Vehicle Trajectory Display Method and Related Devices Based on 3D Drawing Protocol

Abstract

The present application relates to a vehicle trajectory display method and related devices based on a three-dimensional drawing protocol. The method includes: receiving the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle, and the trajectory data of each collision vehicle obtained at set time intervals; performing frame filling processing on the trajectory data of each collision vehicle according to a set line segment length; and three-dimensionally displaying the trajectory data of each collision vehicle after the frame filling processing on a map based on the three-dimensional drawing protocol. The solution provided by the present application can display the vehicle trajectory vividly, intuitively and smoothly.

Description

Technical Field

[0001] This application relates to the technical field of high-precision maps, and in particular, to a vehicle trajectory display method and related devices based on a three-dimensional drawing protocol. Background Art

[0002] For the vehicle trajectory playback in the related art, the GPS (Global Positioning System) module of the vehicle uploads the GPS data of its own vehicle to the cloud server at fixed time intervals. The cloud server uses a MySQL (a relational database management system) relational database to store the GPS data containing the trajectory point position information in the form of strings. The web (World Wide Web) client requests the GPS data of a certain vehicle in a certain time period from the cloud server through an http (Hyper Text Markup Language) request. After receiving the GPS data, the web client uses a two-dimensional map and adopts traditional html technology to represent the vehicle with pictures and display the trajectory line segments in the svg (Scalable Vector Graphics, an image file format) data format. For each trajectory point drawn, the web client rendering program sleeps for a fixed time, such as 100 ms, and then draws the next trajectory point. In this way, each trajectory point in the GPS data is drawn into the two-dimensional map in turn until all the trajectory points are drawn, and then the rendering program is stopped.

[0003] For the vehicle trajectory playback in the related art, the cloud server uses a MySQL relational database to store the GPS data in the form of strings, which is not convenient for spatial calculation of the GPS data. The web client uses traditional html and SVG format for two-dimensional display of the vehicle trajectory, which cannot support the display of a large number of trajectory points and multiple trajectory lines of the GPS data, and is not vivid and intuitive enough. In addition, due to the change of the GPS data uploaded by the GPS module at fixed time intervals and the vehicle speed, the distances between the trajectory points are inconsistent, and the web client rendering the trajectory points at fixed time intervals may cause the problem that the trajectory animation is jerky and not smooth.

[0004] In short, the vehicle trajectory display in the related art is not vivid and intuitive enough, and the displayed vehicle trajectory line is jerky and not smooth. Summary of the Invention

[0005] To solve or partially solve the problems existing in the related art, this application provides a vehicle trajectory display method and related devices based on a three-dimensional drawing protocol, which can vividly, intuitively and smoothly display the vehicle trajectory.

[0006] The first aspect of the present application provides a vehicle trajectory display method based on a three-dimensional drawing protocol, and the method includes:

[0007] Receiving the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle, and the trajectory data of each collision vehicle obtained at a set time interval;

[0008] Performing frame filling processing on the trajectory data of each collision vehicle according to a set line segment length;

[0009] Three-dimensionally displaying the trajectory data of each collision vehicle after the frame filling processing on a map based on the three-dimensional drawing protocol.

[0010] Preferably, the performing frame filling processing on the trajectory data of each collision vehicle according to a set line segment length includes:

[0011] Segmenting the trajectory line segment between two trajectory points in the trajectory data of each collision vehicle according to the set line segment length, and filling in trajectory points at each segmentation point to complete the frame filling processing on the trajectory data of each collision vehicle.

[0012] Preferably, the obtaining step of the set line segment length includes:

[0013] Obtaining the first system time for rendering the m-th trajectory point and the second system time for rendering the (m + 1)-th trajectory point;

[0014] Performing a subtraction operation on the time when the in-vehicle intelligent device obtains the m-th trajectory point and the time when it obtains the (m + 1)-th trajectory point to obtain a time difference;

[0015] Obtaining the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point;

[0016] Determining a set proportional value, where the set proportional value = (the second system time - the first system time) / the time difference;

[0017] Obtaining the set line segment length according to the set proportional value and the line segment length, where the set line segment length = the line segment length * the set proportional value.

[0018] Preferably, the three-dimensionally displaying the trajectory data of each collision vehicle after the frame filling processing on a map based on the three-dimensional drawing protocol includes:

[0019] Three-dimensionally displaying the trajectory data of each collision vehicle after the frame filling processing on a map by calling the GPU based on the three-dimensional drawing protocol.

[0020] The second aspect of the present application further provides a vehicle trajectory display method based on a three-dimensional drawing protocol, and the method includes:

[0021] Receive the trajectory data of each vehicle acquired and uploaded by the in-vehicle intelligent device of each vehicle;

[0022] According to the received trajectory data of each vehicle, obtain the trajectory data of each colliding vehicle at a set time interval;

[0023] Send the trajectory data of each colliding vehicle to the web client, so that the web client receives the trajectory data of each colliding vehicle, performs frame filling processing on the trajectory data of each colliding vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each colliding vehicle after the frame filling processing on the map based on the three-dimensional drawing protocol.

[0024] Preferably, the step of obtaining the trajectory data of each colliding vehicle at a set time interval according to the received trajectory data of each vehicle includes:

[0025] According to the received trajectory data of each vehicle, if there is a vehicle among each vehicle that may have a collision accident within the set time interval, obtain the video data of the possible collision accident location and time;

[0026] According to the video data, if it is confirmed that there is a vehicle among each vehicle that has a collision accident, obtain the trajectory data of each colliding vehicle within the set time interval.

[0027] The third aspect of the present application provides a web client, and the web client includes:

[0028] A receiving module, configured to receive the trajectory data of each vehicle acquired by the in-vehicle intelligent device of each vehicle and the trajectory data of each colliding vehicle obtained at a set time interval;

[0029] A frame filling module, configured to perform frame filling processing on the trajectory data of each colliding vehicle received by the receiving module according to the set line segment length;

[0030] A display module, configured to three-dimensionally display the trajectory data of each colliding vehicle after the frame filling processing by the frame filling module on the map based on the three-dimensional drawing protocol.

[0031] The fourth aspect of the present application provides a server, and the server includes:

[0032] A receiving unit, configured to receive the trajectory data of each vehicle acquired and uploaded by the in-vehicle intelligent device of each vehicle;

[0033] An obtaining unit, configured to obtain the trajectory data of each colliding vehicle at a set time interval according to the trajectory data of each vehicle received by the receiving unit;

[0034] A sending unit, configured to send the trajectory data of each collided vehicle obtained by the obtaining unit to a web client, so that the web client receives the trajectory data of each collided vehicle, performs frame filling processing on the trajectory data of each collided vehicle according to a set line segment length, and three-dimensionally displays the trajectory data of each collided vehicle after the frame filling processing on a map based on a three-dimensional drawing protocol.

[0035] The fifth aspect of the present application provides a vehicle trajectory display system based on a three-dimensional drawing protocol. The system includes the web client, the server, and the in-vehicle intelligent device as described above.

[0036] The in-vehicle intelligent device is configured to obtain and upload the trajectory data of each vehicle, and each vehicle is equipped with the in-vehicle intelligent device.

[0037] The server receives the trajectory data of each vehicle uploaded by the in-vehicle intelligent device, obtains the trajectory data of each collided vehicle at a set time interval according to the received trajectory data of each vehicle, and sends the trajectory data of each collided vehicle to the web client.

[0038] The web client is configured to receive the trajectory data of each collided vehicle sent by the server, perform frame filling processing on the trajectory data of each collided vehicle according to a set line segment length, and three-dimensionally display the trajectory data of each collided vehicle after the frame filling processing on a map based on a three-dimensional drawing protocol.

[0039] The sixth aspect of the present application provides an electronic device, including:

[0040] A processor; and

[0041] A memory, on which executable code is stored. When the executable code is executed by the processor, the processor is caused to execute the method as described above.

[0042] The seventh aspect of the present application provides a computer-readable storage medium, on which executable code is stored. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0043] The technical solution provided by the present application may include the following beneficial effects:

[0044] In the technical solution of the present application, according to a set line segment length, frame filling processing is performed on the received trajectory data of each collided vehicle, and the trajectory data of each collided vehicle after the frame filling processing is three-dimensionally displayed on a map based on a three-dimensional drawing protocol, so that the trajectory data of each collided vehicle can be visually and smoothly displayed in the form of an animation, and the trajectories of each collided vehicle can be visually and smoothly played back.

[0045] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and should not limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] By describing the exemplary embodiments of this application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of this application will become more apparent. Among them, in the exemplary embodiments of this application, the same reference numerals generally represent the same components.

[0047] Figure 1 is a schematic flowchart of a vehicle trajectory display method based on a three-dimensional drawing protocol shown in an embodiment of this application;

[0048] Figure 2 is another schematic flowchart of a vehicle trajectory display method based on a three-dimensional drawing protocol shown in an embodiment of this application;

[0049] Figure 3 is a schematic diagram of frame filling processing of a vehicle trajectory display method based on a three-dimensional drawing protocol shown in an embodiment of this application;

[0050] Figure 4 is a schematic flowchart of a vehicle trajectory display method based on a three-dimensional drawing protocol shown in an embodiment of this application;

[0051] Figure 5 is another schematic flowchart of a vehicle trajectory display method based on a three-dimensional drawing protocol shown in an embodiment of this application;

[0052] Figure 6 is a schematic diagram of the structure of a web client shown in an embodiment of this application;

[0053] Figure 7 is a schematic diagram of the structure of a server shown in an embodiment of this application;

[0054] Figure 8 is a schematic diagram of the structure of a vehicle trajectory display system based on a three-dimensional drawing protocol shown in an embodiment of this application;

[0055] Figure 9 is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The embodiments of this application will be described in more detail below with reference to the drawings. Although the embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0057] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "the", and "said" used in this application and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0058] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0059] An embodiment of this application provides a vehicle trajectory display method based on a three-dimensional drawing protocol, which can visually and smoothly display the vehicle trajectory.

[0060] Embodiment 1:

[0061] The technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0062] Figure 1 It is a schematic flowchart of a vehicle trajectory display method based on a three-dimensional drawing protocol shown in the embodiments of this application.

[0063] See Figure 1 , a vehicle trajectory display method based on a three-dimensional drawing protocol, includes:

[0064] In step S101, receive the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle and the trajectory data of each collision vehicle obtained at set time intervals.

[0065] In one embodiment, an in-vehicle intelligent device is installed on a vehicle, and the in-vehicle intelligent device includes a GPS module. During the driving process of the vehicle, the in-vehicle intelligent device of the vehicle obtains the trajectory data of the vehicle through the GPS module. The trajectory data includes the position information, speed, attitude of the vehicle at each trajectory point, and the timestamp of each trajectory point. The position information can be represented by longitude and latitude. The in-vehicle intelligent devices of each vehicle upload the obtained trajectory data of each vehicle to the server. The server receives the trajectory data of each vehicle uploaded by the in-vehicle intelligent devices of each vehicle; the server obtains the trajectory data of each vehicle at a set time interval and determines whether a collision accident has occurred to each vehicle; if the server determines that a collision accident has occurred to a vehicle among each vehicle, it obtains the trajectory data of each colliding vehicle at the set time interval; the server sends the trajectory data of each colliding vehicle to the web client. The web client receives the trajectory data of each colliding vehicle sent by the server. Among them, the set time interval can be set as needed and can be adjusted.

[0066] In step S102, according to the set line segment length, frame interpolation processing is performed on the trajectory data of each colliding vehicle.

[0067] In one embodiment, the server sends the trajectory data of each colliding vehicle to the web client. After receiving the trajectory data of each colliding vehicle, the web client segments the trajectory line segments between two trajectory points in the trajectory data of each colliding vehicle according to the set line segment length, and inserts trajectory points at the segmentation points to complete the frame interpolation processing of the trajectory data of each colliding vehicle.

[0068] In step S103, based on the three-dimensional drawing protocol, the trajectory data of each colliding vehicle after frame interpolation processing is three-dimensionally displayed on the map.

[0069] In one embodiment, based on the three-dimensional drawing protocol, the web client renders the trajectory points of the trajectory data of each colliding vehicle after frame interpolation processing onto the map one by one, and three-dimensionally displays the trajectory data of each colliding vehicle on the map.

[0070] The vehicle trajectory display method based on the three-dimensional drawing protocol shown in the embodiments of the present application performs frame interpolation processing on the received trajectory data of each colliding vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each colliding vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol, which can visually and smoothly display the trajectory data of each colliding vehicle in the form of an animation, and can visually and smoothly replay the trajectories of each colliding vehicle.

[0071] Embodiment 2:

[0072] Figure 2It is another schematic flowchart of the vehicle trajectory display method based on the 3D drawing protocol shown in the embodiments of the present application. Figure 2 Relative to Figure 1 The solution of the present application is described in more detail.

[0073] See Figure 2 , a vehicle trajectory display method based on the 3D drawing protocol, applied to a web client, including:

[0074] In step S201, receive the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle, and the trajectory data of each collision vehicle obtained at set time intervals.

[0075] This step can refer to the description of step S101 and will not be elaborated here.

[0076] In step S202, segment the trajectory line segments between two trajectory points in the trajectory data of each collision vehicle according to a set line segment length, and supplement trajectory points at each segmentation point to complete the frame interpolation processing of the trajectory data of each collision vehicle.

[0077] In one implementation, the web client performs frame interpolation processing on the trajectory data of each collision vehicle according to the preset set line segment length nDistance. As Figure 3 shown, for the trajectory data of a vehicle, segment the trajectory line segment between the m-th trajectory point 301 and the m + 1-th trajectory point 302 according to the set line segment length nDistance303 until the line segment length of the end of the trajectory line segment close to the m + 1-th trajectory point 302 is less than the set line segment length nDistance303, obtain N segmentation points, and the distance between each segmentation point and the m-th trajectory point 301 is N times the set line segment length nDistance303. Use the N segmentation points as the trajectory points for frame interpolation and supplement N trajectory points between the m-th trajectory point 301 and the m + 1-th trajectory point 302, where m and N are positive integers. As Figure 3 The midpoints 304, 305, 306, 307 are both segmentation points and trajectory points for frame interpolation. Segment the trajectory line segment between the m-th trajectory point 301 and the m + 1-th trajectory point 302 according to the set line segment length nDistance303, obtain 4 segmentation points: point 304, point 305, point 306, point 307, perform frame interpolation processing between the m-th trajectory point 301 and the m + 1-th trajectory point 302, and supplement 4 trajectory points such as 304, 305, 306, 307 to complete the frame interpolation processing of the trajectory data of each collision vehicle.

[0078] In one embodiment, when the web client renders the trajectory data, it obtains the first system time for rendering the m-th trajectory point and the second system time for rendering the (m + 1)-th trajectory point; subtracts the time when the in-vehicle intelligent device obtains the m-th trajectory point from the time when it obtains the (m + 1)-th trajectory point to get the time difference; obtains the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determines the set ratio value, where the set ratio value = (the second system time - the first system time) / time difference; and obtains the set line segment length according to the set ratio value and the line segment length, where the set line segment length = line segment length * set ratio value.

[0079] In a specific embodiment, the web client obtains the system time Begin Time for rendering the current trajectory point and the system time Time Render for rendering the next trajectory point of the current trajectory point; subtracts the time when the GPS module obtains the current trajectory point from the time when it obtains the next trajectory point of the current trajectory point to get the time difference Duration; and obtains the line segment length Line Two Point Distance between the two trajectory points; calculates the set ratio value Ratio, where Ratio = (Time Render - Begin Time) / Duration; and obtains the set line segment length n Distance = Line Two PointDistance * Ratio according to the set ratio value Ratio and the line segment length Line Two Point Distance between the two trajectory points.

[0080] In one embodiment, the set ratio value Ratio is equal to the length ratio Along Ratio of the distance traveled by the vehicle between the system time Begin Time and the system time Time Render on the line segment length between the two trajectory points, that is, the set ratio value Ratio is equal to the length ratio Along Ratio. The set line segment length n Distance can represent the distance traveled by the vehicle between the system time Begin Time and the system time Time Render. The trajectory segments between two trajectory points in the trajectory data of each colliding vehicle are segmented according to the set line segment length, and trajectory points are added at each segmentation point to complete the frame interpolation process of the trajectory data of each colliding vehicle.

[0081] In one embodiment, the web client can obtain the time difference Duration according to the timestamps of two trajectory points, and can obtain the line segment length Line TwoPoint Distance between the two trajectory points according to the position information of the two trajectory points.

[0082] In step S203, based on the 3D drawing protocol, the GPU is called to three-dimensionally display the trajectory data of each collision vehicle after frame filling processing on the map.

[0083] In one implementation, the web client locates the map to the location where the collision accident occurred, and uses the webgl (Web Graphics Library, a 3D drawing protocol) rendering technology to render the trajectory points of the trajectory data of each collision vehicle after frame filling processing onto the map one by one. Between the rendering of every two trajectory points, the rendering program of the web client sleeps for the time interval between the two trajectory points. The trajectory animation formed in this way not only ensures the smooth continuity of the trajectory, but also ensures the strong correlation between the trajectory of the vehicle moving on the map and time, ensuring that the time correlation of the trajectory data of each collision vehicle is consistent with the actual situation.

[0084] In one implementation, the web client uses the webgl rendering technology to use the GPU (Graphics Processing Unit) to render the trajectory data of each collision vehicle, improving the rendering performance and supporting the simultaneous rendering of multiple trajectory data, and being able to simultaneously animate and playback the trajectories of each collision vehicle in a three-dimensional form.

[0085] The vehicle trajectory display method based on the 3D drawing protocol shown in the embodiments of the present application performs frame filling processing on the received trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame filling processing on the map based on the 3D drawing protocol, and can visually and smoothly display the trajectory data of each collision vehicle in the form of an animation, and can visually and smoothly playback the trajectories of each collision vehicle.

[0086] Furthermore, the vehicle trajectory display method based on the 3D drawing protocol shown in the embodiments of the present application segments the trajectory line segment between two trajectory points in the trajectory data of each collision vehicle according to the set line segment length, fills in trajectory points at each segmentation point, completes the frame filling processing of the trajectory data of each collision vehicle, and uses the webgl rendering technology to three-dimensionally display the trajectory data of each collision vehicle after frame filling processing on the map, ensuring that the trajectory animations of each collision vehicle played back on the web client are smooth and continuous, and also ensuring the strong correlation between the position of the vehicle moving on the map and time, making the time correlation of the trajectories of each collision vehicle consistent with the actual situation, and being able to visually and smoothly display the trajectories of the vehicles.

[0087] Embodiment 3:

[0088] Figure 4 It is another process schematic diagram of the vehicle trajectory display method based on the 3D drawing protocol shown in the embodiments of the present application.

[0089] See Figure 4 , a vehicle trajectory display method based on a three-dimensional drawing protocol, which can be applied to a server, including:

[0090] In step S401, receive the trajectory data of each vehicle acquired and uploaded by the in-vehicle intelligent device of each vehicle.

[0091] In an implementation, an in-vehicle intelligent device is installed on the vehicle, and the in-vehicle intelligent device includes a GPS module. During the driving process of the vehicle, the in-vehicle intelligent device of the vehicle obtains the trajectory data of the vehicle through the GPS module. The trajectory data includes the position information, speed, attitude of the vehicle at each trajectory point, and the timestamp of each trajectory point. The position information can be represented by longitude and latitude. The in-vehicle intelligent devices of each vehicle upload the acquired trajectory data of each vehicle to the server. The server receives the trajectory data of each vehicle uploaded by the in-vehicle intelligent devices of each vehicle.

[0092] In step S402, according to the received trajectory data of each vehicle, obtain the trajectory data of each collision vehicle at a set time interval.

[0093] In an implementation, every set time interval, according to the trajectory data of each vehicle at the set time interval, if the server determines that a vehicle collision accident occurs among the vehicles, obtain the trajectory data of each collision vehicle at the set time interval.

[0094] In step S403, send the trajectory data of each collision vehicle to the web client, so that the web client receives the trajectory data of each collision vehicle, performs frame interpolation processing on the trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol.

[0095] In an implementation, the server sends the trajectory data of each collision vehicle to the web client. The web client receives the trajectory data of each collision vehicle sent by the server, performs frame interpolation processing on the trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol. The description of the web client's frame interpolation processing of the trajectory data of each collision vehicle and three-dimensionally displaying the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol can refer to Figure 1 , Figure 2 and Figure 3 for description, which will not be elaborated here.

[0096] The vehicle trajectory display method based on a three-dimensional drawing protocol shown in the embodiments of the present application obtains the trajectory data of each colliding vehicle at a set time interval according to the received trajectory data of each vehicle, can obtain the trajectory data of each colliding vehicle in real time, and at the same time reduces the consumption of the processing capacity of the web client; the web client performs frame filling processing on the received trajectory data of each colliding vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each colliding vehicle after frame filling processing on the map based on the three-dimensional drawing protocol, can visually and smoothly display the trajectory data of each colliding vehicle in the form of an animation, and can visually and smoothly replay the trajectories of each colliding vehicle.

[0097] Embodiment 4:

[0098] Figure 5 It is another schematic flowchart of the vehicle trajectory display method based on a three-dimensional drawing protocol shown in the embodiments of the present application.

[0099] See Figure 5 , a vehicle trajectory display method based on a three-dimensional drawing protocol, which is applied to a server and includes:

[0100] In step S501, receive the trajectory data of each vehicle acquired and uploaded by the in-vehicle intelligent device of each vehicle.

[0101] This step can refer to the description of step S401 and will not be elaborated here.

[0102] In step S502, establish a classification index for the received trajectory data of each vehicle according to the location and time period.

[0103] In one implementation, the server can use a PostgreSQL (an object-relational database management system) + Postgis (an extension of the object-relational database system PostgreSQL) spatial database to store the trajectory data of each vehicle.

[0104] In one implementation, the server can establish a classification index for the trajectory data of each vehicle in the spatial database according to the time period and geographical location of the trajectory data of each vehicle, so as to improve the retrieval speed of the trajectory data of each vehicle.

[0105] In step S503, determine whether there is a vehicle that may have a collision accident every set time interval; if so, execute step S504; if not, continue to execute this step S503.

[0106] In one embodiment, the server determines whether there is a vehicle that may have a collision accident among the vehicles at a set time interval according to the received trajectory data of each vehicle. The server obtains, every set time interval (for example, one hour), the trajectory data of each vehicle at the same geographical location (for example, the same driving road) in the spatial database according to the classification index of the trajectory data of each vehicle; according to the trajectory data of each vehicle, uses the spatial intersection comparison algorithm to determine whether the trajectories of each vehicle at the set time interval intersect at the same moment, that is, determines whether there is a vehicle that may have a collision accident among the vehicles at the set time interval; if it is determined that there is a vehicle that may have a collision accident among the vehicles at the set time interval, step S504 is executed; if it is determined that there is no vehicle that may have a collision accident among the vehicles, step S503 is continued to be executed.

[0107] In step S504, video data of the location and time where a collision accident may occur is obtained.

[0108] In one embodiment, if the server determines that there is a vehicle that may have a collision accident among the vehicles at the set time interval, according to the location information and timestamp of the trajectory points of the trajectory data of the vehicle that may have a collision accident, the location and time where a collision accident may occur are obtained; the video data captured by the roadside camera at the location and time where a collision accident may occur is retrieved.

[0109] In step S505, according to the retrieved video data, it is determined whether there is a vehicle that has a collision accident among the vehicles; if so, step S506 is executed; if not, step S503 is executed.

[0110] In one embodiment, the server uses the YOLO algorithm according to the retrieved video data to identify vehicle collisions or other states, and determines whether there is a vehicle that has a collision accident among the vehicles; if it is confirmed that there is a vehicle that has a collision accident among the vehicles, step S506 is executed; if it is confirmed that there is no vehicle that has a collision accident among the vehicles, step S503 is executed.

[0111] In step S506, according to each identified collision vehicle, the trajectory data of each collision vehicle at the set time interval is obtained.

[0112] In one embodiment, the server, according to the retrieved video data, if it is confirmed that there is a vehicle that has a collision accident among the vehicles, according to each identified collision vehicle, obtains the trajectory data of each collision vehicle at the set time interval in the spatial database according to the classification index of the trajectory data of each vehicle.

[0113] In step S507, the trajectory data of each collision vehicle is sent to the web client, so that the web client receives the trajectory data of each collision vehicle, performs frame interpolation processing on the trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol.

[0114] In one implementation, the server sends the trajectory data of each collision vehicle to the web client. The web client receives the trajectory data of each collision vehicle sent by the server, performs frame interpolation processing on the trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol. The description of the web client's frame interpolation processing of the trajectory data of each collision vehicle and the three-dimensional display of the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol can refer to Figure 1 , Figure 2 and Figure 3 's description, which will not be elaborated here.

[0115] The vehicle trajectory display method based on the three-dimensional drawing protocol shown in the embodiments of the present application, according to the received trajectory data of each vehicle, if a vehicle collision accident occurs among the vehicles within the set time interval, obtains the trajectory data of each collision vehicle within the set time interval, can obtain the trajectory data of each collision vehicle in real time, and at the same time reduces the consumption of the processing capacity of the web client; the web client performs frame interpolation processing on the received trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol, can visually and smoothly display the trajectory data of each collision vehicle in the form of an animation, and can visually and smoothly playback the trajectories of each collision vehicle.

[0116] Furthermore, the vehicle trajectory display method based on the three-dimensional drawing protocol shown in the embodiments of the present application, according to the received trajectory data of each vehicle, if a vehicle collision accident may occur among the vehicles within the set time interval, obtains the video data of the possible collision accident location and time; according to the video data, if it is confirmed that a vehicle collision accident occurs among the vehicles, obtains the trajectory data of each collision vehicle within the set time interval, can accurately determine whether a collision accident occurs, and can accurately obtain the trajectory data of each collision vehicle.

[0117] Embodiment 5:

[0118] Corresponding to the foregoing application function implementation method embodiments, the present application also provides a web client, a server, a vehicle trajectory display system based on the three-dimensional drawing protocol, an electronic device, and corresponding embodiments.

[0119] Figure 6 It is a schematic structural diagram of a web client shown in an embodiment of the present application.

[0120] Refer to Figure 6 , a web client 600 includes a receiving module 601, a frame filling module 602, and a display module 603.

[0121] The receiving module 601 is configured to receive the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle, and the trajectory data of each collision vehicle obtained at a set time interval.

[0122] The frame filling module 602 is configured to perform frame filling processing on the trajectory data of each collision vehicle received by the receiving module 601 according to a set line segment length.

[0123] In one embodiment, the frame filling module 602 segments the trajectory line segment between two trajectory points in the trajectory data of each collision vehicle according to the set line segment length, and inserts a trajectory point at each segmentation point to complete the frame filling processing of the trajectory data of each collision vehicle.

[0124] In one embodiment, the frame filling module 602 obtains the first system time for rendering the m-th trajectory point and the second system time for rendering the (m + 1)-th trajectory point; subtracts the time when the in-vehicle intelligent device obtains the m-th trajectory point from the time when it obtains the (m + 1)-th trajectory point to obtain a time difference; obtains the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determines a set ratio value, where the set ratio value = (the second system time - the first system time) / the time difference; and obtains the set line segment length according to the set ratio value and the line segment length, where the set line segment length = the line segment length * the set ratio value.

[0125] The display module 603 is configured to three-dimensionally display the trajectory data of each collision vehicle after frame filling processing by the frame filling module 602 on the map based on a three-dimensional drawing protocol.

[0126] In one embodiment, the display module 603 three-dimensionally displays the trajectory data of each collision vehicle after frame filling processing by the frame filling module 602 on the map by calling the GPU based on a three-dimensional drawing protocol.

[0127] Regarding the web client in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0128] Embodiment Six:

[0129] Figure 7 It is a schematic structural diagram of a server shown in an embodiment of the present application.

[0130] Refer toFigure 7 , a server 700, including a receiving unit 701, an obtaining unit 702, and a transmitting unit 703.

[0131] The receiving unit 701 is configured to receive the trajectory data of each vehicle acquired and uploaded by the in-vehicle intelligent device of each vehicle.

[0132] The obtaining unit 702 obtains the trajectory data of each collision vehicle at a set time interval according to the trajectory data of each vehicle received by the receiving unit 701.

[0133] In one implementation, according to the trajectory data of each vehicle received by the receiving unit 701, if there is a vehicle among each vehicle that may have a collision accident at the set time interval, the obtaining unit 702 acquires the video data of the possible collision accident location and time; according to the video data, if it is confirmed that there is a vehicle among each vehicle that has a collision accident, the obtaining unit 702 acquires the trajectory data of each collision vehicle at the set time interval.

[0134] The transmitting unit 703 is configured to send the trajectory data of each collision vehicle obtained by the obtaining unit 702 to the web client, so that the web client receives the trajectory data of each collision vehicle, performs frame filling processing on the trajectory data of each collision vehicle according to the set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after frame filling processing on the map based on the three-dimensional drawing protocol.

[0135] In one implementation, the server 700 further includes a classification unit, and the classification unit is configured to establish a classification index for the trajectory data of each vehicle received by the receiving unit 701 according to the location and time period. The server can use the PostgreSQL + Postgis spatial database to store the trajectory data of each vehicle. The classification unit can establish a classification index for the trajectory data of each vehicle in the spatial database according to the time period and geographical location of the trajectory data of each vehicle, so as to improve the retrieval speed of the trajectory data of each vehicle.

[0136] Regarding the server in the above embodiments, the specific manner in which each unit performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0137] Embodiment Seven:

[0138] Figure 8 It is a schematic structural diagram of a vehicle trajectory display system based on a three-dimensional drawing protocol shown in the embodiments of the present application.

[0139] See Figure 8 , a vehicle trajectory display system based on a three-dimensional drawing protocol, including a web client 600, a server 700, and an in-vehicle intelligent device 800;

[0140] The vehicle-mounted intelligent device 800 is used to obtain and upload the trajectory data of each vehicle, and each vehicle is equipped with the vehicle-mounted intelligent device 800.

[0141] The server 700 receives the trajectory data of each vehicle uploaded by the vehicle-mounted intelligent device 800, obtains the trajectory data of each collided vehicle at a set time interval according to the received trajectory data of each vehicle, and sends the trajectory data of each collided vehicle to the web client 600.

[0142] The web client 600 is used to receive the trajectory data of each collided vehicle sent by the server 700, perform frame interpolation processing on the trajectory data of each collided vehicle according to the set line segment length, and three-dimensionally display the trajectory data of each collided vehicle after frame interpolation processing on the map based on the three-dimensional drawing protocol.

[0143] Regarding the system in the above embodiments, the specific manner in which each related device performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0144] Embodiment Eight:

[0145] Figure 9 It is a schematic structural diagram of an electronic device shown in the embodiments of the present application.

[0146] See Figure 9 , the electronic device 900 includes a memory 910 and a processor 920.

[0147] The processor 920 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0148] The memory 910 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM can store static data or instructions required by the processor 920 or other modules of the computer. The permanent storage device can be a readable and writable storage device. The permanent storage device can be a non-volatile storage device that does not lose the stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during operation. In addition, the memory 910 can include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks can also be used. In some embodiments, the memory 910 can include removable storage devices that are readable and / or writable, such as compact discs (CDs), read-only digital versatile discs (such as DVD-ROM, dual-layer DVD-ROM), read-only Blu-ray discs, super density discs, flash memory cards (such as SD cards, mini SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. Computer-readable storage media do not include carrier waves and instantaneous electronic signals transmitted wirelessly or wiredly.

[0149] Executable code is stored on the memory 910, and when the executable code is processed by the processor 920, it can cause the processor 920 to execute some or all of the methods described above.

[0150] In addition, the method according to the present application can also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0151] Alternatively, the present application can also be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium), on which executable code (or a computer program or computer instruction code) is stored. When the executable code (or the computer program or computer instruction code) is executed by a processor of an electronic device (or a server, etc.), it causes the processor to execute some or all of the steps of the above method according to the present application.

[0152] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle trajectory display method based on a three-dimensional drawing protocol, characterized in that, it includes: Receiving the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle, and the trajectory data of each collision vehicle obtained at set time intervals; Performing frame interpolation processing on the trajectory data of each collision vehicle according to a set line segment length, wherein the obtaining steps of the set line segment length include: obtaining the first system time for rendering the m-th trajectory point, and the second system time for rendering the (m + 1)-th trajectory point; performing a subtraction operation on the time when the in-vehicle intelligent device obtains the m-th trajectory point and the time when it obtains the (m + 1)-th trajectory point to obtain a time difference; obtaining the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determining a set ratio value, where the set ratio value = (the second system time - the first system time) / the time difference; obtaining the set line segment length according to the set ratio value and the line segment length, where the set line segment length = the line segment length × the set ratio value; Three-dimensionally displaying the trajectory data of each collision vehicle after the frame interpolation processing on the map based on the three-dimensional drawing protocol.

2. The method according to claim 1, characterized in that, The performing frame interpolation processing on the trajectory data of each collision vehicle according to the set line segment length includes: Segmenting the trajectory line segment between two trajectory points in the trajectory data of each collision vehicle according to the set line segment length, and inserting a trajectory point at each segmentation point to complete the frame interpolation processing on the trajectory data of each collision vehicle.

3. The method according to claim 1, characterized in that, The three-dimensionally displaying the trajectory data of each collision vehicle after the frame interpolation processing on the map based on the three-dimensional drawing protocol includes: Three-dimensionally displaying the trajectory data of each collision vehicle after the frame interpolation processing on the map by calling the GPU based on the three-dimensional drawing protocol.

4. A vehicle trajectory display method based on a three-dimensional drawing protocol, characterized in that, it includes: Receiving the trajectory data of each vehicle obtained and uploaded by the in-vehicle intelligent device of each vehicle; Obtaining the trajectory data of each collision vehicle at set time intervals according to the received trajectory data of each vehicle; Send the trajectory data of each of the collided vehicles to a web client, so that the web client receives the trajectory data of each of the collided vehicles, performs frame filling processing on the trajectory data of each of the collided vehicles according to a set line segment length, and three-dimensionally displays the trajectory data of each of the collided vehicles after the frame filling processing on a map based on a three-dimensional drawing protocol. Among them, the steps for obtaining the set line segment length include: obtaining a first system time for rendering the m-th trajectory point and a second system time for rendering the (m + 1)-th trajectory point; performing a subtraction operation on the time when the in-vehicle intelligent device obtains the m-th trajectory point and the time when it obtains the (m + 1)-th trajectory point to obtain a time difference; obtaining the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determining a set ratio value, where the set ratio value = (the second system time - the first system time) / the time difference; obtaining the set line segment length according to the set ratio value and the line segment length, where the set line segment length = the line segment length × the set ratio value.

5. The method according to claim 4, wherein, obtaining the trajectory data of each of the collided vehicles at set time intervals according to the received trajectory data of each vehicle includes: According to the received trajectory data of each vehicle, if there is a vehicle among each vehicle that may have a collision accident within the set time interval, obtain video data of the possible collision accident location and time; According to the video data, if it is confirmed that there is a vehicle among each vehicle that has a collision accident, obtain the trajectory data of each of the collided vehicles within the set time interval.

6. A web client, wherein, comprising: a receiving module, configured to receive the trajectory data of each vehicle obtained by the in-vehicle intelligent device of each vehicle and the trajectory data of each of the collided vehicles obtained at set time intervals; a frame filling module, configured to perform frame filling processing on the trajectory data of each of the collided vehicles received by the receiving module according to a set line segment length. Among them, the steps for obtaining the set line segment length include: obtaining a first system time for rendering the m-th trajectory point and a second system time for rendering the (m + 1)-th trajectory point; performing a subtraction operation on the time when the in-vehicle intelligent device obtains the m-th trajectory point and the time when it obtains the (m + 1)-th trajectory point to obtain a time difference; obtaining the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determining a set ratio value, where the set ratio value = (the second system time - the first system time) / the time difference; obtaining the set line segment length according to the set ratio value and the line segment length, where the set line segment length = the line segment length × the set ratio value; a display module, configured to three-dimensionally display the trajectory data of each of the collided vehicles after the frame filling processing by the frame filling module on a map based on a three-dimensional drawing protocol.

7. A server, wherein, comprising: a receiving unit, configured to receive the trajectory data of each vehicle obtained and uploaded by the in-vehicle intelligent device of each vehicle; An acquisition unit, configured to obtain the trajectory data of each collision vehicle at a set time interval according to the trajectory data of each vehicle received by the receiving unit; A sending unit, configured to send the trajectory data of each collision vehicle obtained by the acquisition unit to a web client, so that the web client receives the trajectory data of each collision vehicle, performs frame filling processing on the trajectory data of each collision vehicle according to a set line segment length, and three-dimensionally displays the trajectory data of each collision vehicle after the frame filling processing on a map based on a three-dimensional drawing protocol. Wherein, the steps for obtaining the set line segment length include: obtaining a first system time for rendering the m-th trajectory point and a second system time for rendering the (m + 1)-th trajectory point; performing a subtraction operation on the time when the in-vehicle intelligent device obtains the m-th trajectory point and the time when it obtains the (m + 1)-th trajectory point to obtain a time difference; obtaining the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determining a set proportional value, where the set proportional value = (the second system time - the first system time) / the time difference; and obtaining the set line segment length according to the set proportional value and the line segment length, where the set line segment length = the line segment length × the set proportional value.

8. A vehicle trajectory display system based on a three-dimensional drawing protocol Characterized in that it includes a web client as described in claim 6, a server as described in claim 7, and an in-vehicle intelligent device; The in-vehicle intelligent device is configured to obtain and upload the trajectory data of each vehicle, and each vehicle is equipped with the in-vehicle intelligent device; The server receives the trajectory data of each vehicle uploaded by the in-vehicle intelligent device, obtains the trajectory data of each collision vehicle at a set time interval according to the received trajectory data of each vehicle, and sends the trajectory data of each collision vehicle to the web client; The web client is configured to receive the trajectory data of each collision vehicle sent by the server, perform frame filling processing on the trajectory data of each collision vehicle according to a set line segment length, and three-dimensionally display the trajectory data of each collision vehicle after the frame filling processing on a map based on a three-dimensional drawing protocol. Wherein, the steps for obtaining the set line segment length include: obtaining a first system time for rendering the m-th trajectory point and a second system time for rendering the (m + 1)-th trajectory point; performing a subtraction operation on the time when the in-vehicle intelligent device obtains the m-th trajectory point and the time when it obtains the (m + 1)-th trajectory point to obtain a time difference; obtaining the line segment length between the m-th trajectory point and the (m + 1)-th trajectory point; determining a set proportional value, where the set proportional value = (the second system time - the first system time) / the time difference; and obtaining the set line segment length according to the set proportional value and the line segment length, where the set line segment length = the line segment length × the set proportional value.

9. A computer-readable storage medium Characterized in that It stores executable code which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1-5.

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