A method and system for highway vehicle trajectory reconstruction

Abstract

The present application belongs to the technical field of vehicle trajectory detection, and particularly relates to a highway vehicle trajectory restoration method and system, comprising: S1: uploading real-time heartbeat data and service data of a portal frame system to a data receiving server of a provincial center; S2: preprocessing the heartbeat data through a leap time analysis algorithm; S3: through the preprocessed heartbeat data, performing leap time processing and time sorting correction on the service data, and then combining portal latitude and longitude information to restore the trajectory on a map to obtain a vehicle trajectory corresponding to the service data; the vehicle trajectory comprises a license plate recognition trajectory and a transaction trajectory; and S4: fusing and displaying the license plate recognition trajectory and the transaction trajectory through a path fusion algorithm. The present application can solve the problem of data interference caused by portal frame leap time phenomenon when restoring the highway vehicle trajectory.

Description

Technical Field

[0001] This invention belongs to the field of vehicle trajectory detection technology, and in particular relates to a method and system for reconstructing vehicle trajectories on highways. Background Technology

[0002] With the elimination of provincial toll stations on national expressways and the implementation of a nationwide unified toll collection network, a new "single network" operation pattern has been formed across the country, resulting in a significant change in the toll collection model. Vehicle tolls will shift from the previous fixed point-to-point charges to charges based on actual travel trajectories, and the visualization and reconstruction of vehicle travel trajectories has become a key focus for expressway operators.

[0003] Since vehicle trajectory reconstruction requires collecting data such as vehicle entry count, gantry transaction data, gantry license plate data, and exit data generated during vehicle passage, the above data needs to have a fixed timeliness to eliminate the interference of data delay. At the same time, it is necessary to collect the latitude and longitude of the gantries and toll stations and related information. In the actual generation environment, there may be gantry time jump phenomenon (clock asynchrony), and trajectory reconstruction is sorted by time, which will interfere with the trajectory reconstruction data. Summary of the Invention

[0004] The technical problem solved by this invention is to provide a method and system for reconstructing the trajectory of vehicles on highways, so as to solve the problem of data interference caused by gantry jump phenomenon when reconstructing the trajectory of vehicles on highways.

[0005] The basic solution provided by this invention is a method for reconstructing vehicle trajectories on highways, comprising:

[0006] S1: Upload the real-time heartbeat data and business data of the gantry system to the data receiving server of the provincial center;

[0007] S2: Preprocess the heartbeat data using a beat time analysis algorithm;

[0008] S3: Using the preprocessed heartbeat data, the business data is processed for time jump and corrected for time sorting. Then, combined with the gantry latitude and longitude information, the trajectory is restored on the map to obtain the vehicle trajectory of the corresponding business data. The vehicle trajectory includes license plate trajectory and transaction trajectory.

[0009] S4: The card recognition trajectory and transaction trajectory are merged and displayed through a path fusion algorithm.

[0010] Furthermore, the business data includes gantry transaction data, gantry license plate recognition data, vehicle model data, vehicle speed data, entrance transaction data, entrance image data, exit transaction data, exit image data, and gantry server time. The heartbeat data includes time and gantry system information.

[0011] Furthermore, S1 includes:

[0012] S1-1: Deploy a BeiDou timing server in the gantry system, and deploy a data receiving server and a BeiDou timing server in the provincial center. The data receiving server is synchronized with the clock of the BeiDou timing server. The gantry system includes a gantry server, and the gantry server is synchronized with the clock of the BeiDou timing server.

[0013] S1-2: Obtain heartbeat data and business data uploaded in real time by the gantry server through the data receiving server.

[0014] Furthermore, S2 includes:

[0015] S2-1: Read the heartbeat data uploaded by the gantry server, compare the upload time of the heartbeat data with the time of the data receiving server. If the upload time is not synchronized with the time of the data receiving server, then the gantry server is designated as the hop time server, and the heartbeat data uploaded by the hop time server is the hop time data.

[0016] S2-2: Report the time-skip data and notify the operations and maintenance department to fix it.

[0017] Furthermore, S3 includes:

[0018] S3-1: Calculate the time difference between the upload time of the repaired time jump data and the historical heartbeat data, and repair and correct the time of the business data according to the time difference to obtain the corrected business data;

[0019] S3-2: Based on the heartbeat data and the corrected business data, combined with the gantry latitude and longitude information, the vehicle trajectory is restored. If no ambiguous route is found during the restoration process, the heartbeat data uploaded by the server at the time of the jump is removed, and the trajectory is restored directly.

[0020] S3-3: If an ambiguous route occurs during the restoration process, the repaired heartbeat data is connected to the historical heartbeat data during the vehicle's driving process based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged based on the vehicle model data to determine whether it is reasonable. If it is not reasonable, it is recalculated until the vehicle's driving trajectory is normal after the heartbeat data is connected.

[0021] The principle and advantages of this invention are as follows: First, it acquires the heartbeat data and business data of vehicles traveling on highways. The heartbeat data is uploaded in real-time by the gantry system's server, while the business data is backed up. Therefore, gantry systems are installed at both highway entrances and exits. When a vehicle enters the highway, the gantry system identifies and collects information. When the vehicle exits the highway, the gantry performs toll transactions, information identification, and information collection. Toll transactions require recording the vehicle's trajectory; therefore, a BeiDou time synchronization server is deployed in the gantry system. The gantry system's server synchronizes its clock with the BeiDou time synchronization server. A data receiving server and a BeiDou time synchronization server are deployed in the data center. The data receiving server synchronizes its clock with the BeiDou time synchronization server. Thus, when the data receiving server receives data uploaded by the gantry server, it can ensure the timeliness of the data. Consistency is crucial. When data time discrepancies occur, specifically when the gantry time in the data uploaded by the gantry server is out of sync with the heartbeat data received by the data receiving server, the out-of-sync heartbeat data needs to be repaired. After repair, the heartbeat data clock must be synchronized. Simultaneously, the time of the business data needs time-skip processing and time sorting correction. Specifically, if the road segment traveled by the vehicle in the heartbeat data uploaded by the gantry server has no ambiguous path, the skipped time data is directly removed, and the trajectory is generated directly. If there is an ambiguous path, the time of the business data needs to be repaired based on the repaired skipped time data. During the repair process, the time difference between the business data and the heartbeat data is calculated to fill in the missing time in the business data, and this is then used to verify the restored trajectory. Once the vehicle speed matches the vehicle type and other information, the business data is considered correct, and the trajectory restoration is accurate.

[0022] Subsequently, vehicle trajectories are integrated. To ensure the accuracy of information such as toll collection and transactions, license plate recognition trajectories and transaction trajectories are integrated and displayed. This allows for the detection of any anomalies in the integrated trajectories, thus ensuring the accuracy of transaction data.

[0023] Therefore, the advantage of this invention is that by repairing the jump time data, it improves the accuracy of restoring the trajectory of a vehicle traveling on a highway.

[0024] A highway vehicle trajectory reconstruction system includes a data acquisition module, a time-skip processing module, a trajectory analysis module, and a trajectory display module, wherein:

[0025] The data acquisition module is used to acquire real-time heartbeat data and business data uploaded by the gantry system through the data receiving server;

[0026] The heartbeat timing processing module is used to preprocess the acquired heartbeat data using a heartbeat timing analysis algorithm.

[0027] The trajectory analysis module is used to process the business data by skipping time and correcting the time sorting through the preprocessed heartbeat data, and then combine it with the gantry latitude and longitude information to reconstruct the trajectory on the map to obtain the vehicle trajectory of the corresponding business data; the vehicle trajectory includes license plate trajectory and transaction trajectory.

[0028] The trajectory display module is used to fuse and display card recognition trajectory and transaction trajectory through a path fusion algorithm.

[0029] Furthermore, the business data includes gantry transaction data, gantry license plate recognition data, vehicle model data, vehicle speed data, entrance transaction data, entrance image data, exit transaction data, exit image data, and gantry server time. The heartbeat data includes time and gantry system information.

[0030] Furthermore, the data acquisition module acquires the real-time heartbeat data and business data uploaded by the gantry system through the data receiving server, specifically as follows:

[0031] A BeiDou timing server is deployed in the gantry system, and a data receiving server and a BeiDou timing server are deployed in the data center. The data receiving server is synchronized with the clock of the BeiDou timing server. The gantry system includes a gantry server, and the gantry server is synchronized with the clock of the BeiDou timing server.

[0032] The data receiving server obtains real-time heartbeat data and business data uploaded by the gantry server.

[0033] Furthermore, the time-skip processing module includes a comparison unit and a data reporting unit, wherein:

[0034] The comparison unit is used to compare the upload time of the heartbeat data uploaded by the gantry server with the time of the data receiving server after obtaining the heartbeat data. A comparison result is generated. If the upload time is not synchronized with the time of the data receiving server, the gantry server is designated as the time-hopping server, and the heartbeat data uploaded by this time-hopping server is considered time-hopping data.

[0035] The data reporting unit is used to report the time jump data and notify the operation and maintenance department to repair it.

[0036] Furthermore, the trajectory analysis module includes a time correction unit and a trajectory reconstruction unit, wherein:

[0037] The time correction unit is used to calculate the time difference between the upload time of the repaired time jump data and the historical heartbeat data, and to repair and correct the time of the business data according to the time difference to obtain the corrected business data.

[0038] The trajectory restoration unit is used to restore the vehicle trajectory based on the repaired heartbeat data and the corrected business data, combined with the gantry latitude and longitude information.

[0039] Specifically, in vehicle trajectory reconstruction:

[0040] If no ambiguous route is found, the heartbeat data uploaded by the server at the time of the jump will be removed, and the trajectory will be directly restored.

[0041] If an ambiguous route occurs during the restoration process, the repaired heartbeat data is integrated into the historical heartbeat data during the vehicle's operation based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged to be reasonable based on the vehicle model data. If it is not reasonable, it is recalculated until the vehicle's driving trajectory is normal after the heartbeat data is integrated. Attached Figure Description

[0042] Figure 1 This is a flowchart of an embodiment of the present invention;

[0043] Figure 2 This is a functional block diagram of an embodiment of the present invention. Detailed Implementation

[0044] The following detailed description illustrates the specific implementation method:

[0045] The implementation examples are basically as follows Figure 1 As shown: A method for reconstructing vehicle trajectories on highways, comprising:

[0046] S1: Upload the real-time heartbeat data and business data of the gantry system to the data receiving server of the provincial center; business data includes gantry transaction data, gantry license plate data, vehicle type data, vehicle speed data, entrance transaction data, entrance image data, exit transaction data, exit image data, and gantry server time; heartbeat data includes time and gantry system information.

[0047] In this embodiment, the gantry system is equipped with an information collection device that can collect relevant information about the vehicle on the road segment. It can also collect data from the vehicle's built-in data receiving and transmitting equipment through the Beidou server. The information collection device is installed on the highway gantries, toll stations, and entrances and exits, such as license plate recognition cameras, roadside units (RSUs), and on-board units (OBUs) on ETC vehicles. Through shooting and data transmission between the information collection devices, vehicle model data, vehicle speed data, entrance transaction data, entrance image data, gantry transaction data, gantry license plate recognition data, exit transaction data, exit image data, and gantry server time are obtained during the vehicle's journey on the highway.

[0048] The data includes: vehicle model data (the target vehicle's model number); speed data (the speed data matched to the target vehicle's model and the real-time speed data collected by the vehicle's built-in equipment during actual driving); entrance transaction data (transaction information recorded when the vehicle enters the toll station in the gantry system, including the entrance toll station, entrance time, entrance license plate, toll medium, entrance vehicle model, and entrance lane); entrance image data (vehicle images captured by cameras when the vehicle enters the toll station, including image file, image size, image capture time, camera lane, recognized license plate, and recognized vehicle color); and gantry transaction data (data from the roadside unit (RSU) and vehicle toll medium (ETC or CPC) when the vehicle passes through the gantry). Transaction data generated during ETC (Electronic Toll Collection) interaction includes license plate, entrance toll station, entrance lane, entrance vehicle type, gantry passage, transaction amount, and transaction time; gantry license plate recognition data is vehicle information identified by the license plate recognition camera when a vehicle passes through the gantry, including license plate, license plate color, vehicle color, vehicle type, vehicle class, license plate recognition time, and license plate image; exit transaction data is transaction data generated by ETC or CPU through RSU or manual operation when a vehicle passes through the exit toll station, including entrance station, exit station, entrance lane, exit lane, gantry passage, transaction time, and transaction amount; exit image data is image data taken by the camera when a vehicle passes through the exit, including vehicle license plate, vehicle color, vehicle type, shooting time, and shooting lane.

[0049] Among them, gantry transaction data and gantry license plate recognition data are the basis for vehicle trajectory reconstruction required in this application. The transaction trajectory of the vehicle needs to be reconstructed from the gantry transaction data, and the license plate recognition trajectory needs to be reconstructed from the gantry license plate recognition data, which will serve as the basis for charging. To ensure the accuracy of the vehicle trajectory, S1 specifically includes:

[0050] S1-1: Deploy a BeiDou timing server in the gantry system, and deploy a data receiving server and a BeiDou timing server in the data center. The data receiving server is synchronized with the clock of the BeiDou timing server. The gantry system includes a gantry server, and the gantry server is synchronized with the clock of the BeiDou timing server.

[0051] S1-2: Obtain the heartbeat data of vehicles traveling on the highway uploaded by the gantry server through the data receiving server.

[0052] In this embodiment, a BeiDou timing server is deployed in the industrial control computer of the highway gantry system and synchronized with the gantry's data server. The data center is usually located in the provincial center, where a data receiving server and a BeiDou timing server are deployed. The data receiving server is synchronized with the BeiDou timing server. The gantry system includes a gantry server, and the gantry servers are synchronized with the BeiDou timing server.

[0053] In actual use, the heartbeat data uploaded by the gantry server and the heartbeat data received by the data receiving server may be out of sync, a phenomenon known as time hopping. Therefore, in this application, when deploying the BeiDou time synchronization server, the environment of the computer room where it is located is guaranteed to be safe, and the power supply, server, network links, etc. are guaranteed to be normal, so as to eliminate connection problems or other unexpected situations with the gantry server from objective factors.

[0054] S2: Preprocess the heartbeat data using a beat time analysis algorithm;

[0055] S2 includes:

[0056] S2-1: Read the heartbeat data uploaded by the gantry server, compare the upload time of the heartbeat data with the time of the data receiving server. If the upload time is not synchronized with the time of the data receiving server, then the gantry server is designated as the hop time server, and the heartbeat data uploaded by the hop time server is the hop time data.

[0057] S2-2: Report the time-skip data and notify the operations and maintenance department to fix it.

[0058] In this embodiment, the heartbeat data uploaded by the gantry server includes the gantry time. If the clocks of the gantry server and the BeiDou time service server are not synchronized, there will be a difference between the heartbeat data time and the data receiving server time. The gantry server with this difference is a time-hopping server, and the data uploaded by the time-hopping server to the data receiving server is time-hopping data. In this embodiment, whether the heartbeat data is time-hopping data is determined by the gantry time in the heartbeat data, rather than the upload time, because there may be backlog of data during upload.

[0059] The time jump data is identified, and the relevant operation and maintenance department is notified to repair it. After the repair is completed, the upload time of the heartbeat data is made consistent with the synchronization time of the Beidou time service server, so as to ensure the real-time performance of the heartbeat data.

[0060] S3: Using the preprocessed heartbeat data, the business data is processed for time jump and corrected for time sorting. Then, combined with the gantry latitude and longitude information, the trajectory is restored on the map to obtain the vehicle trajectory of the corresponding business data. The vehicle trajectory includes license plate trajectory and transaction trajectory.

[0061] S3 includes:

[0062] S3-1: Calculate the time difference between the upload time of the repaired time jump data and the historical heartbeat data, and repair and correct the time of the business data according to the time difference to obtain the corrected business data;

[0063] S3-2: Based on the repaired heartbeat data and corrected business data, combined with the gantry latitude and longitude information, the vehicle trajectory is restored. If no ambiguous route is found during the restoration process, the heartbeat data uploaded by the server at the time of the jump is removed, and the trajectory is restored directly.

[0064] S3-3: If an ambiguous route occurs during the restoration process, the repaired heartbeat data is connected to the historical heartbeat data during the vehicle's driving process based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged based on the vehicle model data to determine whether it is reasonable. If it is not reasonable, it is recalculated until the vehicle's driving trajectory is normal after the heartbeat data is connected.

[0065] In this embodiment, the time of the business data is corrected based on the time of the repaired time-lapse data. Since the business data is backlogged data, its upload time usually has a certain time difference. Therefore, the time difference between the repaired time-lapse data and the business data is calculated, and the time of the business data is corrected. For example, the heartbeat data of the gantry server shows the time as "December 12, 2022, 00:00:00", and the data receiving server receives the heartbeat data as "December 12, 2022, 00:10:00". Therefore, it can be determined that the time difference of the gantry server is -10 minutes. Thus, the time of the data generated by the gantry server needs to be increased by 10 minutes to obtain the true time of the business data uploaded by the gantry server.

[0066] After the business data is corrected, the corresponding trajectory can be restored. Specifically, if there is no ambiguous path in the vehicle trajectory restoration process, that is, there are multiple paths to reach the next point and no gantry record in between, then the jump time data will be removed and the vehicle trajectory will be restored directly.

[0067] If an ambiguous path occurs, the repaired heartbeat data is integrated into the historical heartbeat data during the vehicle's journey, based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged to be reasonable based on the vehicle model data. If it is not reasonable, it is recalculated until the vehicle's trajectory is normal after the heartbeat data is integrated.

[0068] S4: The card recognition trajectory and transaction trajectory are merged and displayed through a path fusion algorithm.

[0069] The vehicle trajectory reconstruction process mainly focuses on reconstructing license plate recognition trajectory and transaction trajectory. The license plate recognition trajectory is achieved by using a license plate recognition camera on the gantry to identify vehicle information, including visual information such as license plate number, vehicle model, and vehicle color, and record the time of passage. The server sorts the data by time and then reconstructs the vehicle trajectory using the coordinates of the gantry.

[0070] The transaction trajectory is generated when a vehicle passes through a highway gantry. The Roadside Unit (RSU) on the gantry interacts with the On-Board Unit (OBU) on an ETC vehicle or the Composite Pass Card (CPC) on a temporary vehicle. The transaction data mainly includes the license plate, vehicle type, and vehicle color read from the ETC or CPC card. After sorting by time, the vehicle trajectory is reconstructed using the gantry coordinates.

[0071] The difference between license plate recognition trajectory and transaction trajectory is that they are completely independent and do not affect each other. License plate recognition information mainly relies on cameras to identify vehicle characteristics, while transaction information is mainly read from the vehicle's passage medium (ETC card or CPC card) through the Roadside Unit (RSU). Both methods may experience time jumps in the industrial control computer (RSU or camera's backend system), which can lead to abnormal vehicle trajectory reconstruction. The industrial control computer on the gantry interacts with the data receiving server in the provincial center through a "heartbeat" to determine whether both parties are alive and to record the time of both parties.

[0072] In other embodiments of this example, the path fitting trajectory and the toll path trajectory are also included. After restoration, they are fused using a path fusion algorithm. After fusion, if there are overlapping gantries between the two trajectories, it indicates that there is both vehicle identification and transaction, which is normal data. If there is an ambiguous path in the middle, it indicates that the vehicle's driving trajectory is abnormal, including the following situations:

[0073] 1. Vehicles using the same license plate: Two vehicles with the same license plate are traveling on different highways;

[0074] 2. Vehicles exchange toll medium: Two vehicles exchange toll mediums and travel on the highway.

[0075] Therefore, the highway vehicle trajectory restoration method of this application can generate a more accurate restored trajectory by analyzing and processing the jump time data, reducing the interference of jump time data, and can identify any abnormal situations by analyzing the trajectory restoration process.

[0076] like Figure 2 As shown, the present invention also includes a highway vehicle trajectory reconstruction system, comprising:

[0077] It includes a data acquisition module, a jump time processing module, a trajectory analysis module, and a trajectory display module, among which:

[0078] The data acquisition module is used to acquire real-time heartbeat data and business data uploaded by the gantry system through the data receiving server. The business data includes gantry transaction data, gantry license plate recognition data, vehicle model data, vehicle speed data, entrance transaction data, entrance image data, exit transaction data, exit image data, and gantry server time. The heartbeat data includes time and gantry system information. Specifically, the data acquisition module acquires the real-time heartbeat data and business data uploaded by the gantry system through the data receiving server as follows:

[0079] A BeiDou timing server is deployed in the gantry system, and a data receiving server and a BeiDou timing server are deployed in the data center. The data receiving server is synchronized with the clock of the BeiDou timing server. The gantry system includes a gantry server, and the gantry server is synchronized with the clock of the BeiDou timing server.

[0080] The data receiving server obtains real-time heartbeat data and business data uploaded by the gantry server.

[0081] The time-jump processing module is used to preprocess the acquired heartbeat data using a time-jump analysis algorithm. The module includes a comparison unit and a data reporting unit, wherein:

[0082] The comparison unit is used to compare the upload time of the heartbeat data uploaded by the gantry server with the time of the data receiving server after obtaining the heartbeat data. A comparison result is generated. If the upload time is not synchronized with the time of the data receiving server, the gantry server is designated as the hop time server, and the heartbeat data uploaded by this hop time server is considered hop time data.

[0083] The data reporting unit is used to report time-lapse data and notify the operations and maintenance department to perform repairs.

[0084] The trajectory analysis module uses preprocessed heartbeat data to perform time-skip processing and time sorting correction on business data. Combined with gantry latitude and longitude information, it reconstructs the trajectory on a map to obtain the vehicle trajectory of the corresponding business data. The vehicle trajectory includes license plate recognition trajectory and transaction trajectory. The trajectory analysis module includes a time correction unit and a trajectory reconstruction unit, wherein:

[0085] The time correction unit is used to calculate the time difference between the upload time of the repaired time jump data and the historical heartbeat data, and to repair and correct the time of the business data according to the time difference to obtain the corrected business data.

[0086] The trajectory restoration unit is used to restore the vehicle trajectory based on the repaired heartbeat data and corrected business data, combined with the gantry latitude and longitude information;

[0087] In vehicle trajectory reconstruction, specifically:

[0088] If no ambiguous route is found, the heartbeat data uploaded by the server at the time of the jump will be removed, and the trajectory will be directly restored.

[0089] If an ambiguous route occurs during the restoration process, the repaired heartbeat data is integrated into the historical heartbeat data during the vehicle's operation based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged to be reasonable based on the vehicle model data. If it is not reasonable, it is recalculated until the vehicle's driving trajectory is normal after the heartbeat data is integrated.

[0090] The trajectory display module is used to merge and display card recognition trajectory and transaction trajectory through path fusion algorithm.

[0091] The above are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A method for reconstructing vehicle trajectories on highways, characterized in that: include: S1: Upload the real-time heartbeat data and business data of the gantry system to the data receiving server of the provincial center; S2: Preprocess the heartbeat data using a beat time analysis algorithm; S3: Using the preprocessed heartbeat data, the business data is processed for time jump and corrected for time sorting. Then, combined with the gantry latitude and longitude information, the trajectory is restored on the map to obtain the vehicle trajectory of the corresponding business data. The vehicle trajectory includes license plate trajectory and transaction trajectory. S4: The card recognition trajectory and transaction trajectory are fused and displayed using a path fusion algorithm; The business data includes gantry transaction data, gantry license plate recognition data, vehicle model data, vehicle speed data, entrance transaction data, entrance image data, exit transaction data, exit image data, and gantry server time. The heartbeat data includes time and gantry system information. S1 includes: S1-1: Deploy a BeiDou timing server in the gantry system, and deploy a data receiving server and a BeiDou timing server in the data center. The data receiving server is clock-synchronized with the BeiDou timing server. The gantry system includes a gantry server, and the gantry server is clock-synchronized with the BeiDou timing server. S2 includes: S2-1: Read the heartbeat data uploaded by the gantry server, compare the time contained in the heartbeat data with the time of the data receiving server. If the time contained in the heartbeat data is not synchronized with the time of the data receiving server, then the gantry server is regarded as the time hop server, and the heartbeat data uploaded by the time hop server is the time hop data. S3 includes: S3-1: Calculate the time difference between the upload time of the repaired time jump data and the historical heartbeat data, and repair and correct the time of the business data according to the time difference to obtain the corrected business data.

2. The method for reconstructing the trajectory of a vehicle on a highway according to claim 1, characterized in that: S1 further includes: S1-2: Obtain heartbeat data and business data uploaded in real time by the gantry server through the data receiving server.

3. The method for reconstructing the trajectory of a vehicle on a highway according to claim 2, characterized in that: S2 further includes: S2-2: Report the time-skip data and notify the operations and maintenance department to fix it.

4. The method for reconstructing the trajectory of a vehicle on a highway according to claim 3, characterized in that: S3 further includes: S3-2: Based on the repaired heartbeat data and corrected business data, combined with the gantry latitude and longitude information, the vehicle trajectory is restored. If no ambiguous route is found during the restoration process, the heartbeat data uploaded by the server at the time of the jump is removed, and the trajectory is restored directly. S3-3: If an ambiguous route occurs during the restoration process, the repaired heartbeat data is connected to the historical heartbeat data during the vehicle's driving process based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged based on the vehicle model data to determine whether it is reasonable. If it is not reasonable, it is recalculated until the vehicle's driving trajectory is normal after the heartbeat data is connected.

5. A highway vehicle trajectory reconstruction system, characterized in that: It includes a data acquisition module, a jump time processing module, a trajectory analysis module, and a trajectory display module, among which: The data acquisition module is used to acquire real-time heartbeat data and business data uploaded by the gantry system through the data receiving server; The heartbeat timing processing module is used to preprocess the acquired heartbeat data using a heartbeat timing analysis algorithm. The trajectory analysis module is used to process the business data by skipping time and correcting the time sorting through the preprocessed heartbeat data, and then combine it with the gantry latitude and longitude information to reconstruct the trajectory on the map to obtain the vehicle trajectory of the corresponding business data; the vehicle trajectory includes license plate trajectory and transaction trajectory. The trajectory display module is used to fuse and display the card recognition trajectory and transaction trajectory through a path fusion algorithm; The business data includes gantry transaction data, gantry license plate recognition data, vehicle model data, vehicle speed data, entrance transaction data, entrance image data, exit transaction data, exit image data, and gantry server time. The heartbeat data includes time and gantry system information. The data acquisition module obtains real-time heartbeat data and business data uploaded by the gantry system through the data receiving server, specifically as follows: A BeiDou timing server is deployed in the gantry system, and a data receiving server and a BeiDou timing server are deployed in the data center. The data receiving server is synchronized with the clock of the BeiDou timing server. The gantry system includes a gantry server, and the gantry server is synchronized with the clock of the BeiDou timing server. The time-hopping processing module includes a comparison unit, which is used to compare the time contained in the heartbeat data with the time of the data receiving server after obtaining the heartbeat data uploaded by the gantry server; generate a comparison result; if the time contained in the comparison result is not synchronized with the time of the data receiving server, then the gantry server is regarded as the time-hopping server, and the heartbeat data uploaded by the time-hopping server is the time-hopping data. The trajectory analysis module includes a time correction unit, which is used to calculate the time difference between the upload time of the repaired jump time data and the historical heartbeat data, and to repair and correct the time of the business data according to the time difference to obtain the corrected business data.

6. The highway vehicle trajectory reconstruction system according to claim 5, characterized in that: The data acquisition module obtains real-time heartbeat data and business data uploaded by the gantry system through the data receiving server, and also includes: The data receiving server obtains real-time heartbeat data and business data uploaded by the gantry server.

7. A highway vehicle trajectory reconstruction system according to claim 6, characterized in that: The time-skip processing module further includes a data reporting unit, wherein: The data reporting unit is used to report the time jump data and notify the operation and maintenance department to repair it.

8. A highway vehicle trajectory reconstruction system according to claim 7, characterized in that: The trajectory analysis module also includes a trajectory restoration unit, which is used to restore the vehicle trajectory based on the repaired heartbeat data and the corrected business data, combined with the gantry latitude and longitude information. In vehicle trajectory reconstruction, specifically: If no ambiguous route is found, the heartbeat data uploaded by the server at the time of the jump will be removed, and the trajectory will be directly restored. If an ambiguous route occurs during the restoration process, the repaired heartbeat data is integrated into the historical heartbeat data during the vehicle's operation based on the corrected business data. The path and time difference from the previous normal gantry in the historical heartbeat data are compared to calculate the vehicle speed data. The vehicle speed data is then judged to be reasonable based on the vehicle model data. If it is not reasonable, it is recalculated until the vehicle's driving trajectory is normal after the heartbeat data is integrated.

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