Method and device for detecting coincidence of travel trajectories, electronic equipment and medium

Abstract

The application provides a method and device for detecting the coincidence of a driving track, electronic equipment and a medium. The method comprises: processing each first sampling point in the order of sampling from early to late. During the processing, the candidate sampling points of the first sampling point are obtained. Then, the interval distance between the first sampling point and each candidate sampling point is used to determine whether the first sampling point is a target sampling point. The first sampling point is a sampling point of a first track or a second track. Thus, the target sampling points in the first track and the second track can be obtained by the above method, and then the track coincidence degree of the first track and the second track is determined according to the target sampling points. The above process decomposes the track coincidence degree detection with directionality into a comparison problem of the interval distance between sampling points. The whole process does not require human participation and has high detection accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of trajectory detection, and particularly relates to a driving trajectory coincidence detection method and device, electronic equipment and a medium. BACKGROUND

[0002] The problem of trajectory coincidence detection of a vehicle is widely applied in the field of traffic, for example, the automatic driving performance of a vehicle can be evaluated according to the trajectory coincidence, whether a driver drives a roundabout can be evaluated according to the trajectory coincidence, and a bus route can be deployed according to the trajectory coincidence between different traffic routes.

[0003] At present, the common trajectory coincidence detection is completed by manual work, mainly relying on manual marking of two route trajectories for comparison on a road network map, and then surveying and calculating the route trajectories in the road network map to determine the trajectory coincidence of the two trajectories. The above detection method not only needs to consume a large amount of manual cost, but also has problems such as long time consumption and low precision. SUMMARY

[0004] Embodiments of the present application provide a driving trajectory coincidence detection method, device, electronic equipment and medium. The trajectory coincidence detection with directionality is disassembled into a comparison problem of sampling point spacing to avoid manual operation, thereby improving the detection precision and reducing the detection time.

[0005] To achieve the above object, the technical scheme of the embodiments of the present application is as follows:

[0006] In a first aspect, the embodiments of the present application provide a driving trajectory coincidence detection method, which comprises:

[0007] In response to a detection instruction, a first trajectory and a second trajectory composed of a plurality of sampling points are acquired;

[0008] For a first sampling point in a target trajectory, candidate sampling points of the first sampling point are determined from second sampling points; wherein, if the target trajectory is the first trajectory, the first sampling point is a sampling point of the first trajectory and the second sampling point is a sampling point of the second trajectory; if the target trajectory is the second trajectory, the first sampling point is a sampling point of the second trajectory and the second sampling point is a sampling point of the first trajectory;

[0009] Whether the first sampling point is a target sampling point is determined according to the interval distance between the first sampling point and each candidate sampling point;

[0010] The trajectory coincidence of the first trajectory and the second trajectory is determined according to the target sampling point.

[0011] In some possible embodiments, whether the first sampling point is a target sampling point is determined according to the interval distance between the first sampling point and each candidate sampling point, comprising:

[0012] According to the sampling order from early to late, each two candidate sampling points sequentially adjacent to each other are constructed as a first sampling point pair;

[0013] According to interval distances between the first sampling point and each first sampling point pair, it is determined whether the first sampling point is a target sampling point.

[0014] In some possible embodiments, the determining whether the first sampling point is a target sampling point according to the interval distances between the first sampling point and each first sampling point pair comprises:

[0015] If the interval distance between the first sampling point and any first sampling point pair is not greater than a distance threshold, the first sampling point is determined as a target sampling point;

[0016] Wherein, the interval distance is determined by the following way:

[0017] For any first sampling point pair, a connecting line between the two candidate sampling points in the first sampling point pair is determined;

[0018] If the perpendicular line of the first sampling point and the connecting line is located between the two candidate sampling points, the interval distance is determined according to the length of the perpendicular line;

[0019] If the perpendicular line is not located between the two candidate sampling points, the distance between the sampling point adjacent to the first sampling point in the two candidate sampling points and the first sampling point is taken as the interval distance.

[0020] In some possible embodiments, the determining the candidate sampling points of the first sampling point in the second sampling points comprises:

[0021] If the sampling order of the first sampling point is the earliest in each first sampling point, or the first sampling point does not have a comparison sampling point, all the second sampling points are taken as the candidate sampling points of the first sampling point; wherein, the comparison sampling point is a target sampling point with a sampling order earlier than the first sampling point and adjacent to the first sampling point;

[0022] Otherwise, the candidate sampling points are determined according to the first sampling point pair of the comparison sampling point.

[0023] In some possible embodiments, the determining the candidate sampling points according to the first sampling point pair of the comparison sampling point comprises:

[0024] According to the interval distances between the comparison sampling point and the first sampling point pair, a to-be-processed sampling point is determined;

[0025] The last sampling point in the sampling sequence and all second sampling points after the two sampling points in the sampling sequence are taken as the candidate sampling points.

[0026] In some possible embodiments, the determining the trajectory coincidence degree according to the target sampling points comprises:

[0027] determining a sampling point sequence of the target trajectory according to the sampling sequence of each target sampling point; wherein, the target sampling points in each sampling point sequence are arranged in the order of sampling from early to late, and there is no non-target sampling point between any two adjacent target sampling points in the sampling sequence, and the target sampling points in different sampling point sequences are all different;

[0028] determining a sequence polyline length of each sampling point sequence; wherein, the sequence polyline length is the sum of the polyline lengths of adjacent target sampling points in the sampling point sequence;

[0029] determining a total polyline length of the target trajectory according to the polyline lengths of adjacent sampling points in the target trajectory; and determining the trajectory coincidence degree according to the sequence polyline length of the first trajectory, the total polyline length of the first trajectory, the sequence polyline length of the second trajectory, and the total polyline length of the second trajectory.

[0030] In some possible embodiments, after the determining the sampling point sequence of the target trajectory according to the sampling sequence of each target sampling point, the method further comprises:

[0031] for each sampling point sequence, obtaining a target road surface length of the sampling point sequence in the traffic road network through the traffic road network data;

[0032] determining the trajectory coincidence degree according to the total road surface length and the target road surface length of the first trajectory, and the total road surface length and the target road surface length of the second trajectory.

[0033] In some possible embodiments, the determining the trajectory coincidence degree according to the sequence polyline length of the first trajectory, the total polyline length of the first trajectory, the sequence polyline length of the second trajectory, and the total polyline length of the second trajectory comprises:

[0034] determining a first coincidence coefficient of the first trajectory and a second coincidence coefficient of the second trajectory according to the total polyline length of the first trajectory and the total polyline length of the second trajectory;

[0035] determining the trajectory coincidence degree according to the first coincidence coefficient, the second coincidence coefficient, the sequence polyline length, and the total polyline length.

[0036] In a second aspect, the embodiments of the present application provide a device for detecting overlap of trajectories, the device comprising:

[0037] a trajectory obtaining module configured to obtain a first trajectory and a second trajectory composed of a plurality of sampling points in response to the detection instruction;

[0038] a candidate sampling module configured to determine, for a first sampling point in a target trajectory, candidate sampling points of the first sampling point from second sampling points; wherein if the target trajectory is the first trajectory, the first sampling point is a sampling point of the first trajectory and the second sampling points are sampling points of the second trajectory; if the target trajectory is the second trajectory, the first sampling point is a sampling point of the second trajectory and the second sampling points are sampling points of the first trajectory;

[0039] a target sampling module configured to determine whether the first sampling point is a target sampling point according to interval distances between the first sampling point and each of the candidate sampling points;

[0040] a trajectory overlap module configured to determine a trajectory overlap degree between the first trajectory and the second trajectory according to the target sampling point.

[0041] In some possible embodiments, the target sampling module is configured to determine whether the first sampling point is a target sampling point according to interval distances between the first sampling point and each of the candidate sampling points by:

[0042] constructing each two candidate sampling points adjacent in sampling order as a first sampling point pair in the order of sampling from early to late;

[0043] determining whether the first sampling point is a target sampling point according to interval distances between the first sampling point and each first sampling point pair.

[0044] In some possible embodiments, the trajectory overlap module is configured to determine whether the first sampling point is a target sampling point according to interval distances between the first sampling point and each first sampling point pair by:

[0045] if the interval distance between the first sampling point and any first sampling point pair is not greater than a distance threshold, determining the first sampling point as a target sampling point;

[0046] wherein the interval distance is determined by:

[0047] for any first sampling point pair, determining a connecting line between the two candidate sampling points in the first sampling point pair;

[0048] if the first sampling point and a perpendicular line of the connecting line are located between the two candidate sampling points, determining the interval distance according to a length of the perpendicular line;

[0049] If not between the two candidate sampling points, the sampling point adjacent to the first sampling point in the two candidate sampling points is determined as the interval distance of the first sampling point.

[0050] In some possible embodiments, the determining the candidate sampling points of the first sampling point from the second sampling points, the candidate sampling module is configured to:

[0051] If the sampling order of the first sampling point is the earliest among the first sampling points, or the first sampling point does not have a comparison sampling point, all the second sampling points are determined as the candidate sampling points of the first sampling point; wherein the comparison sampling point is a target sampling point with a sampling order before the first sampling point and adjacent to the first sampling point.

[0052] Otherwise, the candidate sampling points are determined according to the first sampling point pair of the comparison sampling point.

[0053] In some possible embodiments, the determining the candidate sampling points according to the first sampling point pair of the comparison sampling point, the candidate sampling module is configured to:

[0054] The interval distance between the comparison sampling point and the first sampling point pair is determined as the to-be-processed sampling point.

[0055] The to-be-processed sampling point with the last sampling order and all the second sampling points with sampling orders after the two to-be-processed sampling points are determined as the candidate sampling points.

[0056] In some possible embodiments, the determining the trajectory coincidence degree of the first trajectory and the second trajectory according to the target sampling points, the trajectory coincidence module is configured to:

[0057] The sampling point sequence of the target trajectory is determined according to the sampling order of each target sampling point; wherein the target sampling points in each sampling point sequence are arranged in the order from sampling first to sampling last, and there is no non-target sampling point between any two adjacent target sampling points in the order of sampling; the target sampling points in different sampling point sequences are all different;

[0058] For each sampling point sequence, the sequence polyline length of the sampling point sequence is determined; wherein the sequence polyline length is the sum of the polyline lengths of each adjacent target sampling point in the sampling point sequence.

[0059] The total polyline length of the target trajectory is determined according to the polyline lengths of each adjacent sampling point in the target trajectory; and the trajectory coincidence degree is determined according to the sequence polyline lengths of the first trajectory, the total polyline length of the first trajectory, the sequence polyline lengths of the second trajectory, and the total polyline length of the second trajectory.

[0060] In some possible embodiments, after the determining the sequence of sampling points of the target trajectory according to the sampling sequence of each of the target sampling points, the trajectory coincidence module is further configured to:

[0061] For each sequence of sampling points, obtaining a target road length of the sequence of sampling points in the traffic road network through the traffic road network data;

[0062] Determining the trajectory coincidence degree according to the total road length of the first trajectory and the target road length, and the total road length of the second trajectory and the target road length.

[0063] In some possible embodiments, after the determining the trajectory coincidence degree according to the sequence polyline length of the first trajectory, the total polyline length of the first trajectory, the sequence polyline length of the second trajectory, and the total polyline length of the second trajectory, the trajectory coincidence module is configured to:

[0064] Determining a first coincidence coefficient of the first trajectory and a second coincidence coefficient of the second trajectory according to the total polyline length of the first trajectory and the total polyline length of the second trajectory;

[0065] Determining the trajectory coincidence degree according to the first coincidence coefficient, the second coincidence coefficient, the sequence polyline length and the total polyline length.

[0066] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0067] a processor;

[0068] a memory for storing instructions executable by the processor;

[0069] The processor is configured to execute the instructions to implement any method provided in the first aspect of the present application.

[0070] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute any method provided in the first aspect of the present application.

[0071] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, when the computer program is executed by a processor, any method provided in the first aspect of the present application is implemented.

[0072] In the embodiments of the present application, each first sampling point is processed in the order of sampling from early to late. In the processing process, the candidate sampling points of the first sampling point are first obtained. Then, whether the first sampling point is a target sampling point is determined according to the interval distance between the first sampling point and each candidate sampling point. The above-mentioned first sampling point is a sampling point of the first trajectory or the second trajectory, so that the target sampling points in the first trajectory and the second trajectory can be obtained by the above-mentioned method, and then the trajectory coincidence degree of the first trajectory and the second trajectory is determined according to the target sampling points. The above-mentioned process decomposes the trajectory coincidence degree detection with direction into the comparison problem of the interval distance between the sampling points, the whole process does not need human intervention, and has high detection precision.

[0073] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings introduced below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0075] Figure 1 A flowchart of a trajectory coincidence detection method shown in an embodiment of the present application;

[0076] Figure 2 A schematic diagram of the first trajectory and the second trajectory shown in an embodiment of the present application;

[0077] Figure 3 An interval distance schematic diagram shown in an embodiment of the present application;

[0078] Figure 4 A schematic diagram for judging whether A1 is a target sampling point shown in an embodiment of the present application;

[0079] Figure 5 A sequence polyline length calculation schematic diagram shown in an embodiment of the present application;

[0080] Figure 6 A structure diagram of a trajectory coincidence detection device 600 shown in an embodiment of the present application;

[0081] Figure 7 An electronic device schematic diagram shown in an embodiment of the present application. DETAILED DESCRIPTION

[0082] The technical solutions in the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " will mean "or", for example, A / B can mean A or B; "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0083] In the description of the embodiments of this application, unless otherwise stated, the term "multiple" refers to two or more, and other quantifiers are similarly understood. The preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application. Furthermore, the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0084] To further illustrate the technical solutions provided in the embodiments of this application, a detailed description is provided below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of this application provide method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on conventional or non-inventive effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual processing or when the control device executes the method, it may be executed sequentially or in parallel according to the method shown in the embodiments or drawings.

[0085] As mentioned earlier, most common overlap detection methods are currently performed manually. This mainly relies on manually marking two route trajectories on a road network map for comparison, and then determining the overlap degree between the two trajectories through surveying and calculation. This detection method not only requires a large amount of manual labor, but also suffers from problems such as long processing time and low accuracy.

[0086] To address the aforementioned problems, the inventive concept of this application is as follows: Each first sampling point is processed in the order of sampling from first to last. During processing, candidate sampling points for the first sampling point are first obtained. Then, the distance between the first sampling point and each candidate sampling point is used to determine whether the first sampling point is a target sampling point. The aforementioned first sampling point is a sampling point of either a first trajectory or a second trajectory. Therefore, target sampling points within the first and second trajectories can be obtained using the above method, and the trajectory overlap between the first and second trajectories can be determined based on these target sampling points. This process decomposes the directional trajectory overlap detection into a comparison problem of sampling point spacing. The entire process requires no manual intervention and possesses high detection accuracy.

[0087] Next, as follows Figure 1 As shown,Figure 1 The overall flowchart of the trajectory coincidence detection method provided by the embodiment of the application is shown, and specifically includes:

[0088] Step 101: In response to the detection instruction, a first trajectory and a second trajectory composed of multiple sampling points are acquired;

[0089] To facilitate understanding of the technical solution of the application, the application scenario of detecting whether a driver takes a detour on a network car-hailing platform is taken as an example for illustration. It should be noted that the example is taken only for the purpose of facilitating explanation and illustration of the technical solution of the application, and is not intended to limit the application scenario of the application. The technical solution of the application is applicable to any scenario for acquiring trajectory coincidence degree.

[0090] In the application scenario of detecting whether a driver takes a detour on a network car-hailing platform, the first trajectory is the real-time driving trajectory of the vehicle automatically collected every preset time period after the passenger gets on the vehicle. The second trajectory is the recommended driving trajectory provided for the trip order.

[0091] Each sampling point in the first trajectory is trajectory data automatically collected and reported by the vehicle after reaching the preset time period each time during driving. Each sampling point in the second trajectory is obtained according to road network information, for example, the route sampling points obtained when the road network route is constructed can be directly used as the sampling points of the second trajectory.

[0092] Step 102: For a first sampling point in a target trajectory, a candidate sampling point of the first sampling point is determined from second sampling points; wherein, if the target trajectory is the first trajectory, the first sampling point is a sampling point of the first trajectory and the second sampling point is a sampling point of the second trajectory; if the target trajectory is the second trajectory, the first sampling point is a sampling point of the second trajectory and the second sampling point is a sampling point of the first trajectory;

[0093] Next, the first trajectory as the target trajectory is taken as an example for illustration. First, the candidate sampling point of the first sampling point is obtained in the following manner:

[0094] Specifically as shown in Figure 2 , as shown in Figure 2 The first trajectory A and the second trajectory B are shown. The first trajectory A contains A1-A13, a total of 13 sampling points; the second trajectory B contains B1-B13, a total of 13 sampling points. The smaller the serial number of each sampling point, the earlier the sampling order.

[0095] In implementation, if the sampling order of the first sampling point is the earliest among the first sampling points, or the first sampling point does not have a comparison sampling point, all the second sampling points are taken as the candidate sampling points of the first sampling point; wherein, the comparison sampling point is a target sampling point that has a sampling order earlier than the first sampling point and is adjacent to the first sampling point.

[0096] In the foregoingFigure 2 For example, if the first sampling point currently undergoing preset processing is A1, B1-B13 are taken as candidate sampling points of A1.

[0097] If the first sampling point currently undergoing preset processing is not the earliest in sampling order, for example, the first sampling point is A3, the target sampling points before A3 are obtained first. Since the sampling order of A1 and A2 is before A3, assuming that neither A1 nor A2 is a target sampling point, A3 does not have a comparison sampling point. At this time, all sampling points of the second track, i.e., B1-B13, are taken as candidate sampling points of A3.

[0098] If the sampling order of the first sampling point is not the earliest, and the first sampling point has a comparison sampling point, the candidate sampling points of the first sampling point are determined according to the first sampling point pair of the comparison sampling point. Still taking A3 as an example, assuming that A1 is a target sampling point, and A2 is not a target sampling point. Then, the target sampling point closest to A3 in sampling order, i.e., A1, is taken as the comparison sampling point of A3. At this time, the candidate sampling points of A2 are determined according to the first sampling point pair of A1.

[0099] Next, how to determine whether the first sampling point is a target sampling point and the acquisition method of the first sampling point pair are explained by step 103.

[0100] Step 103: determining whether the first sampling point is a target sampling point according to the interval distance between the first sampling point and each candidate sampling point.

[0101] In implementation, according to the order of sampling from early to late, every two candidate sampling points adjacent in sampling order are constructed as the first sampling point pair. Taking the above example, the first sampling point pair is (B1, B2), (B2, B3), (B3, B4), (B4, B5), …, (B12, B13). Figure 2 For example, if the first sampling point is a sampling point of the first track, the candidate sampling points corresponding to A1 are B1-B13. Next, according to the order of sampling from early to late, every two are constructed as a first sampling point pair, i.e., the first sampling point pair (B1, B2), (B2, B3), (B3, B4), (B4, B5), …, (B12, B13) is obtained.

[0102] Next, it is determined whether the interval distance between the first sampling point and each first sampling point pair is greater than the distance threshold d. The interval threshold of the present application is a reasonable threshold parameter set according to the sampling level accuracy. In the case of road network data, the threshold can be set according to the sampling level accuracy and the sparsity of the road network.

[0103] In implementation, the interval distance between the first sampling point and each first sampling point pair is determined by the following method:

[0104] For any first sampling point pair, a connecting line of the two candidate sampling points in the first sampling point pair is determined. If the perpendicular line of the first sampling point and the connecting line is located between the two candidate sampling points, the interval distance is determined according to the length of the perpendicular line. If the perpendicular line is not located between the two candidate sampling points, the distance between the first sampling point and the sampling point of the two candidate sampling points that is closest to the first sampling point is taken as the interval distance.

[0105] Specifically as Figure 3 shown on the left side, taking A1 as an example, if the perpendicular line s1 of A1 to the line between B1 and B2 falls between B1 and B2, the length of the perpendicular line s1 is taken as the interval distance. Alternatively, as Figure 3 shown on the right side, if the perpendicular line of A1 to the line between B1 and B2 does not fall between B1 and B2, the distance s2 of A1 to the nearest sampling point (i.e. B1 shown in the middle) is taken as the interval distance. Figure 3

[0106] The interval distance between the first sampling point and each first sampling point pair can be determined in the above manner. Next, the interval distance and the distance threshold are compared. If the interval distance of the first sampling point and any first sampling point pair is not greater than the distance threshold, the first sampling point is determined as the target sampling point.

[0107] When implemented, as Figure 4 shown, it is first determined whether {A1, (B1, B2)}≤d. The expression {A1, (B1, B2)} represents the interval distance of A1 and the first sampling point pair (B1, B2). Since the perpendicular line of A1 to the connecting line of B1 and B2 falls between B1 and B2, the interval distance of A1 and (B1, B2) is the length of the perpendicular line shown in the figure. Assuming that {A1, (B1, B2)}≤d, it is further determined whether {A1, (B2, B3)}≤d. Since the perpendicular line of A1 to the connecting line of B2 and B3 does not fall between B2 and B3, the interval distance of A1 and (B2, B3) is the distance of A1 to the nearest sampling point of B2 and B3, i.e. the distance of A1 to B2 shown in the figure. Thus, each first sampling point pair is traversed in turn. Until the interval distance of any first sampling point pair is greater than d.

[0108] Assuming that the interval distances of A1 and (B1, B2) and (B2, B3) are all ≤d, but {A1, (B3, B4)}>d. At this time, the traversal of the remaining first sampling point pairs is stopped, and it is determined that the first sampling point pairs having the coincidence relationship with A1 include (B1, B2) and (B2, B3).

[0109] After the above determination, if the interval distance of A1 and any first sampling point pair is ≤d, it means that A1 is the target sampling point. Correspondingly, assuming that the interval distances of A1 and each first sampling point pair are all >d, it means that A1 is not the target sampling point.

[0110] ​Step 104: determining the trajectory coincidence degree of the first trajectory and the second trajectory according to the target sampling points;

[0111] In implementation, the sampling point sequence of the target trajectory is determined according to the sampling sequence of each target sampling point; wherein, the target sampling points in each sampling point sequence are arranged in the order from the first sampling to the last sampling, and there is no non-target sampling point between any two adjacent target sampling points in the sampling sequence; and the target sampling points in different sampling point sequences are all different.

[0112] Still taking the above-mentioned Figure 2 as an example, assuming that it is determined through the target sampling point judgment in step 103 that all the sampling points in the first trajectory except A7 are target sampling points. Then, the sampling point sequence [A1, A2, A3, A4, A5, A6] and the sampling point sequence [A8, A9, A10, A11, A12, A13] are obtained, so that there is no non-target sampling point between any two adjacent target sampling points in the sampling sequence.

[0113] Then, the sequence polyline length of each sampling point sequence is determined, and the total polyline length of the target trajectory is determined according to the polyline length of each adjacent sampling point in the target trajectory. Taking the sampling point sequence [A1, A2, A3, A4, A5, A6] as an example, the sequence polyline length of the sampling point sequence is the sum of the polyline lengths between each adjacent sampling point in [A1, A2, A3, A4, A5, A6], as shown in the following formula (2). Figure 5

[0114] Finally, the trajectory coincidence degree is determined according to the sequence polyline length of the first trajectory, the total polyline length of the first trajectory, the sequence polyline length of the second trajectory, and the total polyline length of the second trajectory.

[0115] Specifically, the first coincidence coefficient of the first trajectory and the second coincidence coefficient of the second trajectory can be determined according to the total polyline length of the first trajectory and the total polyline length of the second trajectory. Finally, the trajectory coincidence degree is determined according to the first coincidence coefficient, the second coincidence coefficient, the sequence polyline length, and the total polyline length.

[0116] In implementation, the coincidence coefficient is determined through the following formula (1) first:

[0117]

[0118] wherein, W A is the first coincidence coefficient, W B is the second coincidence coefficient, D A is the total polyline length of the first trajectory, and D B is the total polyline length of the second trajectory.

[0119] ​After the coincidence coefficient is determined, the trajectory coincidence degree is determined according to the following formula (2):

[0120]

[0121] Wherein, C AB is the trajectory coincidence degree, W A is the first coincidence coefficient, W B is the second coincidence coefficient, D A is the total polyline length of the first trajectory, D A is the sum of the lengths of the sequence polylines in the first trajectory, D B is the total polyline length of the second trajectory, D B is the sum of the lengths of the sequence polylines in the second trajectory.

[0122] Through the above process, the trajectory coincidence degree with direction can be decomposed into the comparison of the sampling point spacing to avoid manual operation. In the case of sufficient resources, the polyline length can be replaced by the actual road distance obtained by road network data to improve the calculation accuracy of the trajectory coincidence degree.

[0123] In implementation, after the sampling point sequence of the target trajectory is determined according to the sampling order of each target sampling point, for each sampling point sequence, the target road length of the sampling point sequence in the traffic road network is obtained through the traffic road network data. Then, the trajectory coincidence degree is determined according to the total road length of the first trajectory and the target road length, and the total road length of the second trajectory and the target road length.

[0124] Specifically, the polyline length (i.e. DA, DB) in the above formula (1)-(2) can be replaced by the road length (LA, LB), and then the following formula (3)-(4) is obtained, and the trajectory coincidence degree is determined by the following formula (3)-(4):

[0125]

[0126] Wherein, W A is the first coincidence coefficient, W B is the second coincidence coefficient, L A is the total road length of the first trajectory, L B is the total road length of the second trajectory.

[0127]

[0128] Wherein, C AB is the trajectory coincidence degree, L A is the sum of the target road lengths in the first trajectory, L B is the sum of the target road lengths in the second trajectory.

[0129] To facilitate understanding of the technical solutions provided in the present application, the specific process of how to determine the sequence of sampling points in the present application is explained and described below with data examples.

[0130] Still taking the foregoing example Figure 2 , the following steps S1-S4 show how to determine the sequence of sampling points in the first trajectory A:

[0131] S1, performing a preset processing on A1 to determine whether A1 is a target sampling point;

[0132] Since A1 is the earliest sampling point in the sampling sequence, all the sampling points of the second trajectory B are taken as candidate sampling points of A1. Next, the first sampling point pairs are established according to the candidate sampling points, and the interval distances between A1 and each first sampling point pair are calculated, and whether A1 is a target sampling point is determined according to the comparison result of the interval distance and the distance threshold.

[0133] It is found that {A1, (B1, B2)}≤d, {A1, (B2, B3)}≤d, and {A1, (B3, B4)}>d. At this time, the comparison of the subsequent first sampling point pairs is stopped. Since A1 has the first sampling point pairs with overlapping relationship, i.e. (B1, B2) and (B2, B3). Therefore, A1 is taken as a target sampling point. And A2 is processed.

[0134] S2, performing a preset processing on A2 to determine whether A2 is a target sampling point.

[0135] Since the sampling sequence of A2 is not the earliest, there is a target sampling point A1 before it. Therefore, A1 is taken as the comparison sampling point of A2. Next, the first sampling point pairs of the comparison sampling point are obtained, i.e. the first sampling point pairs (B1, B2), (B2, B3), (B3, B4), (B4, B5)……, (B12, B13) corresponding to A1. Then, the interval distances between the comparison sampling point and each first sampling point pair are determined.

[0136] Specifically, since A1 has been determined as a target sampling point through the above-mentioned judgment process of the target sampling point, the judgment result of the interval distance between A1 and each first sampling point pair and the distance threshold d is known. Taking the example in step S1 in the foregoing as an example, since {A1, (B1, B2)}≤d, {A1, (B2, B3)}≤d, and {A1, (B3, B4)}>d. At this time, all the sampling points in the first sampling point pairs (B1, B2), (B2, B3) with overlapping relationship with A1 are taken as the sampling points to be processed.

[0137] Thus, the to-be-processed sampling points B1-B3 are obtained. Next, the two sampling points B2 and B3 with the last sampling order in the to-be-processed sampling points and all the second sampling points after the two sampling points are taken as the candidate sampling points of A2, and the candidate sampling points of A2 are B2-B13, that is, the first sampling point pairs corresponding to A2 are (B2, B3), (B3, B4), (B4, B5), …, (B12, B13).

[0138] It is found that {A2, (B2, B3)}≤d, {A2, (B3, B4)}≤d, and {A2, (B4, B5)}>d. At this time, the comparison of the subsequent first sampling point pairs is stopped. Since A2 has the first sampling point pairs (B2, B3) and (B3, B4) with the coincidence relationship, A2 is taken as the target sampling point. A3 is processed.

[0139] Suppose that only A7 in the first track A is not the target sampling point, and the processing steps of A3-A6 and A8-A13 are the same as those of the aforementioned “judgment process of A2”, which will not be repeated here.

[0140] S3, A7 is processed to determine whether A7 is the target sampling point.

[0141] Suppose that the two to-be-processed sampling points with the last sampling order in the first sampling point pairs corresponding to A6 are (B7, B8). The first sampling point pairs corresponding to A7 are (B7, B8), (B8, B9), (B9, B10), …, (B12, B13). When the interval distances between A7 and any first sampling point pair are all greater than the distance threshold d, that is, the judgment result is {A7, (B7, B8)}>d, {A7, (B8, B9)}>d, {A7, (B9, B10)}>d, {A7, (B10, B11)}>d, {A7, (B11, B12)}>d, and {A7, (B12, B13)}>d, it is determined that A7 is not the target sampling point.

[0142] S4, the sampling point sequence of the first track A is determined according to the target sampling points in the first track A.

[0143] After the target sampling points corresponding to the first track A are determined, the target sampling points with adjacent sampling orders form the sampling point sequence.

[0144] When the sampling point sequence is constructed, it is necessary to ensure that there is no non-target sampling point between any two adjacent target sampling points in the sampling point sequence. Since all the sampling points in the first track A are target sampling points except A7, two sampling point sequences [A1, A2, A3, A4, A5, A6] and [A8, A9, A10, A11, A12, A13] are obtained.

[0145] Next, the same processing method can be used to obtain the sampling point sequence corresponding to the second trajectory B, and the second trajectory B will not be described here.

[0146] After obtaining the sampling point sequences in the first trajectory A and the second trajectory B, the trajectory coincidence degree between the first trajectory A and the second trajectory B is obtained by substituting the formula (1)-(2) or (3)-(4) in the foregoing step 103.

[0147] In the technical solution of the present application, the trajectory coincidence degree with direction is disassembled into a comparison problem of sampling point spacing to avoid manual participation in the process, thereby improving the detection accuracy and reducing the calculation time.

[0148] Based on the same inventive concept, the present application provides a trajectory coincidence detection device 600 for a driving trajectory, as shown in Figure 6 The trajectory acquisition module 601 is configured to execute the first trajectory and the second trajectory composed of a plurality of sampling points in response to the detection instruction.

[0149] The trajectory acquisition module 601 is configured to execute the first trajectory and the second trajectory composed of a plurality of sampling points in response to the detection instruction.

[0150] The candidate sampling module 602 is configured to determine the candidate sampling point of the first sampling point from the second sampling point in the target trajectory; wherein, if the target trajectory is the first trajectory, the first sampling point is the sampling point of the first trajectory and the second sampling point is the sampling point of the second trajectory; if the target trajectory is the second trajectory, the first sampling point is the sampling point of the second trajectory and the second sampling point is the sampling point of the first trajectory.

[0151] The target sampling module 603 is configured to determine whether the first sampling point is a target sampling point according to the interval distance between the first sampling point and each candidate sampling point.

[0152] The trajectory coincidence module 604 is configured to determine the trajectory coincidence degree between the first trajectory and the second trajectory according to the target sampling point.

[0153] In some possible embodiments, the target sampling module is configured to determine whether the first sampling point is a target sampling point according to the interval distance between the first sampling point and each candidate sampling point.

[0154] According to the sampling sequence from the first to the last, each two sampling sequence adjacent candidate sampling points are constructed into a first sampling point pair.

[0155] According to the interval distance between the first sampling point and each first sampling point pair, it is determined whether the first sampling point is a target sampling point.

[0156] In some possible embodiments, the determining whether the first sampling point is a target sampling point according to the interval distance between the first sampling point and each first sampling point pair is performed, and the trajectory coincidence module is configured to:

[0157] If the interval distance between the first sampling point and any first sampling point pair is not greater than a distance threshold, the first sampling point is determined as a target sampling point.

[0158] The interval distance is determined in the following manner:

[0159] For any first sampling point pair, a connecting line between the two candidate sampling points in the first sampling point pair is determined.

[0160] If the perpendicular line of the first sampling point and the connecting line is located between the two candidate sampling points, the interval distance is determined according to the length of the perpendicular line.

[0161] If the perpendicular line is not located between the two candidate sampling points, the distance between the sampling point adjacent to the first sampling point and the first sampling point in the two candidate sampling points is taken as the interval distance.

[0162] In some possible embodiments, the determining the candidate sampling point of the first sampling point from the second sampling points, the candidate sampling module is configured to:

[0163] If the sampling order of the first sampling point is the earliest in the first sampling points, or the first sampling point does not have a comparison sampling point, all the second sampling points are taken as the candidate sampling points of the first sampling point, wherein the comparison sampling point is a target sampling point with a sampling order earlier than the first sampling point and adjacent to the first sampling point.

[0164] Otherwise, the candidate sampling points are determined according to the first sampling point pair of the comparison sampling point.

[0165] In some possible embodiments, the determining the candidate sampling point according to the first sampling point pair of the comparison sampling point is performed, and the candidate sampling module is configured to:

[0166] A to-be-processed sampling point is determined according to the interval distance between the comparison sampling point and the first sampling point pair.

[0167] The candidate sampling points include the to-be-processed sampling point with the last sampling order and all the second sampling points with sampling orders after the two to-be-processed sampling points.

[0168] In some possible embodiments, the determining the trajectory coincidence degree between the first trajectory and the second trajectory according to the target sampling point is performed, and the trajectory coincidence module is configured to:

[0169] determining a sequence of sampling points of the target trajectory according to the sampling order of each of the target sampling points; wherein the target sampling points in each sequence of sampling points are arranged in the order of sampling from early to late, and there is no non-target sampling point between any two adjacent target sampling points in the sampling order; and the target sampling points in different sequences of sampling points are all different;

[0170] for each sequence of sampling points, determining a sequence polyline length of the sequence of sampling points; wherein the sequence polyline length is the sum of the polyline lengths of adjacent target sampling points in the sequence of sampling points;

[0171] determining a total polyline length of the target trajectory according to the polyline lengths of adjacent sampling points in the target trajectory; and determining the trajectory coincidence degree according to the sequence polyline length of the first trajectory, the total polyline length of the first trajectory, the sequence polyline length of the second trajectory, and the total polyline length of the second trajectory.

[0172] In some possible embodiments, after the determining of the sequence of sampling points of the target trajectory according to the sampling order of each of the target sampling points, the trajectory coincidence module is further configured to:

[0173] for each sequence of sampling points, obtaining a target road surface length of the sequence of sampling points in the traffic road network through the traffic road network data;

[0174] determining the trajectory coincidence degree according to the total road surface length and the target road surface length of the first trajectory, and the total road surface length and the target road surface length of the second trajectory.

[0175] In some possible embodiments, after the determining of the trajectory coincidence degree according to the sequence polyline length of the first trajectory, the total polyline length of the first trajectory, the sequence polyline length of the second trajectory, and the total polyline length of the second trajectory, the trajectory coincidence module is configured to:

[0176] determining a first coincidence coefficient of the first trajectory and a second coincidence coefficient of the second trajectory according to the total polyline length of the first trajectory and the total polyline length of the second trajectory;

[0177] determining the trajectory coincidence degree according to the first coincidence coefficient, the second coincidence coefficient, the sequence polyline length, and the total polyline length.

[0178] The electronic device 130 according to this embodiment of the present application will be described below with reference to Figure 7 Figure 7 The displayed electronic device 130 is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0179] As Figure 7 ​As shown, the electronic device 130 is in the form of a general electronic device. The components of the electronic device 130 can include, but are not limited to, the at least one processor 131 described above, the at least one memory 132 described above, and a bus 133 that connects the various system components, including the memory 132 and the processor 131.

[0180] The bus 133 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures.

[0181] The memory 132 can include a readable medium, such as a volatile memory, e.g., random access memory (RAM) 1321, and / or a cache memory 1322, and can further include a non-volatile memory, e.g., read-only memory (ROM) 1323.

[0182] The memory 132 can also include a program / utility 1325 having a set of programs / modules 1324, including an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, which can include implementation of a network environment.

[0183] The electronic device 130 can also communicate with one or more external devices 134 such as a keyboard or a pointing device, which can be disposed on or off the electronic device 130, by way of the I / O interface 135. Furthermore, the electronic device 130 can communicate with one or more devices that enable a user to interact with the electronic device 130 and / or one or more devices (e.g., a router, a modem, etc.) that enables the electronic device 130 to communicate with one or more other electronic devices. Such communication can occur via an I / O interface 135. Still yet, the electronic device 130 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or the Internet) through a network adapter 136. As depicted, the network adapter 136 communicates with the other components of the electronic device 130 via the bus 133. It should be appreciated that the network adapter 136 and / or the other hardware and / or software components depicted in FIG. 1 can be utilized in conjunction with the electronic device 130, although they are not explicitly shown. For example, a microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc., can be utilized.

[0184] In an example embodiment, a computer readable storage medium is also provided, such as the memory 132 including instructions, which can be executed by the processor 131 of the electronic device 130 to implement the methods described above. Optionally, the computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and / or optical data storage device, etc.

[0185] In an example embodiment, a computer program product including computer program / instructions is also provided, which, when executed by the processor 131, implements the method for detecting coincidence of driving trajectories as provided in the present disclosure.

[0186] In an example embodiment, various aspects of the method for detecting coincidence of driving trajectories provided in the present disclosure can also be implemented as a program product, which includes program codes, when the program product is run on a computer device, the program codes are used to cause the computer device to execute the steps of the method for detecting coincidence of driving trajectories according to various example embodiments of the present disclosure described above in the specification.

[0187] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0188] The program product for detecting coincidence of driving trajectories of the embodiments of the present disclosure can adopt a portable compact disc read-only memory (CD-ROM) and include program codes, and can be run on an electronic device. However, the program product of the present disclosure is not limited thereto, and in the present document, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, device or apparatus.

[0189] The readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, in which readable program codes are borne. Such a propagated data signal can take on various forms, including but not limited to electro-magnetic signal, optical signal or any suitable combination thereof. The readable signal medium can also be any readable medium that is not a readable storage medium and that can transmit, propagate or transport program for use by or in connection with an instruction execution system, device or apparatus.

[0190] The program codes contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0191] The program code may, through the use of program components, be implemented in any of various ways, including procedure-based execution, object-oriented execution, and / or virtual machine-based execution. A program component or other component may, for example, be implemented in hardware or software in combination with off-the-shelf components, or custom components. Additionally or alternatively, the program code may be implemented in transitory or non-transitory forms.

[0192] It should be noted that, although the above detailed description refers to several units or sub-units of the apparatus, such a division is merely illustrative and not mandatory. Indeed, according to an embodiment of the application, features and functions of two or more units described above can be embodied in one unit. Conversely, features and functions of one unit described above can be split into several units.

[0193] Moreover, while operations of the methods of the present application are described in a particular order in the figures, this is not required or implied in any particular order for performing the operations to achieve the desired results. Additionally or alternatively, certain steps can be omitted, combined into fewer steps, and / or split into multiple steps.

[0194] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0195] The computer program instructions can also be loaded onto a computer or other programmable image processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0196] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable image processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0197] The computer program instructions can also be loaded onto a computer or other programmable image processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0198] While the preferred embodiments of the application have been described, additional variations and modifications can be employed by those skilled in the art. Therefore, the appended claims intend to cover all such modifications and variations as fall within the true spirit and scope of the application.

[0199] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method for detecting the overlap of driving trajectories, characterized in that, The method includes: In response to a detection indication, a first trajectory and a second trajectory consisting of multiple sampling points are acquired; For a first sampling point in the target trajectory, candidate sampling points for the first sampling point are determined from the second sampling points; wherein, if the target trajectory is the first trajectory, then the first sampling point is a sampling point of the first trajectory and the second sampling point is a sampling point of the second trajectory; if the target trajectory is the second trajectory, then the first sampling point is a sampling point of the second trajectory and the second sampling point is a sampling point of the first trajectory. According to the sampling order, every two candidate sampling points that are adjacent in the sampling order are constructed as the first sampling point pair; for each first sampling point, if the distance between the first sampling point and any first sampling point pair is not greater than the distance threshold, then the first sampling point is taken as the target sampling point. The sampling point sequence of the target trajectory is determined according to the sampling order of each target sampling point; wherein, the target sampling points in each sampling point sequence are arranged in the order of sampling from first to last, and there are no non-target sampling points between any two adjacent target sampling points whose sampling order is between the two target sampling points; the target sampling points in different sampling point sequences are all different; Obtain the total polyline length of the target trajectory and the sequence polyline length corresponding to each sampling point sequence; the total polyline length is the sum of the polyline lengths of each adjacent sampling point within the target trajectory; the sequence polyline length is the sum of the polyline lengths of each adjacent target sampling point within the corresponding sampling point sequence; The ratio of the total length of the first trajectory to the sum of the total lengths of the first and second trajectories is used as the first coincidence coefficient; and the ratio of the total length of the second trajectory to the sum of the total lengths of the first and second trajectories is used as the second coincidence coefficient. The overlap between the first trajectory and the second trajectory is determined based on the first overlap coefficient, the second overlap coefficient, the sequence broken line length, and the total broken line length.

2. A method for detecting the overlap of driving trajectories, characterized in that, The method includes: In response to a detection indication, a first trajectory and a second trajectory consisting of multiple sampling points are acquired; For a first sampling point in the target trajectory, candidate sampling points for the first sampling point are determined from the second sampling points; wherein, if the target trajectory is the first trajectory, then the first sampling point is a sampling point of the first trajectory and the second sampling point is a sampling point of the second trajectory; if the target trajectory is the second trajectory, then the first sampling point is a sampling point of the second trajectory and the second sampling point is a sampling point of the first trajectory. According to the sampling order, every two candidate sampling points that are adjacent in the sampling order are constructed as the first sampling point pair; for each first sampling point, if the distance between the first sampling point and any first sampling point pair is not greater than the distance threshold, then the first sampling point is taken as the target sampling point. The sampling point sequence of the target trajectory is determined according to the sampling order of each target sampling point; wherein, the target sampling points in each sampling point sequence are arranged in the order of sampling from first to last, and there are no non-target sampling points between any two adjacent target sampling points whose sampling order is between the two target sampling points; the target sampling points in different sampling point sequences are all different; Obtain the total road surface length corresponding to the target trajectory in the traffic network, and the target road surface length corresponding to each sampling point sequence in the target trajectory in the traffic network; The ratio of the total road surface length of the first trajectory to the sum of the total road surface lengths of the first trajectory and the second trajectory is used as the third coincidence coefficient; and the ratio of the total road surface length of the second trajectory to the sum of the total road surface lengths of the first trajectory and the second trajectory is used as the fourth coincidence coefficient. The overlap between the first trajectory and the second trajectory is determined based on the third overlap coefficient, the fourth overlap coefficient, the target road surface length, and the total road surface length.

3. The method according to claim 1 or 2, characterized in that, The interval distance is determined in the following manner: For any pair of first sampling points, determine the connecting line between the two candidate sampling points within the pair of first sampling points; If the perpendicular line between the first sampling point and the connecting line is located between the two candidate sampling points, then the interval distance is determined according to the length of the perpendicular line; If the sampling point is not located between the two candidate sampling points, then the distance between the sampling point closest to the first sampling point and the first sampling point is taken as the interval distance.

4. The method according to claim 1 or 2, characterized in that, The step of determining candidate sampling points for the first sampling point from the second sampling points includes: If the sampling order of the first sampling point is the earliest among all the first sampling points, or if the first sampling point does not have a comparison sampling point, then all the second sampling points are used as candidate sampling points for the first sampling point; wherein, the comparison sampling point is a candidate sampling point whose sampling order is before the first sampling point and is adjacent to the first sampling point; Otherwise, the candidate sampling point is determined based on the first sampling point pair of the comparison sampling points; The step of determining the candidate sampling point based on the first sampling point pair of the comparison sampling points includes: Each first sampling point in the first sampling point pair whose interval distance with the comparison sampling point is less than the distance threshold is taken as a sampling point to be processed; The two last sampling points in the sampling order, and all the second sampling points after the two last sampling points in the sampling order, are taken as the candidate sampling points.

5. A device for detecting the overlap of driving trajectories, characterized in that, The device includes: The first trajectory acquisition module is configured to perform a response to a detection indication to acquire a first trajectory and a second trajectory consisting of multiple sampling points; The first candidate sampling module is configured to perform a first sampling point in the target trajectory and determine candidate sampling points from the second sampling points; wherein, if the target trajectory is the first trajectory, then the first sampling point is a sampling point of the first trajectory and the second sampling point is a sampling point of the second trajectory; if the target trajectory is the second trajectory, then the first sampling point is a sampling point of the second trajectory and the second sampling point is a sampling point of the first trajectory. The first target sampling module is configured to construct a first sampling point pair from every two adjacent candidate sampling points according to the sampling order; for each first sampling point, if the distance between the first sampling point and any first sampling point pair is not greater than a distance threshold, then the first sampling point is taken as the target sampling point. The first trajectory overlap module is configured to determine the sampling point sequence of the target trajectory according to the sampling order of each target sampling point; wherein the target sampling points in each sampling point sequence are arranged in the order of sampling from first to last, and there are no non-target sampling points between any two adjacent target sampling points; the target sampling points in different sampling point sequences are all different; Obtain the total polyline length of the target trajectory and the sequence polyline length corresponding to each sampling point sequence; the total polyline length is the sum of the polyline lengths of each adjacent sampling point within the target trajectory; the sequence polyline length is the sum of the polyline lengths of each adjacent target sampling point within the corresponding sampling point sequence; The ratio of the total length of the first trajectory to the sum of the total lengths of the first and second trajectories is used as the first coincidence coefficient; and the ratio of the total length of the second trajectory to the sum of the total lengths of the first and second trajectories is used as the second coincidence coefficient. The overlap between the first trajectory and the second trajectory is determined based on the first overlap coefficient, the second overlap coefficient, the sequence broken line length, and the total broken line length.

6. A device for detecting the overlap of driving trajectories, characterized in that, The device includes: The second trajectory acquisition module is configured to perform a response to a detection indication to acquire a first trajectory and a second trajectory consisting of multiple sampling points. The second candidate sampling module is configured to perform a process of selecting candidate sampling points from the second sampling points for a first sampling point in the target trajectory; wherein, if the target trajectory is the first trajectory, then the first sampling point is a sampling point of the first trajectory and the second sampling point is a sampling point of the second trajectory; if the target trajectory is the second trajectory, then the first sampling point is a sampling point of the second trajectory and the second sampling point is a sampling point of the first trajectory. The second target sampling module is configured to construct a first sampling point pair from every two adjacent candidate sampling points according to the sampling order; for each first sampling point, if the distance between the first sampling point and any first sampling point pair is not greater than a distance threshold, then the first sampling point is taken as the target sampling point. The second trajectory overlap module is configured to determine the sampling point sequence of the target trajectory according to the sampling order of each target sampling point; wherein the target sampling points in each sampling point sequence are arranged in the order of sampling from first to last, and there are no non-target sampling points between any two adjacent target sampling points; the target sampling points in different sampling point sequences are all different; Obtain the total road surface length corresponding to the target trajectory in the traffic network, and the target road surface length corresponding to each sampling point sequence in the target trajectory in the traffic network; The ratio of the total road surface length of the first trajectory to the sum of the total road surface lengths of the first trajectory and the second trajectory is used as the third coincidence coefficient; and the ratio of the total road surface length of the second trajectory to the sum of the total road surface lengths of the first trajectory and the second trajectory is used as the fourth coincidence coefficient. The overlap between the first trajectory and the second trajectory is determined based on the third overlap coefficient, the fourth overlap coefficient, the target road surface length, and the total road surface length.

7. An electronic device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the steps of the method according to any one of claims 1-4.

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