A driving trajectory control method, system, terminal device and storage medium

Abstract

The present application relates to the field of traffic information technology, and in particular to a driving trajectory control method, system, terminal device and storage medium. The method includes judging whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section; if it matches, judging whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing the exit node; if it enters, generating a corresponding driving trajectory in combination with the planned road section of the route of the online car-hailing vehicle; if it does not enter, judging whether the current driving route of the online car-hailing vehicle enters the associated road section of the exit node; if the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, generating a corresponding driving trajectory in combination with the associated road section of the route and the planned road section. The driving trajectory control method, system, terminal device and storage medium provided in the present application have the effect of improving the control of the driving trajectory of the online car-hailing vehicle.

Description

Technical Field

[0001] The present application relates to the field of traffic information technology, and in particular to a vehicle trajectory control method, system, terminal device and storage medium. Background Art

[0002] With the popularity and application of online ride-hailing services, the safety of online ride-hailing services has become a focus of social attention. Driving trajectories are of great significance to every driver. Driving trajectories can be used to understand the specific route of the vehicle and can also be used as a basis for judging traffic accidents. In the field of road involvement and road traffic safety, driving trajectories can be used as a theoretical basis for route design. At the same time, the degree of deviation of driving trajectories is closely related to road safety.

[0003] At present, some online ride-hailing platforms usually use vehicle navigation data to monitor the travel trajectory of online ride-hailing vehicles, which has a certain restraining effect on online ride-hailing drivers. However, when the GPS signal is poor, it may cause deviations in the navigation data. At this time, the online ride-hailing regulatory platform is unable to accurately monitor the travel trajectory of the online ride-hailing vehicles, resulting in a certain error between the vehicle navigation data and the actual driving trajectory of the online ride-hailing vehicles. Summary of the invention

[0004] In order to improve the control effect of the driving trajectory of online ride-hailing vehicles, the present application provides a driving trajectory control method, system, terminal device and storage medium.

[0005] In a first aspect, the present application provides a driving trajectory control method, comprising the following steps:

[0006] Obtain the driving departure point and driving destination of the online car-hailing service;

[0007] Determine a corresponding driving route based on the driving starting point and the driving destination;

[0008] If there are multiple driving routes, obtain the corresponding preset planned routes;

[0009] Determine whether the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route;

[0010] If the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route, determining whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route;

[0011] If the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route, obtaining the exit node corresponding to the planned section;

[0012] Determine whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section;

[0013] If the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section, then determining whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing through the exit node;

[0014] If the current driving route of the online car-hailing vehicle enters the next planned section after passing through the exit node, a corresponding driving trajectory is generated in combination with the planned section of the online car-hailing vehicle;

[0015] If the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing through the exit node, determine whether the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, where the associated road section refers to the road section from the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle;

[0016] If the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, the corresponding driving trajectory is generated by combining the associated road section and the planned road section of the route.

[0017] By adopting the above technical solution, it is possible to determine whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the selected preset planned route, so as to obtain the preliminary driving trend of the online car-hailing vehicle, and further determine whether the current driving route of the online car-hailing vehicle matches the planned section and the exit node corresponding to the planned section. It is possible to further determine whether the driving direction of the online car-hailing vehicle is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing vehicle. By determining whether the current driving route of the online car-hailing vehicle enters the next section of the planned section after passing the exit node, it is possible to determine whether the online car-hailing vehicle deviates from the preset planned route during the trip. If the current driving route of the online car-hailing vehicle If the vehicle route enters the next planned section after passing the exit node, it means that the online car-hailing vehicle always travels according to the preset planned route, and then the corresponding driving trajectory is generated in combination with the planned section of the online car-hailing vehicle route. If the current driving route of the online car-hailing vehicle does not enter the next planned section after passing the exit node, but chooses to enter the associated section of the exit node, it means that the online car-hailing vehicle driver has changed the driving path while traveling according to the preset planned route. The corresponding driving trajectory is further generated in combination with the associated sections of the route and the planned sections, so as to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing vehicle, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle.

[0018] Optionally, after determining whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, the following steps are also included:

[0019] If the current driving route of the online car-hailing vehicle does not correspond to the planned road section and the exit node corresponding to the planned road section, obtaining the current order information of the online car-hailing vehicle;

[0020] Determining whether the driving destination has changed according to the current order information;

[0021] If the driving destination has not changed, determining whether the current driving route of the online car-hailing service corresponds to the driving route;

[0022] If the current driving route of the online car-hailing service corresponds to the driving route, obtaining the driving section corresponding to the driving route and the driving exit node corresponding to the driving section;

[0023] Determine whether the current driving route of the online car-hailing service corresponds to the driving section and the driving exit node corresponding to the planned section;

[0024] If the current driving route of the online car-hailing vehicle corresponds to the driving section and the driving exit node corresponding to the driving section, then determining whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node;

[0025] If the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node, the corresponding driving trajectory is generated in combination with the driving section of the online car-hailing vehicle;

[0026] If the current driving route of the online-hailing vehicle does not enter the next driving section after passing the driving exit node, the corresponding driving trajectory is generated by combining the driving section of the online-hailing vehicle and the current driving section, and a deceleration control instruction is sent to the online-hailing vehicle.

[0027] By adopting the above technical scheme, under the premise that the current driving route does not correspond to the planned road section and the exit node corresponding to the planned road section and the corresponding driving destination in the current order information has not changed, it is further determined whether the current driving route of the online car-hailing vehicle corresponds to other driving routes leading to the driving destination other than the preset planned route. If it corresponds, it is determined whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node. If it enters, it means that the online car-hailing vehicle has changed the driving trajectory determined by the original preset planned route during driving, and further generates a corresponding driving trajectory in combination with the driving section of the online car-hailing vehicle. On the other hand, if it does not enter, the driving section of the online car-hailing vehicle and the current driving section are combined to generate a corresponding driving trajectory, and a deceleration control instruction is sent to slow down the online car-hailing vehicle, thereby reducing the occurrence of frequent route changes of the online car-hailing vehicle during the journey to the driving destination.

[0028] Optionally, after determining whether the current driving route of the online car-hailing vehicle corresponds to the driving route if the driving destination has not changed, the following steps are further included:

[0029] If the current driving route of the online car-hailing vehicle does not correspond to the driving route, obtaining the intersection node along which the online car-hailing vehicle passes;

[0030] If there are multiple intersection nodes, the intersection numbers corresponding to the intersection nodes are set according to the order in which the online car-hailing vehicle passes through the intersection nodes;

[0031] Calculate the driving distance between the intersection node and the driving destination according to the intersection number;

[0032] Determining whether the driving distance continues to decrease according to the sequence of the intersection numbers;

[0033] If the driving distance continues to decrease, the corresponding driving trajectory is generated according to the sequence of the intersection numbers and the corresponding route sections between adjacent intersection nodes.

[0034] By adopting the above technical solution, when the current driving route of the online car-hailing vehicle does not correspond to the driving route, it means that the online car-hailing vehicle is not driving according to the prescribed driving route and has changed the driving direction without permission. By judging whether the driving distance corresponding to the intersection node and the driving destination continues to decrease, it is easy to determine whether the current specific driving trajectory of the online car-hailing vehicle is the driving destination.

[0035] Optionally, if the current driving route of the online car-hailing vehicle does not enter the next planned section after passing through the exit node, then after determining whether the current driving route of the online car-hailing vehicle enters the associated section of the exit node, the following steps are also included:

[0036] If the current driving route of the online car-hailing vehicle does not enter the associated road section of the exit node, determining whether the associated road section is a congested road section;

[0037] If the associated road section is the congested road section, obtaining a first passable road corresponding to the current entry road section of the online car-hailing vehicle and the driving destination;

[0038] If there are multiple first passable roads, obtaining a target first passable road whose road length is less than a preset detour threshold among the first passable roads;

[0039] According to the target first passable road, a corresponding driving route planning prompt is generated.

[0040] By adopting the above technical solution, when the associated road section is a congested road section, the first passable road whose road length is within the preset detour threshold is selected as the target first passable road, thereby reducing the occurrence of increased fares for online car-hailing passengers due to excessive detours by online car-hailing drivers.

[0041] Optionally, generating a corresponding driving route planning prompt according to the target first passable road includes the following steps:

[0042] Determining whether there are multiple target first passable roads;

[0043] If there are multiple target first passable roads, then the target first passable road with a passable road between the multiple target first passable roads and the preset planned route is selected as the pre-selected passable road;

[0044] If there are multiple pre-selected passable roads, then the pre-selected passable road with the shortest passable road is selected from the multiple pre-selected passable roads as the predetermined passable road;

[0045] According to the predetermined road, the corresponding driving route planning prompt is generated.

[0046] By adopting the above technical solution, a predetermined passable road with the shortest passable road between the predetermined planned route and the predetermined passable road is selected from multiple target first passable roads and a corresponding driving route planning prompt is generated, so that when congestion occurs on the predetermined passable road, the online car-hailing vehicle can quickly return to the preset planned route, thereby reducing additional travel time.

[0047] Optionally, if the associated road section is the congested road section, after obtaining the first passable road corresponding to the current entry section of the online car-hailing vehicle and the driving destination, the following steps are also included:

[0048] If the road length of the first passable road exceeds the preset detour threshold, obtaining a regression route between the current entered road section and the preset planned route;

[0049] If there are multiple regression routes, the regression route closest to the exit node is selected as the pre-selected regression route;

[0050] If there are multiple pre-selected regression routes, the pre-selected regression route with the least number of lane changes among the multiple pre-selected regression routes is selected as the target regression route;

[0051] The online-hailing vehicle returns to the preset planned route according to the target return route.

[0052] By adopting the above technical solution, the regression route that is closest to the exit node and has the least number of lane changes is selected as the target regression route, thereby saving the time for returning to the preset planned route.

[0053] Optionally, if the first passable road does not meet the preset detour threshold, obtaining a regression route between the current entry section and the preset planned route includes the following steps:

[0054] If the first passable road does not meet the preset detour threshold, obtaining a second passable road between the current entry section and the preset planned route;

[0055] If there are multiple second passable roads, then obtaining congestion time periods corresponding to multiple second passable roads;

[0056] Combining the entry time of the current entry road section and the travel time corresponding to the second passable road, generating a corresponding passable time period;

[0057] The second passable road which is not in the congested time period during the passable time period is selected as the regression route.

[0058] By adopting the above technical solution, the time when the online car-hailing vehicle currently enters the road section and the travel durations corresponding to multiple second roads are combined to calculate the corresponding expected travel time period. The expected travel time period is further compared with the corresponding congested time period, and the second road that is not in the congested time period is selected as the return route, thereby reducing the time to return to the preset planned route.

[0059] In a second aspect, the present application provides a system for identifying a vehicle trajectory, comprising:

[0060] The first acquisition module is used to obtain the driving starting point and driving destination of the online car-hailing vehicle;

[0061] A determination module, used to determine a corresponding driving route in combination with the driving starting point and the driving destination;

[0062] A second acquisition module, if there are multiple driving routes, the second acquisition module is used to acquire corresponding preset planned routes;

[0063] A first judgment module is used to judge whether the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route;

[0064] A second judgment module, if the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route, the second judgment module is used to judge whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route;

[0065] A third acquisition module, if the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route, the third acquisition module is used to acquire the exit node corresponding to the planned section;

[0066] A third judgment module is used to judge whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section;

[0067] A fourth judgment module, if the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section, the fourth judgment module is used to judge whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing through the exit node;

[0068] A first combining module, if the current driving route of the online car-hailing vehicle enters the next planned section after passing through the exit node, the combining module is used to generate a corresponding driving trajectory in combination with the planned section of the route of the online car-hailing vehicle;

[0069] A fifth judgment module, if the current driving route of the online car-hailing vehicle does not enter the next planned section after passing through the exit node, the fifth judgment module is used to judge whether the current driving route of the online car-hailing vehicle enters the associated section of the exit node, and the associated section refers to the section from the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle;

[0070] The second combining module is used to combine the associated road section and the planned road section of the route to generate the corresponding driving trajectory if the current driving route of the online car-hailing vehicle enters the associated road section of the exit node.

[0071] By adopting the above technical solution, the second judgment module is used to judge whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the selected preset planned route, so as to obtain the preliminary driving trend of the online car-hailing vehicle through the third acquisition module, and further judge whether the current driving route of the online car-hailing vehicle corresponds to the planned section and the exit node corresponding to the planned section through the third judgment module. It can be further judged whether the driving direction of the online car-hailing vehicle is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing vehicle. By judging whether the current driving route of the online car-hailing vehicle enters the next section of the planned section after passing the exit node, it can be concluded whether the online car-hailing vehicle deviates from the preset planned route during the trip. If the online car-hailing vehicle If the current driving route of the online car-hailing vehicle enters the next planned section after passing the exit node, it means that the online car-hailing vehicle always travels according to the preset planned route, and then the corresponding driving trajectory is generated by combining the planned section of the route of the online car-hailing vehicle through the first combination module. If the current driving route of the online car-hailing vehicle does not enter the next planned section after passing the exit node, but chooses to enter the associated section of the exit node, it means that the online car-hailing vehicle driver has changed the driving path while traveling according to the preset planned route. The corresponding driving trajectory is further generated by combining the associated sections of the route and the planned sections through the second combination module, so as to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing vehicle, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle.

[0072] In a third aspect, the present application provides a terminal device, which adopts the following technical solution:

[0073] A terminal device includes a memory and a processor, wherein the memory stores computer instructions that can be run on the processor, and when the processor loads and executes the computer instructions, the above-mentioned driving trajectory control method is adopted.

[0074] By adopting the above technical solution, the above-mentioned driving trajectory control method is generated into computer instructions and stored in a memory so as to be loaded and executed by a processor. Thus, a terminal device is manufactured based on the memory and the processor for easy use.

[0075] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0076] A computer-readable storage medium stores computer instructions, and when the computer instructions are loaded and executed by a processor, the above-mentioned driving trajectory control method is adopted.

[0077] By adopting the above technical solution, the above-mentioned driving trajectory control method is generated into computer instructions, and stored in a computer-readable storage medium so as to be loaded and executed by a processor. The computer-readable storage medium facilitates the reading and storage of computer instructions.

[0078] In summary, the present application includes at least one of the following beneficial technical effects: judging whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the selected preset planned route, so as to obtain the preliminary driving trend of the online car-hailing vehicle, and further judging whether the current driving route of the online car-hailing vehicle matches the planned section and the exit node corresponding to the planned section, and further judging whether the driving direction of the online car-hailing vehicle is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing vehicle, and judging whether the current driving route of the online car-hailing vehicle enters the next section of the planned section after passing the exit node, it can be concluded whether the online car-hailing vehicle deviates from the preset planned route during the trip. If the current driving route of the online car-hailing vehicle enters the next planned section after passing the exit node, it means that the online car-hailing vehicle always travels according to the preset planned route, and then the corresponding driving trajectory is generated in combination with the planned section of the online car-hailing vehicle. If the current driving route of the online car-hailing vehicle does not enter the next planned section after passing the exit node, but chooses to enter the associated section of the exit node, it means that the online car-hailing vehicle driver has changed the driving path while traveling according to the preset planned route. The corresponding driving trajectory is further generated in combination with the associated sections of the route and the planned sections, so as to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing vehicle, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a flowchart of steps S101 to S111 in a driving trajectory control method of the present application.

[0080] Figure 2 It is a flowchart of steps S201 to S208 in a driving trajectory control method of the present application.

[0081] Figure 3 It is a flowchart of steps S301 to S305 in a driving trajectory control method of the present application.

[0082] Figure 4 It is a flowchart of steps S401 to S404 in a driving trajectory control method of the present application.

[0083] Figure 5 It is a flowchart of steps S501 to S504 in a driving trajectory control method of the present application.

[0084] Figure 6 It is a flowchart of steps S601 to S604 in a driving trajectory control method of the present application.

[0085] Figure 7 It is a flowchart of steps S701 to S704 in a driving trajectory control method of the present application.

[0086] Figure 8 It is a module schematic diagram of a driving trajectory control system of the present application.

[0087] Description of reference numerals:

[0088] 1. First acquisition module; 2. Determination module; 3. Second acquisition module; 4. First judgment module; 5. Second judgment module; 6. Third acquisition module; 7. Third judgment module; 8. Fourth judgment module; 9. First combination module; 10. Fifth judgment module; 11. Second combination module. DETAILED DESCRIPTION

[0089] The following is combined with Figure 1-8 This application is described in further detail.

[0090] The present application embodiment discloses a driving trajectory control method, such as Figure 1 As shown, the following steps are included:

[0091] S101. Obtain the driving departure point and driving destination of the online car-hailing service;

[0092] S102. Determine the corresponding driving route based on the driving starting point and driving destination;

[0093] S103. If there are multiple driving routes, obtain the corresponding preset planned routes;

[0094] S104. Determine whether the currently selected driving route of the online car-hailing service is consistent with the preset planned route;

[0095] S105. If the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route, determine whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route;

[0096] S106. If the current driving position of the online car-hailing vehicle is in a planned section corresponding to a preset planned route, then obtain an exit node corresponding to the planned section;

[0097] S107. Determine whether the current driving route of the online car-hailing service matches the planned section and the exit node corresponding to the planned section;

[0098] S108. If the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section, determine whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing the exit node;

[0099] S109. If the current driving route of the online car-hailing vehicle enters the next planned section after passing through the exit node, a corresponding driving trajectory is generated in combination with the planned section of the online car-hailing vehicle route;

[0100] S110. If the current driving route of the online car-hailing vehicle does not enter the next planned section after passing through the exit node, determine whether the current driving route of the online car-hailing vehicle enters the associated section of the exit node, where the associated section refers to the section from the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle;

[0101] S111. If the current driving route of the online car-hailing vehicle enters the associated section of the exit node, the corresponding driving trajectory is generated by combining the associated sections of the route and the planned sections.

[0102] In actual application, in order to facilitate the explanation of this solution, we take the online car-hailing vehicle traveling on urban roads as an example. Among them, the online car-hailing vehicle is generally located through the GPS monitoring platform. The GPS device is divided into two positioning modes: GPS positioning and LBS base station positioning. Among them, base station positioning is the positioning mode enabled when the GPS signal environment is poor. The principle is to obtain the location information of the mobile terminal user through the network of China Telecom, China Unicom and mobile operators. The accuracy of the location information depends on the coverage density of the base stations around the vehicle.

[0103] The driving starting point in step S101 refers to the place where the online-hailing passenger gets on the vehicle, and the driving destination refers to the destination that the online-hailing passenger wants to reach.

[0104] In actual application, there may be multiple passable roads between the driving starting point and the driving destination, namely the driving route in step S102. According to the corresponding lengths of the multiple passable roads and the corresponding congestion levels, in order to save driving time and improve driving efficiency, the system will select an optimal driving route from the multiple passable roads, namely the preset planned route in step S103.

[0105] It should be noted that the passable roads between the driving starting point and the driving destination can be obtained using map software. By entering the driving starting point and the driving destination in the map software, the map software will match the corresponding passable roads from the driving starting point to the driving destination.

[0106] For example, the driving starting point is point A and the driving destination is point B. The map software matches three driving routes C, D and E. Compared with driving routes D and E, driving route C has the shortest estimated travel time and the lowest congestion. The system then selects driving route C as the preset planned route.

[0107] For another example, the driving starting point is point A, the driving destination is point B, and a driving route C is matched through the map software, then the system directly selects driving route C as the preset planned route.

[0108] Furthermore, after the online car-hailing passenger gets on the car and before the online car-hailing driver sets off, the online car-hailing driver will select the travel route of this online car-hailing based on the actual road conditions and the specific needs of the online car-hailing passenger, that is, the currently selected driving route in step S104. By judging whether the currently selected driving route is consistent with the preset planned route, it is convenient to obtain the travel trends of the online car-hailing driver in advance.

[0109] It should be noted that if the driving route currently selected by the online car-hailing vehicle is consistent with the preset planned route, it means that the online car-hailing vehicle driver has preliminarily determined the specific driving trajectory of the online car-hailing vehicle, namely the preset planned route. In order to further track the itinerary of the online car-hailing vehicle, it is necessary to pre-judge whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route. The current driving position refers to the current real-time positioning of the online car-hailing vehicle. The current driving position can be obtained through GPS positioning or LBS base station positioning. The planned section refers to the various sections that make up the preset planned route. For example, the preset planned route is route C, and route C consists of sections F, G and H. Sections F, G and H are the planned sections.

[0110] Among them, if the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route, it means that the online car-hailing vehicle has started to travel according to the preset planned route. In order to ensure that the driving trajectory of the online car-hailing vehicle follows the preset planned route, the exit node corresponding to the planned section is further obtained. The exit node refers to the vehicle road exit of the planned section.

[0111] In actual application, the planned road sections are usually separated by traffic lights at crossroads, T-intersections or straight intersections. For example, driving route C is a straight road, which is composed of sections F, G and H. Section F is separated from section G by traffic light No. 1, and section G is separated from section H by traffic light No. 2. Traffic light No. 1 and traffic light No. 2 are exit nodes. The exit node corresponding to section F is traffic light No. 1, the exit node corresponding to section G is traffic light No. 2, and the exit node corresponding to section H is the driving destination.

[0112] Furthermore, it is determined whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section. The current driving route of the online car-hailing vehicle refers to the current real-time driving trajectory record of the online car-hailing vehicle. The current driving route of the online car-hailing vehicle can be obtained through GPS positioning or LBS base station positioning. Whether the online car-hailing vehicle passes through the exit node can be identified and determined by the intersection image taken by the road monitoring equipment set at the exit node. Whether the current online car-hailing vehicle passes through the exit node corresponding to the road monitoring equipment can be determined by identifying whether the license plate number of the current online car-hailing vehicle appears in the intersection image taken by the road monitoring equipment.

[0113] Among them, even if the GPS positioning or LBS base station positioning signal is poor and there is a certain delay, the current driving position of the online car-hailing vehicle can still be obtained through it, and then the corresponding current driving route of the online car-hailing vehicle on the map software can be obtained through the connection between the current driving position points. The positioning signal delay problem can be improved by sending a restart command for the online car-hailing positioning device and adjusting the frequency of uploading information by the wireless device.

[0114] Furthermore, if the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, it means that the online car-hailing vehicle continues to travel on the road corresponding to the preset planned route. Among them, whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section is judged in a loop. When the current driving route of the online car-hailing vehicle passes through the current planned road section and the exit node corresponding to the planned road section, the current judgment ends and enters the next judgment until the online car-hailing vehicle reaches the driving destination.

[0115] For example, the current driving route of the online car-hailing vehicle is in section F. When the online car-hailing vehicle exits section F and enters section G through traffic light No. 1, the current judgment ends and enters the next judgment. When the online car-hailing vehicle exits section G and enters section H through traffic light No. 2, the current judgment ends and enters the next judgment. When the online car-hailing vehicle drives from section H to the driving destination, the current judgment ends and the entire set of cycle judgment ends.

[0116] The F, G and H sections are combined to form the driving trajectory of the online car-hailing vehicle.

[0117] For another example, the current driving route of the online car-hailing vehicle is in section F. When the online car-hailing vehicle exits section F and passes through traffic light No. 1 without entering section G, the section that the online car-hailing vehicle is currently entering will be marked and recorded.

[0118] In actual use, when an online ride-hailing vehicle is traveling according to the planned route, it may change its route due to road congestion or sudden road accidents. In order to comply with the driving regulations of online ride-hailing vehicles, the itinerary of the online ride-hailing vehicle will continue to be tracked, and it will be further determined whether the online ride-hailing vehicle enters the associated section of the exit node. The associated section refers to the section from the current exit node to the driving destination or the next exit node entered by the online ride-hailing vehicle.

[0119] For example, when the online car-hailing vehicle exits the F section and enters the intersection of traffic light No. 1, due to a vehicle accident on the G section ahead, in order to reduce the travel time of the online car-hailing vehicle, the online car-hailing vehicle driver chooses to enter the right-turn No. 1 associated section, that is, the above-mentioned associated section. The online car-hailing vehicle can travel to the driving destination through the No. 1 associated section, and then further combines the F section and the No. 1 associated section to generate the corresponding driving trajectory of the online car-hailing vehicle.

[0120] The driving trajectory control method provided in this implementation determines whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the selected preset planned route, so as to obtain the preliminary driving trend of the online car-hailing vehicle, and further determines whether the current driving route of the online car-hailing vehicle corresponds to the planned section and the exit node corresponding to the planned section. It can further determine whether the driving direction of the online car-hailing vehicle is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing vehicle. By determining whether the current driving route of the online car-hailing vehicle enters the next planned section after passing the exit node, it can be concluded whether the online car-hailing vehicle deviates from the preset planned route during the trip. If the current driving route of the online car-hailing vehicle If the vehicle route enters the next planned section after passing the exit node, it means that the online car-hailing vehicle always travels according to the preset planned route, and then the corresponding driving trajectory is generated in combination with the planned section of the online car-hailing vehicle route. If the current driving route of the online car-hailing vehicle does not enter the next planned section after passing the exit node, but chooses to enter the associated section of the exit node, it means that the online car-hailing vehicle driver has changed the driving path while traveling according to the preset planned route. The corresponding driving trajectory is further generated in combination with the associated sections of the route and the planned sections, so as to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing vehicle, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle.

[0121] In one implementation of this embodiment, Figure 2 As shown, after step S107, i.e., determining whether the current driving route of the online car-hailing vehicle corresponds to a planned section and an exit node corresponding to the planned section, the following steps are also included:

[0122] S201. If the current driving route of the online car-hailing vehicle does not correspond to the planned road section and the exit node corresponding to the planned road section, obtain the current order information of the online car-hailing vehicle;

[0123] S202. Determine whether the driving destination has changed according to the current order information;

[0124] S203. If the driving destination has not changed, determine whether the current driving route of the online car-hailing service corresponds to the driving route;

[0125] S204. If the current driving route of the online car-hailing service corresponds to the driving route, obtain the driving section corresponding to the driving route and the driving exit node corresponding to the driving section;

[0126] S205. Determine whether the current driving route of the online car-hailing service corresponds to the driving section and the driving exit node corresponding to the planned section;

[0127] S206. If the current driving route of the online car-hailing vehicle corresponds to a driving section and a driving exit node corresponding to the driving section, determine whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node;

[0128] S207. If the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node, a corresponding driving trajectory is generated in combination with the driving section of the online car-hailing vehicle;

[0129] S208. If the current driving route of the online-hailing vehicle does not enter the next driving section after passing the driving exit node, a corresponding driving trajectory is generated by combining the driving section of the online-hailing vehicle and the current driving section, and a deceleration control instruction is sent to the online-hailing vehicle.

[0130] In actual application, if the current driving route of the online car-hailing vehicle does not correspond to the planned road section and the exit node corresponding to the planned road section, it means that the online car-hailing vehicle did not travel according to the selected preset planned route after selecting the preset planned route. Taking into account the situation that the online car-hailing vehicle passengers temporarily change the driving destination after getting on the car, it is further determined whether the driving destination in the current order information of the online car-hailing vehicle has changed.

[0131] Furthermore, if the driving destination has not changed, it means that the online car-hailing driver did not consider driving according to the preset planned route after selecting it. In order to further determine the driving trend of the online car-hailing driver, it is further determined whether the current driving route of the online car-hailing vehicle corresponds to the driving route. The driving route is the driving route other than the preset planned route obtained after determining the driving starting point and driving destination.

[0132] It should be noted that if the current driving route of the online car-hailing vehicle corresponds to the driving route, it means that the online car-hailing vehicle driver has chosen a driving route other than the preset planned route to the driving destination. In order to further determine and identify whether the driving trajectory of the online car-hailing vehicle is in accordance with the driving route, it is further obtained and judged whether the current driving route of the online car-hailing vehicle corresponds to the driving section and the driving exit node corresponding to the driving section. The driving section refers to the various constituent roads of the driving route, and the driving exit node refers to the vehicle road exit of the driving section. Similar to the above-mentioned exit node, the driving exit node is also the dividing point between the various driving sections in the driving route.

[0133] Among them, in order to reduce the occurrence of online car-hailing drivers frequently changing their driving routes, it is further determined whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node.

[0134] For example, the driving route consists of driving sections I, J and K. The driving exit node corresponding to driving section I is traffic light No. 4, the driving exit node corresponding to driving section J is traffic light No. 5, and the driving exit node corresponding to driving section K is traffic light No. 6. If the online car-hailing vehicle exits driving section I and enters driving section J via traffic light No. 4, it means that the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node. This judgment ends and enters the next judgment. The online car-hailing vehicle exits driving section J and enters driving section K via traffic light No. 5. This means that the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node. This judgment ends. The online car-hailing vehicle drives through driving section K to the driving destination, completing the last judgment, indicating that the online car-hailing vehicle drives to the driving destination according to the driving route. Then, the driving trajectory corresponding to the online car-hailing vehicle is generated by combining driving sections I, J and K.

[0135] For another example, if the online car-hailing vehicle exits the I driving section and enters the J driving section via the No. 4 traffic light, but enters other sections, namely the current driving section in step S208, it means that the online car-hailing vehicle has changed its driving direction or road based on the original driving route. The driving section and the current driving section are combined to generate the corresponding driving trajectory of the online car-hailing vehicle, and a deceleration control instruction is sent to the online car-hailing vehicle to control the online car-hailing vehicle to decelerate, wherein the current driving section refers to the section where the online car-hailing vehicle is actually driving and is not a planned section or a driving section.

[0136] The driving trajectory control method provided in this embodiment further determines whether the current driving route of the online car-hailing vehicle corresponds to other driving routes leading to the driving destination other than the preset planned route, under the premise that the current driving route does not correspond to the planned road section and the exit node corresponding to the planned road section and the corresponding driving destination in the current order information has not changed. If it corresponds, it determines whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node. If it enters, it means that the online car-hailing vehicle has changed the driving trajectory determined by the original preset planned route during driving, and further generates the corresponding driving trajectory in combination with the driving section of the online car-hailing vehicle. On the other hand, if it does not enter, the corresponding driving trajectory is generated in combination with the driving section of the online car-hailing vehicle and the current driving section, and a deceleration control instruction is sent to slow down the online car-hailing vehicle, thereby reducing the occurrence of frequent route changes of the online car-hailing vehicle during the journey to the driving destination, thereby facilitating reasonable control of the driving trajectory of the online car-hailing vehicle.

[0137] In one implementation of this embodiment, Figure 3 As shown, in step S203, i.e., if the driving destination has not changed, then after determining whether the current driving route of the online car-hailing service corresponds to the driving route, the following steps are also included:

[0138] S301. If the current driving route of the online car-hailing vehicle does not correspond to the driving route, obtain the intersection node along which the online car-hailing vehicle passes;

[0139] S302. If there are multiple intersection nodes, set the intersection numbers corresponding to the intersection nodes in the order in which the online car-hailing vehicle passes through the intersection nodes;

[0140] S303. Calculate the driving distance from the intersection node to the driving destination according to the intersection number;

[0141] S304. Determine whether the driving distance continues to decrease according to the order of the intersection numbers;

[0142] S305. If the driving distance continues to decrease, a corresponding driving trajectory is generated according to the sequence of the intersection numbers and the corresponding route sections between adjacent intersection nodes.

[0143] The intersection node in step S301 refers to the exit node corresponding to the current driving section. If there are multiple intersection nodes, in order to further predict the travel direction of the online car-hailing vehicle, the intersection numbers corresponding to the intersection nodes are set according to the order in which the online car-hailing vehicle passes through the intersection nodes, and the driving distance from the intersection node to the driving destination is calculated based on the intersection number. The driving distance refers to the distance between the current intersection node and the driving destination.

[0144] For example, there are three intersection nodes along the route of an online car-hailing vehicle, which are L, M and N intersection nodes in order of the route. Then, the L intersection node is set as No. 1, the M intersection node is set as No. 2, and the N intersection node is set as No. 3. According to the map software, intersection nodes No. 1, 2 and 3 and the driving destination are located respectively, and the distance between intersection node No. 1 and the driving destination is 1 kilometer, the distance between intersection node No. 2 and the driving destination is 0.5 kilometers, and the distance between intersection node No. 3 and the driving destination is 0.2 kilometers.

[0145] It should be noted that if the corresponding driving distance continues to decrease according to the order of intersection numbers corresponding to the intersection nodes, it means that the current travel direction of the online car-hailing vehicle is still heading towards the driving destination. The driving trajectory of the online car-hailing vehicle is further generated according to the order of intersection numbers and the corresponding route sections between adjacent intersection nodes. That is, the section between intersection node No. 1 and intersection node No. 2, and the section between intersection node No. 2 and intersection node No. 3 are combined to generate the driving trajectory of the online car-hailing vehicle.

[0146] For another example, according to the map software, the No. 1, 2 and 3 intersection nodes and the driving destination are located respectively, and the distance between the No. 1 intersection node and the driving destination is 1 kilometer, the distance between the No. 2 intersection node and the driving destination is 2 kilometers, and the distance between the No. 3 intersection node and the driving destination is 3 kilometers. This means that the current travel direction of the online car-hailing vehicle deviates from the driving purpose. In this case, a braking control command is sent to the online car-hailing vehicle according to the online car-hailing vehicle supervision platform to control the online car-hailing vehicle to stop driving.

[0147] The driving trajectory control method provided in this embodiment, when the current driving route of the online car-hailing vehicle does not correspond to the driving route, it means that the online car-hailing vehicle is not driving according to the prescribed driving route and changes the driving direction without permission. By judging whether the driving distance corresponding to the intersection node and the driving destination continues to decrease, it is convenient to determine whether the current specific driving trajectory of the online car-hailing vehicle is the driving destination, and then reasonably control the driving trajectory of the online car-hailing vehicle.

[0148] In one implementation of this embodiment, Figure 4 As shown, in step S110, if the current driving route of the online car-hailing vehicle does not enter the next planned section after passing the exit node, then after determining whether the current driving route of the online car-hailing vehicle enters the associated section of the exit node, the following steps are also included:

[0149] S401. If the current driving route of the online car-hailing service does not enter the associated road section of the exit node, determine whether the associated road section is a congested road section;

[0150] S402. If the associated road section is a congested road section, obtain the first passable road corresponding to the current entry section of the online car-hailing vehicle and the driving destination;

[0151] S403. If there are multiple first passable roads, obtain a target first passable road whose road length is less than a preset detour threshold among the first passable roads;

[0152] S404. Generate corresponding driving route planning prompts according to the target first passable road.

[0153] In actual use, usually, the current driving route of the online car-hailing vehicle does not enter the associated road section of the exit node, which means that there may be traffic congestion on the associated road section. The traffic congestion may be caused by a vehicle accident on the associated road section or the rush hour. The actual traffic conditions of the associated road section are further obtained through the images taken by the road monitoring equipment of the exit node. If the associated road section is a congested road section, it means that the online car-hailing vehicle driver chose to take a shortcut, that is, the current entry section in step S402 to drive to the driving destination. The current entry section is generally not displayed in the map software, and most of it is obtained from years of driving experience of the online car-hailing vehicle driver.

[0154] Furthermore, if the associated road section is not a congested section, it means that the online car-hailing driver deliberately did not choose a reasonable driving road, and a warning prompt will be sent to the online car-hailing driver based on the online car-hailing monitoring platform.

[0155] Furthermore, the first passable road corresponding to the current entry section of the online car-hailing vehicle and the driving destination is obtained. If there are multiple first passable roads, in order to reduce the occurrence of online car-hailing drivers deliberately taking a detour, it is further determined whether the road length of the first passable road is within a preset detour threshold. The preset detour threshold refers to a pre-set length range that the road length between the current entry section of the online car-hailing vehicle and the corresponding driving destination must not exceed.

[0156] For example, an online car-hailing vehicle exits section F, passes through exit node 1 and enters the current entry section X. The distance from exit node 1 to the driving destination is 3 kilometers, and the corresponding preset detour threshold is 3.5 kilometers. At this time, according to the map software, there are three first access roads between the current entry section X and the driving destination, namely Y1, Y2 and Y3 access roads. The length of the road from the Y1 access road to the driving destination is 3.8 kilometers, the length of the road from the Y2 access road to the driving destination is 4.1 kilometers, and the length of the road from the Y3 access road to the driving destination is 3.2 kilometers. It can be determined that the road length of the Y3 access road is less than the corresponding preset detour threshold, and the corresponding driving route planning prompt for the online car-hailing vehicle is generated according to the Y3 access road.

[0157] For another example, according to the map software, there are three first access roads between the current entry section X and the driving destination, namely Y1, Y2 and Y3 access roads. The length of the road from Y1 to the driving destination is 3.8 kilometers, the length of the road from Y2 to the driving destination is 4.1 kilometers, and the length of the road from Y3 to the driving destination is 3.6 kilometers. It can be determined that the road lengths of Y1, Y2 and Y3 roads all exceed the corresponding preset detour thresholds, and the online car-hailing supervision platform sends a warning message to the online car-hailing vehicle that the preset detour threshold is exceeded.

[0158] The driving trajectory control method provided in this embodiment selects the first passable road whose road length is within a preset detour threshold as the target first passable road when the associated road section is a congested road section, thereby reducing the occurrence of increased fares for online car-hailing passengers due to excessive detours by online car-hailing drivers.

[0159] In one implementation of this embodiment, Figure 5 As shown, step S403, i.e., generating a corresponding driving route planning prompt according to the target first passable road, includes the following steps:

[0160] S501. Determine whether there are multiple target first pass roads;

[0161] S502. If there are multiple target first passable roads, a target first passable road that has a passable road between the preset planned route and the multiple target first passable roads is selected as a pre-selected passable road;

[0162] S503. If there are multiple pre-selected passable roads, then the pre-selected passable road with the shortest passable road is selected from the multiple pre-selected passable roads as the predetermined passable road;

[0163] S504. Generate corresponding driving route planning prompts based on the established roads.

[0164] In actual application, in order to reduce the congestion on the target first pass road and increase the travel time of the online car-hailing vehicle, it is first determined whether there are multiple target first pass roads. If so, it is further determined whether there is a pass road between the multiple target first pass roads and the preset planned route. If so, the corresponding target first pass road is selected as the pre-selected pass road.

[0165] Furthermore, if there are multiple pre-selected roads, the pre-selected road with the shortest route is selected as the predetermined road, and a corresponding driving route planning prompt is generated. The driving route planning prompt refers to the optimal route planning prompt information for the online car-hailing vehicle to the driving destination.

[0166] It should be noted that if there is only one target first passable road, it is further determined whether there is a passable road between the current target first passable road and the preset planned route. If so, it is further determined whether the target first passable road is congested. If congested, it is further determined whether the intersection between the passable road and the preset planned route is congested. Vehicle passable roads and intersections generally have road monitoring equipment, and the vehicle traffic conditions of the corresponding roads or intersections can be obtained in real time through the road monitoring equipment.

[0167] If congestion occurs at the intersection of the passable road and the preset planned route, the estimated congestion relief time of the target first passable road and the intersection of the passable road and the preset planned route is obtained; if the estimated congestion relief time of the target first passable road is less than the estimated congestion relief time of the intersection of the passable road and the preset planned route, the current target first passable road is selected as the established passable road; otherwise, the passable road is selected as the established passable road, and corresponding driving route planning prompts are generated.

[0168] Furthermore, if there is no corresponding passable road between the current target first passable road and the preset planned route, the target first passable road is directly selected as the predetermined passable road, and a corresponding driving route planning prompt is generated.

[0169] The driving trajectory control method provided in this embodiment selects a predetermined road with the shortest driving road between the predetermined planned route and the predetermined road from multiple target first driving roads and generates a corresponding driving route planning prompt, so that when congestion occurs on the predetermined road, the online car-hailing vehicle can quickly return to the preset planned route, thereby reducing additional travel time.

[0170] In one implementation of this embodiment, Figure 6 As shown, in step S402, i.e., if the associated road section is a congested road section, the following steps are further included after obtaining the first passable road corresponding to the current entry section of the online car-hailing vehicle and the driving destination:

[0171] S601. If the road length of the first passable road exceeds the preset detour threshold, a regression route between the current entry section and the preset planned route is obtained;

[0172] S602. If there are multiple regression routes, the regression route closest to the exit node is selected as the pre-selected regression route;

[0173] S603. If there are multiple pre-selected regression routes, the pre-selected regression route with the least number of lane changes among the multiple pre-selected regression routes is selected as the target regression route;

[0174] S604. The online-hailing vehicle returns to the preset planned route according to the target return route.

[0175] In actual application, if the road length of the first access road exceeds the preset detour threshold, it means that driving along the first access road will increase unnecessary travel of the online car-hailing vehicle. In order to reduce the occurrence of this situation, the regression route between the current first access road and the preset planned route is further matched on the map software.

[0176] Furthermore, if there are multiple matched regression routes, the pre-selected regression route with the least number of lane changes among the multiple regression routes is selected as the target regression route, and the online car-hailing vehicle returns to the preset planned route according to the target regression route, wherein the number of lane changes refers to the number of times the vehicle needs to change its lane in the regression route. The more lane changes in the regression route, the longer it takes for the online car-hailing vehicle to return to the preset planned route, and the greater the risk of a vehicle accident.

[0177] The driving trajectory control method provided in this embodiment selects the regression route that is closest to the exit node and has the least number of lane changes as the target regression route, thereby saving the time for returning to the preset planned route.

[0178] In one implementation of this embodiment, Figure 7As shown, step S601, that is, if the road length of the first passable road exceeds the preset detour threshold, obtaining the regression route between the current entry section and the preset planned route includes the following steps:

[0179] S701. If the first passable road does not meet the preset detour threshold, obtain a second passable road between the current entry section and the preset planned route;

[0180] S702. If there are multiple second passable roads, obtain the congestion time periods corresponding to the multiple second passable roads;

[0181] S703. Combine the entry time of the current entry section and the travel time corresponding to the second pass road to generate the corresponding estimated travel time period;

[0182] S704. Select a second road that is not in a congested time period during the estimated travel time period as the return route.

[0183] In actual application, if the first accessible road does not meet the preset detour threshold, in order to reduce unnecessary trips of the online car-hailing vehicle, the second accessible road between the current entry section of the online car-hailing vehicle and the preset planned route is obtained. The current entry section refers to other sections except the planned section and the associated section corresponding to the exit node. If there are multiple second accessible roads, the congestion time periods corresponding to multiple second accessible roads are obtained. The congestion time period refers to the traffic congestion time period corresponding to each of the multiple second accessible roads under normal circumstances. The traffic congestion is caused by the fact that the second accessible road is located in a prosperous area of ​​the city, and the corresponding pedestrian and vehicle traffic volume is large. The corresponding congestion time period can be obtained by capturing the vehicles and pedestrian flow captured every day by road monitoring equipment on both sides of the second accessible road.

[0184] Furthermore, in order to reduce the occurrence of congestion time period corresponding to the second passable road, the entry time of the online car-hailing vehicle at the current entry section and the travel time corresponding to the second passable road are combined to generate a corresponding estimated travel time period, wherein the entry time refers to the time when the online car-hailing vehicle enters the current entry section, and the travel time corresponding to the second passable road refers to the time required to complete the second passable road based on the current driving speed of the online car-hailing vehicle. The estimated travel time period refers to the travel time of the online car-hailing vehicle obtained by adding the entry time and the travel time corresponding to the second passable road.

[0185] For example, the second access road includes Q1, Q2 and Q3 access roads. The congested time period corresponding to Q1 access road is from 10 am to 12 noon every day, the congested time period corresponding to Q2 access road is from 10 am to 12:30 every day, and the congested time period corresponding to Q3 access road is from 10 am to 12:40 every day. Among them, the vehicle entrances of Q1, Q2 and Q3 access roads are the same, namely, the current entry section of the online car-hailing vehicle. The entry time of the online car-hailing vehicle to the current entry section is 9 am. The corresponding travel time of Q1 access road is 1 hour, the corresponding travel time of Q2 access road is 1.5 hours, and the corresponding travel time of Q3 access road is 0.5 hour. According to the entry time of the online car-hailing vehicle and the corresponding travel time of Q3 access road, the corresponding estimated travel time period is around 9:30 am. It can be determined that the estimated travel time period is in the congested time period corresponding to Q3 access road, and Q3 access road is selected as the regression route.

[0186] For another example, the vehicle entrances for Q1, Q2 and Q3 roads are the same, namely the current entry section of the online car-hailing vehicle. The entry time for the online car-hailing vehicle to reach the current entry section is 9 a.m., the travel time corresponding to the Q1 road is 1 hour, the travel time corresponding to the Q2 road is 0.2 hours, and the travel time corresponding to the Q3 road is 0.5 hours. From the above calculation, it can be concluded that the Q2 road is selected as the regression route.

[0187] For another example, the vehicle entrances for Q1, Q2 and Q3 roads are the same, namely the current entry section of the online car-hailing vehicle. The entry time of the online car-hailing vehicle to the current entry section is 9 a.m., the travel time corresponding to the Q1 road is 1 hour, the travel time corresponding to the Q2 road is 1.5 hours, and the travel time corresponding to the Q3 road is 2 hours. The duration of congestion on the Q1, Q2 and Q3 roads is further obtained, and the road with the shortest congestion duration is selected as the regression route.

[0188] The driving trajectory control method provided in this embodiment combines the time when the online car-hailing vehicle currently enters the road section and the travel duration corresponding to multiple second roads, calculates the corresponding expected travel time period, and further compares the expected travel time period with the corresponding congested time period, and selects the second road that is not in the congested time period as the return route, thereby reducing the time to return to the preset planned route.

[0189] The present application also discloses a vehicle trajectory recognition system. Figure 8 As shown, including:

[0190] The first acquisition module 1 is used to obtain the driving starting point and driving destination of the online car-hailing vehicle;

[0191] Determination module 2, used to determine the corresponding driving route based on the driving starting point and the driving destination;

[0192] The second acquisition module 3 is used to acquire the corresponding preset planned routes if there are multiple driving routes;

[0193] The first judgment module 4 is used to judge whether the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route;

[0194] The second judgment module 5 is used to judge whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route if the current selected driving route of the online car-hailing vehicle is consistent with the preset planned route;

[0195] The third acquisition module 6 is used to acquire the exit node corresponding to the planned section if the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route;

[0196] The third judgment module 7 is used to judge whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section;

[0197] The fourth judgment module 8 is used to judge whether the current driving route of the online car-hailing vehicle enters the next planned section after passing the exit node if the current driving route of the online car-hailing vehicle matches the planned section and the exit node corresponding to the planned section;

[0198] The first combining module 9 is used to generate a corresponding driving trajectory by combining the planned section of the online car-hailing route if the current driving route of the online car-hailing route enters the next planned section after passing the exit node;

[0199] The fifth judgment module 10 is used to judge whether the current driving route of the online car-hailing vehicle enters the associated road section of the exit node if the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing the exit node. The associated road section refers to the road section from the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle;

[0200] The second combining module 11 is used to combine the associated road sections and the planned road sections of the route to generate a corresponding driving trajectory if the current driving route of the online car-hailing vehicle enters the associated road section of the exit node.

[0201] The driving trajectory identification system provided in this embodiment determines whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the selected preset planned route according to the second judgment module 5, so as to obtain the preliminary driving trend of the online car-hailing vehicle through the third acquisition module 6, and further determines whether the current driving route of the online car-hailing vehicle matches the planned section and the exit node corresponding to the planned section through the third judgment module 7. It can further determine whether the driving direction of the online car-hailing vehicle is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing vehicle. By determining whether the current driving route of the online car-hailing vehicle enters the next planned section after passing the exit node, it can be concluded whether the online car-hailing vehicle deviates from the preset planned route during the trip. If the online car-hailing vehicle If the current driving route of the vehicle enters the next planned section after passing the exit node, it means that the online car-hailing vehicle is always traveling according to the preset planned route, and then the first combination module 9 is used to generate a corresponding driving trajectory in combination with the planned section of the online car-hailing vehicle's route. If the current driving route of the online car-hailing vehicle does not enter the next planned section after passing the exit node, but chooses to enter the associated section of the exit node, it means that the online car-hailing vehicle driver has changed the driving path while traveling according to the preset planned route. The second combination module 11 is further used to generate a corresponding driving trajectory in combination with the associated sections of the route and the planned sections, so as to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing vehicle, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle.

[0202] It should be noted that the vehicle trajectory identification system provided in the embodiment of the present application also includes modules and / or corresponding sub-modules corresponding to the logical functions or logical steps of any of the above-mentioned vehicle trajectory control methods, to achieve the same effect as each logical function or logical step, and the details will not be repeated here.

[0203] An embodiment of the present application also discloses a terminal device, including a memory, a processor, and computer instructions stored in the memory and capable of running on the processor, wherein when the processor executes the computer instructions, any one of the driving trajectory control methods in the above embodiments is adopted.

[0204] The terminal device may be a computer device such as a desktop computer, a laptop computer or a cloud server, and the terminal device includes but is not limited to a processor and a memory. For example, the terminal device may also include input and output devices, a network access device and a bus.

[0205] Among them, the processor can adopt a central processing unit (CPU). Of course, according to actual usage, other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be adopted. The general-purpose processor can adopt a microprocessor or any conventional processor, etc., and this application does not impose any restrictions on this.

[0206] Among them, the memory can be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device, or it can be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital card (SD) or a flash memory card (FC) equipped on the terminal device, etc., and the memory can also be a combination of an internal storage unit and an external storage device of the terminal device. The memory is used to store computer instructions and other instructions and data required by the terminal device. The memory can also be used to temporarily store data that has been output or is to be output, and this application does not impose any restrictions on this.

[0207] Among them, through this terminal device, any one of the driving trajectory control methods in the above embodiments is stored in the memory of the terminal device, and is loaded and executed on the processor of the terminal device for easy use.

[0208] An embodiment of the present application further discloses a computer-readable storage medium, and the computer-readable storage medium stores computer instructions, wherein when the computer instructions are executed by a processor, any one of the driving trajectory control methods in the above embodiments is adopted.

[0209] Among them, computer instructions can be stored in computer-readable media, computer instructions include computer instruction codes, computer instruction codes can be in source code form, object code form, executable files or certain middleware forms, etc. Computer-readable media include any entity or device that can carry computer instruction codes, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that computer-readable media include but are not limited to the above-mentioned components.

[0210] Among them, through this computer-readable storage medium, any one of the driving trajectory control methods in the above embodiments is stored in a computer-readable storage medium, and is loaded and executed on a processor to facilitate the storage and application of the above method.

[0211] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A driving trajectory control method, characterized in that: The following steps are involved: Obtaining the driving starting point and driving destination of the online car-hailing vehicle; determining the corresponding driving route in combination with the driving starting point and the driving destination; if there are multiple driving routes, obtaining the corresponding preset planned routes; determining whether the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route; If the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route, determining whether the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route; If the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route, obtaining the exit node corresponding to the planned section; Determine whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section; If the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section, then determining whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing through the exit node; If the current driving route of the online car-hailing vehicle enters the next planned section after passing through the exit node, a corresponding driving trajectory is generated in combination with the planned section passed by the online car-hailing vehicle; if the current driving route of the online car-hailing vehicle does not enter the next planned section after passing through the exit node, it is determined whether the current driving route of the online car-hailing vehicle enters the associated section of the exit node, and the associated section refers to the section from the current exit node to the next exit node entered by the online car-hailing vehicle; If the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, the corresponding driving trajectory is generated by combining the associated road section and the planned road section. If the current driving route of the online car-hailing vehicle does not enter the associated road section of the exit node, determining whether the associated road section is a congested road section; If the associated road section is the congested road section, then the first passable road corresponding to the current entry section of the online car-hailing vehicle and the driving destination is obtained; if there are multiple first passable roads, then the target first passable road whose road length is less than a preset detour threshold among each of the first passable roads is obtained; According to the target first passable road, a corresponding driving route planning prompt is generated.

2. A driving trajectory control method according to claim 1, characterized in that: After determining whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, the following steps are also included: if the current driving route of the online car-hailing vehicle does not correspond to the planned road section and the exit node corresponding to the planned road section, the current order information of the online car-hailing vehicle is obtained; whether the driving destination has changed according to the current order information; if the driving destination has not changed, whether the current driving route of the online car-hailing vehicle corresponds to the driving route is determined; if the current driving route of the online car-hailing vehicle corresponds to the driving route, the driving section corresponding to the driving route and the driving exit node corresponding to the driving section are obtained; whether the current driving route of the online car-hailing vehicle corresponds to the driving route and the driving the driving exit node corresponding to the planned road section; if the current driving route of the online car-hailing vehicle corresponds to the driving section and the driving exit node corresponding to the driving section, then determine whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node; if the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node, then generate the corresponding driving trajectory in combination with the driving section passed by the online car-hailing vehicle; if the current driving route of the online car-hailing vehicle does not enter the next driving section after passing the driving exit node, then generate the corresponding driving trajectory in combination with the driving section passed by the online car-hailing vehicle and the current driving section, and send a deceleration control instruction to the online car-hailing vehicle.

3. A driving trajectory control method according to claim 2, characterized in that: After determining whether the current driving route of the online car-hailing vehicle corresponds to the driving route if the driving destination has not changed, the following steps are also included: if the current driving route of the online car-hailing vehicle does not correspond to the driving route, obtaining the intersection nodes passed by the online car-hailing vehicle; if there are multiple intersection nodes, setting the intersection numbers corresponding to the intersection nodes according to the order in which the online car-hailing vehicle passes through the intersection nodes; calculating the driving distance corresponding to the intersection node from the driving destination based on the intersection numbers; determining whether the driving distance continues to decrease based on the order of the intersection numbers; if the driving distance continues to decrease, generating the corresponding driving trajectory based on the order of the intersection numbers combined with the corresponding passing sections between adjacent intersection nodes.

4. A driving trajectory control method according to claim 1, characterized in that: The generating of the corresponding driving route planning prompt according to the target first passable road comprises the following steps: determining whether there are multiple target first passable roads; if there are multiple target first passable roads, selecting the target first passable road with a passable road between the multiple target first passable roads and the preset planned route as a pre-selected passable road; if there are multiple pre-selected passable roads, selecting the pre-selected passable road with the shortest passable road as an established passable road from the multiple pre-selected passable roads; generating the corresponding driving route planning prompt according to the established passable road.

5. A driving trajectory control method according to claim 1, characterized in that: If the associated road section is the congested road section, then after obtaining the first passable road corresponding to the current entry section of the online car-hailing vehicle and the driving destination, the following steps are also included: if the road length of the first passable road exceeds the preset detour threshold, then obtaining a regression route between the current entry section and the preset planned route; if there are multiple regression routes, then selecting the regression route closest to the exit node as the pre-selected regression route; if there are multiple pre-selected regression routes, then selecting the pre-selected regression route with the least number of lane changes among the multiple pre-selected regression routes as the target regression route; the online car-hailing vehicle returns to the preset planned route according to the target regression route.

6. A driving trajectory control method according to claim 5, characterized in that: If the first passable road does not meet the preset detour threshold, obtaining the regression route between the current entry section and the preset planned route includes the following steps: if the first passable road does not meet the preset detour threshold, obtaining the second passable road between the current entry section and the preset planned route; if there are multiple second passable roads, obtaining the congestion time periods corresponding to multiple second passable roads; combining the entry time of the current entry section and the travel duration corresponding to the second passable road, generating a corresponding expected passage time period; selecting the second passable road that is not in the congestion time period in the expected passage time period as the regression route.

7. A vehicle trajectory recognition system, characterized in that: include: A first acquisition module (1) is used to acquire the driving starting point and driving destination of the online car-hailing vehicle; A determination module (2) is used to determine a corresponding driving route in combination with the driving starting point and the driving destination; a second acquisition module (3) is used to acquire a corresponding preset planned route if there are multiple driving routes; a first judgment module (4) is used to judge whether the currently selected driving route of the online car-hailing service is consistent with the preset planned route; A second judgment module (5), if the currently selected driving route of the online-hailing vehicle is consistent with the preset planned route, the second judgment module (5) is used to judge whether the current driving position of the online-hailing vehicle is in a planned section corresponding to the preset planned route; A third acquisition module (6), if the current driving position of the online car-hailing vehicle is in the planned section corresponding to the preset planned route, the third acquisition module (6) is used to acquire the exit node corresponding to the planned section; A third judgment module (7) is used to judge whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section; A fourth judgment module (8), if the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section, the fourth judgment module (8) is used to judge whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing through the exit node; A first combining module (9), if the current driving route of the online-hailing vehicle enters the next planned section after passing through the exit node, the combining module is used to generate a corresponding driving trajectory in combination with the planned section passed by the online-hailing vehicle; A fifth judgment module (10), if the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing through the exit node, the fifth judgment module (10) is used to judge whether the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, wherein the associated road section refers to the road section from the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle; A second combining module (11), if the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, the second combining module (11) is used to combine the associated road section and the planned road section to generate the corresponding driving trajectory; A sixth judgment module (12), if the current driving route of the online car-hailing vehicle does not enter the associated road section of the exit node, the sixth judgment module (12) is used to judge whether the associated road section is a congested road section; A fourth acquisition module (13), if the associated road section is the congested road section, the fourth acquisition module (13) is used to acquire a first passable road corresponding to the current entry road section of the online car-hailing vehicle and the driving destination; A fifth acquisition module (14), if there are multiple first passable roads, the fifth acquisition module (14) is used to acquire a target first passable road whose road length is less than a preset detour threshold among each of the first passable roads; a prompt generation module (15), used to generate a corresponding driving route planning prompt based on the target first passable road.

8. A terminal device, comprising a memory and a processor, characterized in that: The memory stores computer instructions that can be run on the processor. When the processor loads and executes the computer instructions, a driving trajectory control method according to any one of claims 1 to 6 is adopted.

9. A computer-readable storage medium, wherein computer instructions are stored in the computer-readable storage medium, characterized in that: When the computer instructions are loaded and executed by the processor, a driving trajectory control method as described in any one of claims 1 to 6 is adopted.

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