Traffic perception data processing method and apparatus, and network device

Abstract

This invention provides a traffic perception data processing method, apparatus, and network device, relating to the field of intelligent transportation technology. The method includes: receiving a first input from a user onto a target map displayed on a screen; responding to the first input, determining a target roadside sensing device associated with a target intersection, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input; acquiring target traffic perception data from the target roadside sensing device at a preset frequency, and synchronously updating and displaying the target traffic perception data within the first map area. This invention, through user input on a map displayed on the screen, locates a target intersection within the map range the user wants to view, and displays the acquired target traffic perception data associated with the target intersection within the current map range, i.e., displays the traffic conditions at the target intersection. This roadside sensing scheme can meet the user's need to view real-time traffic conditions.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a method, apparatus and network equipment for processing traffic perception data. Background Technology

[0002] With the advancement of science and technology and the development of industry, the development of urban intelligent transportation has accelerated. Among them, roadside perception is an important component of V2X (Vehicle-to-Everything). It shares real-time road information perceived by sensors installed on the roadside with vehicles, enabling vehicles to have beyond-line-of-sight perception capabilities and providing a new direction for achieving higher levels of intelligent driving.

[0003] Currently, most roadside sensing solutions focus on vehicle-side or device-side research, concentrating on processing the data received by the vehicle-side or device-side. Their purpose is mostly to optimize the computational burden on the vehicle-side or roadside equipment, which cannot meet the user's need to view real-time traffic conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a traffic perception data processing method, apparatus, and network device to solve the problem that existing roadside perception schemes cannot meet users' needs for viewing real-time traffic conditions.

[0005] To achieve the above objectives, the present invention provides a traffic sensing data processing method, comprising:

[0006] Receive the user's first input on the target map displayed on the screen;

[0007] In response to the first input, a target road testing device associated with a target intersection is determined, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input;

[0008] The target traffic perception data of the target road test device is acquired at a preset frequency, and the target traffic perception data is synchronously updated and displayed in the first map area.

[0009] Wherein, the step of determining the target drive-by device associated with the target intersection in response to the first input includes:

[0010] When the operation of the first input is detected to have ended for a first preset time, the location information of the target intersection within the first map area is obtained in response to the first input.

[0011] Based on the location information of the target intersection, the target road testing equipment associated with the target intersection is determined.

[0012] Wherein, the step of obtaining the location information of the target intersection within the first map area in response to the first input includes:

[0013] In response to the first input, the target latitude and longitude of the first map area are determined, wherein the target latitude and longitude is the latitude and longitude of the center point of the first map area or the latitude and longitude of multiple corners of the first map area;

[0014] Based on the target latitude and longitude, match all intersections in the target map to obtain the location information of the target intersection within the first map area.

[0015] The step of acquiring the target traffic perception data of the target road testing device at a preset frequency includes:

[0016] If, according to the preset frequency, the first traffic perception data collected by the target road testing device is received in the current instance, and the second traffic perception data collected by the target road testing device was received in the previous instance, then the first traffic perception data is used as the target traffic perception data.

[0017] If, according to the preset frequency, the first traffic perception data is not received in the current instance, and the third traffic perception data collected by the target road testing device was received in the previous instance, then the third traffic perception data is taken as the target traffic perception data.

[0018] Among them, the first traffic perception data, the second traffic perception data, and the third traffic perception data are all motion state data of the first traffic participant.

[0019] The step of acquiring the target traffic perception data of the target road testing device at a preset frequency includes:

[0020] If, according to the preset frequency, the fourth traffic perception data collected by the target road testing device is not received in the current instance, and the fifth traffic perception data collected by the target road testing device was received in the previous instance, then the historical traffic perception data collected by the target road testing device is obtained.

[0021] Based on the historical traffic perception data, the target traffic perception data is obtained;

[0022] Among them, the fourth traffic perception data, the fifth traffic perception data, and the historical traffic perception data are all motion state data of the second traffic participants.

[0023] The step of obtaining the target traffic perception data based on the historical traffic perception data includes:

[0024] When the historical traffic perception data is the fifth traffic perception data, and the fifth traffic perception data includes the first latitude and longitude, first speed and first direction of the second traffic participant, the second latitude and longitude of the second traffic participant at that time is calculated based on the first latitude and longitude, first speed and first direction;

[0025] Based on the second latitude and longitude, the first speed, and the first direction, obtain the latitude and longitude of a first preset number of the second traffic participants.

[0026] The step of obtaining the target traffic perception data based on the historical traffic perception data includes:

[0027] When the historical traffic perception data includes the sixth traffic perception data collected multiple times by the target road testing equipment before the current time, and the sixth traffic perception data includes the third latitude and longitude, second speed and second direction of the second traffic participant, a second preset number of data groups are obtained based on the sixth traffic perception data, wherein each data group includes the third speed and third direction of the second traffic participant, and different data groups correspond to different traffic perception data acquisition cycles;

[0028] The fourth latitude and longitude of the second traffic participant in the current situation is calculated based on the third latitude and longitude, second speed, and second direction of the second traffic participant in the previous situation.

[0029] Based on the fourth latitude and longitude, the third speed of the second traffic participant in the data set, and the third direction, obtain the latitude and longitude of a second preset number of the second traffic participants.

[0030] The present invention also provides a traffic sensing data processing device, comprising:

[0031] The receiving module is used to receive the user's first input on the target map displayed on the screen;

[0032] A first processing module is configured to respond to the first input and determine a target road testing device associated with a target intersection, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map associated with the first input;

[0033] The second processing module is used to acquire target traffic perception data of the target road testing device at a preset frequency, and to synchronously update and display the target traffic perception data in the first map area.

[0034] The present invention also provides a network device, including a processor and a transceiver, wherein the transceiver receives and transmits data under the control of the processor, and the processor is configured to perform the following operations:

[0035] Receive the user's first input on the target map displayed on the screen;

[0036] In response to the first input, a target road testing device associated with a target intersection is determined, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input;

[0037] The target traffic perception data of the target road test device is acquired at a preset frequency, and the target traffic perception data is synchronously updated and displayed in the first map area.

[0038] The present invention also provides a network device, including a memory, a processor, and a program stored in the memory and executable on the processor; when the processor executes the program, it implements the traffic perception data processing method as described in the above embodiments.

[0039] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the traffic perception data processing method as described in the above embodiments.

[0040] The above-described technical solution of the present invention has at least the following beneficial effects:

[0041] In this embodiment of the invention, firstly, a user's first input on a target map displayed on the screen is received; then, in response to the first input, a target roadside sensing device associated with a target intersection is determined, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input; finally, target traffic perception data of the target roadside sensing device is acquired at a preset frequency, and the target traffic perception data is synchronously updated and displayed within the first map area. Thus, through the user's input operation on the map displayed on the screen, the target intersection within the map range that the user wants to view is located, and the acquired target traffic perception data associated with the target intersection is displayed within the current map range, that is, the traffic conditions of the target intersection are displayed. The above-mentioned roadside sensing scheme can meet the user's need to view real-time traffic conditions. Attached Figure Description

[0042] Figure 1 A flowchart illustrating the traffic perception data processing method provided in an embodiment of the present invention;

[0043] Figure 2 One of the schematic diagrams illustrating a specific implementation example of method step 103 in an embodiment of the present invention;

[0044] Figure 3 This is the second schematic diagram illustrating a specific implementation example of method step 103 in an embodiment of the present invention.

[0045] Figure 4 A schematic diagram of the traffic perception data processing device according to an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram illustrating the structure of a network device according to an embodiment of the present invention. Detailed Implementation

[0047] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0048] This invention addresses the problem that existing roadside sensing solutions cannot meet users' needs for viewing real-time traffic conditions by providing a traffic sensing data processing method.

[0049] like Figure 1 The diagram shown is a flowchart illustrating the traffic perception data processing method provided in an embodiment of the present invention. This method can be applied to network devices, such as servers or cloud control platforms.

[0050] Before executing this method, network devices need to configure the road test equipment and intersections in advance through the target map, and establish the association between the road test equipment and intersections on the target map so that the intersection has latitude and longitude on the target map, the road test equipment has latitude and longitude on the target map, and the latitude and longitude of an intersection is known. Based on the above association, the road test equipment corresponding to the intersection can be determined. Specifically, it can be determined which road test equipment corresponds to the intersection.

[0051] Here, road testing equipment, through its inherent detection methods, can obtain real-time status information of surrounding traffic participants. Specifically, road testing equipment can include cameras, radar, and other devices. Cameras can detect the types of traffic participants, such as vehicles, pedestrians, and cyclists; radar can be lidar or traffic millimeter-wave radar. LiDAR can accurately detect the position, speed, and size of stationary and moving targets; traffic millimeter-wave radar can accurately detect the position and speed of targets and is unaffected by weather conditions.

[0052] In addition, before the network device executes the method, the method of this embodiment may further include: periodically acquiring the seventh traffic perception data uploaded by all road test devices at a preset frequency; if there is duplicate data in the seventh traffic perception data received in the current time, the duplicate data is removed and saved, and the previous m historical traffic perception data are saved, where m is a positive integer greater than or equal to 1; if the eighth traffic perception data is not received in the current time, and the ninth traffic perception data was received in the previous time, the ninth traffic perception data is updated to the eighth traffic perception data in the current time, and saved for a second preset duration, where the ninth traffic perception data and the eighth traffic perception data are both motion state data of the third traffic participant.

[0053] Optionally, the preset frequency is 10 Hz. In one example, the seventh traffic perception data uploaded by all road test devices is acquired periodically at a frequency of 10 Hz. That is, the seventh traffic perception data uploaded by all road test devices is acquired every 100 ms.

[0054] It should be noted that all road test devices also upload the seventh traffic perception data they collect at the same preset frequency as the network devices. Specifically, the network devices can store the seventh traffic perception data collected by the road test devices in middleware and databases.

[0055] Here, different road testing devices report the seventh traffic perception data they collect at different times, and the same road testing device periodically reports the seventh traffic perception data it collects according to a preset frequency.

[0056] The reason for setting the frequency of network devices acquiring (specifically, from middleware and databases) traffic perception data and the frequency of road test devices uploading traffic perception data to the same frequency is to minimize data distortion when visually displaying traffic perception data on the screen. Moreover, when visually updating data on the target map, it is difficult for the human eye to perceive the pauses of moving objects. The trajectory of moving objects represented by road test data has a better sense of continuity, allowing users to view detailed information of all traffic participants at a certain intersection on the map in real time and visually.

[0057] If duplicate data exists in the seventh traffic sensing data received in a given time, the duplicate data will be removed before saving. The purpose of this is to remove redundancy and avoid occupying the storage space of the network device.

[0058] If the eighth traffic perception data is not received in the current session, and the ninth traffic perception data was received in the previous session, the ninth traffic perception data will be updated to the eighth traffic perception data in the current session. The purpose of this is to prevent the perception object (i.e., the third traffic participant) from flickering due to data interruption in the middle, thus improving the smoothness of data visualization.

[0059] Optionally, the second preset duration shall not exceed 1 second. It should be noted that if the eighth traffic sensing data is received within the second preset duration, normal data processing will continue. If the eighth traffic sensing data is not received within the second preset duration, that is, data reception has not resumed, the ninth traffic sensing data will no longer be saved after the second preset duration, meaning the sensed object will be treated as if it has disappeared.

[0060] The traffic perception data processing method according to an embodiment of the present invention is described in detail below, wherein the method may include:

[0061] Step 101: Receive the user's first input on the target map displayed on the screen.

[0062] Optionally, the target map is a high-precision map. The high precision of a high-precision map is reflected in two aspects: first, the absolute coordinate accuracy of a high-precision map is higher, and the accuracy between a target on the map and things in the real world is higher; second, high-precision maps contain richer and more detailed road and traffic information elements.

[0063] Optionally, the first input is a zoom-in input for the map layer of the target map. Here, map layer refers to the zoom level of the map. In this embodiment of the invention, optionally, the map layer can be zoomed in to the level of a single intersection.

[0064] Step 102: In response to the first input, determine the target road test device associated with the target intersection, wherein the target intersection is an intersection within the first map area, and the first map area is the area in the target map associated with the first input.

[0065] Here, the first input is used to zoom in on the target map to locate the first map area that the user wants to view.

[0066] Specifically, the target road testing device for the target intersection corresponding to the first input can be determined based on the pre-configured association between intersections and road testing devices. It should be noted that there can be one or more target intersections, depending on the specific circumstances.

[0067] In one possible implementation, step 102 may specifically include:

[0068] Step 1021: When the operation time of the first input is detected to reach the first preset time, in response to the first input, the location information of the target intersection in the first map area is obtained.

[0069] Here, when the operation of the first input is detected to have ended for a first preset time, in response to the first input, that is, when the user stops operating the target map for a first preset time, that is, when the first map area is stationary on the screen for a first preset time, the subsequent processing is performed to obtain the target traffic perception data of the target road test device. This can prevent unnecessary front-end data request commands from being sent during map zooming and movement operations, and reduce the computational pressure on the network device.

[0070] Optionally, in step 1021, obtaining the location information of the target intersection within the first map area in response to the first input may specifically include:

[0071] Step 10211: In response to the first input, determine the target latitude and longitude of the first map area. The target latitude and longitude is the latitude and longitude of the center point of the first map area or the latitude and longitude of multiple corners of the first map area.

[0072] Specifically, in response to the first input, the system first determines the first map area corresponding to the first input, i.e., the map range that the user wants to view; then, it determines the target latitude and longitude of the first map area. It should be noted that whether the target latitude and longitude is the center point of the first map area or the latitude and longitude of multiple corners of the first map area can be preset or determined by the user's selection input.

[0073] It should be noted that when the target latitude and longitude are the latitude and longitude of multiple corners of the first map area, the number of corners can be preset as needed, such as three, four, or five corners. Typically, it is four corners.

[0074] If the target latitude and longitude are determined by user input, the following implementation method can be used:

[0075] In response to the first input, a selection window is displayed on the screen, which shows two options for the user to choose from: the first option is the target latitude and longitude of the center point of the first map area, and the second option is the target latitude and longitude of multiple corners of the first map. Then, the user's second input on the target option in the selection window is received, and in response to the second input, the target latitude and longitude of the first map area is determined.

[0076] Specifically, if the user selects the first target option, the target latitude and longitude will be the center point of the first map area; if the user selects the second target option, the target latitude and longitude will be the latitude and longitude of multiple corners of the first map area.

[0077] If the target latitude and longitude is the latitude and longitude of the center point of the first map area, then in response to the first input, the latitude and longitude of multiple corners of the first map area are obtained, and the latitude and longitude of the center point of the first map area are calculated based on the latitude and longitude of the multiple corners of the first map area.

[0078] If the target latitude and longitude is the latitude and longitude of multiple corners of the first map area, then obtain the latitude and longitude of the multiple corners of the first map area and use them as the target latitude and longitude of the first map area.

[0079] Step 10212: Match all intersections on the target map based on the target latitude and longitude to obtain the location information of the target intersection within the first map area.

[0080] Optionally, the target intersection is an intersection within the first map area that meets the preset conditions.

[0081] Optionally, if the target latitude and longitude is the center point latitude and longitude of the first map area, then the target intersection that meets the preset conditions is all intersections within a range with the center point latitude and longitude as the center point and a radius of a preset value, or the target intersection that meets the preset conditions is the intersection closest to the center point latitude and longitude.

[0082] If the target latitude and longitude are the latitude and longitude of multiple corners of the first map area, then the intersections that meet the preset conditions are all the intersections in the first map area obtained by matching the latitude and longitude of multiple corners of the first map area.

[0083] When there are multiple target intersections, the amount of perceived data in the first map area can be increased. The specific number of target intersections depends on the zoom in and zoom out range of the map layer.

[0084] It should be noted that the target intersection that meets the preset conditions mentioned above is only an example. Other conditions can be set as needed, but no specific restrictions are made here.

[0085] Step 1022: Based on the location information of the target intersection, determine the target road testing equipment associated with the target intersection.

[0086] Specifically, based on the location information of the target intersection and the pre-set association between the intersection and the road testing equipment, the target road testing equipment associated with the target intersection is determined.

[0087] Step 103: Acquire target traffic perception data of the target road test equipment at a preset frequency, and synchronously update and display the target traffic perception data in the first map area.

[0088] Optionally, the preset frequency is 10Hz. Since the network device periodically acquires the seventh traffic perception data uploaded by the road test device according to the preset frequency and saves it to the middleware and database, after determining the target road test device associated with the target intersection, the target traffic perception data of the target road test device can be extracted from the middleware and database according to the preset frequency. This allows for viewing visualized real-time dynamic information, and the data can be limited to intersections within the current map range (i.e., the first map area), without receiving traffic perception data from all intersections. This method ensures the smoothness and comprehensiveness of the target intersection data, reduces the data burden on the browser, and prevents data from other intersections from affecting the smoothness of the page and data.

[0089] It should be noted that acquiring target traffic perception data from the target road testing equipment at a preset frequency indicates that the target traffic perception data is updated in real time. Specifically, the target traffic perception data is updated and displayed synchronously within the first map area, according to the preset frequency. This method of dynamically updating data on the map at a preset frequency ensures good continuity of the trajectories of moving objects represented by the target traffic perception data and also meets users' needs for viewing real-time traffic conditions.

[0090] In one possible implementation, step 103 of the method of the present invention, which involves acquiring target traffic perception data from the target road testing device at a preset frequency, may include:

[0091] Step 1031: If, according to a preset frequency, the first traffic perception data collected by the target road testing device is received in the current instance, and the second traffic perception data collected by the target road testing device was received in the previous instance, then the first traffic perception data is taken as the target traffic perception data.

[0092] The first and second traffic perception data are both motion state data of the first traffic participant. Traffic perception data can also be understood as basic safety status information of traffic participants. In intelligent transportation, traffic perception data can be BSM (Basic Safety Message), RSI (Road Side Information), RSM (Road Safety Message), SPAT (Signal Phase Timing Message), or MAP (Map Message).

[0093] Optionally, traffic perception data includes the unique identifier of the road testing device, the latitude and longitude of the road testing device when it reports the data, the type of traffic participant, the identifier of the traffic participant, the speed of the traffic participant, the heading angle of the traffic participant, and the steering wheel angle of the traffic participant.

[0094] Specifically, by comparing the traffic perception data collected by the target road testing equipment in the current and previous tests, it can be determined whether the identifier of the first traffic participant is included in both sets of data. This allows us to determine whether the first traffic perception data was received in the current test and whether the second traffic perception data was received in the previous test. Here, this step corresponds to the situation where the perception data related to a certain traffic participant is uninterrupted.

[0095] Step 1032: If, according to the preset frequency, no first traffic perception data is received in the current instance, but third traffic perception data collected by the target road testing device was received in the previous instance, then the third traffic perception data is taken as the target traffic perception data, wherein the third traffic perception data is the motion state data of the first traffic participant.

[0096] Specifically, by comparing the traffic perception data collected by the target road testing equipment in the current and previous tests, it can be determined whether the identification of the first traffic participant is included in both sets of data, and thus whether the first traffic perception data was received in the current test and whether the third traffic perception data was received in the previous test.

[0097] It should be noted that if the first traffic perception data is not received in the current instance, and the third traffic perception data collected by the target road testing device was received in the previous instance, it indicates that the perception data related to the first traffic participant has been interrupted. In order to ensure that the data is displayed in the first map area on the screen during the data interruption and to enhance the visual display effect, this embodiment of the invention uses the third traffic perception data as the target traffic perception data, that is, automatically supplements the previously saved third traffic perception data.

[0098] Furthermore, the retention time of the third traffic perception data is a third preset time, which does not exceed 1 second. The purpose of this is to ensure that if the first traffic perception data collected by the target road testing device can be received again in the future, the first traffic perception data will be displayed normally; if the first traffic perception data collected by the target road testing device is not received after 1 second, the third traffic perception data will no longer be displayed in the first map area, thereby ensuring the real-time updating and display of the data.

[0099] It should be noted that steps 1031 and 1032 are two ways to acquire target traffic perception data from the target road test equipment.

[0100] In another possible implementation, step 103 of the method of the present invention, which involves acquiring target traffic perception data from the target road testing device at a preset frequency, may include:

[0101] Step 1033: If, according to the preset frequency, no fourth traffic perception data is received from the target road testing device in the current instance, and the fifth traffic perception data was received from the target road testing device in the previous instance, then the historical traffic perception data collected by the target road testing device is obtained.

[0102] Among them, the fourth traffic perception data, the fifth traffic perception data, and the historical traffic perception data are all motion state data of the second traffic participants.

[0103] In this implementation, if the fourth traffic perception data collected by the target road testing device is not received in the current instance, and the fifth traffic perception data collected by the target road testing device was received in the previous instance, it indicates that the perception data related to the second traffic participant has been interrupted. In order to display data in the first map area on the screen during the data interruption period, and to also display dynamic data, the following steps are performed: acquiring the historical traffic perception data collected by the target road testing device, and calculating the target traffic perception data based on the historical traffic perception data.

[0104] Step 1034: Obtain target traffic perception data based on historical traffic perception data.

[0105] Here, target traffic perception data can be estimated using a preset algorithm based on historical traffic perception data saved before the data interruption.

[0106] In one possible implementation, step 1034 may include:

[0107] Step 10341: If the historical traffic perception data is the fifth traffic perception data, and the fifth traffic perception data includes the first latitude and longitude, first speed and first direction of the second traffic participant, calculate the second latitude and longitude of the second traffic participant in the current situation based on the first latitude and longitude, first speed and first direction.

[0108] Here, the second latitude and longitude of the second traffic participant in the current instance are calculated using the previous historical traffic sensing data, i.e., the fifth traffic sensing data. Specifically, the interval between the previous received data and the current acquired data is a fourth preset time period, where the fourth preset time period is the reciprocal of the preset frequency. For example, when the preset frequency is 10 Hz, the fourth preset time period is 100 ms.

[0109] The movement distance of the second traffic participant is calculated based on the first speed and the fourth preset duration; the second latitude and longitude of the second traffic participant is calculated based on the first latitude and longitude, the first direction, and the movement distance of the second traffic participant.

[0110] Step 10342: Obtain the latitude and longitude of a first preset number of second traffic participants based on the second latitude and longitude, the first speed, and the first direction.

[0111] Here, keeping the first speed and first direction unchanged, the algorithm in step 10341 above is used to calculate the latitude and longitude of the next second traffic participant based on the current second traffic participant's second latitude and longitude, first speed, and first direction. Then, following the same algorithm, the latitude and longitude of the next second traffic participant are calculated based on the next second traffic participant's latitude and longitude, first speed, and first direction, and so on, until the latitude and longitude of the first preset number of second traffic participants are obtained. This algorithm is simple, and by estimating the target traffic perception data, data can be displayed in the first map area on the screen during data interruptions.

[0112] The duration corresponding to the first preset number of participants does not exceed the fifth preset duration. This is to avoid the problem of excessive pause time on the screen for the second traffic participants due to excessive delay.

[0113] Optionally, the fifth preset duration is 1 second. For example, if the preset frequency is 10 Hz, then the first preset number is 9, where the first preset number does not include the second latitude and longitude of the second traffic participant in that traffic event.

[0114] In one example, such as Figure 2 As shown, the last data point of the second traffic participant x before the traffic perception data interruption is saved, taking its latitude and longitude (Inglat), speed, and angle. Assuming the latitude and longitude of the last data point before the traffic perception data interruption is Inglat1, the predicted location of the second traffic participant x after 100ms is calculated based on speed and angle to be latitude and longitude Inglat2; continuing, the predicted location of the second traffic participant x after 100ms is calculated based on speed and angle to be latitude and longitude Inglat3, and so on, obtaining location points 1 to 9.

[0115] In another possible implementation, step 1034 may include

[0116] Step 10343: If the historical traffic perception data includes the sixth traffic perception data collected multiple times by the target road test equipment before the current time, and the sixth traffic perception data includes the third latitude and longitude, second speed and second direction of the second traffic participant, then according to the sixth traffic perception data, obtain a second preset number of data groups, wherein each data group includes the third speed and third direction of the second traffic participant, and different data groups correspond to different traffic perception data acquisition cycles.

[0117] Here, the sixth traffic perception data includes traffic perception data collected multiple times by the target road testing equipment prior to the current instance. Based on the corresponding historical collection of the sixth traffic perception data, specifically the third latitude and longitude, second speed, and second direction of the second traffic participant in the sixth traffic perception data, a second preset number of data sets are calculated after the traffic perception data is interrupted.

[0118] Specifically, based on the third latitude and longitude, second speed and second direction of the second traffic participant in the sixth traffic perception data collected multiple times in history, a preset number of data groups after the traffic perception data is interrupted can be calculated through a preset inductive algorithm.

[0119] Step 10344: Calculate the fourth latitude and longitude of the second traffic participant in the current situation based on the third latitude and longitude, second speed, and second direction of the second traffic participant in the previous situation.

[0120] It should be noted that, given the third latitude and longitude, second speed, and second direction of the second traffic participant in the previous instance, the fourth latitude and longitude of the second traffic participant in the current instance can be calculated using the algorithm in the previous implementation method, which will not be elaborated here.

[0121] Step 10345: Based on the fourth latitude and longitude, the third speed and third direction of the corresponding second traffic participant in the data group, obtain the latitude and longitude of the second preset number of second traffic participants.

[0122] In this step, the third speed and third direction of the second traffic participant in the data set are taken. Based on the third speed and the sixth preset duration, the movement distance of the second traffic participant is calculated. Based on the fourth latitude and longitude, the third direction, and the movement distance of the second traffic participant, the latitude and longitude of the second traffic participant in the next step are calculated.

[0123] Then, based on the latitude and longitude of the next second traffic participant, the third speed and third direction corresponding to the next second traffic participant in the data set, the latitude and longitude of the next second traffic participant can be calculated, and so on, until the latitude and longitude of the second traffic participant for the second preset number of times are obtained. It should be noted that the latitude and longitude of the second traffic participant for the second preset number of times are obtained do not include the fourth latitude and longitude of the current second traffic participant.

[0124] The algorithm in this implementation is more complex than the algorithm in the previous implementation, but it calculates the target traffic perception data of the second traffic participant more accurately and can also display data in the first map area on the screen during data interruption.

[0125] The duration corresponding to the second preset number of participants does not exceed the sixth preset duration. This is to avoid the problem of excessive pause time on the screen for the second traffic participants due to excessive delay.

[0126] Optionally, the sixth preset duration is 1 second. For example, if the preset frequency is 10 Hz, then the number of second presets is 9.

[0127] In one example, such as Figure 3 As shown, for the second traffic participant x, the last 2 to 9 data points before the traffic perception data interruption are saved, including latitude and longitude, speed, and angle. Based on these data saved before the traffic perception data interruption, the speed values ​​(speed1 to speed9) and the angle values ​​(angle1 to angle9) of the 1st to 9th data points after the traffic perception data interruption are calculated. The first data point includes the estimated speed1 and angle1 of the second traffic participant at the time of the traffic perception data interruption.

[0128] It should be noted that, based on the latitude, longitude, speed, and direction angle of the last data point before the traffic perception data interruption for the second traffic participant x, the current location of the second traffic participant, Inglat1, can be calculated. Based on Inglat1, speed1, and angle1, the predicted location of the second traffic participant 100ms later is calculated to be inglat2; then, based on Inglat2, speed2, and angle2, the predicted location of the second traffic participant 100ms later is calculated to be inglat3, and so on, to obtain location points 1 to 9.

[0129] To better achieve the above objectives, such as Figure 4 As shown, this embodiment of the invention also provides a traffic sensing data processing device, which includes:

[0130] The receiving module 401 is used to receive the user's first input on the target map displayed on the screen;

[0131] The first processing module 402 is used to respond to the first input and determine the target road test device associated with the target intersection, wherein the target intersection is an intersection in the first map area, and the first map area is the area in the target map associated with the first input.

[0132] The second processing module 403 is used to acquire target traffic perception data of the target road test equipment at a preset frequency, and to synchronously update and display the target traffic perception data in the first map area.

[0133] Optionally, the first processing module 402 includes:

[0134] The first acquisition unit is used to acquire the location information of the target intersection within the first map area in response to the first input when the operation of the first input has ended for a first preset time.

[0135] The first processing unit is used to determine the target road testing equipment associated with the target road intersection based on the location information of the target road intersection.

[0136] Optionally, the first acquisition unit is specifically used for:

[0137] In response to the first input, the target latitude and longitude of the first map area are determined. The target latitude and longitude are either the latitude and longitude of the center point of the first map area or the latitude and longitude of multiple corners of the first map area.

[0138] Match all intersections on the target map based on the target's latitude and longitude to obtain the location information of the target intersection within the first map area.

[0139] Optionally, the second processing module 403 may include:

[0140] The second processing unit is used to take the first traffic perception data as the target traffic perception data when, at a preset frequency, the first traffic perception data collected by the target road testing device is received in the current instance, and the second traffic perception data collected by the target road testing device was received in the previous instance.

[0141] The third processing unit is used to, at a preset frequency, in the case where the first traffic perception data is not received in the current instance, but the third traffic perception data collected by the target road testing device was received in the previous instance, use the third traffic perception data as the target traffic perception data; wherein the first traffic perception data, the second traffic perception data and the third traffic perception data are all motion state data of the first traffic participant.

[0142] Optionally, the second processing module 403 may include:

[0143] The second acquisition unit is used to acquire historical traffic perception data collected by the target road testing device at a preset frequency, provided that the fourth traffic perception data collected by the target road testing device is not received in the current instance, and the fifth traffic perception data collected by the target road testing device was received in the previous instance.

[0144] The third acquisition unit is used to acquire target traffic perception data based on historical traffic perception data; wherein, the fourth traffic perception data, the fifth traffic perception data and the historical traffic perception data are all motion state data of the second traffic participant.

[0145] Optionally, the third acquisition unit is specifically used for:

[0146] If the historical traffic perception data is the fifth traffic perception data, and the fifth traffic perception data includes the first latitude and longitude, first speed and first direction of the second traffic participant, the second latitude and longitude of the second traffic participant in the current situation is calculated based on the first latitude and longitude, first speed and first direction.

[0147] Based on the second latitude and longitude, the first speed, and the first direction, obtain the latitude and longitude of a first preset number of second traffic participants.

[0148] Optionally, the third acquisition unit is specifically used for:

[0149] Given that the historical traffic perception data includes the sixth traffic perception data collected multiple times by the target road testing equipment before the current time, and the sixth traffic perception data includes the third latitude and longitude, second speed and second direction of the second traffic participant, a second preset number of data groups are obtained based on the sixth traffic perception data. Each data group includes the third speed and third direction of the second traffic participant, and different data groups correspond to different traffic perception data acquisition cycles.

[0150] The fourth latitude and longitude of the current second traffic participant is calculated based on the third latitude and longitude, second speed, and second direction of the previous second traffic participant.

[0151] Based on the fourth latitude and longitude, the third speed and third direction of the corresponding second traffic participant in the data group, obtain the latitude and longitude of a second preset number of second traffic participants.

[0152] The traffic perception data processing device of this invention first receives a first input from a user onto a target map displayed on a screen; then, in response to the first input, it determines a target roadside device associated with a target intersection, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input; finally, it acquires target traffic perception data of the target roadside device at a preset frequency, and synchronously updates and displays the target traffic perception data within the first map area. Thus, through the user's input operation on the map displayed on the screen, the target intersection within the map range that the user wants to view is located, and the acquired target traffic perception data associated with the target intersection is displayed within the current map range, that is, the traffic conditions of the target intersection are displayed. The above-mentioned roadside perception scheme can meet the user's need to view real-time traffic conditions.

[0153] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0154] To better achieve the above objectives, such as Figure 5 As shown, this embodiment of the invention also provides a network device, including a processor 500 and a transceiver 510. The network device further includes a user interface 520. The transceiver 510 receives and transmits data under the control of the processor, wherein:

[0155] User interface 520 is used to receive the user's first input on the target map displayed on the screen.

[0156] The processor 500 is used to perform the following process: in response to a first input, determining a target road test device associated with a target intersection, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map associated with the first input.

[0157] The target traffic perception data of the target road test equipment is acquired at a preset frequency, and the target traffic perception data is synchronously updated and displayed in the first map area.

[0158] Optionally, the processor 500 is further configured to:

[0159] When the operation of the first input is detected to have ended for a first preset time, the location information of the target intersection within the first map area is obtained in response to the first input.

[0160] Based on the location information of the target intersection, identify the target road testing equipment associated with the target intersection.

[0161] Optionally, the processor 500 is further configured to:

[0162] In response to the first input, the target latitude and longitude of the first map area are determined. The target latitude and longitude are either the latitude and longitude of the center point of the first map area or the latitude and longitude of multiple corners of the first map area.

[0163] Match all intersections on the target map based on the target's latitude and longitude to obtain the location information of the target intersection within the first map area.

[0164] Optionally, the processor 500 is further configured to:

[0165] If, according to a preset frequency, the first traffic perception data collected by the target road testing device is received in the current instance, and the second traffic perception data collected by the target road testing device was received in the previous instance, then the first traffic perception data is taken as the target traffic perception data.

[0166] If, according to the preset frequency, no first traffic perception data is received in the current instance, but the third traffic perception data collected by the target road testing device was received in the previous instance, then the third traffic perception data will be used as the target traffic perception data; wherein, the first traffic perception data, the second traffic perception data, and the third traffic perception data are all motion state data of the first traffic participant.

[0167] Optionally, the processor 500 is further configured to:

[0168] If, according to the preset frequency, no fourth traffic perception data is received from the target road testing device in the current instance, but the fifth traffic perception data was received from the target road testing device in the previous instance, then the historical traffic perception data collected by the target road testing device is obtained.

[0169] Based on historical traffic perception data, target traffic perception data is obtained; among them, the fourth traffic perception data, the fifth traffic perception data, and the historical traffic perception data are all motion state data of the second traffic participants.

[0170] Optionally, the processor 500 is further configured to:

[0171] If the historical traffic perception data is the fifth traffic perception data, and the fifth traffic perception data includes the first latitude and longitude, first speed and first direction of the second traffic participant, the second latitude and longitude of the second traffic participant in the current situation is calculated based on the first latitude and longitude, first speed and first direction.

[0172] Based on the second latitude and longitude, the first speed, and the first direction, obtain the latitude and longitude of a first preset number of second traffic participants.

[0173] Optionally, the processor 500 is further configured to:

[0174] Given that the historical traffic perception data includes the sixth traffic perception data collected multiple times by the target road testing equipment before the current time, and the sixth traffic perception data includes the third latitude and longitude, second speed and second direction of the second traffic participant, a second preset number of data groups are obtained based on the sixth traffic perception data. Each data group includes the third speed and third direction of the second traffic participant, and different data groups correspond to different traffic perception data acquisition cycles.

[0175] The fourth latitude and longitude of the current second traffic participant is calculated based on the third latitude and longitude, second speed, and second direction of the previous second traffic participant.

[0176] Based on the fourth latitude and longitude, the third speed and third direction of the corresponding second traffic participant in the data group, obtain the latitude and longitude of a second preset number of second traffic participants.

[0177] The network device in this embodiment of the invention first receives a first input from a user on a target map displayed on the screen; then, in response to the first input, it determines a target roadside sensing device associated with a target intersection, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input; finally, it acquires target traffic perception data of the target roadside sensing device at a preset frequency, and synchronously updates and displays the target traffic perception data within the first map area. Thus, through the user's input operation on the map displayed on the screen, the target intersection within the map range that the user wants to view is located, and the acquired target traffic perception data associated with the target intersection is displayed within the current map range, that is, the traffic conditions of the target intersection are displayed. The above-mentioned roadside sensing scheme can meet the user's need to view real-time traffic conditions.

[0178] To better achieve the above objectives, embodiments of the present invention also provide a network device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the various processes in the traffic perception data processing method embodiments described above and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0179] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, this program implements the various processes described above in the traffic perception data processing method embodiments, achieving the same technical effects. To avoid repetition, further details are omitted here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0180] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0181] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 A device for one or more processes and / or the functions specified in one or more boxes.

[0182] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce a paper article including an instruction means, the instruction means being implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0183] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment, causing the computer or other programmable equipment to perform a series of operational steps to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0184] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for processing traffic sensing data, characterized in that, include: Receive the user's first input on the target map displayed on the screen; In response to the first input, a target road testing device associated with a target intersection is determined, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map related to the first input; The target traffic perception data of the target road test device is acquired at a preset frequency, and the target traffic perception data is synchronously updated and displayed in the first map area. The step of acquiring target traffic perception data from the target road testing device at a preset frequency includes: If, according to the preset frequency, the fourth traffic perception data collected by the target road testing device is not received in the current instance, and the fifth traffic perception data collected by the target road testing device was received in the previous instance, then the historical traffic perception data collected by the target road testing device is obtained. Based on the historical traffic perception data, the target traffic perception data is obtained; Among them, the fourth traffic perception data, the fifth traffic perception data, and the historical traffic perception data are all motion state data of the second traffic participant; The step of obtaining the target traffic perception data based on the historical traffic perception data includes: When the historical traffic perception data includes the sixth traffic perception data collected multiple times by the target road testing equipment before the current time, and the sixth traffic perception data includes the third latitude and longitude, second speed and second direction of the second traffic participant, a second preset number of data groups are obtained based on the sixth traffic perception data, wherein each data group includes the third speed and third direction of the second traffic participant, and different data groups correspond to different traffic perception data acquisition cycles; The fourth latitude and longitude of the second traffic participant in the current situation is calculated based on the third latitude and longitude, second speed, and second direction of the second traffic participant in the previous situation. Based on the fourth latitude and longitude, the third speed of the second traffic participant in the data set, and the third direction, obtain the latitude and longitude of a second preset number of the second traffic participants.

2. The method according to claim 1, characterized in that, The step of determining the target drive-by device associated with the target intersection in response to the first input includes: When the operation of the first input is detected to have ended for a first preset time, the location information of the target intersection within the first map area is obtained in response to the first input. Based on the location information of the target intersection, the target road testing equipment associated with the target intersection is determined.

3. The method according to claim 2, characterized in that, The step of responding to the first input and obtaining the location information of the target intersection within the first map area includes: In response to the first input, the target latitude and longitude of the first map area are determined, wherein the target latitude and longitude is the latitude and longitude of the center point of the first map area or the latitude and longitude of multiple corners of the first map area; Based on the target latitude and longitude, match all intersections in the target map to obtain the location information of the target intersection within the first map area.

4. The method according to claim 1, characterized in that, The step of acquiring target traffic perception data from the target road testing device at a preset frequency includes: If, according to the preset frequency, the first traffic perception data collected by the target road testing device is received in the current instance, and the second traffic perception data collected by the target road testing device was received in the previous instance, then the first traffic perception data is used as the target traffic perception data. If, according to the preset frequency, the first traffic perception data is not received in the current instance, and the third traffic perception data collected by the target road testing device was received in the previous instance, then the third traffic perception data is taken as the target traffic perception data. Among them, the first traffic perception data, the second traffic perception data, and the third traffic perception data are all motion state data of the first traffic participant.

5. A traffic sensing data processing device, characterized in that, include: The receiving module is used to receive the user's first input on the target map displayed on the screen; A first processing module is configured to respond to the first input and determine a target road testing device associated with a target intersection, wherein the target intersection is an intersection within a first map area, and the first map area is an area in the target map associated with the first input; The second processing module is used to acquire target traffic perception data of the target road testing device at a preset frequency, and to synchronously update and display the target traffic perception data in the first map area. The second processing module includes: The second acquisition unit is used to acquire historical traffic perception data collected by the target road testing device at a preset frequency, in the case that the fourth traffic perception data collected by the target road testing device is not received in the current time, and the fifth traffic perception data collected by the target road testing device was received in the previous time. The third acquisition unit is used to acquire target traffic perception data based on historical traffic perception data; wherein, the fourth traffic perception data, the fifth traffic perception data, and the historical traffic perception data are all motion state data of the second traffic participant; The third acquisition unit is specifically used for: In the case that the historical traffic perception data includes the sixth traffic perception data collected multiple times by the target road test equipment before the current time, and the sixth traffic perception data includes the third latitude and longitude, second speed and second direction of the second traffic participant, a second preset number of data groups are obtained based on the sixth traffic perception data. Each data group includes the third speed and third direction of the second traffic participant, and different data groups correspond to different traffic perception data acquisition cycles. The fourth latitude and longitude of the current second traffic participant is calculated based on the third latitude and longitude, second speed, and second direction of the previous second traffic participant. Based on the fourth latitude and longitude, the third speed and third direction of the corresponding second traffic participant in the data group, obtain the latitude and longitude of a second preset number of second traffic participants.

6. A network device, comprising a memory, a processor, and a program stored in the memory and executable on the processor; characterized in that, When the processor executes the program, it implements the traffic perception data processing method as described in any one of claims 1 to 4.

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