A data collection method, device and equipment based on electronic fence

Abstract

The embodiments of this specification disclose a data collection method, device and equipment based on an electronic fence. The scheme may include: obtaining the location data of a roadside sensing device; determining the scope of a first electronic fence according to the location data of the roadside sensing device; obtaining a first vehicle data set within the scope of the first electronic fence; the first vehicle data set includes at least the driving direction data and location data of the vehicle within the scope of the first electronic fence; judging whether the scope of the first electronic fence includes an intersection area, and obtaining a first judgment result; if the first judgment result indicates that the scope of the first electronic fence includes an intersection area, then determining a second electronic fence within the scope of the intersection area in the first electronic fence; determining the data to be filtered out within the scope of the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling laterally and the data of vehicles traveling in the opposite direction; filtering the data to be filtered out contained in the first vehicle data set to obtain a second vehicle data set.

Description

Technical Field

[0001] The present application relates to the technical field of computer data processing, and in particular to a data collection method, device and equipment based on electronic fences. Background Art

[0002] Roadside perception equipment is mostly used in the field of autonomous driving. Autonomous driving vehicles can be planned based on the vehicle data collected by the roadside perception equipment. Existing roadside perception equipment is mostly composed of cameras, cameras or radars. Roadside perception equipment can collect vehicle data within its collection range based on its built-in cameras, cameras or radars. However, due to performance issues of equipment such as cameras, cameras or radars, the accuracy of vehicle data collected by roadside perception equipment is poor. Summary of the invention

[0003] The embodiments of this specification provide a data collection method, device and equipment based on an electronic fence to solve the problem of inaccurate data collection in existing data collection methods.

[0004] To solve the above technical problems, the embodiments of this specification are implemented as follows:

[0005] An electronic fence-based data collection method provided in an embodiment of this specification may include:

[0006] Obtain location data of roadside sensing equipment;

[0007] Determine the range of the first electronic fence according to the position data of the roadside sensing device;

[0008] Acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence;

[0009] Determine whether the first electronic fence includes an intersection area, and obtain a first determination result;

[0010] If the first judgment result indicates that the range of the first electronic fence includes an intersection area, then determining a second electronic fence within the range of the intersection area in the first electronic fence;

[0011] Determine the data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling transversely and the data of vehicles traveling in the opposite direction;

[0012] The data to be filtered out contained in the first vehicle data set is filtered to obtain a second vehicle data set.

[0013] An electronic fence-based data collection device provided in an embodiment of this specification may include:

[0014] A location data acquisition module, used to acquire location data of a roadside sensing device;

[0015] A first electronic fence determination module, used to determine the range of the first electronic fence according to the position data of the roadside sensing device;

[0016] A first vehicle data set acquisition module, used to acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence;

[0017] A judgment module, used for judging whether the range of the first electronic fence includes an intersection area, and obtaining a first judgment result;

[0018] A second electronic fence determination module, configured to determine a second electronic fence within the range of the intersection area in the first electronic fence if the first judgment result indicates that the range of the first electronic fence includes an intersection area;

[0019] A module for determining data to be filtered out, used to determine data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes data of vehicles traveling transversely and data of vehicles traveling in the opposite direction;

[0020] The data filtering module is used to filter the to-be-filtered data contained in the first vehicle data set to obtain a second vehicle data set.

[0021] An electronic fence-based data collection device provided in an embodiment of this specification may include:

[0022] at least one processor; and,

[0023] a memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0025] Obtain location data of roadside sensing equipment;

[0026] Determine the range of the first electronic fence according to the position data of the roadside sensing device;

[0027] Acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence;

[0028] Determine whether the first electronic fence includes an intersection area, and obtain a first determination result;

[0029] If the first judgment result indicates that the range of the first electronic fence includes an intersection area, then determining a second electronic fence within the range of the intersection area in the first electronic fence;

[0030] Determine the data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling transversely and the data of vehicles traveling in the opposite direction;

[0031] The data to be filtered out contained in the first vehicle data set is filtered to obtain a second vehicle data set.

[0032] At least one embodiment of the present specification can achieve the following beneficial effects: by obtaining the location data of the roadside sensing device; determining the scope of the first electronic fence according to the location data of the roadside sensing device; obtaining the first vehicle data set within the scope of the first electronic fence; the first vehicle data set includes at least the driving direction data and location data of the vehicles within the scope of the first electronic fence; judging whether the scope of the first electronic fence includes the intersection area, and obtaining the first judgment result; if the first judgment result indicates that the scope of the first electronic fence includes the intersection area, then determining the second electronic fence within the scope of the intersection area in the first electronic fence; determining the data to be filtered out within the scope of the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling sideways and the data of vehicles traveling in the opposite direction; filtering the data to be filtered out contained in the first vehicle data set to obtain the second vehicle data set. Thus, the scope of data collection can be limited according to the first electronic fence, and inaccurate data can be filtered out according to the second electronic fence, thereby improving the accuracy of the collected data. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 This is a schematic diagram of the overall solution architecture of a data collection method based on an electronic fence provided in an embodiment of this specification in an actual application scenario;

[0035] Figure 2 It is a flow chart of a data collection method based on an electronic fence provided in an embodiment of this specification;

[0036] Figure 3 A schematic diagram of a first electronic fence including a road intersection area provided in an embodiment of this specification;

[0037] Figure 4 A schematic diagram of a second electronic fence provided in an embodiment of this specification;

[0038] Figure 5 It is a structural schematic diagram of a data collection device based on an electronic fence provided in an embodiment of this specification;

[0039] Figure 6 It is a structural diagram of a data acquisition device based on an electronic fence provided in an embodiment of this specification. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of one or more embodiments of this specification.

[0041] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0042] In the prior art, roadside sensing devices are mostly composed of cameras, cameras or radars. Roadside sensing devices can collect vehicle data within their collection range based on their built-in cameras, cameras or radars. However, due to performance issues of cameras, cameras or radars, the accuracy of vehicle data collected by roadside sensing devices is poor.

[0043] In order to solve the defects in the prior art, this solution provides the following embodiments:

[0044] Figure 1 This is a schematic diagram of the overall solution architecture of a data collection method based on an electronic fence in an actual application scenario in an embodiment of this specification.

[0045] like Figure 1As shown, the scheme mainly includes: a roadside sensing device 1 and a server 2. In practical applications, the roadside sensing device 1 collects vehicle data within the collection range, and the vehicle data may include data such as the vehicle's driving direction data, the vehicle's location data, the vehicle's driving speed data, and the vehicle's appearance data. The roadside sensing device 1 sends the collected vehicle data to the server 2, and the server 2 establishes a first electronic fence according to the location information of the roadside sensing device 1, and removes the data that does not belong to the first electronic fence from the data uploaded by the roadside sensing device 1. The server 2 can feed back the remaining vehicle data after the removal to the roadside sensing device 1. If the server 2 detects that the first electronic fence contains an intersection area, a second electronic fence is established in the intersection area. The server 2 filters the vehicle data that belongs to the second electronic fence after the removal according to the vehicle's driving direction to improve the accuracy of the data, and feeds back the remaining data after filtering to the roadside sensing device 1, so that the data collected by the roadside sensing device 1 is more accurate and the data quality is better.

[0046] Figure 2 A flow chart of a data collection method based on an electronic fence provided in an embodiment of this specification. From a program perspective, the execution subject of the process can be a program or application client installed on an application server. From a hardware perspective, the execution subject of the process can be a roadside sensing device or other collection device.

[0047] like Figure 2 As shown, the process may include the following steps:

[0048] Step 202: Obtain location data of roadside sensing equipment.

[0049] In the embodiments of this specification, the data of the roadside perception device can be queried from the database according to the location data contained in the vehicle data uploaded by the roadside perception device. The data of the roadside perception device may include the identification data of the roadside perception device, the model data of the roadside perception device, and the location data of the roadside perception device.

[0050] Step 204: Determine the range of the first electronic fence according to the position data of the roadside sensing device.

[0051] In the embodiments of this specification, the road where the roadside sensing device is located can be determined based on the location data of the roadside sensing device. The perceptible distance of the roadside sensing device can be determined based on the model data or identification data of the roadside sensing device queried from the database. Since the roadside sensing device contains a camera, there will be a certain shooting blind spot. When establishing the first electronic fence, the position at a certain distance from the roadside sensing device can be used as the location of the starting edge of the electronic fence, and the farthest distance extending from the starting edge to the perceptible range of the roadside sensing device can be used as the location of the ending edge of the first electronic fence, and the other two sides of the electronic fence can be road boundary lines. And the range of the first electronic fence contains all lane ranges within the distance range of the road where the roadside sensing device is located, and does not involve the lane range of adjacent roads. The first electronic fence limits the range that can be collected, so that the vehicle data of all vehicles within the road range can be collected, and the vehicle data in the adjacent roads will not be collected, thereby improving the accuracy of the data.

[0052] Step 206: Acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence.

[0053] In the embodiments of this specification, the roadside sensing device can upload the collected vehicle data to the server, and the server can remove the vehicle data that does not belong to the first electronic fence from the received vehicle data according to the range of the first electronic fence to obtain the first vehicle data set. The first vehicle data set includes the vehicle data of all vehicles within the first electronic fence. The vehicle data includes but is not limited to the vehicle's driving direction data, the vehicle's location data, the vehicle's identification data, the vehicle's driving speed data, and the vehicle's appearance data.

[0054] Step 208: Determine whether the range of the first electronic fence includes an intersection area, and obtain a first determination result.

[0055] In the embodiment of the present specification, it is possible to determine whether the first electronic fence contains an intersection area, so that it is possible to determine whether to establish a second electronic fence based on the determination result.

[0056] Step 210: If the first judgment result indicates that the range of the first electronic fence includes an intersection area, a second electronic fence is determined within the range of the intersection area in the first electronic fence.

[0057] In the embodiment of this specification, if the first electronic fence contains an intersection area, a second electronic fence needs to be established to filter the data of the intersection area. If the first electronic fence does not contain intersection information, the second electronic fence does not need to be established, and the vehicle data within the first electronic fence is directly used as the collected vehicle data.

[0058] Step 212: Determine the data to be filtered out within the second electronic fence according to the vehicle's driving direction data; the data to be filtered out includes the data of vehicles traveling laterally and the data of vehicles traveling in the opposite direction.

[0059] In the embodiment of the present specification, the vehicle data within the second electronic fence that is traveling sideways or in the opposite direction to the road where the roadside sensing device is located can be classified as data to be filtered out.

[0060] Step 214: Filter the to-be-filtered data contained in the first vehicle data set to obtain a second vehicle data set.

[0061] In the embodiments of the present specification, the data to be filtered contained in the first vehicle data set obtained within the first electronic fence can be filtered, and inaccurate vehicle data can be filtered out, so that the remaining data has higher accuracy, thereby improving the quality of the vehicle data source collected by the roadside sensing equipment.

[0062] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification can be interchanged according to actual needs, or some steps can be omitted or deleted.

[0063] Figure 2 The method includes obtaining the position data of a roadside sensing device; determining the range of a first electronic fence according to the position data of the roadside sensing device; obtaining a first vehicle data set within the range of the first electronic fence; the first vehicle data set includes at least the driving direction data and the position data of the vehicle within the range of the first electronic fence; determining whether the range of the first electronic fence includes the intersection area, and obtaining a first judgment result; if the first judgment result indicates that the range of the first electronic fence includes the intersection area, determining a second electronic fence within the range of the intersection area in the first electronic fence; determining the data to be filtered out within the range of the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling transversely and the data of vehicles traveling in the opposite direction; filtering the data to be filtered out contained in the first vehicle data set, and obtaining a second vehicle data set. Thus, inaccurate vehicle data can be filtered out, and the accuracy and quality of the collected vehicle data can be improved.

[0064] based on Figure 2 The method, the embodiments of this specification also provide some specific implementation methods of the method, which are described below.

[0065] Optionally, the determining of the range of the first electronic fence according to the position data of the roadside sensing device in the embodiment of this specification specifically includes:

[0066] Determine the road sign data of the road where the roadside sensing device is located according to the position data of the roadside sensing device;

[0067] Determining the boundary line data of the road according to the road identification data;

[0068] The range of the first electronic fence is determined according to the position data of the roadside sensing device and the boundary line data.

[0069] In the embodiments of this specification, the road identification data of the road where the roadside sensing device is located can be queried from the database according to the location of the roadside sensing device. The road identification data can be the name data of the road, or the road number data of the road, and the road identification data has a unique correspondence with the road. The corresponding road data can be queried according to the road identification data. The road data may include data such as the left and right boundary line data of the road, the lane line data of the road, the lane identification data, and the identification data of the adjacent roads. A first electronic fence can be established based on the queried boundary line data of the road combined with the location data of the roadside sensing device, so that the range of all lanes of the road can be included in the range of the first electronic fence to avoid missing the vehicle data of a vehicle on the road.

[0070] In order to facilitate the establishment of the first electronic fence, the range of the first electronic fence is determined according to the position data of the roadside sensing device and the boundary line data in the embodiment of this specification, which may specifically include:

[0071] Determine two starting endpoints of two boundary lines corresponding to the starting end of the first electronic fence according to the position data of the roadside sensing device;

[0072] Extending forward along the boundary line from the two starting endpoints by a preset length to obtain two terminating endpoints;

[0073] If the road range of the preset length does not contain an intersection area, the two starting endpoints and the two ending endpoints are connected along a boundary line to determine the range of the first electronic fence.

[0074] In the embodiments of this specification, the positions of the two vertices (starting endpoints) corresponding to the starting side of the first electronic fence can be determined based on the position data of the roadside sensing device. The roadside sensing device contains a camera. When the camera collects data (shoots video), there is a blind spot due to the angle. A distance can be extended forward from the position of the roadside sensing device to obtain a point. From this point, vertical lines are drawn to the road boundary lines on both sides of the road, so that the two vertical lines are perpendicular to the two boundary lines respectively, and two intersection points intersecting the boundary lines can be obtained as the starting endpoints. The two starting endpoints can be extended along the boundary line for a preset length to obtain the positions of the two vertices (terminating endpoints) corresponding to the side where the first electronic fence ends. If the road within the preset length range does not contain intersection information, the four endpoints can be directly connected along the boundary line to obtain the first electronic fence. For example: according to the position of the roadside sensing device, extend forward 30 meters to get an endpoint, draw perpendicular lines from the endpoint to the road boundary lines on both sides, and get intersection A and intersection B respectively, extend 150 meters from intersection A and intersection B to get endpoint C and endpoint D respectively, if there is no intersection area within this range, then connect intersection A with intersection B, connect endpoint C with endpoint D, connect intersection A and endpoint C and intersection B and endpoint D along the corresponding boundary lines respectively, and get the first electronic fence. It can be understood that this is just an example, and the distance between the roadside sensing device and the starting end can be determined according to the shooting angle of the camera, and the preset length can be determined according to the range that the roadside sensing device can collect, and the connection order of the four endpoints can also be selected according to the user's own wishes.

[0075] In order to make the construction of the first electronic fence more accurate, the method described in the embodiment of this specification can further include:

[0076] If the road range of the preset length contains an intersection area, obtaining a first intersection data set between the intersection area and the two boundary lines and a second intersection data set between the intersection area and the horizontal straight intersection;

[0077] The two starting endpoints, the first intersection data group, the second intersection data group, and the two ending endpoints are connected along a boundary line to obtain a first electronic fence.

[0078] In the embodiments of this specification, when constructing the first electronic fence, the selected road range of the preset length contains an intersection area, and the intersection area needs to be included in the range of the first electronic fence. The data of the intersection area can be obtained from the database, and the data of the intersection area includes but is not limited to the intersection data of two boundary lines in each road and the intersection area. In order to make the first electronic fence more accurately drawn, the four intersections of the two boundary lines of the road where the roadside sensing device is located and the intersection area can be selected as the first intersection data group, and the four intersections of the intersection area and the two sides of the road that is horizontally straight relative to the road where the roadside sensing device is located can be selected as the second intersection data group. The data of the multiple intersections obtained are connected to the starting endpoint and the ending endpoint in the above to obtain the first electronic fence containing the intersection area. Figure 3 Schematic diagram of a first electronic fence including a road intersection area provided in an embodiment of this specification. Figure 3 As shown, the thickest black line in the figure can represent the isolation zone between two adjacent roads and the boundary line of the road, and the arrows in the figure only schematically represent the direction of vehicle travel on the road. Point A can represent the location of the roadside sensing device, point 1 and point 2 can represent the starting endpoints of the first electronic fence, point 3, point 4, point 9 and point 10 can represent the first set of intersections between the road boundary line and the intersection area where the roadside sensing device is located, point 5, point 6, point 7 and point 8 can represent the second set of intersections between the intersection and the intersection area for the road where the roadside sensing device is located as a transverse driving road, and point 11 and point 12 can represent the ending endpoints of the roadside sensing device. Connect points 1-12 to construct the first electronic fence.

[0079] In order to improve the accuracy of the data, before obtaining the first vehicle data set within the first electronic fence in the embodiment of this specification, the following may also be included:

[0080] Acquire first vehicle data of a target vehicle within the first electronic fence range collected by a camera;

[0081] Acquire second vehicle data of the target vehicle within the first electronic fence collected by radar;

[0082] Determining whether the target vehicle is traveling in a lateral direction, and obtaining a second determination result;

[0083] If the second judgment result indicates that the driving direction of the target vehicle is lateral driving, the first vehicle data is selected as the vehicle data of the target vehicle;

[0084] If the second judgment result indicates that the driving direction of the target vehicle is not lateral driving, the average of the first vehicle data and the second vehicle data is determined as the vehicle data of the target vehicle.

[0085] In the embodiments of this specification, the roadside perception device may be composed of a camera device and a radar device, wherein the camera device and the radar device respectively collect data within the collectible range. However, for lateral vehicle data, the data collected by the camera is more accurate than the data collected by the radar. When the vehicle data is lateral compared to the road where the roadside perception device is located, the server will select the data collected by the camera as the target vehicle data. If it is non-lateral data, the server can calculate the average of the data collected by the camera and the data collected by the radar, and use the calculated average as the target vehicle data. In this way, the fused data reported by a single roadside perception device is obtained, which improves the accuracy of the reported data and the quality of the data.

[0086] In order to make the data within the range of the first electronic fence more accurate, determining the second electronic fence within the range of the intersection area in the first electronic fence in the embodiment of this specification may specifically include:

[0087] Acquire the intersection data of the boundary line between the intersection area and the isolation zone adjacent to the road where the roadside sensing device is located;

[0088] Determine driving path data of the vehicle within the first electronic fence according to the position data of the vehicle in the first vehicle data set; the driving path data includes straight driving path data, first turning driving path data entering the road where the roadside sensing device is located, and second turning driving path data exiting the road where the roadside sensing device is located;

[0089] Determining intersection data of the straight driving path data and the first turning driving path data;

[0090] The second electronic fence is determined according to the boundary line intersection data and the intersection point data.

[0091] In the embodiments of this specification, the driving path data can be fitted based on the position data contained in multiple vehicle data belonging to the same vehicle in the intersection area. The intersection area contains vehicle data of four roads, and these vehicle data can at least include vehicle data of straight-moving vehicles, vehicle data of right-turning vehicles, and vehicle data of left-turning vehicles, so that multiple driving path data can be obtained. The right-turn driving path and the left-turn driving path of the road where the roadside sensing device is located are selected, and the intersection point of one of the right-turn driving paths and the straight-moving driving path is used as the vertex of the second electronic fence, and the intersection point of one of the left-turn driving paths and the straight-moving path is used as the vertex of the second electronic fence. The boundary line of the road adjacent to the isolation belt and the two intersection points of the intersection area are used as the vertices of the second electronic fence, and the four vertices are connected to obtain the second electronic fence. Figure 4 Schematic diagram of a second electronic fence provided in the embodiment of this specification. Figure 4As shown, the straight lines and arcs in the intersection area can represent the driving path of the vehicle, point B can represent the intersection of the right-turn driving path entering the road and the straight-through driving path, point C can represent the intersection of the straight-through driving path and the left-turn driving path entering the road, and the others can represent the intersection of the right-turn driving path entering the road and the straight-through driving path entering the road. Figure 3 The physical meanings are similar or identical. Connecting point B, point C, point 3 and point 4 constitutes a second electronic fence, wherein the size of the second electronic fence can be adjusted according to the needs of the user. When selecting the intersection of the driving path, the driving path can also be fitted according to the historical vehicle data of the intersection area to obtain the intersection data, or a right-turn driving path, a left-turn driving path and two straight driving paths can be preset to obtain the intersection data.

[0092] Determining the data to be filtered out within the second electronic fence range according to the driving direction data of the vehicle in the embodiments of this specification may specifically include:

[0093] Determine the vehicle data within the range of the second electronic fence according to the vehicle position data in the first vehicle data set;

[0094] Determining whether the driving direction data contained in the vehicle data conforms to a preset driving direction;

[0095] If the driving direction data contained in the vehicle data does not conform to the preset driving direction, marking the vehicle data;

[0096] The vehicle data having the mark is determined as data to be filtered out.

[0097] In the embodiment of this specification, the intersection area contains vehicle data of four roads, and the roadside sensing device is not accurate in collecting lateral and reverse data. However, the intersection area contains a lot of lateral and reverse data. According to the driving direction data contained in the vehicle data, the vehicle data within the second electronic fence that does not conform to the preset driving direction can be determined as the data to be filtered out. The preset direction can be the straight driving direction. The data to be filtered out is marked so as to be filtered out according to the mark.

[0098] In the embodiment of this specification, when there is an intersection area, the corresponding roadside perception devices of the four roads can respectively draw the corresponding first electronic fence and the second electronic fence according to the above method, and send the data collected according to the fence to the cloud platform. The cloud platform can fuse the data of the same vehicle uploaded by the four perception devices according to the fusion data algorithm to obtain more accurate data.

[0099] Through the above method, the first electronic fence and the second electronic fence can be constructed more accurately, thereby improving the accuracy and quality of data collected by the roadside perception equipment.

[0100] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method. Figure 5 The embodiments of this specification provide corresponding to Figure 2 A structural diagram of a data acquisition device based on an electronic fence. Figure 5 As shown, the device may include:

[0101] A location data acquisition module 502 is used to acquire location data of a roadside sensing device;

[0102] A first electronic fence determination module 504, configured to determine the range of a first electronic fence according to the position data of the roadside sensing device;

[0103] A first vehicle data set acquisition module 506 is used to acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence;

[0104] A first judgment module 508 is used to judge whether the first electronic fence includes an intersection area, and obtain a first judgment result;

[0105] A second electronic fence determination module 510, configured to determine a second electronic fence within the range of the intersection area in the first electronic fence if the first judgment result indicates that the range of the first electronic fence includes an intersection area;

[0106] The to-be-filtered data determination module 512 is used to determine the to-be-filtered data within the second electronic fence according to the vehicle's driving direction data; the to-be-filtered data includes the vehicle data traveling transversely and the vehicle data traveling in the reverse direction;

[0107] The data filtering module 514 is used to filter the to-be-filtered data contained in the first vehicle data set to obtain a second vehicle data set.

[0108] based on Figure 5 The present specification also provides some specific implementation schemes of the method, which are described below.

[0109] Optionally, the first electronic fence determination module may specifically include:

[0110] A road sign data determining unit, configured to determine the road sign data of the road where the roadside sensing device is located according to the position data of the roadside sensing device;

[0111] A boundary line data determining unit, used to determine the boundary line data of the road according to the road identification data;

[0112] The first electronic fence construction unit is used to determine the range of the first electronic fence according to the position data of the roadside sensing device and the boundary line data.

[0113] Optionally, the first electronic fence construction unit is specifically used to:

[0114] Determine two starting endpoints of two boundary lines corresponding to the starting end of the first electronic fence according to the position data of the roadside sensing device;

[0115] Extending forward along the boundary line from the two starting endpoints by a preset length to obtain two terminating endpoints;

[0116] If the road range of the preset length does not contain an intersection area, the two starting endpoints and the two ending endpoints are connected along a boundary line to determine the range of the first electronic fence.

[0117] Optionally, the first electronic fence construction unit may also be used to:

[0118] If the road range of the preset length contains an intersection area, obtaining a first intersection data set between the intersection area and the two boundary lines and a second intersection data set between the intersection area and the horizontal straight intersection;

[0119] The two starting endpoints, the first intersection data group, the second intersection data group, and the two ending endpoints are connected along a boundary line to obtain a first electronic fence.

[0120] Optionally, the electronic fence-based data collection device may further include a vehicle data determination module, which may be specifically used for:

[0121] Acquire first vehicle data of a target vehicle within the first electronic fence range collected by a camera;

[0122] Acquire second vehicle data of the target vehicle within the first electronic fence collected by radar;

[0123] Determining whether the target vehicle is traveling in a lateral direction, and obtaining a second determination result;

[0124] If the second judgment result indicates that the driving direction of the target vehicle is lateral driving, the first vehicle data is selected as the vehicle data of the target vehicle;

[0125] If the second judgment result indicates that the driving direction of the target vehicle is not lateral driving, the average of the first vehicle data and the second vehicle data is determined as the vehicle data of the target vehicle.

[0126] Optionally, the second electronic fence determination module may be specifically used for:

[0127] Acquire the intersection data of the boundary line between the intersection area and the isolation zone adjacent to the road where the roadside sensing device is located;

[0128] Determine driving path data of the vehicle within the first electronic fence according to the position data of the vehicle in the first vehicle data set; the driving path data includes straight driving path data, first turning driving path data entering the road where the roadside sensing device is located, and second turning driving path data exiting the road where the roadside sensing device is located;

[0129] Determining intersection data of the straight driving path data and the first turning driving path data;

[0130] The second electronic fence is determined according to the boundary line intersection data and the intersection point data.

[0131] Optionally, the module for determining the data to be filtered out may be specifically used for:

[0132] Determine the vehicle data within the range of the second electronic fence according to the vehicle position data in the first vehicle data set;

[0133] Determining whether the driving direction data contained in the vehicle data conforms to a preset driving direction;

[0134] If the driving direction data contained in the vehicle data does not conform to the preset driving direction, marking the vehicle data;

[0135] The vehicle data having the mark is determined as data to be filtered out.

[0136] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method.

[0137] Figure 6 The embodiments of this specification provide corresponding to Figure 2 A structural diagram of a data acquisition device based on an electronic fence. Figure 6 As shown, the device 600 may include:

[0138] at least one processor 610; and,

[0139] A memory 630 is communicatively connected to the at least one processor; wherein,

[0140] The memory 630 stores instructions 620 executable by the at least one processor 610. The instructions are executed by the at least one processor 610 to enable the at least one processor 610 to:

[0141] Obtain location data of roadside sensing equipment;

[0142] Determine the range of the first electronic fence according to the position data of the roadside sensing device;

[0143] Acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence;

[0144] Determine whether the first electronic fence includes an intersection area, and obtain a first determination result;

[0145] If the first judgment result indicates that the range of the first electronic fence includes an intersection area, then determining a second electronic fence within the range of the intersection area in the first electronic fence;

[0146] Determine the data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling transversely and the data of vehicles traveling in the opposite direction;

[0147] The data to be filtered out contained in the first vehicle data set is filtered to obtain a second vehicle data set.

[0148] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. Figure 6 As for the device shown, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0149] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0150] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0151] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0152] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0153] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0154] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0157] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0158] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0159] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware.

[0160] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0161] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A data collection method based on electronic fence, characterized in that: include: Obtain location data of roadside sensing equipment; Determine the range of the first electronic fence according to the position data of the roadside sensing device; wherein the range of the first electronic fence is: the range of all lanes within the sensing range of the roadside sensing device on the road where the roadside sensing device is located, and does not involve the lane range of adjacent roads; Acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence; Determine whether the first electronic fence includes an intersection area, and obtain a first determination result; If the first judgment result indicates that the range of the first electronic fence includes an intersection area, then determining a second electronic fence within the range of the intersection area in the first electronic fence; Determine the data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling transversely and the data of vehicles traveling in the opposite direction; The data to be filtered out contained in the first vehicle data set is filtered to obtain a second vehicle data set.

2. The method according to claim 1, characterized in that The determining the range of the first electronic fence according to the position data of the roadside sensing device specifically includes: Determine the road sign data of the road where the roadside sensing device is located according to the position data of the roadside sensing device; Determining the boundary line data of the road according to the road identification data; The range of the first electronic fence is determined according to the position data of the roadside sensing device and the boundary line data.

3. The method according to claim 2, characterized in that The determining the range of the first electronic fence according to the position data of the roadside sensing device and the boundary line data specifically includes: Determine two starting endpoints of two boundary lines corresponding to the starting end of the first electronic fence according to the position data of the roadside sensing device; Extending forward along the boundary line from the two starting endpoints by a preset length to obtain two terminating endpoints; If the road range of the preset length does not contain an intersection area, the two starting endpoints and the two ending endpoints are connected along a boundary line to determine the range of the first electronic fence.

4. The method according to claim 3, characterized in that After the two starting endpoints are extended forward along the boundary line by a preset length to obtain two terminating endpoints, the method further includes: If the road range of the preset length contains an intersection area, obtaining a first intersection data set between the intersection area and the two boundary lines and a second intersection data set between the intersection area and the horizontal straight intersection; The two starting endpoints, the first intersection data group, the second intersection data group, and the two ending endpoints are connected along a boundary line to obtain a first electronic fence.

5. The method according to claim 1, characterized in that Before acquiring the first vehicle data set within the first electronic fence, the method further includes: Acquire first vehicle data of a target vehicle within the first electronic fence range collected by a camera; Acquire second vehicle data of the target vehicle within the first electronic fence collected by radar; Determining whether the target vehicle is traveling in a lateral direction, and obtaining a second determination result; If the second judgment result indicates that the driving direction of the target vehicle is lateral driving, the first vehicle data is selected as the vehicle data of the target vehicle; If the second judgment result indicates that the driving direction of the target vehicle is not lateral driving, the average of the first vehicle data and the second vehicle data is determined as the vehicle data of the target vehicle.

6. The method according to claim 1, characterized in that The determining of the second electronic fence within the range of the intersection area in the first electronic fence specifically includes: Acquire the intersection data of the boundary line between the intersection area and the isolation zone adjacent to the road where the roadside sensing device is located; Determine driving path data of the vehicle within the first electronic fence according to the position data of the vehicle in the first vehicle data set; the driving path data includes straight driving path data, first turning driving path data entering the road where the roadside sensing device is located, and second turning driving path data exiting the road where the roadside sensing device is located; Determining intersection data of the straight driving path data and the first turning driving path data; The second electronic fence is determined according to the boundary line intersection data and the intersection point data.

7. The method according to claim 1, characterized in that The step of determining the data to be filtered out within the second electronic fence range according to the driving direction data of the vehicle specifically includes: Determine the vehicle data within the range of the second electronic fence according to the vehicle position data in the first vehicle data set; Determining whether the driving direction data contained in the vehicle data conforms to a preset driving direction; If the driving direction data contained in the vehicle data does not conform to the preset driving direction, marking the vehicle data; The vehicle data having the mark is determined as data to be filtered out.

8. A data collection device based on electronic fence, characterized in that: include: A location data acquisition module, used to acquire location data of a roadside sensing device; A first electronic fence determination module is used to determine the range of a first electronic fence according to the position data of the roadside sensing device; wherein the range of the first electronic fence is: the range of all lanes within the sensing range of the roadside sensing device on the road where the roadside sensing device is located, and does not involve the lane range of adjacent roads; A first vehicle data set acquisition module, used to acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence; A first judgment module, used for judging whether the range of the first electronic fence includes an intersection area, and obtaining a first judgment result; A second electronic fence determination module, configured to determine a second electronic fence within the range of the intersection area in the first electronic fence if the first judgment result indicates that the range of the first electronic fence includes an intersection area; A module for determining data to be filtered out, used to determine data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes data of vehicles traveling transversely and data of vehicles traveling in the opposite direction; The data filtering module is used to filter the to-be-filtered data contained in the first vehicle data set to obtain a second vehicle data set.

9. The device according to claim 8, characterized in that The first electronic fence determination module specifically includes: A road sign data determining unit, configured to determine the road sign data of the road where the roadside sensing device is located according to the position data of the roadside sensing device; A boundary line data determining unit, used to determine the boundary line data of the road according to the road identification data; The first electronic fence construction unit is used to determine the range of the first electronic fence according to the position data of the roadside sensing device and the boundary line data.

10. A data collection device based on an electronic fence, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to: Obtain location data of roadside sensing equipment; Determine the range of the first electronic fence according to the position data of the roadside sensing device; wherein the range of the first electronic fence is: the range of all lanes within the sensing range of the roadside sensing device on the road where the roadside sensing device is located, and does not involve the lane range of adjacent roads; Acquire a first vehicle data set within the first electronic fence; the first vehicle data set at least includes driving direction data and position data of vehicles within the first electronic fence; Determine whether the first electronic fence includes an intersection area, and obtain a first determination result; If the first judgment result indicates that the range of the first electronic fence includes an intersection area, then determining a second electronic fence within the range of the intersection area in the first electronic fence; Determine the data to be filtered out within the second electronic fence according to the driving direction data of the vehicle; the data to be filtered out includes the data of vehicles traveling transversely and the data of vehicles traveling in the opposite direction; The data to be filtered out contained in the first vehicle data set is filtered to obtain a second vehicle data set.

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