A road segment matching method, device and storage medium

Abstract

The present application provides a method, device and storage medium for road segment matching, which relates to the field of computer technology and is used to improve the efficiency of determining the road segment where a trajectory point is located. The method includes: obtaining a candidate road segment for a first trajectory point, and the probability that the first trajectory point is located in the candidate road segment of the first trajectory point is greater than a first probability threshold. According to the candidate road segment of the first trajectory point and the first distance, multiple first road segments are determined, the first road segment is connected to the candidate road segment of the first trajectory point, and the distance between the first road segment and the candidate road segment of the first trajectory point is less than the first distance. According to the position information of the second trajectory point and the position information of the multiple first road segments, a target road segment is determined from the multiple first road segments, the probability that the second trajectory point is located in the target road segment is greater than the first probability threshold, and the second trajectory point is the next trajectory point of the first trajectory point.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a method, device and storage medium for road segment matching. Background Art

[0002] In recent years, with the popularization of navigation applications and the rapid development of the navigation industry, people have put forward higher demands on the accuracy and timeliness of navigation maps.

[0003] At present, the track points of devices (such as mobile phones, cars, smart watches, etc.) can be obtained through the positioning system. After that, the road section where the track point is located is determined by traversing the distance between all road sections in the grid where the track point is located and the track point. Among them, the grid records a large amount of (for example, 1,000) road section information. However, in the solution of determining the road section where the track point is located by traversing the road sections in the grid, the efficiency of determining the road section where the track point is located is low due to the large amount of data in the grid. Summary of the invention

[0004] The present application provides a road segment matching method, device and storage medium for improving the efficiency of determining the road segment where a trajectory point is located.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a method for road segment matching. In the method, a candidate road segment for a first trajectory point is obtained, and the probability that the first trajectory point is located at the candidate road segment of the first trajectory point is greater than a first probability threshold. Based on the candidate road segment of the first trajectory point and the first distance, multiple first road segments are determined, the first road segment is connected to the candidate road segment of the first trajectory point, and the distance between the first road segment and the candidate road segment of the first trajectory point is less than the first distance. Based on the position information of the second trajectory point and the position information of the multiple first road segments, a target road segment is determined from the multiple first road segments, the probability that the second trajectory point is located at the target road segment is greater than the first probability threshold, and the second trajectory point is the next trajectory point of the first trajectory point.

[0007] Based on the above technical solution, the candidate road section of the first trajectory point is obtained, and the probability that the first trajectory point is located in the candidate road section of the first trajectory point is greater than the first probability threshold. Afterwards, multiple first road sections are determined based on the candidate road section of the first trajectory point and the first distance. Since the first road section is connected to the candidate road section of the first trajectory point, and the distance between each road section in the multiple first road sections and the candidate road section of the first trajectory point is less than the first distance, the number of first road sections can be reduced. Then, based on the position information of the second trajectory point and the position information of the multiple first road sections, the target road section is determined from the multiple first road sections, the probability that the second trajectory point is located in the target road section is greater than the first probability threshold, and the second trajectory point is the next trajectory point of the first trajectory point. Due to the reduction in the number of first road sections, the efficiency of determining the target road section from the first road section can be improved.

[0008] In a possible design, the upper first distance is determined by a straight-line distance between the first trajectory point and the second trajectory point.

[0009] In one possible design, the method for determining a target road section from a plurality of first road sections according to the position information of the second trajectory point and the position information of the plurality of first road sections includes: performing a first operation on each road section in the plurality of first road sections to determine the target road section according to the position information of the second trajectory point and the position information of the plurality of first road sections; the first operation includes: determining a first matching probability of the second road section according to the position information of the second trajectory point and the position information of the second road section, the first matching probability being used to indicate the probability that the second trajectory point is located in the second road section, the second road section being any road section in the plurality of first road sections. If the first matching probability is greater than a first probability threshold, the second road section is determined to be the target road section.

[0010] In one possible design, the method for matching road segments further includes: determining a second distance, the second distance being a straight-line distance between the first trajectory point and the second trajectory point. If the second distance is less than a preset distance threshold, determining a plurality of first road segments based on the candidate road segments of the first trajectory point and the first distance.

[0011] In one possible design, the road segment matching method further includes: if the second distance is greater than a preset distance threshold, determining a target grid corresponding to the second trajectory point, the target grid including multiple third road segments. According to the position information of the second trajectory point and the position information of the multiple third road segments, determining the target road segment from the multiple third road segments.

[0012] In a possible design, multiple first sections form multiple first candidate paths. The section matching method also includes: determining a second candidate path from the multiple first candidate paths according to the target section and the multiple first candidate paths, the second candidate path including: at least one section in the target section.

[0013] In a second aspect, the present application provides a road segment matching device, which includes an acquisition unit and a processing unit.

[0014] The acquisition unit is used to acquire a candidate section of the first trajectory point, and the probability that the first trajectory point is located in the candidate section of the first trajectory point is greater than a first probability threshold. The processing unit is used to determine multiple first sections according to the candidate section of the first trajectory point and the first distance, the first section is connected to the candidate section of the first trajectory point, and the distance between the first section and the candidate section of the first trajectory point is less than the first distance. The processing unit is also used to determine a target section from multiple first sections according to the position information of the second trajectory point and the position information of the multiple first sections, the probability that the second trajectory point is located in the target section is greater than the first probability threshold, and the second trajectory point is the next trajectory point of the first trajectory point.

[0015] In a possible design, the first distance is determined by a straight-line distance between the first trajectory point and the second trajectory point.

[0016] In one possible design, the processing unit is specifically used to perform a first operation on each of the multiple first road sections to determine a target road section based on the position information of the second trajectory point and the position information of the multiple first road sections; the first operation includes: determining a first matching probability of the second road section based on the position information of the second trajectory point and the position information of the second road section, the first matching probability being used to indicate the probability that the second trajectory point is located in the second road section, and the second road section is any one of the multiple first road sections; if the first matching probability is greater than a first probability threshold, determining the second road section as the target road section.

[0017] In one possible design, the processing unit is further configured to determine a second distance, where the second distance is a straight-line distance between the first trajectory point and the second trajectory point. The processing unit is specifically configured to determine a plurality of first sections based on the candidate sections of the first trajectory point and the first distance if the second distance is less than a preset distance threshold.

[0018] In one possible design, the processing unit is further configured to determine a target grid corresponding to the second trajectory point if the second distance is greater than a preset distance threshold, and the target grid includes multiple third road segments. The processing unit is further configured to determine the target road segment from the multiple third road segments based on the position information of the second trajectory point and the position information of the multiple third road segments.

[0019] In a possible design, multiple first sections constitute multiple first candidate paths. The processing unit is further used to determine a second candidate path from the multiple first candidate paths according to the target section and the multiple first candidate paths, and the second candidate path includes: at least one section in the target section.

[0020] In a third aspect, the present application provides a device for road segment matching, the device comprising: a processor and a memory; the processor and the memory are coupled; the memory is used to store one or more programs, the one or more programs including computer-executable instructions, and when the road segment matching device is running, the processor executes the computer-executable instructions stored in the memory to implement the road segment matching method as described in the first aspect and any possible implementation method of the first aspect.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer executes the road segment matching method described in the above-mentioned first aspect and any possible implementation of the first aspect.

[0022] In a fifth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run a computer program or instructions to implement the road segment matching method described in the first aspect and any possible implementation method of the first aspect.

[0023] In the above scheme, the technical problems that can be solved and the technical effects achieved by the road segment matching device, computer equipment, computer storage medium or chip can be referred to the technical problems and technical effects solved by the above first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A system architecture diagram of a communication system provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of a flow chart of a road segment matching method provided in an embodiment of the present application;

[0026] Figure 3 An example diagram of a road section selection provided in an embodiment of the present application;

[0027] Figure 4 A flowchart of another method for road segment matching provided in an embodiment of the present application;

[0028] Figure 5 A flowchart of another method for road segment matching provided in an embodiment of the present application;

[0029] Figure 6 An example diagram of path merging provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of the structure of a road section matching device provided in an embodiment of the present application;

[0031] Figure 8A schematic diagram of the structure of another road segment matching device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] In this article, the character " / " generally indicates that the objects before and after are in an "or" relationship. For example, A / B can be understood as A or B.

[0034] The terms “first” and “second” in the description and claims of the present application are used to distinguish different objects rather than to describe a specific order of the objects.

[0035] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include other steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0036] In addition, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present concepts in a specific way.

[0037] Before introducing the road segment matching method of the embodiment of the present application in detail, the implementation environment and application scenarios of the embodiment of the present application are first introduced.

[0038] like Figure 1 As shown, a communication system provided by an embodiment of the present application includes a terminal and a server. The terminal and the server can communicate wirelessly.

[0039] The terminal can be a device with transceiver functions. The terminal can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on the water (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons, and satellites, etc.). The terminal includes a handheld device, a vehicle-mounted device, a wearable device, or a computing device with wireless communication functions. Exemplarily, the terminal can be a mobile phone, a tablet computer, or a computer with wireless transceiver functions. The terminal device can also be a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in smart grids, a wireless terminal in smart cities, a wireless terminal in smart homes, etc.

[0040] The server can be a single server, a server cluster consisting of multiple servers, or a cloud computing service center. The server can include a processor, a memory, and a network interface. The server can receive data from the terminal (such as the terminal's location information, road section information, etc.).

[0041] It should be noted that in the embodiments of the present application, either a terminal or a server can execute the embodiments of the present application. The following takes the execution of the embodiments of the present application by a terminal as an example to introduce the embodiments of the present application.

[0042] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0043] In the embodiment of the present application, the terminal is equipped with a positioning device. The positioning device can obtain the pending trajectory points of the terminal in real time, and the pending trajectory points are the positions of the terminal collected by the positioning device during the movement of the terminal. For example, the terminal moves from section A to section B, and the pending trajectory points collected by the positioning device include: trajectory point A, trajectory point B, trajectory point C, trajectory point D and trajectory point E.

[0044] It should be noted that due to some factors (such as network instability, calculation deviation, etc.), some of the pending trajectory points may not accurately represent the movement trajectory of the terminal.

[0045] In the embodiment of the present application, the trajectory points of the terminal (such as the first trajectory point and the second trajectory point) are pending trajectory points that meet the first preset condition. In other words, the first trajectory point and the second trajectory point are part of the pending trajectory points.

[0046] It should be noted that, in the embodiment of the present application, the pending trajectory point can indicate information such as the moving direction, moving speed, and moving time.

[0047] The first preset condition includes the following conditions: the first condition and / or the second condition.

[0048] The first condition is that the starting track point of the terminal and the ending track point of the terminal are retained.

[0049] It should be noted that the moving direction indicated by the starting trajectory point is set to have no angle.

[0050] The second condition is: the direction indicated by the pending trajectory point deviates from the direction indicated by the previous trajectory point of the trajectory point by more than the first preset deviation threshold, and the direction indicated by the pending trajectory point deviates from the direction indicated by the previous trajectory point of the trajectory point by less than the second preset deviation threshold, and the second preset deviation threshold is greater than the first preset deviation threshold. For example, the first preset deviation threshold is 45 degrees, and the second preset deviation threshold is 100 degrees.

[0051] For example, the direction indicated by track point A is heading north, the direction indicated by track point B is heading east, and the deviation angle is 90 degrees. That is, the terminal may perform a turning action here.

[0052] It should be noted that the pending track points during the terminal turning process are set to no angle. Exemplarily, during the terminal turning 180 degrees, the positioning device collects track points A, B, and C. Among them, track point A indicates that the terminal moves north, track point B indicates that the terminal moves west, and track point C indicates that the terminal moves south. Among them, track point B is set to no angle.

[0053] It can be understood that the pending trajectory points in the terminal turning process are set to have no angle, so as to avoid matching with other road sections.

[0054] Optionally, the terminal may delete the trajectory points that meet the second preset condition from the pending trajectory points. The second preset condition includes the following conditions: the third condition, the fourth condition, the fifth condition, and the sixth condition.

[0055] The third condition is that the moving speed indicated by the pending trajectory point is less than or equal to a preset speed threshold (eg, 0).

[0056] The fourth condition is that the distance between the pending trajectory point and the previous pending trajectory point is greater than the movable distance, wherein the movable distance can be obtained according to the moving speed and moving time of the terminal.

[0057] The fifth condition is that the deviation (for example, 270 degrees) between the direction indicated by the pending trajectory point and the direction indicated by the previous pending trajectory point is greater than a second preset deviation threshold.

[0058] The sixth condition is that the distance between the pending trajectory point and the previous pending trajectory point is less than a preset distance.

[0059] Each track point stores state information of the track point, and the state information includes at least one of the following: a candidate road segment set, a candidate path set, and a target path.

[0060] It should be noted that the probability that the trajectory point is located in the candidate section is greater than the first probability threshold. In other words, the candidate section is the section where the trajectory point may be located. The candidate path is the path that the terminal may travel, and the candidate path consists of at least one section. The target path is the path in the candidate path set where the terminal has the highest probability of traveling on the path.

[0061] like Figure 2 As shown, a method for road segment matching provided in an embodiment of the present application includes:

[0062] S201: Obtain candidate road sections for a first trajectory point.

[0063] The probability that the first trajectory point is located at the candidate road section of the first trajectory point is greater than a first probability threshold. In other words, the candidate road section of the first trajectory point is a road section where the first trajectory point may be located.

[0064] In a possible design, the candidate sections of the first trajectory point include at least one section. Exemplarily, the surrounding sections of the first trajectory point include: section A, section B and section C, and the candidate sections of the first trajectory point include: section A, section B and section C.

[0065] As a possible implementation manner, state information of the first trajectory point is acquired, wherein the state information of the first trajectory point includes candidate road sections of the first trajectory point.

[0066] It should be noted that if the first trajectory point is the starting trajectory point of the terminal, the candidate road section in the status information of the first trajectory point can be determined by the location information of all road sections in the grid where the first trajectory point is located and the location information of the first trajectory point. Exemplarily, it can be calculated by using a bivariate normal distribution, that is, using deviation (distance deviation) and angle deviation (angle deviation) as the input of the bivariate normal distribution, and the obtained probability value is used as the observation probability. If the distance deviation from the first trajectory point to the road section is closer to 0, the greater the observation probability, and the closer the angle deviation between the position angle of the first trajectory point (such as the GPS angle) and the road driving direction of the road section is to 0, the greater the observation probability. Among them, the greater the observation probability, the greater the probability that the trajectory point is located on the road section.

[0067] It should be noted that if the first trajectory point is not the starting trajectory point of the terminal, the method for obtaining the candidate sections in the status information of the first trajectory point can be the method for obtaining the candidate sections (ie, the target sections) of the second trajectory point, which will not be elaborated here.

[0068] S202: Determine a plurality of first road sections according to the candidate road sections and the first distance of the first trajectory point.

[0069] The first road section is connected to the candidate road section of the first trajectory point.

[0070] It should be noted that, in the embodiment of the present application, the first road segment is connected to the candidate road segment of the first trajectory point, which means that the first road segment is directly connected to the candidate road segment of the first trajectory point or is indirectly connected through other road segments.

[0071] For example, Figure 3 As shown, section A is a candidate path for the first trajectory point, and the multiple first sections include: section B, section C, section D, section E, and section F. Sections B and C are connected to section A, and sections D, E, and F are indirectly connected to section A. For example, section E is connected to section A through section C.

[0072] In the embodiment of the present application, the distance between the first road segment and the candidate road segment of the first trajectory point is less than the first distance.

[0073] It should be noted that in the embodiment of the present application, the distance between sections is the sum of the lengths of the sections between the starting section, the end section, and the middle section. The middle section is the section connecting the starting section and the end section. For example, the distance between section A and section E is the sum of the length of section A, the length of section C, and the length of section E.

[0074] In a possible design, the first distance is determined by a straight-line distance between the first trajectory point and the second trajectory point.

[0075] As a possible implementation, the position information of the first trajectory point and the position information of the second trajectory point are obtained. Then, according to the position information of the first trajectory point and the position information of the second trajectory point, a second distance is determined, and the second distance is a straight-line distance between the first trajectory point and the second trajectory point. Then, the first distance is determined according to the second distance. The first distance is greater than the second distance.

[0076] For example, if the second distance is 100 meters, the first distance may be 1.5 times of the second distance, and the first distance may be 150 meters.

[0077] It is understandable that the first distance is determined by the straight-line distance between the first track point and the second track point, so that the first distance can be limited. In this way, a smaller number of first road segments can be obtained, the amount of data processing can be reduced, and the efficiency of road segment matching can be improved.

[0078] As a possible implementation manner, a plurality of first candidate paths are determined according to the candidate sections of the first trajectory point and the first distance, the plurality of first candidate paths are composed of a plurality of first sections, and each candidate path includes at least one first section.

[0079] Exemplary, combined Figure 3 , if the multiple first candidate paths include: path A, path B and path C. Path A is section A-section B-section D, path B is section A-section C-section E, and path C is section A-section C-section F. Take path B as an example, where section A is a candidate section for the first trajectory point. Take section A as the starting section, and find out that section C is connected to section A according to the location information of section A, and the sum of the lengths of section C and section A is less than the first distance. Afterwards, find out that section E is connected to section C according to section C (that is, section E is indirectly connected to section A), and the sum of the lengths of section A, section C and section E is greater than the first preset distance, then stop searching for sections, and the candidate path is section A-section C-section F.

[0080] S203: Determine a target road section from the plurality of first road sections according to the position information of the second trajectory point and the position information of the plurality of first road sections.

[0081] The second track point is the next track point of the first track point. That is, if the first track point is the track point of the terminal at time A, the second track point is the track point of the terminal at time B, and time B is later than time A.

[0082] In the embodiment of the present application, the probability that the second trajectory point is located in the target section is greater than the first probability threshold.

[0083] As a possible implementation, according to the location information of the second trajectory point and the location information of the plurality of first sections, a first operation is performed on each of the plurality of first sections to determine a target section; the first operation includes: according to the location information of the second trajectory point and the location information of the second section, a first matching probability of the second section is determined, the first matching probability is used to indicate the probability that the second trajectory point is located in the second section, and the second section is any section of the plurality of first sections. If the first matching probability is greater than a first probability threshold, the second section is determined to be the target section.

[0084] It should be noted that the method for determining the first matching probability of the second road segment based on the position information of the second trajectory point and the position information of the second road segment can refer to the method for determining the probability that the trajectory point is located in the road segment in conventional technology (such as calculating the observation probability using a bivariate normal distribution), which will not be elaborated here.

[0085] Exemplary, combined Figure 4 , the multiple first sections include: section B, section C, section D, section E and section F, the second trajectory point is trajectory point a, if the first probability threshold is 70%. The first matching probability between trajectory point a and section B is 15%, the first matching probability between trajectory point a and section C is 50%, the first matching probability between trajectory point a and section D is 5%, the first matching probability between trajectory point a and section E is 80%, and the first matching probability between trajectory point a and section F is 75%, then the target sections include sections E and F.

[0086] It can be understood that, according to the location information of the second trajectory point and the location information of the second road section, the first matching probability of the second road section is determined, and the probability that the second trajectory point is located in the second road section can be determined. Afterwards, if the first matching probability is greater than the first probability threshold, the second road section is determined to be the target road section. In other words, the second road section where the probability of the second trajectory point being located in the road section is higher is taken as the target road section, so that the accuracy of determining the terminal trajectory can be improved.

[0087] Based on the above technical solution, the candidate road section of the first trajectory point is obtained, and the probability that the first trajectory point is located in the candidate road section of the first trajectory point is greater than the first probability threshold. Afterwards, multiple first road sections are determined based on the candidate road section of the first trajectory point and the first distance. Since the first road section is connected to the candidate road section of the first trajectory point, and the distance between each road section in the multiple first road sections and the candidate road section of the first trajectory point is less than the first distance, the number of first road sections can be reduced. Then, based on the position information of the second trajectory point and the position information of the multiple first road sections, the target road section is determined from the multiple first road sections, the probability that the second trajectory point is located in the target road section is greater than the first probability threshold, and the second trajectory point is the next trajectory point of the first trajectory point. Due to the reduction in the number of first road sections, the efficiency of determining the target road section from the first road section can be improved.

[0088] like Figure 4 As shown, a method for matching road sections provided in an embodiment of the present application is provided. Before S202, the method further includes:

[0089] S401: Determine a second distance.

[0090] The second distance is the straight-line distance between the first trajectory point and the second trajectory point.

[0091] As a possible implementation manner, the position information of the first track point and the position information of the second track point are obtained.

[0092] Exemplarily, the position information may be represented by coordinates. If the coordinates of the first track point are (10, 20) and the coordinates of the second track point are (70, 100), then the second distance may be determined to be 100.

[0093] S402: Determine whether the second distance is less than a preset distance threshold.

[0094] It should be noted that the embodiment of the present application does not limit the first distance and the preset distance threshold. For example, the first distance is greater than the preset distance threshold. For another example, the first distance is less than the preset distance threshold. For another example, the first distance is equal to the preset distance threshold.

[0095] In some embodiments, if the second distance is less than a preset distance threshold, S202 is executed.

[0096] Exemplarily, if the second distance is 100 meters and the preset distance threshold is 150 meters, S202 is executed.

[0097] It is understandable that, when the second distance is less than the preset distance threshold, multiple first sections are determined based on the candidate sections of the first trajectory point and the first distance. Since the first distance is determined based on the second distance, when the second distance is small, the first distance will also be small. In this way, the number of first sections can be limited, thereby improving the efficiency of determining the target section from the first sections.

[0098] Optionally, it may be compared whether the first distance is smaller than a preset distance threshold. If the first distance is smaller than the preset distance threshold, S202 is executed.

[0099] In some embodiments, if the second distance is less than the preset distance threshold, S202 is executed. If the second distance is greater than the preset distance threshold, S403 is executed.

[0100] S403: Determine the target grid corresponding to the second trajectory point.

[0101] The target grid includes multiple third road sections.

[0102] Exemplarily, the target grid (ie, the plurality of third road sections) includes: road section A to road section Z. The plurality of first road sections include: road section A, road section C, and road section J.

[0103] As a possible implementation, the terminal stores the correspondence between the track point and the grid. The terminal can obtain the identifier of the second track point and determine the target grid. Then, multiple third sections are obtained from the grid.

[0104] S404: Determine a target road section from the plurality of third road sections according to the position information of the second trajectory point and the position information of the plurality of third road sections.

[0105] As a possible implementation, according to the location information of the second trajectory point and the location information of the plurality of third road segments, a second operation is performed on each of the plurality of third road segments to determine a target road segment; the third operation includes: according to the location information of the second trajectory point and the location information of the third road segment, a second matching probability of a fourth road segment is determined, the second matching probability is used to indicate the probability that the second trajectory point is located in the fourth road segment, and the fourth road segment is any road segment in the plurality of third road segments. If the second matching probability is greater than the first probability threshold, the fourth road segment is determined to be the target road segment.

[0106] It should be noted that the method for determining the first matching probability of the second road segment based on the position information of the second trajectory point and the position information of the third road segment can refer to the method for determining the probability that the trajectory point is located in the road segment in conventional technology (such as calculating the observation probability using a bivariate normal distribution), which will not be elaborated here.

[0107] Based on the above technical solution, when the second distance is greater than the preset distance threshold, the target grid corresponding to the second trajectory point is determined to obtain multiple third sections, and the multiple third sections include multiple first sections. Afterwards, the target section is determined from the multiple third sections according to the position information of the second trajectory point and the position information of the multiple third sections. In this way, it can be avoided that when the second distance is large, resulting in a large first distance, a large number of first sections are obtained, which affects the efficiency of obtaining the target section.

[0108] In some embodiments, multiple first sections form multiple first candidate paths. Figure 3 , assuming that the multiple first candidate paths include: path A, path B and path C. Path A is section A-section B-section D, path B is section A-section C-section E, and path C is section A-section C-section F.

[0109] In the embodiment of the present application, after determining the target section of the second trajectory point, a second candidate path is determined from the multiple first candidate paths according to the target section and the multiple first candidate paths, wherein the second candidate path includes: at least one section in the target section.

[0110] Exemplary, combined Figure 3 , if the multiple first candidate paths include: path A, path B and path C. Path A is segment A-segment B-segment D, path B is segment A-segment C-segment E, and path C is segment A-segment C-segment F. The target segment includes segment E and segment F, then the second candidate path includes path B and path C.

[0111] As a possible implementation, Figure 5 As shown, each first candidate path in the plurality of first candidate paths is traversed. The following operations are performed on each first candidate path: Determine whether there is a candidate section for the first trajectory point in the first candidate path. If there is no candidate section for the first trajectory point in the first candidate path, traverse the next first candidate path. If there is a candidate section for the first trajectory point in the first candidate path, determine whether there is a target section for the second trajectory point in the first candidate path. If there is no target section for the second trajectory point in the first candidate path, traverse the next first candidate path. If there is a target section for the second trajectory point in the first candidate path, determine that the first candidate path is the second candidate path.

[0112] It is understandable that the second candidate path is determined from the multiple first candidate paths according to the target section and the multiple first candidate paths. Since the second trajectory point may be located in the target section, and the second candidate path includes at least one section in the target section, the second candidate path selected from the first candidate path through the target section is more likely to be the driving path of the terminal. In this way, the accuracy of determining the driving path of the terminal can be improved.

[0113] In some embodiments, the third candidate path is determined from the second candidate paths according to the length of each path in the second candidate paths and the second distance.

[0114] As a possible implementation, the conversion distance difference of each path is determined according to the length of each path in the second candidate path and the second distance. Then, the conversion probability of each path is calculated using the univariate normal distribution with the conversion distance difference as an independent variable. Then, the third candidate path is determined according to the conversion probability of each path.

[0115] It should be noted that the smaller the conversion distance difference is, the greater the conversion probability is. The larger the conversion distance difference is, the smaller the conversion probability is.

[0116] For example, if the second candidate path includes path B (section A-section C-section E) and path C (section A-section C-section F), the straight-line distance between the first trajectory point and the second trajectory point is 100, the length of path B is 130, and the length of path C is 150, then the conversion distance difference of path B is 30, and the conversion distance difference of path C is 50. The conversion probability of path B is 90%, and the conversion probability of path C is 85%.

[0117] It should be noted that, when there is an eighth-class road or a ninth-class road (i.e., a sidewalk) in the second candidate path, the conversion distance difference of the second candidate path is increased. When the conversion distance difference of the second candidate path is greater than a preset conversion distance threshold, the conversion distance difference of the second candidate path is increased.

[0118] It should be noted that the second candidate path and the third candidate path can be data in the candidate path set in the state information of the second trajectory point. Optionally, the third candidate path can be the target path in the state information of the second trajectory point. When the third candidate path is the target path, the third candidate path is a path.

[0119] In some embodiments, when the third candidate path is data in the candidate path set in the state information of the second trajectory point, the target path is determined according to the observation probability and the conversion probability of each path in the third candidate path.

[0120] Exemplarily, the target probability of each path is determined according to the observation probability and conversion probability of each path in the third candidate path, and the target probability is the product of the observation probability and the conversion probability. Afterwards, the third candidate path with the largest target probability is determined as the target path. For example, if the third candidate path includes path B (section A-section C-section E) and path C (section A-section C-section F). Among them, the conversion probability of path B is 90%, and the conversion probability of path C is 85%. The observation probability of section E is 90%, and the observation probability of section F is 80%. Then the target probability of path B is 81%, and the target probability of path C is 68%, then path B is determined to be the target path.

[0121] In some embodiments, if the second distance is greater than a preset distance threshold, a path between the first trajectory point and the second trajectory point is determined by a preset path calculation algorithm (or path planning algorithm). If the path between the first trajectory point and the second trajectory point cannot be determined by the preset path calculation algorithm, it is determined whether there is an intersection between the first trajectory point and the second trajectory point. If there is an intersection, the target path of the first trajectory point and the target path of the second trajectory point are not merged. If there is no intersection, the target path of the first trajectory point and the target path of the second trajectory point are merged.

[0122] For example, Figure 6 As shown in (a) in , there is an intersection between path A and path B, so path A and path B are not merged. Figure 6 As shown in (b) in FIG. 5 , if there is no intersection between path A and path B (for example, there is a river between path A and path B), path A and path B are merged.

[0123] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of computer equipment. It is understandable that in order to realize the above functions, the computer equipment includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the method steps of the road section matching of each example described in the embodiment disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0124] The embodiment of the present application also provides a road segment matching device. The road segment matching device can be a computer device, a CPU in the computer device, a processing module for matching road segments in the computer device, or a client for matching road segments in the computer device.

[0125] The embodiment of the present application can divide the functional modules or functional units of the road section matching according to the above method example. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical function division. There may be other division methods in actual implementation.

[0126] like Figure 7 FIG. 1 is a schematic diagram of a structure of a road segment matching device provided in an embodiment of the present application. The road segment matching device is used to perform Figure 2 or Figure 4 The road segment matching method shown in FIG.

[0127] The acquisition unit 701 is used to acquire a candidate section of a first trajectory point, and the probability that the first trajectory point is located in the candidate section of the first trajectory point is greater than a first probability threshold. The processing unit 702 is used to determine a plurality of first sections according to the candidate section of the first trajectory point and a first distance, wherein the first section is connected to the candidate section of the first trajectory point, and the distance between the first section and the candidate section of the first trajectory point is less than the first distance. The processing unit 702 is also used to determine a target section from the plurality of first sections according to the position information of the second trajectory point and the position information of the plurality of first sections, wherein the probability that the second trajectory point is located in the target section is greater than the first probability threshold, and the second trajectory point is the next trajectory point of the first trajectory point.

[0128] Optionally, the first distance is determined by a straight-line distance between the first trajectory point and the second trajectory point.

[0129] Optionally, the processing unit 702 is specifically used to perform a first operation on each of the multiple first road sections to determine a target road section based on the position information of the second trajectory point and the position information of the multiple first road sections; the first operation includes: determining a first matching probability of the second road section based on the position information of the second trajectory point and the position information of the second road section, the first matching probability being used to indicate the probability that the second trajectory point is located in the second road section, the second road section being any one of the multiple first road sections; if the first matching probability is greater than a first probability threshold, determining the second road section as the target road section.

[0130] Optionally, the processing unit 702 is further configured to determine a second distance, where the second distance is a straight-line distance between the first trajectory point and the second trajectory point. The processing unit 702 is specifically configured to determine a plurality of first sections according to the candidate sections of the first trajectory point and the first distance if the second distance is less than a preset distance threshold.

[0131] Optionally, the processing unit 702 is further configured to determine a target grid corresponding to the second trajectory point if the second distance is greater than a preset distance threshold, wherein the target grid includes multiple third sections. The processing unit 702 is further configured to determine the target section from the multiple third sections based on the position information of the second trajectory point and the position information of the multiple third sections.

[0132] Optionally, multiple first sections constitute multiple first candidate paths. The processing unit 702 is further configured to determine a second candidate path from the multiple first candidate paths according to the target section and the multiple first candidate paths, the second candidate path including: at least one section in the target section.

[0133] Figure 8 Another possible structure of the device for segment matching involved in the above embodiment is shown. The device for segment matching includes: a processor 801 and a communication interface 802. The processor 801 is used to control and manage the actions of the device, for example, to execute the various steps in the method flow shown in the above method embodiment, and / or to execute other processes of the technology described herein. The communication interface 802 is used to support the communication between the device for segment matching and other network entities. The device for segment matching may also include a memory 803 and a bus 804, and the memory 803 is used to store program codes and data of the device.

[0134] Among them, the above-mentioned processor 801 can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of the present invention. The processor can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of the present invention. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, etc.

[0135] The memory 803 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid-state drive; the memory may also include a combination of the above types of memory.

[0136] The bus 804 may be an Extended Industry Standard Architecture (EISA) bus, etc. The bus 804 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0137] In actual implementation, the acquisition unit 701 may be composed of Figure 8 The communication interface 802 shown in FIG. 8 is implemented by the processing unit 702. Figure 8 The processor 801 shown calls the program code in the memory 803 to implement. The specific execution process can be referred to Figure 2 or Figure 4 The description of the method of road segment matching shown in the figure will not be repeated here.

[0138] Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0139] An embodiment of the present application provides a computer program product including instructions. When the computer program product is run on a computer, the computer is enabled to execute the road segment matching method in the above method embodiment.

[0140] An embodiment of the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a computer, the computer executes the road segment matching method in the method flow shown in the above method embodiment.

[0141] Among them, the computer readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0142] Since the road segment matching device, computer-readable storage medium, and computer program product in the embodiments of the present invention can be applied to the above method, the technical effects that can be obtained can also refer to the above method embodiments, and the embodiments of the present invention will not be repeated here.

[0143] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application 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 road segment matching method, characterized in that: The method comprises: Acquire a candidate road section for a first trajectory point, wherein the probability that the first trajectory point is located in the candidate road section for the first trajectory point is greater than a first probability threshold; Determine a second distance, where the second distance is a straight-line distance between the first trajectory point and a second trajectory point, and the second trajectory point is a trajectory point next to the first trajectory point; If the second distance is less than a preset distance threshold, multiple first sections are determined according to the candidate sections of the first trajectory point and the first distance, the first distance is determined based on the second distance, and the first distance is greater than the second distance; the first section is directly connected to the candidate section of the first trajectory point or is indirectly connected through other sections, the distance between the first section and the candidate section of the first trajectory point is less than the first distance, and the distance between the sections is: the sum of the section lengths between the starting section, the end section, and the intermediate section; Determine a target road section from the plurality of first road sections according to the position information of the second trajectory point and the position information of the plurality of first road sections, wherein the probability that the second trajectory point is located at the target road section is greater than the first probability threshold; If the second distance is greater than a preset distance threshold, determining a target grid corresponding to the second trajectory point, the target grid including a plurality of third road segments; The target road segment is determined from the plurality of third road segments according to the position information of the second trajectory point and the position information of the plurality of third road segments.

2. The method according to claim 1, characterized in that The first distance is determined by a straight-line distance between the first trajectory point and the second trajectory point.

3. The method according to claim 2, characterized in that The determining the target road section from the plurality of first road sections according to the position information of the second trajectory point and the position information of the plurality of first road sections comprises: According to the position information of the second track point and the position information of the plurality of first road segments, a first operation is performed on each of the plurality of first road segments to determine the target road segment; the first operation includes: Determine, according to the location information of the second trajectory point and the location information of the second road segment, a first matching probability of the second road segment, wherein the first matching probability is used to indicate the probability that the second trajectory point is located in the second road segment, and the second road segment is any road segment among the multiple first road segments; If the first matching probability is greater than the first probability threshold, the second road section is determined to be the target road section.

4. The method according to claim 1, characterized in that: The plurality of first road sections constitute a plurality of first candidate paths; the method further comprises: According to the target road segment and the plurality of first candidate paths, a second candidate path is determined from the plurality of first candidate paths, wherein the second candidate path includes: at least one road segment in the target road segment.

5. A road segment matching device, characterized in that: The device comprises: an acquisition unit, configured to acquire a candidate road section for a first trajectory point, wherein a probability that the first trajectory point is located in the candidate road section for the first trajectory point is greater than a first probability threshold; A processing unit, configured to determine a second distance, where the second distance is a straight-line distance between the first trajectory point and a second trajectory point, where the second trajectory point is a trajectory point next to the first trajectory point; The processing unit is further configured to determine, if the second distance is less than a preset distance threshold, a plurality of first sections according to the candidate sections of the first trajectory point and the first distance, the first distance being determined based on the second distance, the first distance being greater than the second distance; the first section is directly connected to the candidate section of the first trajectory point or is indirectly connected through other sections, the distance between the first section and the candidate section of the first trajectory point is less than the first distance, and the distance between the sections is: the sum of the section lengths between the starting section, the end section, and the intermediate section; The processing unit is further configured to determine a target road section from the plurality of first road sections according to the position information of the second trajectory point and the position information of the plurality of first road sections, wherein the probability that the second trajectory point is located at the target road section is greater than the first probability threshold; The processing unit is further configured to determine a target grid corresponding to the second trajectory point if the second distance is greater than a preset distance threshold, wherein the target grid includes a plurality of third road segments; The processing unit is further used to determine the target road section from the multiple third road sections according to the position information of the second trajectory point and the position information of the multiple third road sections.

6. The device according to claim 5, characterized in that The first distance is determined by a straight-line distance between the first trajectory point and the second trajectory point.

7. The device according to claim 6, characterized in that The processing unit is specifically used to: According to the position information of the second trajectory point and the position information of the plurality of first road sections, performing a first operation on each of the plurality of first road sections to determine the target road section; The first operation includes: determining a first matching probability of the second road section based on the position information of the second trajectory point and the position information of the second road section, wherein the first matching probability is used to indicate the probability that the second trajectory point is located in the second road section, and the second road section is any one of the multiple first road sections; if the first matching probability is greater than the first probability threshold, determining that the second road section is the target road section.

8. The device according to claim 5, characterized in that The plurality of first road sections constitute a plurality of first candidate paths; The processing unit is further configured to determine a second candidate path from the plurality of first candidate paths according to the target road segment and the plurality of first candidate paths, wherein the second candidate path includes at least one road segment in the target road segment.

9. A road segment matching device, characterized in that: include: Processor and memory; The processor is coupled to the memory; The memory is used to store one or more programs, which include computer-executable instructions. When the road segment matching device is running, the processor executes the computer-executable instructions stored in the memory to enable the road segment matching device to perform the method as described in any one of claims 1-4.

10. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When a computer executes the instruction, the computer performs the method according to any one of claims 1 to 4.

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