Operating line identification method, device and equipment and computer readable storage medium

Abstract

Embodiments of the present application provide a kind of operating line identification method, device, equipment and computer readable storage medium, it is related to intelligent transportation technical field.The method comprises: according to the vehicle position information and the driving direction information corresponding to multiple different time of the running process of the vehicle to be identified, station position information and station direction information, obtain at least one passing station of the vehicle to be identified and the time corresponding to the passing station;Wherein, station direction information is used to characterize the driving direction of vehicle at station;According to the passing station, the time corresponding to the passing station and different operating line station information, obtain target operating line.For the situation that the driving track is changed due to sudden situation in the vehicle operating process, good identification effect can also be obtained, and the accuracy of operating line identification can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and more specifically, to an operating route identification method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] Buses generally operate in two states: operational and non-operational. During operational operation, buses run on fixed routes and timetables, providing convenient transportation services to citizens. During non-operational operation, buses may be in a resting or standby state, for example, when drivers are resting, eating, or cleaning the vehicle. Furthermore, non-operational operation also includes situations where vehicles are temporarily out of service due to maintenance, refueling, or other reasons.

[0003] Operating routes refer to the routes traveled by vehicles used for public transportation. Identifying bus operating routes is crucial for providing passenger convenience, planning travel, improving urban traffic efficiency, and optimizing public transportation planning. Currently, the ridge line comparison method is commonly used to identify operating routes. This involves drawing a ridge line on a map beforehand using bus stop location information, comparing the bus's trajectory with the ridge line to determine the overlapping portion. If a significant amount of overlap is identified, the bus is considered to be operating that route.

[0004] However, due to the large number and frequent changes in bus routes, using the ridge line comparison method requires drawing a large number of ridge lines on the map, which is a large workload. Furthermore, since the actual operating trajectories of buses are mostly not regular curves, bus drivers may take routes other than those on the ridge lines based on factors such as current road congestion, weather conditions, and road construction status, and may also skip stops based on time and operating rules, rendering the ridge line comparison method ineffective and resulting in poor accuracy in identifying operating routes.

[0005] In this context, there is an urgent need to provide an operational route identification solution to improve the accuracy of operational route identification. Summary of the Invention

[0006] The purpose of this application is to at least solve one of the aforementioned technical defects. The technical solution provided by the embodiments of this application is as follows:

[0007] In a first aspect, embodiments of this application provide a method for identifying operating routes, including:

[0008] Based on the vehicle location information and driving direction information, station location information and station direction information at multiple different times during the operation of the vehicle to be identified, at least one station passed by the vehicle to be identified and the time of passing by the corresponding station are obtained; wherein, the station direction information is used to characterize the driving direction of the vehicle at the station.

[0009] The target operating route is obtained based on the stops passed, the times of the corresponding stops, and the station information of different operating routes.

[0010] In one optional embodiment of this application, the method for obtaining passed stations includes:

[0011] At any given time, based on vehicle location information and station location information, stations that are less than a preset distance threshold from the vehicle to be identified are identified as potential passing stations.

[0012] If, based on the driving direction information and the station direction information corresponding to the potential passing station, it is determined that the driving direction of the vehicle to be identified is consistent with the station direction when it passes through the potential passing station, then the potential passing station is determined to be a passing station.

[0013] In one optional embodiment of this application, the location information includes latitude and longitude information;

[0014] Based on vehicle location information and station location information, stations whose distance to the vehicle to be identified is less than a preset distance threshold are identified as potential passing stations, specifically including:

[0015] Compare vehicle location information and station location information to obtain the latitude and longitude comparison results;

[0016] Based on the comparison of latitude and longitude information, stations whose latitude and longitude differ from those of the vehicle to be identified only by the sixth decimal place are selected as potential passing stations.

[0017] In one optional embodiment of this application, the target operating route is obtained based on the passing stations, the time of the corresponding passing stations, and station information of different operating routes, specifically including:

[0018] Based on the stations passed and the corresponding times of passing stations, obtain a two-dimensional array of stations and times passed;

[0019] Based on a two-dimensional array of passing stations and times, and station information for different operating routes, obtain the route coefficient for each candidate operating route; whereby the route coefficient is used to characterize the probability that the candidate operating route is the current operating route of the vehicle to be identified.

[0020] Based on the line coefficient of each candidate operating line, the candidate operating line with the highest line coefficient is selected as the target operating line.

[0021] In one optional embodiment of this application, a two-dimensional array of passed stations and times is obtained based on the passed stations and the corresponding times of the passed stations, specifically including:

[0022] Based on the stations passed and the corresponding times of passing stations, obtain an initial two-dimensional array of stations and times passed;

[0023] Based on the time of the corresponding passed station, obtain the time corresponding to the repeated station within any preset time period;

[0024] The distance between the vehicle to be identified and the duplicate station is obtained based on the vehicle location information at the time corresponding to the duplicate station and the duplicate station location information.

[0025] Based on the distance, only retain the repeating stations and the times corresponding to the repeating stations when the distance is the minimum within the preset time period in the initial two-dimensional array, and obtain a two-dimensional array of passing stations and times.

[0026] In one optional embodiment of this application, the route coefficient of each candidate operating route is obtained based on a two-dimensional array of passed stations and times and station information of different operating routes, specifically including:

[0027] Given any one of the two-dimensional arrays of passing stations and times, obtain at least one candidate operating route that includes the passing station.

[0028] Obtain the number of stations that can be identified and the number of stations that cannot be identified in the preset station search range in the two-dimensional array for each candidate operating route;

[0029] The route coefficient for each candidate operating route is obtained based on the number of identified stations, the number of unidentified stations, and the probability that the vehicle to be identified is in operation at any given time.

[0030] In one optional embodiment of this application, the candidate operating line with the largest line coefficient is selected as the target operating line based on the line coefficient of each candidate operating line, specifically including:

[0031] The maximum line coefficient is obtained based on the line coefficient of each candidate operating line.

[0032] If the maximum route coefficient is determined to be no less than the probability that the vehicle to be identified is in operation at any given time, then the candidate operating route with the maximum route coefficient is taken as the target operating route.

[0033] Secondly, embodiments of this application provide an operating route identification device, including:

[0034] The station-passing acquisition module is used to acquire at least one station passed by the vehicle and the time of passing the corresponding station based on the vehicle location information and driving direction information, station location information and station direction information corresponding to multiple different times during the operation of the vehicle to be identified; wherein, the station direction information is used to characterize the driving direction of the vehicle at the station.

[0035] The route identification module is used to obtain the target route based on the stops passed, the time of the corresponding stops, and the station information of different routes.

[0036] In one optional embodiment of this application, the passing station acquisition module is specifically used for:

[0037] At any given time, based on vehicle location information and station location information, stations that are less than a preset distance threshold from the vehicle to be identified are identified as potential passing stations.

[0038] If, based on the driving direction information and the station direction information corresponding to the potential passing station, it is determined that the driving direction of the vehicle to be identified is consistent with the station direction when it passes through the potential passing station, then the potential passing station is determined to be a passing station.

[0039] In one optional embodiment of this application, the location information includes latitude and longitude information;

[0040] The site access module is specifically used for:

[0041] Compare vehicle location information and station location information to obtain the latitude and longitude comparison results;

[0042] Based on the comparison of latitude and longitude information, stations whose latitude and longitude differ from those of the vehicle to be identified only by the sixth decimal place are selected as potential passing stations.

[0043] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0044] Based on the stations passed and the corresponding times of passing stations, obtain a two-dimensional array of stations and times passed;

[0045] Based on a two-dimensional array of passing stations and times, and station information for different operating routes, obtain the route coefficient for each candidate operating route; whereby the route coefficient is used to characterize the probability that the candidate operating route is the current operating route of the vehicle to be identified.

[0046] Based on the line coefficient of each candidate operating line, the candidate operating line with the highest line coefficient is selected as the target operating line.

[0047] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0048] Based on the stations passed and the corresponding times of passing stations, obtain an initial two-dimensional array of stations and times passed;

[0049] Based on the time of the corresponding passed station, obtain the time corresponding to the repeated station within any preset time period;

[0050] The distance between the vehicle to be identified and the duplicate station is obtained based on the vehicle location information at the time corresponding to the duplicate station and the duplicate station location information.

[0051] Based on the distance, only retain the repeating stations and the times corresponding to the repeating stations when the distance is the minimum within the preset time period in the initial two-dimensional array, and obtain a two-dimensional array of passing stations and times.

[0052] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0053] Given any one of the two-dimensional arrays of passing stations and times, obtain at least one candidate operating route that includes the passing station.

[0054] Obtain the number of stations that can be identified and the number of stations that cannot be identified in the preset station search range in the two-dimensional array for each candidate operating route;

[0055] The route coefficient for each candidate operating route is obtained based on the number of identified stations, the number of unidentified stations, and the probability that the vehicle to be identified is in operation at any given time.

[0056] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0057] The maximum line coefficient is obtained based on the line coefficient of each candidate operating line.

[0058] If the maximum route coefficient is determined to be no less than the probability that the vehicle to be identified is in operation at any given time, then the candidate operating route with the maximum route coefficient is taken as the target operating route.

[0059] Thirdly, embodiments of this application provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the operating line identification method provided in any of the above embodiments.

[0060] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the operating line identification method provided in any of the above embodiments.

[0061] The beneficial effects of the technical solutions provided in this application are:

[0062] This scheme determines the stops passed by the vehicle and the corresponding times of those stops by comparing the positions and directions of the vehicle and stops at different times. Further, based on the stops passed, the times of those stops, and information on stops along different operating routes, the target operating route of the vehicle is identified. Compared to the ridgeline comparison method, this stop-based operating route identification method does not require trajectory comparison and still achieves good identification results even when the vehicle's trajectory changes due to unforeseen circumstances during operation, effectively improving the accuracy of operating route identification. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0064] Figure 1 A flowchart illustrating an operational route identification method provided in this application embodiment;

[0065] Figure 2 This is a schematic diagram of an operation route identification method provided in an embodiment of this application;

[0066] Figure 3 A block diagram of an operating route identification system provided in this application embodiment;

[0067] Figure 4 This is a schematic diagram of the structure of an operating route identification device provided in an embodiment of this application;

[0068] Figure 5 This is a schematic diagram of the structure of an electronic device for identifying operating routes, provided in an embodiment of this application. Detailed Implementation

[0069] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0070] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.”

[0071] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0072] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0073] Figure 1 This is a flowchart illustrating an operational route identification method provided in an embodiment of this application, as shown below. Figure 1 As shown in the figure, this application provides a method for identifying operating routes, including:

[0074] Step S101: Based on the vehicle location information and driving direction information, station location information and station direction information corresponding to multiple different times during the operation of the vehicle to be identified, obtain at least one station passed by the vehicle to be identified and the time of passing by the corresponding station; wherein, the station direction information is used to characterize the driving direction of the vehicle at the station.

[0075] Specifically, the types of vehicles to be identified can include buses, passenger cars, freight trucks, and rail vehicles (such as subways and high-speed trains). In this embodiment, a bus is used as an example to illustrate the specific steps of the route identification method.

[0076] Buses are typically equipped with positioning systems (such as GPS (Global Positioning System) and BDS (BeiDou Navigation Satellite System)), which can obtain the vehicle's location information at different times during its journey.

[0077] By using sensors mounted on the vehicle (such as accelerometers or gyroscopes), the vehicle's direction of travel at different times during its journey can be acquired. Furthermore, the vehicle's current direction of travel can be calculated by comparing its geographical location with that of the previous moment. For example, by acquiring the longitude and latitude information of the previous and current moments, calculating the increments in longitude and latitude between the current and previous moments, and determining the azimuth angle based on these increments, the current direction of travel can be determined.

[0078] Before identifying the operating routes of the vehicles to be identified, the time range to be identified should be determined first. For example, a specific day, the operating time range of the vehicle within a specific day (6:00 AM to 9:30 PM), and the working hours of a specific driver within a specific day (e.g., 2:00 PM to 5:30 PM). The time range to be identified can be determined according to actual needs. It is also understandable that if the time range to be identified is too small, the number of identified stops will be too few, thus affecting the accuracy of operating route identification. Therefore, a reasonable time range to be identified should be determined.

[0079] Based on the aforementioned methods for acquiring vehicle location and driving direction information, vehicle location and driving direction information are obtained at multiple different times during the operation of the vehicle to be identified within the time range to be identified. The vehicle location information at different times is compared with the station location information, and the driving direction information is compared with the station direction information. The station direction information is used to characterize the vehicle's driving direction at the station.

[0080] If, at any moment during the vehicle's journey, it is determined that there is a station that is close to the vehicle's location and the vehicle's direction of travel is consistent with the direction of travel of the vehicle at the station as indicated by the station's direction information, then the station is determined to be a passing station, and the time when the vehicle passes through the passing station (i.e., the time corresponding to the passing station) is recorded.

[0081] Based on the above-mentioned method for identifying passing stations, it is determined whether there is a corresponding passing station for the vehicle to be identified at each moment, and at least one passing station and the time of the corresponding passing station are determined.

[0082] It should be noted that when obtaining information about a vehicle to be identified, the time can be determined by the time when the positioning system sends the vehicle's location information, or by a preset time interval set by the user.

[0083] In addition, station location information and station direction information can be determined by methods such as manual annotation, obtaining station planning information, and obtaining data on the passage of operating vehicles through stations.

[0084] Step S102: Obtain the target operating route based on the stations passed, the time of the corresponding stations passed, and the station information of different operating routes.

[0085] Specifically, based on the stops passed and the corresponding times of the stops, the stops passed by the vehicle to be identified in chronological order can be determined. By comparing these stops with the information of stops on different operating routes, the degree of matching between the stops passed by the vehicle to be identified and different operating routes (i.e., the degree of similarity between the stops passed and the stops on the operating routes) can be determined. The operating route with the highest degree of matching is then identified as the target operating route.

[0086] Understandably, when determining the degree of matching between the stops passed by the vehicle to be identified and different operating routes, the degree of matching can be determined by the number of stops on different operating routes that are the same as the stops passed by, or by the ratio of stops on different operating routes that are the same as the stops passed by to all stops on the operating routes.

[0087] In addition, when the time span corresponding to the passing station is large (such as the time range to be identified is a certain day), the vehicle to be identified may operate more than one route. When determining the target operating route, it can be determined whether there are passing stations that are the first and last stations of the operating route. Based on the identified first and last stations, the time of the corresponding passing station is divided into multiple time-series corresponding to time periods in chronological order. The target operating route corresponding to each time-series is obtained according to the above method.

[0088] The technical solution provided in this embodiment determines the stops passed by the vehicle and the corresponding times of those stops by comparing the positions and directions of the vehicle and stops at different times. Further, based on the stops passed, the times of those stops, and information on stops along different operating routes, the target operating route of the vehicle is identified. Compared with the ridgeline comparison method, this stop-based operating route identification method does not require trajectory comparison and can still achieve good identification results even when the vehicle's trajectory changes due to unforeseen circumstances during operation, effectively improving the accuracy of operating route identification.

[0089] In one optional embodiment of this application, the method for obtaining passed stations includes:

[0090] At any given time, based on vehicle location information and station location information, stations that are less than a preset distance threshold from the vehicle to be identified are identified as potential passing stations.

[0091] If, based on the driving direction information and the station direction information corresponding to the potential passing station, it is determined that the driving direction of the vehicle to be identified is consistent with the station direction when it passes through the potential passing station, then the potential passing station is determined to be a passing station.

[0092] Specifically, due to varying real-time traffic conditions, the location of the vehicle to be identified will not completely coincide with the location of the station when the vehicle passes through it. Therefore, the distance between the location of the vehicle to be identified and the location of the station can be used to determine whether the vehicle has passed through the station.

[0093] At any given time, based on vehicle location information and station location information, stations whose distance to the vehicle to be identified and whose distance is less than a preset distance threshold are identified as potential passing stations. The preset distance threshold can be set according to actual conditions.

[0094] Understandably, since most stops on both the forward and reverse routes of a given route are located along the sides of the road, the distance between the vehicle to be identified and the stop alone cannot determine whether the vehicle is currently on a forward or reverse route. Therefore, it is further necessary to determine whether the vehicle's direction of travel and the stop's direction are consistent.

[0095] Understandably, the way to determine whether the vehicle's driving direction is consistent with the station's direction can be to calculate the angle between the vehicle's driving direction and the station's direction based on the driving direction information and the potential station's direction information. If the angle is determined to be less than a preset angle threshold (the angle is less than 15° or the cosine value of the angle is greater than 0.5, etc.), then the vehicle's driving direction is considered to be consistent with the station's direction.

[0096] If, based on the driving direction information and the corresponding station direction information of potential stops, it is determined that the driving direction of the vehicle to be identified when passing a potential stop is consistent with the station direction, then the potential stop is identified as a stop that has been passed. If it is determined that the driving direction of the vehicle to be identified when passing a potential stop is inconsistent with the station direction, then the stop is not a stop that has been passed, and the stop is removed.

[0097] The technical solution provided in this embodiment compares the positions of the vehicle to be identified and the stations at different times, as well as their travel directions. When it is determined that the vehicle to be identified is close to the station and its travel direction is consistent with the station's direction, the solution determines the stations the vehicle passed through and the times at which those stations were passed. Compared with the ridge line comparison method, the station-based route identification method does not require trajectory comparison. Even when the vehicle's trajectory changes due to unforeseen circumstances during operation, it still achieves good identification results, effectively improving the accuracy of route identification. Furthermore, since identification is based on station information (including station location and direction information), it can quickly update station information when routes are adjusted (such as adding or changing routes), without needing to redraw ridge lines, effectively improving the applicability and efficiency of the route identification method.

[0098] In one optional embodiment of this application, the location information includes latitude and longitude information;

[0099] Based on vehicle location information and station location information, stations whose distance to the vehicle to be identified is less than a preset distance threshold are identified as potential passing stations, specifically including:

[0100] Compare vehicle location information and station location information to obtain the latitude and longitude comparison results;

[0101] Based on the comparison of latitude and longitude information, stations whose latitude and longitude differ from those of the vehicle to be identified only by the sixth decimal place are selected as potential passing stations.

[0102] Specifically, calculating the distance between the vehicle to be identified and several stations at each moment would result in a large amount of computation, wasting computing resources and affecting the timeliness of operating route identification.

[0103] This embodiment provides a convenient method for comparing the distance between the vehicle and the station to be identified at each moment with a preset distance threshold.

[0104] Taking GPS as an example, GPS sends the vehicle location information of the vehicle to be identified at every moment, including latitude and longitude. For ease of subsequent processing and calculation, the corresponding station location information also includes latitude and longitude.

[0105] Since latitude and longitude information is a number with 6 decimal places, the precision of the 6th decimal place is 1m, and the precision of the 5th decimal place is 10m. Based on the concept of hash collision, when comparing the latitude and longitude information of the vehicle to be identified and the station at any given time, if the digits before the decimal point and the first 4 digits after the decimal point are the same, and there are differences only starting from the 5th decimal place, then it can be determined that the distance between the vehicle to be identified and the station is less than 10m. If the digits before the decimal point and the first 5 digits after the decimal point are the same, and there are differences only starting from the 6th decimal place, then it can be determined that the distance between the vehicle to be identified and the station is less than 1m.

[0106] The method of comparing the distance between the vehicle and the station to be identified with the preset distance threshold is adopted. The preset distance threshold is set to 1m. The vehicle location information and the station location information are compared to obtain the latitude and longitude information comparison results.

[0107] Based on the comparison of latitude and longitude information, stations whose latitude and longitude differ from the vehicle to be identified by only the sixth decimal place are selected as potential passing stations.

[0108] The technical solution provided in this embodiment is based on the concept of hash collision. By comparing the latitude and longitude information of the vehicle to be identified with that of the station, potential passing stations can be quickly determined. Compared with the scheme of calculating the distance between the vehicle to be identified and the station one by one, it can reduce the complexity of the operation route identification scheme, significantly reduce the amount of calculation, and since the latitude and longitude information of the vehicle and the station can be automatically obtained from the positioning system, the comparison and judgment can be automatically performed with the assistance of the algorithm, without the need for manual comparison, effectively reducing the manual cost required for operation route identification and improving the efficiency and accuracy of identification.

[0109] In one optional embodiment of this application, the target operating route is obtained based on the passing stations, the time of the corresponding passing stations, and station information of different operating routes, specifically including:

[0110] Based on the stations passed and the corresponding times of passing stations, obtain a two-dimensional array of stations and times passed;

[0111] Based on a two-dimensional array of passing stations and times, and station information for different operating routes, obtain the route coefficient for each candidate operating route; whereby the route coefficient is used to characterize the probability that the candidate operating route is the current operating route of the vehicle to be identified.

[0112] Based on the line coefficient of each candidate operating line, the candidate operating line with the highest line coefficient is selected as the target operating line.

[0113] Specifically, after obtaining the passing stations and their corresponding times, the passing stations and their corresponding times are compared with the station information of different operating routes. The specific steps to obtain the target operating route are as follows:

[0114] Based on the stations passed and the corresponding times of those stations, obtain a two-dimensional array of stations and times. For example, to arrange different times in chronological order, the two-dimensional array can be represented as [[station a, station b, ...], [timestamp (i.e., time) a, timestamp b, ...]].

[0115] Since for any given stop, there may be multiple different candidate operating routes that include that stop, the candidate operating routes are the operating routes that may be the current operating routes of the vehicle to be identified.

[0116] In this embodiment, route coefficients are constructed to characterize the probability that a candidate operating route is the current operating route of the vehicle to be identified. By comparing the route coefficients of multiple candidate operating routes, the target operating route is determined from among the multiple candidate routes.

[0117] It is understandable that the methods for obtaining the line coefficient include, but are not limited to: determining the line coefficient based on the number of stations that are the same as the stations passed through in the operating line, or determining the line coefficient based on the ratio of the stations that are the same as the stations passed through in the operating line to all stations in the operating line.

[0118] Based on the two-dimensional array of passing stations and times, and the station information of different operating routes, the mapping relationship between the passing stations in the driving trajectory of the vehicle to be identified and the candidate operating route stations can be determined (i.e., which stations in the candidate operating routes the vehicle to be identified passed through). The route coefficient of each candidate operating route can be obtained through this mapping relationship.

[0119] Based on the line coefficient of each candidate operating line, the candidate operating line with the highest line coefficient is selected as the target operating line.

[0120] It is understandable that when the time span corresponding to the passing station is large (such as the time range to be identified being a certain day), the vehicle to be identified may operate more than one route. When determining the target operating route, it can be determined whether there are passing stations that are the first and last stations of the operating route. Based on the identified first and last stations, the time of the corresponding passing station is divided into multiple time series corresponding to time periods in chronological order. The target operating route corresponding to each time series is obtained according to the above method.

[0121] The technical solution provided in this embodiment obtains the route coefficients of candidate operating routes by using information on passing stations, the time of passing corresponding stations, and different operating route station information. Furthermore, it determines the target operating route of the vehicle to be identified based on the candidate operating route with the highest route coefficient. Compared with the ridgeline comparison method, the station-based operating route identification method does not require trajectory comparison and no longer relies on the vehicle to be identified traveling along a predetermined ridgeline. Even when the vehicle's trajectory changes due to unforeseen circumstances during operation, it still achieves good identification results, effectively improving the accuracy and recall rate of operating route identification.

[0122] In one optional embodiment of this application, a two-dimensional array of passed stations and times is obtained based on the passed stations and the corresponding times of the passed stations, specifically including:

[0123] Based on the stations passed and the corresponding times of passing stations, obtain an initial two-dimensional array of stations and times passed;

[0124] Based on the time of the corresponding passed station, obtain the time corresponding to the repeated station within any preset time period;

[0125] The distance between the vehicle to be identified and the duplicate station is obtained based on the vehicle location information at the time corresponding to the duplicate station and the duplicate station location information.

[0126] Based on the distance, only retain the repeating stations and the times corresponding to the repeating stations when the distance is the minimum within the preset time period in the initial two-dimensional array, and obtain a two-dimensional array of passing stations and times.

[0127] Specifically, taking a bus as an example, since the bus stops to pick up and drop off passengers when it is in operation, the same stops may be obtained for multiple consecutive times when determining the stops passed at different times. Therefore, to facilitate subsequent data processing, it is necessary to deduplicate the stops. The specific steps for deduplication are as follows.

[0128] Based on the passed-over stations and their corresponding times, an initial two-dimensional array of passed-over stations and times is obtained. Based on the times of the corresponding passed-over stations, the times corresponding to duplicate stations within any preset time period are obtained. The distance between the vehicle to be identified and the duplicate stations is obtained based on the vehicle location information at the times corresponding to the duplicate stations and the location information of the duplicate stations. Based on the distance, duplicate stations and their corresponding times within the preset time period that are not at the minimum distance are deleted from the initial two-dimensional array, retaining only the duplicate stations and their corresponding times at the minimum distance, thus obtaining a two-dimensional array of passed-over stations and times.

[0129] For example, since the initial two-dimensional array may contain the same passing stations at multiple consecutive times, the different times can be arranged in chronological order. The initial two-dimensional array can be recorded as [[station a, station b, station b, station b......], [timestamp (i.e., time) a, timestamp b1, timestamp b2, timestamp b3......]].

[0130] For any given moment, a time period consisting of 30 moments before and after that moment is defined as a preset time period. It is then determined whether duplicate stations appear in the two-dimensional array within this time period. If duplicate stations are found, the duplicate stations and their corresponding moments are obtained. The distance between the vehicle to be identified and the duplicate station corresponding to each duplicate station is calculated, and the distances at each moment are compared. The moment corresponding to the duplicate station with the smallest distance is determined. Only the duplicate station with the smallest distance and its corresponding moment are retained in the initial two-dimensional array, while other duplicate stations and their corresponding moments are deleted. Using the above deduplication method, each moment in the initial two-dimensional array is traversed to obtain the deduplicated two-dimensional array as [[station a, station b...], [timestamp (i.e., moment) a, timestamp b...]].

[0131] Understandably, in order to further improve the accuracy of operating route identification and reduce computational complexity, the passing stations in the initial two-dimensional array can be further filtered based on the distance between the vehicle to be identified and the passing stations.

[0132] If latitude and longitude information is compared when acquiring passing stations, and a preset distance threshold of 1m is set, it can ensure that the distance between the acquired passing station and the vehicle to be identified at a certain moment is less than 1m. Based on this, a second preset distance threshold (such as 0.6m) is set that is less than the preset distance threshold. The passing stations in the initial two-dimensional array are then filtered a second time according to the second preset distance threshold, and passing stations in the initial two-dimensional array whose distance from the vehicle to be identified at the corresponding moment is greater than the second preset distance threshold are deleted.

[0133] The technical solution provided in this embodiment filters the passing stations in the initial two-dimensional array by deduplication, ensuring that the time corresponding to the passing station in the deduplicated two-dimensional array is the time when the distance between the vehicle to be identified and the passing station is closest. By removing redundant information in the initial two-dimensional array, the accuracy of operating route identification can be guaranteed while effectively reducing the amount of calculation in subsequent operating route identification.

[0134] In one optional embodiment of this application, the route coefficient of each candidate operating route is obtained based on a two-dimensional array of passed stations and times and station information of different operating routes, specifically including:

[0135] Given any one of the two-dimensional arrays of passing stations and times, obtain at least one candidate operating route that includes the passing station.

[0136] Obtain the number of stations that can be identified and the number of stations that cannot be identified in the preset station search range in the two-dimensional array for each candidate operating route;

[0137] The route coefficient for each candidate operating route is obtained based on the number of identified stations, the number of unidentified stations, and the probability that the vehicle to be identified is in operation at any given time.

[0138] Specifically, based on any one of the passing stations in the two-dimensional array of passing stations and times, obtain at least one candidate operating route that includes the passing station.

[0139] Since determining operating routes based on a single passing station may result in too many operating routes requiring comparison of route coefficients, a further approach can be taken to determine candidate operating routes using multiple stations. For example, multiple consecutive passing stations can be selected from a two-dimensional array and compared with all operating routes. Operating routes with more than a preset threshold of stations that are the same as passing stations can be identified as candidate operating routes. Alternatively, operating routes with corresponding first and last stations that can be found in the two-dimensional array can be identified as candidate operating routes.

[0140] After determining the candidate operating routes, the number of stations that can be identified and the number of stations that cannot be identified within the preset station search range in the two-dimensional array are obtained for each candidate operating route. Based on the number of identified stations, the number of stations that cannot be identified, and the probability that the vehicle to be identified is in operation at any given time, the route coefficient of each candidate operating route is obtained.

[0141] It is understood that in this embodiment, the preset station search range can be a preset number of stations (such as the range from the 20 stations before the preset station to the 20 stations after the preset station) or determined according to the distance between the preset station and the first station and / or the last station (such as determining the mileage between the passing station and the first station as L (the sum of the distances between every two adjacent stations in the path from the passing station to the first station), and searching for 2L mileage before the passing station and searching for 2L mileage after the passing station in chronological order).

[0142] For example, when the preset station search range is to search for 2L of mileage before the station and 2L of mileage after the preset station, for any station, according to the preset station search range, in chronological order, the number of stations identified before this station (a) and the number of stations not identified (b) are searched for in each candidate operating route, and the number of stations identified after this station (c) and the number of stations not identified (d) are searched.

[0143] Therefore, in this candidate operating route, the number of identified stations is a+c, and the number of unidentified stations is b+d. If it is determined in this embodiment that the probability of the vehicle to be identified being in operation at any given time is m / n, then the formula for calculating the route coefficient is (a+c+m) / (a+b+c+d+n).

[0144] In this embodiment, the formula for calculating the route coefficient is based on the beta distribution. Since the probability of a vehicle being in operation at any given time is m / n, taking a probability of 1 / 2 as an example, the probability distribution of a vehicle being in operation when passing a station at any given time is represented by the beta distribution beta(1,1) (as a prior probability). For each candidate operating route, each station on the route is equivalent to a Bernoulli experiment (identified or not identified, equivalent to the experiment of standing at other stations and looking at this station, with the estimated parameter being the probability that this station is online). The number of occurrences follows a binomial distribution. There are a+b+c+d stations on this route, a+c are identified, and b+d are not identified. Therefore, the posterior probability of a station being online is beta(1+a+c, 1+b+d). Each candidate operating route will obtain a beta posterior, i.e., the route coefficient (a+c+1) / (a+b+c+d+2).

[0145] Using the above method for calculating route coefficients, each passing station in the two-dimensional array is traversed to calculate the candidate operating route and its corresponding route coefficient for any passing station in the two-dimensional array.

[0146] Candidate operating routes and their corresponding route coefficients can be output in descending order of route coefficients, i.e., the output for each moment is: timestamp, [route 1, route 1 coefficient, route 2, route 2 coefficient, ...].

[0147] The technical solution provided in this embodiment determines the calculation formula for route coefficients based on beta distribution, and obtains candidate operating routes and corresponding route coefficients for any passing station in a two-dimensional array. Compared with the method of directly calculating the route coefficient based on the ratio of the number of identified stations to the number of unidentified stations in the candidate routes, the calculation formula based on beta distribution can fully consider the impact of the probability that the vehicle to be identified is in operation at any given time on the identification of the vehicle's operating route. This makes the calculated route coefficients more reflective of the actual driving situation of the vehicle to be identified, and further improves the accuracy of the identification of the vehicle's operating route.

[0148] In one optional embodiment of this application, the candidate operating line with the largest line coefficient is selected as the target operating line based on the line coefficient of each candidate operating line, specifically including:

[0149] The maximum line coefficient is obtained based on the line coefficient of each candidate operating line.

[0150] If the maximum route coefficient is determined to be no less than the probability that the vehicle to be identified is in operation at any given time, then the candidate operating route with the maximum route coefficient is taken as the target operating route.

[0151] Specifically, for any passing station in the two-dimensional array (i.e., at any given time), at least one candidate operating route and its corresponding route coefficient are obtained. Based on the relationship between the route coefficients of each candidate operating route, the route with the largest route coefficient is obtained, and the candidate operating route corresponding to the route with the largest route coefficient is determined.

[0152] Since the vehicle to be identified may be in an operational or non-operational state during its operation, the maximum route coefficient is compared with the probability (m / n) that the vehicle is in an operational state at any given time. If the maximum route coefficient is not less than the probability that the vehicle is in an operational state at any given time, then the candidate operational route with the maximum route coefficient is selected as the target operational route. If the maximum route coefficient is less than the probability that the vehicle is in an operational state at any given time, then the vehicle is in a non-operational state at that moment.

[0153] Understandably, based on the above judgment method, it is determined whether the vehicle to be identified at each moment in the two-dimensional array is in an operational state. If it is determined to be in an operational state, its target operational route is determined.

[0154] Based on the target operating route number corresponding to each moment in the two-dimensional array, a list of operating route numbers for the vehicles to be identified can be determined in chronological order, such as: 11100000222222200000333333300044444… (where non-operation status is recorded as 0, and 1-4 are operating route numbers). Merging consecutive and identical route numbers yields a sequential list of operating routes for the vehicles to be identified, i.e., 1020304.

[0155] The technical solution provided in this embodiment determines the calculation formula for route coefficients based on beta distribution, and obtains candidate operating routes and corresponding route coefficients for any passing station in a two-dimensional array. Compared with the method of directly calculating the route coefficient based on the ratio of the number of identified stations to the number of unidentified stations in the candidate routes, the calculation formula based on beta distribution can fully consider the influence of the probability that the vehicle to be identified is in an operating state at any given time on the identification of the vehicle's operating route. This makes the calculated route coefficient more reflective of the actual driving situation of the vehicle to be identified, and can determine whether the vehicle to be identified is in an operating state at a certain time by comparing the route coefficient with the probability that the vehicle to be identified is in an operating state at any given time, further improving the accuracy of the identification of the vehicle's operating route.

[0156] The following specific example will further illustrate the detailed application of the solution in this embodiment:

[0157] Taking a bus as an example, the method for identifying operating routes provided in this embodiment is explained, with the vehicle location information and driving direction information obtained from the vehicle-mounted GPS positioning system, and the station location information and station direction information obtained from answer data obtained in advance using methods such as ridge line comparison and manual annotation.

[0158] Figure 2 This is a schematic diagram of an operation route identification method provided in an embodiment of this application, such as... Figure 2 As shown, the vehicle-mounted GPS positioning device of the vehicle to be identified acquires the vehicle's location information and driving direction information every 30 seconds.

[0159] The system acquires vehicle location and driving direction information transmitted by the vehicle's onboard GPS positioning device at every moment during the day's driving process, and compares the vehicle location information with the station location information (latitude and longitude comparison), as well as the driving direction information with the station direction information at each moment. The system selects a station that simultaneously satisfies the following conditions: the distance between the vehicle and the station at a given moment is less than 1 meter, and the angle between the vehicle's driving direction and the station's direction is less than 15°, as the station passed at that moment.

[0160] The system selects the times when a vehicle can pass through a station and the corresponding station for each moment of the day. It then constructs an initial two-dimensional array of the stations and times in chronological order and removes duplicates from the initial two-dimensional array to obtain a new two-dimensional array of stations and times.

[0161] For each passing station in the two-dimensional array of passing stations and times, at least one candidate operating route is determined, and the route coefficient corresponding to the candidate operating route is calculated. The candidate operating route with the largest route coefficient is determined, and the vehicle to be identified is determined to be in an operating state when passing the current passing station based on the largest route coefficient. If it is determined to be in an operating state, the candidate operating route with the largest route coefficient is taken as the target operating route corresponding to the current passing station.

[0162] Based on the above method for determining the target operating route, traverse each station in the two-dimensional array, determine the operating status (operating or non-operating) of each station, and the target operating route when it is in the operating status.

[0163] Figure 3 A block diagram of an operating route identification system provided in this application embodiment is shown below. Figure 3 As shown, after obtaining GPS driving trajectory data from the vehicle-mounted GPS positioning device and identifying passing stations and operating routes, and determining the target operating route of the vehicle to be identified for the day, the operating GPS segment of the target operating route can be cut out from the GPS driving trajectory of the vehicle to be identified for the day based on the location information of the passing stations corresponding to the first and last stations of each target operating route. The operating status of the vehicle to be identified at each moment in the GPS driving trajectory for the day is then output (the operating GPS segment marks the corresponding operating route, and the time outside the operating GPS segment is marked as non-operating). Furthermore, based on the passing stations and corresponding times in the two-dimensional array, information such as passing station names and passing station times can be marked in the GPS driving trajectory to obtain GPS driving trajectory data marked with operating information, and new answer data can be obtained for use in the next operating route identification.

[0164] Figure 4 This is a schematic diagram of the structure of an operating route identification device provided in an embodiment of this application, as shown below. Figure 4 As shown, the device 40 may include: a passing station acquisition module 401 and an operating route identification module 402;

[0165] The station passing acquisition module 401 is used to acquire at least one station passing by the vehicle to be identified and the time of passing by the corresponding station based on the vehicle location information and driving direction information, station location information and station direction information corresponding to multiple different times during the operation of the vehicle to be identified; wherein, the station direction information is used to characterize the driving direction of the vehicle at the station.

[0166] The operating route identification module 402 is used to obtain the target operating route based on the passing stations, the time of the corresponding passing stations, and different operating route station information.

[0167] The technical solution provided in this embodiment determines the stops passed by the vehicle and the corresponding times of those stops by comparing the positions and directions of the vehicle and stops at different times. Further, based on the stops passed, the times of those stops, and information on stops along different operating routes, the target operating route of the vehicle is identified. Compared with the ridgeline comparison method, this stop-based operating route identification method does not require trajectory comparison and can still achieve good identification results even when the vehicle's trajectory changes due to unforeseen circumstances during operation, effectively improving the accuracy of operating route identification.

[0168] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0169] In one optional embodiment of this application, the passing station acquisition module is specifically used for:

[0170] At any given time, based on vehicle location information and station location information, stations that are less than a preset distance threshold from the vehicle to be identified are identified as potential passing stations.

[0171] If, based on the driving direction information and the station direction information corresponding to the potential passing station, it is determined that the driving direction of the vehicle to be identified is consistent with the station direction when it passes through the potential passing station, then the potential passing station is determined to be a passing station.

[0172] In one optional embodiment of this application, the location information includes latitude and longitude information;

[0173] The site access module is specifically used for:

[0174] Compare vehicle location information and station location information to obtain the latitude and longitude comparison results;

[0175] Based on the comparison of latitude and longitude information, stations whose latitude and longitude differ from those of the vehicle to be identified only by the sixth decimal place are selected as potential passing stations.

[0176] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0177] Based on the stations passed and the corresponding times of passing stations, obtain a two-dimensional array of stations and times passed;

[0178] Based on a two-dimensional array of passing stations and times, and station information for different operating routes, obtain the route coefficient for each candidate operating route; whereby the route coefficient is used to characterize the probability that the candidate operating route is the current operating route of the vehicle to be identified.

[0179] Based on the line coefficient of each candidate operating line, the candidate operating line with the highest line coefficient is selected as the target operating line.

[0180] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0181] Based on the stations passed and the corresponding times of passing stations, obtain an initial two-dimensional array of stations and times passed;

[0182] Based on the time of the corresponding passed station, obtain the time corresponding to the repeated station within any preset time period;

[0183] The distance between the vehicle to be identified and the duplicate station is obtained based on the vehicle location information at the time corresponding to the duplicate station and the duplicate station location information.

[0184] Based on the distance, only retain the repeating stations and the times corresponding to the repeating stations when the distance is the minimum within the preset time period in the initial two-dimensional array, and obtain a two-dimensional array of passing stations and times.

[0185] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0186] Given any one of the two-dimensional arrays of passing stations and times, obtain at least one candidate operating route that includes the passing station.

[0187] Obtain the number of stations that can be identified and the number of stations that cannot be identified in the preset station search range in the two-dimensional array for each candidate operating route;

[0188] The route coefficient for each candidate operating route is obtained based on the number of identified stations, the number of unidentified stations, and the probability that the vehicle to be identified is in operation at any given time.

[0189] In one optional embodiment of this application, the operating route identification module is specifically used for:

[0190] The maximum line coefficient is obtained based on the line coefficient of each candidate operating line.

[0191] If the maximum route coefficient is determined to be no less than the probability that the vehicle to be identified is in operation at any given time, then the candidate operating route with the maximum route coefficient is taken as the target operating route.

[0192] This application provides an electronic device including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the above-described route identification method. Compared with related technologies, this method can: determine the stops passed by the vehicle and the corresponding times of passing the stops by comparing the positions of the vehicle and stops at different times and comparing the driving directions; further, identify the target operating route of the vehicle based on the stops passed, the times of passing the corresponding stops, and different operating route stop information. Compared with the ridge line comparison method, the station-based route identification method does not require trajectory comparison. Even when the driving trajectory changes due to sudden situations during vehicle operation, it can still achieve good identification results, effectively improving the accuracy of route identification.

[0193] In one alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The illustrated electronic device 50 includes a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, for example, via a bus 502. Optionally, the electronic device 500 may further include a transceiver 504, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 504 is not limited to one type, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of this application.

[0194] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 501 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0195] Bus 502 may include a pathway for transmitting information between the aforementioned components. Bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 502 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0196] The memory 503 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0197] The memory 503 is used to store computer programs that execute the embodiments of this application, and the execution is controlled by the processor 501. The processor 501 is used to execute the computer programs stored in the memory 503 to implement the steps shown in the foregoing method embodiments.

[0198] The electronic devices in this application embodiment may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), wearable devices, etc., as well as fixed terminals such as digital TVs, desktop computers, etc.

[0199] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0200] It should be noted that the computer-readable storage medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0201] In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0202] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0203] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the illustrations or text descriptions.

[0204] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0205] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. An operating line identification method characterized by, The method comprises the following steps: According to the vehicle position information and the station position information corresponding to different time points in the running process of the to-be-identified vehicle, the running direction information and the station direction information, at least one passing station of the to-be-identified vehicle and the time point corresponding to the passing station are obtained; wherein the station direction information is used to represent the running direction of the vehicle at the station; According to the passing station, the time point corresponding to the passing station and the station information of different operation lines, a target operation line is obtained; The method for obtaining the passing station comprises the following steps: For any time point, according to the vehicle position information and the station position information, a station with a distance less than a preset distance threshold from the to-be-identified vehicle is obtained as a potential passing station; According to the running direction information and the station direction information corresponding to the potential passing station, an included angle between the running direction and the station direction is obtained, if it is determined that the included angle is less than a preset threshold, it is determined that the running direction of the to-be-identified vehicle is consistent with the station direction when the to-be-identified vehicle runs through the potential passing station, and then the potential passing station is determined as the passing station; The position information comprises latitude and longitude information; According to the vehicle position information and the station position information, a station with a distance less than a preset distance threshold from the to-be-identified vehicle is obtained as a potential passing station, which specifically comprises the following steps: The vehicle position information and the station position information are compared to obtain a comparison result of the latitude and longitude information; According to the comparison result of the latitude and longitude information, a station with a difference in latitude and longitude only in the sixth decimal place from the to-be-identified vehicle is obtained as the potential passing station; According to the passing station, the time point corresponding to the passing station and the station information of different operation lines, a target operation line is obtained, which specifically comprises the following steps: According to the passing station and the time point corresponding to the passing station, a two-dimensional array of the passing station and time is obtained; According to the two-dimensional array of the passing station and time and the station information of different operation lines, a line coefficient of each candidate operation line is obtained; wherein the line coefficient is used to represent the possibility that the candidate operation line is the current operation line of the to-be-identified vehicle; According to the line coefficient of each candidate operation line, a candidate operation line with the maximum line coefficient is obtained as the target operation line; According to the passing station and the time point corresponding to the passing station, a two-dimensional array of the passing station and time is obtained, which specifically comprises the following steps: According to the passing station and the time point corresponding to the passing station, an initial two-dimensional array of the passing station and time is obtained; According to the time point corresponding to the repeating station, the time point corresponding to the repeating station existing in any preset time period is obtained; According to the distance between the to-be-identified vehicle and the repeating station obtained from the vehicle position information and the repeating station position information corresponding to the time point of the repeating station, the distance between the to-be-identified vehicle and the repeating station is obtained; According to the distance, only the repeating station and the time point corresponding to the repeating station in the initial two-dimensional array are retained when the distance is the minimum value in the preset time period, and a two-dimensional array of the passing station and time is obtained. The method comprises the following steps: According to any one of the passing stations and time two-dimensional array and the different operating line station information, the line coefficient of each candidate operating line is obtained, and the line coefficient of each candidate operating line is obtained. According to any one of the passing stations and time two-dimensional array and the different operating line station information, the line coefficient of each candidate operating line is obtained, and the line coefficient of each candidate operating line is obtained. According to the number of identified stations, the number of unidentified stations and the probability of the vehicle in the operating state at any time, the line coefficient of each candidate operating line is obtained.

2. The operating line identification method according to claim 1, characterized by, According to the line coefficient of each candidate operating line, the candidate operating line with the maximum line coefficient is obtained as the target operating line. According to the line coefficient of each candidate operating line, the maximum line coefficient is obtained. If it is determined that the maximum line coefficient is not less than the probability of the vehicle in the operating state at any time, the candidate operating line with the maximum line coefficient is taken as the target operating line.

3. An operating line identifying apparatus for realizing an operating line identifying method as claimed in claim 1, characterized by It comprises: The passing station acquisition module is used for acquiring at least one passing station of the vehicle to be identified and the time corresponding to the passing station according to the vehicle position information and the driving direction information corresponding to multiple different time points in the running process of the vehicle to be identified, the station position information and the station direction information, wherein the station direction information is used for representing the driving direction of the vehicle at the station. The operating line identification module is used for acquiring the target operating line according to the passing station, the time corresponding to the passing station and the different operating line station information. The method for acquiring the passing station comprises: For any time, the station with a distance less than a preset distance threshold from the vehicle to be identified is taken as a potential passing station according to the vehicle position information and the station position information. According to the included angle between the driving direction and the station direction of the potential passing station, if it is determined that the included angle is less than a preset threshold, it is determined that the driving direction of the vehicle to be identified is consistent with the station direction when the vehicle to be identified drives through the potential passing station, and then the potential passing station is determined as the passing station. The position information comprises latitude and longitude information. The method for acquiring the potential passing station according to the vehicle position information and the station position information comprises: The vehicle position information and the station position information are compared to obtain a comparison result of latitude and longitude information. According to the comparison result of latitude and longitude information, the station with latitude and longitude only different in the sixth decimal place from the vehicle to be identified is taken as the potential passing station.

4. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program comprises instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1-3. The processor executes the computer program to realize the steps of the method in any one of claims 1-2.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the method in any one of claims 1-2.

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