candidate cycle corresponding to the selected driving direction according to the first time period and the second time period.

11. An electronic device, wherein: It comprises the trajectory processing device according to claim 10; or, it comprises a processor and a memory, wherein the memory is used to store executable instructions, and the instructions are used to control the processor to execute the trajectory processing method according to any one of claims 1 to 9. 12 . A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the trajectory processing method according to claim 1 .

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