Vehicle trajectory loss repairing method and device, computer device and storage medium

Abstract

Embodiments of the present application disclose a city intersection vehicle lost trajectory repairing method and device, computer equipment and a storage medium. The method comprises: first acquiring radar detection data frame information; when the vehicle is not in a turning state, first acquiring vehicle information detected by an ETC antenna; when the number of two targets is one, acquiring data frame information again, and acquiring vehicle information again; when the vehicle information acquired again is consistent with the vehicle information acquired first, the data frame information acquired again has one target, the target ID in the data frame information acquired again is consistent with the target ID in the data frame information acquired first, and the target ID in the data frame information acquired again is replaced by the target ID in the data frame information acquired first. Through the method of the embodiments of the present application, the problem of trajectory loss of radar equipment in city intersection vehicle sensing can be solved, and the relationship among accuracy, real-time performance and cost is considered.

Description

Technical Field

[0001] This invention relates to a trajectory restoration method, and more specifically to a method, apparatus, computer equipment, and storage medium for restoring the trajectory of a lost vehicle. Background Technology

[0002] During vehicle tracking, it is necessary to accurately record vehicle trajectories. However, existing technologies may result in partial loss of vehicle trajectories due to environmental factors. In such cases, trajectory completion algorithms are required to repair the trajectories.

[0003] However, existing trajectory completion algorithms face the problem that while radar equipment may have frame interpolation capabilities, its limited sensing methods make it difficult to accurately repair lost trajectories in low-speed situations like urban intersections. Furthermore, current fitting algorithms rely on camera sensing results, resulting in high system load and cost. Therefore, current fitting algorithms using cameras and millimeter-wave radar face the challenge of addressing vehicle loss issues with excessively high hardware costs.

[0004] Therefore, it is necessary to design a new method to solve the problem of radar equipment losing track of vehicles at urban intersections, while taking into account the relationship between accuracy, real-time performance, and cost. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, apparatus, computer equipment and storage medium for vehicle trajectory recovery.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a method for repairing lost vehicle trajectories, comprising:

[0007] The first acquisition of data frame information obtained from radar detection;

[0008] Determine if the vehicle is turning;

[0009] If the vehicle is not turning, the vehicle information detected by the ETC antenna will be obtained for the first time.

[0010] Determine whether the number of targets in the first acquired data frame information is consistent with the number of vehicle information;

[0011] If the number of targets in the first data frame information is the same as the number of vehicle information in the first data frame information, then determine whether the number of targets in the first data frame information and the number of vehicle information in the first data frame information are both the same.

[0012] If the number of targets in the first data frame information acquisition is the same as the number of vehicle information acquisition in the first acquisition, then the data frame information obtained by radar detection is acquired again, and the vehicle information detected by ETC antenna is acquired again.

[0013] When the vehicle information obtained again is consistent with the vehicle information obtained the first time, it is determined whether the data frame information obtained again has a target;

[0014] If there is a target in the data frame information acquired again, and the target ID in the data frame information acquired again is different from the target ID in the data frame information acquired in the first data frame information, then the target ID in the data frame information acquired again will be replaced with the target ID in the data frame information acquired in the first data frame information.

[0015] The further technical solution is as follows: after determining whether the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first acquisition are both the same, it also includes:

[0016] If the number of targets in the first data frame information is not the same as the number of vehicle information in the first data frame information, then the data frame information obtained by the radar detection is obtained again, and the vehicle information detected by the ETC antenna is obtained again.

[0017] When the vehicle information obtained again is consistent with the vehicle information obtained the first time, it is determined whether the number of targets in the data frame information obtained again is the same as the number of targets in the data frame information obtained the first time.

[0018] If the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time, then it is determined whether the vehicle is currently in a parked state.

[0019] If the vehicle is not currently parked, determine whether any of the target IDs in the newly acquired data frame information are different from the target IDs in the first acquired data frame information;

[0020] If one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first acquisition, then the target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first acquisition will be replaced with the corresponding target ID in the data frame information acquired in the first acquisition.

[0021] A further technical solution is as follows: after determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, the method further includes:

[0022] If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time.

[0023] If the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time, then determine whether the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time.

[0024] If the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time, then the target IDs that are more numerous in the data frame information acquired in the first time than in the data frame information acquired again will be added to the data frame information acquired again.

[0025] If the number of targets in the re-acquired data frame information is not less than the number of targets in the first acquired data frame information by one, then if the number of targets in the re-acquired data frame information is more than the number of targets in the first acquired data frame information by one, and all target IDs in the first acquired data frame information are included in the re-acquired data frame information, then delete the target IDs that exist in the re-acquired data frame information but do not exist in the first acquired data frame information.

[0026] The further technical solution is as follows: after determining whether the current vehicle is in a parked state, it also includes:

[0027] If the vehicle is currently parked, determine whether there are multiple target IDs in the newly acquired data frame that are different from the target IDs in the first acquired data frame.

[0028] If multiple target IDs in the data frame information acquired again are different from the target IDs in the data frame information acquired in the first time, then the target IDs in the data frame information acquired again will be replaced with the target IDs in the same position in the data frame information acquired in the first time.

[0029] If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is less than the number of targets in the data frame information acquired in the first time.

[0030] If the number of targets in the data frame information obtained again is less than the number of targets in the data frame information obtained the first time, then determine whether the target IDs in the data frame information obtained again are all included in the data frame information obtained the first time.

[0031] If all the target IDs in the data frame information acquired again are included in the data frame information acquired in the first data frame information, then the target IDs that are more numerous in the data frame information acquired in the first data frame information than in the data frame information acquired again will be added to the position of the target frame of the radar parking position in the data frame information acquired again.

[0032] If the number of targets in the data frame information acquired again is not less than the number of targets in the data frame information acquired in the first time, then if the number of targets in the data frame information acquired again is more than one more than the number of targets in the data frame information acquired in the first time, and all target IDs in the data frame information acquired in the first time are included in the data frame information acquired again, then delete the target IDs that exist in the data frame information acquired again but not in the data frame information acquired in the first time.

[0033] A further technical solution is as follows: after determining whether the vehicle is in a turning state, it also includes:

[0034] If the vehicle is turning, the number of targets detected by the exit ETC antenna is obtained;

[0035] Determine whether the number of targets in the first acquired data frame information is consistent with the number of targets detected by the exit ETC antenna;

[0036] If the number of targets in the first acquired data frame is consistent with the number of targets detected by the exit ETC antenna, then the data frame information obtained by the radar detection is acquired again, and the number of targets detected by the entrance ETC antenna is also acquired.

[0037] When the number of targets detected by the entrance ETC antenna is the same as the number of targets detected by the exit ETC antenna, determine whether the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time.

[0038] If the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired in the first time, then determine whether there is a target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first time.

[0039] If one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first acquisition, then the target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first acquisition will be replaced with the corresponding target ID in the data frame information acquired in the first acquisition.

[0040] A further technical solution is as follows: after determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, the method further includes:

[0041] If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time.

[0042] If the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time, then determine whether the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time.

[0043] If the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time, then the target IDs at the time of turning in the data frame information acquired in the first time will be added to the data frame information acquired again.

[0044] If the number of targets in the re-acquired data frame information is not less than one less than the number of targets in the first acquired data frame information, then if the number of targets in the re-acquired data frame information is more than one more than the number of targets in the first acquired data frame information, and all target IDs in the first acquired data frame information are included in the re-acquired data frame information, then delete the target IDs that exist in the re-acquired data frame information but do not exist in the first acquired data frame information.

[0045] The present invention also provides a vehicle lost trajectory recovery device, comprising:

[0046] The first acquisition unit is used to acquire data frame information obtained by radar detection for the first time.

[0047] The first judgment unit is used to determine whether the vehicle is turning.

[0048] The second acquisition unit is used to acquire the vehicle information detected by the ETC antenna for the first time if the vehicle is not in a turning state.

[0049] The second judgment unit is used to determine whether the number of targets in the first acquired data frame information is consistent with the number of vehicle information;

[0050] The third judgment unit is used to determine whether the number of targets in the first data frame information and the number of vehicle information obtained in the first time are the same if the number of targets in the first data frame information is the same as the number of vehicle information obtained in the first time.

[0051] The third acquisition unit is used to acquire the radar-detected data frame information again and the vehicle information detected by the ETC antenna again if the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first acquisition are both one.

[0052] The fourth judgment unit is used to determine whether the data frame information acquired again has a target when the vehicle information acquired again is consistent with the vehicle information acquired for the first time.

[0053] The first replacement unit is used to replace the target ID in the newly acquired data frame information with the target ID in the first acquired data frame information if the target ID in the newly acquired data frame information is inconsistent with the target ID in the first acquired data frame information.

[0054] Its further technical solutions include:

[0055] The fourth acquisition unit is used to acquire the data frame information detected by the radar again and the vehicle information detected by the ETC antenna again if the number of targets in the first acquired data frame information is not the same as the number of vehicle information acquired in the first acquisition.

[0056] The fifth judgment unit is used to determine whether the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired in the first time when the vehicle information acquired again is consistent with the vehicle information acquired in the first time.

[0057] The sixth judgment unit is used to determine whether the vehicle is currently in a parked state if the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time.

[0058] The seventh judgment unit is used to determine whether, if the current vehicle is not in a parked state, one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time.

[0059] The second replacement unit is used to replace the target ID in the data frame information that is different from the target ID in the data frame information obtained in the first acquisition with the target ID in the data frame information obtained in the first acquisition if the target ID in the data frame information obtained in the second acquisition is different from the target ID in the data frame information obtained in the first acquisition.

[0060] The present invention also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the above-described method.

[0061] The present invention also provides a storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0062] The beneficial effects of this invention compared to existing technologies are as follows: This invention utilizes data frame information obtained from radar detection and vehicle information detected by the ETC antenna, combined with the business characteristics of urban intersections, to repair the lost trajectory of vehicles detected by millimeter-wave radar in specific scenarios. By combining the data frame information obtained from radar detection twice and the vehicle information detected by the ETC antenna, trajectory repair is performed, which greatly improves the reliability of radar trajectory, reduces the impact of radar false detection, lowers detection costs, and solves the problem of lost trajectory detection of vehicles by radar equipment at urban intersections, while taking into account the relationship between accuracy, real-time performance, and cost.

[0063] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0064] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a schematic diagram illustrating an application scenario of the vehicle lost trajectory repair method provided in this embodiment of the invention;

[0066] Figure 2 This is a flowchart illustrating the vehicle trajectory recovery method provided in an embodiment of the present invention.

[0067] Figure 3 A schematic block diagram of a vehicle loss trajectory repair device provided in an embodiment of the present invention;

[0068] Figure 4 A schematic block diagram of a computer device provided for an embodiment of the present invention. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0071] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0072] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0073] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram illustrating an application scenario of the vehicle trajectory recovery method provided in an embodiment of the present invention. Figure 2 This is a schematic flowchart illustrating the vehicle loss trajectory repair method provided in an embodiment of the present invention. This method is applied in a server. The server interacts with the radar and ETC antenna, acquiring data frame information detected by the radar and vehicle information detected by the ETC antenna. For the operational characteristics of vehicle loss trajectory repair at urban intersections, both traffic flow conditions and the characteristics of ETC data must be considered. Urban intersections have the following characteristics: low vehicle speeds, with a maximum speed not exceeding 40 km / h; obstructions in front and behind vehicles, making it easy for radar to lose track of targets; and large variations in vehicle density, with more vehicles during peak hours and fewer vehicles at other times. Considering the above characteristics, radar trajectory repair is implemented for the following situations: When there are few vehicles in a lane and both the radar and ETC antenna detect one target, the radar loses tracking of that target; when multiple vehicles are traveling in a lane and both the radar and ETC antenna detect the same number of targets, the radar tracks a target ID that decreases or changes, or adds multiple target IDs; when a vehicle is stopped at an intersection and both the radar and ETC antenna detect the same number of targets, the radar tracks multiple targets that change; when a vehicle is turning, and the number of targets detected by the exit ETC antenna is the same as the number detected by the entrance ETC antenna, the radar tracks a target ID that decreases or changes, or adds multiple target IDs. This addresses the problem of radar equipment losing track of vehicles at urban intersections while balancing accuracy, real-time performance, and cost.

[0074] Figure 2 This is a flowchart illustrating the vehicle trajectory recovery method provided in an embodiment of the present invention. Figure 2 As shown, the method includes the following steps S110 to S430.

[0075] S110, First acquisition of data frame information obtained from radar detection.

[0076] In this embodiment, data frame information refers to vehicle information detected by radar, including the vehicle's target ID.

[0077] S120. Determine if the vehicle is turning.

[0078] In this embodiment, the vehicle's trajectory can be used to determine whether it is currently turning, or the road conditions can be used to determine whether it is currently turning.

[0079] S130. If the vehicle is not turning, the vehicle information detected by the ETC antenna is obtained for the first time.

[0080] In this embodiment, vehicle information refers to the target ID of the vehicle detected by the ETC antenna.

[0081] S140. Determine whether the number of targets in the first acquired data frame information is consistent with the number of vehicle information.

[0082] S150. If the number of targets in the first data frame information is the same as the number of vehicle information in the first data frame information, then determine whether the number of targets in the first data frame information and the number of vehicle information in the first data frame information are both the same.

[0083] S160. If the number of targets in the first data frame information acquisition is the same as the number of vehicle information acquisition in the first acquisition, then acquire the data frame information obtained by radar detection again, and acquire the vehicle information detected by ETC antenna again.

[0084] S170. When the vehicle information obtained again is consistent with the vehicle information obtained the first time, determine whether the data frame information obtained again has a target.

[0085] S180. If there is a target in the data frame information acquired again, then if the target ID in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time, the target ID in the data frame information acquired again will be replaced with the target ID in the data frame information acquired in the first time.

[0086] If there is more than one target ID or more than one vehicle information in the data frame, proceed to the end step; if a new target ID is added to the vehicle information obtained again, proceed to the end step; if there is more than one target ID in the data frame obtained again, proceed to the end step; if there is one target in the data frame obtained again, and the target ID in the data frame obtained again is the same as the target ID in the data frame obtained in the first data frame, proceed to the end step.

[0087] Specifically, when there are few vehicles in the lane and both the radar and ETC antenna detect only one target, if the radar loses tracking of that target, the vehicle trajectory completion steps are as follows: First, acquire the detected target from the radar. Second, acquire the detected vehicle information from the ETC antenna. If the target detected by the radar is lost, and the ETC antenna does not display new vehicle information, this indicates radar tracking failure. The lost vehicle can be simulated based on the previous speed. If the radar detects a target ID different from the previously detected target ID, and the ETC antenna does not display new vehicle information, this means the new target ID still represents the original target, and the target ID is directly replaced with the previous target ID.

[0088] S190. If the number of targets in the first data frame information is not the same as the number of vehicle information in the first data frame information, then the data frame information obtained by the radar detection is obtained again, and the vehicle information detected by the ETC antenna is obtained again.

[0089] S200. When the vehicle information obtained again is consistent with the vehicle information obtained the first time, determine whether the number of targets in the data frame information obtained again is the same as the number of targets in the data frame information obtained the first time.

[0090] S210. If the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time, then determine whether the current vehicle is in a parked state.

[0091] S220. If the vehicle is not currently in a parked state, determine whether any of the target IDs in the newly acquired data frame information are different from the target IDs in the first acquired data frame information.

[0092] S230. If one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time, then the target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first time shall be replaced with the corresponding target ID in the data frame information acquired in the first time.

[0093] S240. If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time.

[0094] S250. If the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time, then determine whether the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time.

[0095] S260. If all the target IDs in the data frame information acquired again are included in the data frame information acquired in the first time, then the target IDs that are more numerous in the data frame information acquired in the first time than in the data frame information acquired again will be added to the data frame information acquired again.

[0096] S270. If the number of targets in the data frame information acquired again is not less than the number of targets in the data frame information acquired in the first time by one, then when the number of targets in the data frame information acquired again is more than the number of targets in the data frame information acquired in the first time by one, and all target IDs in the data frame information acquired in the first time are included in the data frame information acquired again, delete the target IDs that exist in the data frame information acquired again but do not exist in the data frame information acquired in the first time.

[0097] In this embodiment, if the target ID in the data frame information obtained again is different from the target ID in the data frame information obtained in the first time, then the process ends.

[0098] If the number of targets in the data frame information obtained again is one less than the number of targets in the data frame information obtained the first time, and the target IDs in the data frame information obtained again are not all included in the data frame information obtained the first time, then proceed to the end step.

[0099] If the number of targets in the re-acquired data frame information is more than one more than the number of targets in the first acquired data frame information, or if not all target IDs in the first acquired data frame information are included in the re-acquired data frame information, then proceed to the end step.

[0100] Specifically, when multiple vehicles are traveling in a lane, and both the radar and ETC antenna detect the same number of targets, if the radar loses or changes one target ID, the trajectory repair steps are as follows: Obtain multiple vehicle targets from the radar's data frame information; obtain vehicle information from the ETC antenna. If the number of targets detected by the radar matches the number of vehicle information, the judgment condition is met. If one target ID detected by the radar changes, and the remaining target IDs are included in the previous frame data, it indicates that the target ID that changed corresponds to the previously changed target ID, and the changed target ID is modified to the corresponding target ID obtained previously. If the number of target IDs detected by the radar is greater than the number of target IDs detected in the previous frame, and the target IDs from the previous frame are included in this frame data, it indicates that the radar detection made an incorrect judgment, and all target IDs except those identical to those in the previous frame are deleted from the current radar-detected data frame information.

[0101] S280. If the vehicle is currently parked, determine whether there are multiple target IDs in the data frame information obtained again that are different from the target IDs in the data frame information obtained the first time.

[0102] S290. If multiple target IDs in the data frame information acquired again are different from the target IDs in the data frame information acquired in the first time, then the target IDs in the data frame information acquired again shall be replaced with the target IDs in the same position in the data frame information acquired in the first time.

[0103] S300. If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is less than the number of targets in the data frame information acquired in the first time.

[0104] S310. If the number of targets in the data frame information obtained again is less than the number of targets in the data frame information obtained the first time, then determine whether the target IDs in the data frame information obtained again are all included in the data frame information obtained the first time.

[0105] S320. If the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time, then the target IDs that are more numerous in the data frame information acquired in the first time than in the data frame information acquired again will be added to the position of the target frame of the radar parking position in the data frame information acquired again.

[0106] S330. If the number of targets in the data frame information acquired again is not less than the number of targets in the data frame information acquired in the first time, then if the number of targets in the data frame information acquired again is more than one more than the number of targets in the data frame information acquired in the first time, and all target IDs in the data frame information acquired in the first time are included in the data frame information acquired again, delete the target IDs that exist in the data frame information acquired again but not in the data frame information acquired in the first time.

[0107] In this embodiment, when the vehicle is parked at an intersection, if new vehicle information appears when the ETC detects it again, or if the target ID detected by the radar is not different from the target ID obtained last time, or if the target IDs detected by the radar again are not all included in the target IDs obtained last time, then proceed to the end step.

[0108] Specifically, when a vehicle stops at an intersection, if both the radar and ETC antenna detect the same number of targets, and the radar loses tracking of multiple targets, the steps to repair the lost trajectory are as follows: The radar detects multiple targets whose positions remain unchanged; the ETC antenna detects multiple vehicle information. If the radar detects a lost target or a change in target ID, and the number of vehicle information detected by the ETC antenna remains unchanged, the judgment condition is met. If the radar detects a lost target ID, it means the vehicle is still in the original detection area, so the target ID before the loss is added. If the radar detects a change in target ID, it means the newly added target ID still corresponds to the target that was originally in that position, so the original target ID is added. If the number of target IDs detected by the radar is greater than that of the previous frame, and the target IDs of the previous frame are included in the data of this frame, it means that the radar detection has made an incorrect judgment, and targets other than those with the same target ID as the previous frame are deleted.

[0109] S340. If the vehicle is turning, obtain the number of targets detected by the exit ETC antenna.

[0110] S350. Determine whether the number of targets in the data frame information acquired in the first time is consistent with the number of targets detected by the exit ETC antenna.

[0111] S360. When the number of targets in the first acquired data frame information is consistent with the number of targets detected by the exit ETC antenna, the data frame information obtained by the radar detection is acquired again, and the number of targets detected by the entrance ETC antenna is acquired.

[0112] S370. When the number of targets detected by the entrance ETC antenna is the same as the number of targets detected by the exit ETC antenna, determine whether the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time.

[0113] S380. If the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time, then determine whether any of the target IDs in the data frame information acquired again is different from the target IDs in the data frame information acquired for the first time.

[0114] S390. If one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time, then the target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first time shall be replaced with the corresponding target ID in the data frame information acquired in the first time.

[0115] S400. If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time.

[0116] S410. If the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time, then determine whether the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time.

[0117] S420. If the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time, then the target IDs at the time of turning in the data frame information acquired in the first time will be added to the data frame information acquired again.

[0118] S430. If the number of targets in the data frame information acquired again is not less than the number of targets in the data frame information acquired in the first time by one, then if the number of targets in the data frame information acquired again is more than one more than the number of targets in the data frame information acquired in the first time by more than one, and all the target IDs in the data frame information acquired in the first time by more than one are included in the data frame information acquired again, delete the target IDs that exist in the data frame information acquired again but do not exist in the data frame information acquired in the first time by more than one.

[0119] In this embodiment, when a vehicle turns, the number of targets detected by the exit ETC antenna is the same as the number detected by the entrance ETC antenna. The radar tracking shows one target ID is lost or changed. The vehicle trajectory completion steps are as follows: the radar detects the turning target ID; the ETC antenna detects multiple vehicle information. If the radar loses one target or the number of targets remains unchanged, and one target ID changes, the vehicle information detected by the ETC antenna at the entrance and exit remains unchanged, satisfying the judgment condition. If the radar loses one target, it means the lost target is the one that was lost from a previously existing target, and the target can be added based on the vehicle's direction and speed. If the number of radar targets remains unchanged, and one target ID changes, it means the changed target is one of the remaining target IDs besides the others that haven't changed, and the changed target ID is changed back to the original target ID. If the number of radar target IDs is greater than the previous frame, and the target IDs from the previous frame are included in this frame's data, it indicates an incorrect judgment by the radar, and all target IDs except those identical to those from the previous frame are deleted.

[0120] The aforementioned vehicle trajectory loss repair method utilizes data frame information obtained from radar detection and vehicle information detected by the ETC antenna. Combined with the business characteristics of urban intersections, it uses the ETC antenna to repair the trajectory of a vehicle lost by millimeter-wave radar in a specific scenario. By combining the data frame information obtained from radar detection twice and the vehicle information detected by the ETC antenna, trajectory repair is performed, which greatly improves the reliability of radar trajectory, reduces the impact of radar false detection, lowers detection costs, and solves the problem of radar equipment detecting vehicle trajectory loss at urban intersections. It also balances accuracy, real-time performance, and cost.

[0121] Figure 3 This is a schematic block diagram of a vehicle loss trajectory repair device 300 provided in an embodiment of the present invention. Figure 3 As shown, corresponding to the above-described vehicle loss trajectory repair method, the present invention also provides a vehicle loss trajectory repair device 300. This vehicle loss trajectory repair device 300 includes a unit for performing the above-described vehicle loss trajectory repair method, and the device can be configured in a server. Specifically, please refer to... Figure 3 The vehicle loss trajectory repair device 300 includes a first acquisition unit 301, a first judgment unit 302, a second acquisition unit 303, a second judgment unit 304, a third judgment unit 305, a third acquisition unit 306, a fourth judgment unit 307, a first replacement unit 308, a fourth acquisition unit 309, a fifth judgment unit 310, a sixth judgment unit 311, a seventh judgment unit 312, a second replacement unit 313, an eighth judgment unit 314, a ninth judgment unit 315, and a first supplementary unit 316. The system comprises the first deletion unit 317, the tenth judgment unit 318, the third replacement unit 319, the eleventh judgment unit 320, the twelfth judgment unit 321, the second supplement unit 322, the second deletion unit 323, the fifth acquisition unit 324, the thirteenth judgment unit 325, the sixth acquisition unit 326, the fourteenth judgment unit 327, the fifteenth judgment unit 328, the fourth replacement unit 329, the sixteenth judgment unit 330, the seventeenth judgment unit 331, the third supplement unit 332, and the third deletion unit 333.

[0122] The first acquisition unit 301 is used to acquire data frame information detected by radar for the first time; the first judgment unit 302 is used to judge whether the vehicle is in a turning state; the second acquisition unit 303 is used to acquire vehicle information detected by the ETC antenna for the first time if the vehicle is not in a turning state; the second judgment unit 304 is used to judge whether the number of targets in the first acquired data frame information is consistent with the number of vehicle information; the third judgment unit 305 is used to judge whether the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first time are both one if the number of targets in the first acquired data frame information is consistent with the number of vehicle information acquired in the first time; the third acquisition unit 306 is used to... If the number of targets in the first acquired data frame information is the same as the number of vehicle information in the first acquired data frame information, then the data frame information detected by the radar is acquired again, and the vehicle information detected by the ETC antenna is acquired again; the fourth judgment unit 307 is used to determine whether there is a target in the data frame information acquired again when the vehicle information acquired again is the same as the vehicle information acquired in the first acquisition; the first replacement unit 308 is used to replace the target ID in the data frame information acquired again with the target ID in the data frame information acquired in the first acquisition if there is a target in the data frame information acquired again, and the target ID in the data frame information acquired again is different from the target ID in the data frame information acquired in the first acquisition. The fourth acquisition unit 309 is used to acquire the radar-detected data frame information again and the vehicle information detected by the ETC antenna again if the number of targets in the first acquired data frame information is not the same as the number of vehicle information acquired in the first acquisition. The fifth judgment unit 310 is used to determine whether the number of targets in the second acquired data frame information is the same as the number of targets in the first acquired data frame information when the vehicle information acquired again is the same as the vehicle information acquired in the first acquisition. The sixth judgment unit 311 is used to determine whether the current vehicle is in a parked state if the number of targets in the second acquired data frame information is the same as the number of targets in the first acquired data frame information. The seventh judgment unit 312 is used to determine whether any target ID in the second acquired data frame information is different from the target ID in the first acquired data frame information if the current vehicle is not in a parked state. The second replacement unit 313 is used to replace the target ID in the second acquired data frame information that is different from the target ID in the first acquired data frame information with the corresponding target ID in the first acquired data frame information if any target ID in the second acquired data frame information is different from the target ID in the first acquired data frame information.The eighth judgment unit 314 is used to determine whether the number of targets in the re-acquired data frame information is one less than the number of targets in the first acquired data frame information if the number of targets in the re-acquired data frame information is not the same as the number of targets in the first acquired data frame information; the ninth judgment unit 315 is used to determine whether all target IDs in the re-acquired data frame information are included in the first acquired data frame information if the number of targets in the re-acquired data frame information is one less than the number of targets in the first acquired data frame information; the first supplement unit 316 is used to supplement the re-acquired data frame information with the target IDs that are more numerous in the first acquired data frame information than in the re-acquired data frame information if all target IDs in the re-acquired data frame information are included in the first acquired data frame information; the first deletion unit 317 is used to delete the target IDs that exist in the re-acquired data frame information but not in the first acquired data frame information if the number of targets in the re-acquired data frame information is not one less than the number of targets in the first acquired data frame information, and all target IDs in the first acquired data frame information are included in the re-acquired data frame information.The tenth judgment unit 318 is used to determine, if the current vehicle is in a parked state, whether there are multiple target IDs in the newly acquired data frame information that are different from the target IDs in the first acquired data frame information; the third replacement unit 319 is used to replace the target IDs in the newly acquired data frame information with the target IDs in the same position in the first acquired data frame information if there are multiple target IDs in the newly acquired data frame information that are different from the target IDs in the first acquired data frame information; the eleventh judgment unit 320 is used to determine, if the number of targets in the newly acquired data frame information is not the same as the number of targets in the first acquired data frame information, whether the number of targets in the newly acquired data frame information is less than the number of targets in the first acquired data frame information; the twelfth judgment unit 321 is used to determine, if the number of targets in the newly acquired data frame information is less than the number of targets in the first acquired data frame information. If the number of targets in the newly acquired data frame is not less than the number of targets in the first acquired data frame, then the second supplement unit 322 is used to determine whether all the target IDs in the newly acquired data frame are included in the first acquired data frame; if the number of targets in the newly acquired data frame is not less than the number of targets in the first acquired data frame, then the target IDs that are more numerous in the first acquired data frame than in the newly acquired data frame are added to the position of the target frame of the radar parking position in the newly acquired data frame; if the number of targets in the newly acquired data frame is not less than the number of targets in the first acquired data frame, then if the number of targets in the newly acquired data frame is more than one more than the number of targets in the first acquired data frame, and all the target IDs in the first acquired data frame are included in the newly acquired data frame, then the target IDs that exist in the newly acquired data frame but do not exist in the first acquired data frame are deleted.The fifth acquisition unit 324 is used to acquire the number of targets detected by the exit ETC antenna if the vehicle is turning; the thirteenth judgment unit 325 is used to judge whether the number of targets in the first acquired data frame information is consistent with the number of targets detected by the exit ETC antenna; the sixth acquisition unit 326 is used to acquire the data frame information obtained by radar detection again and acquire the number of targets detected by the entrance ETC antenna when the number of targets in the first acquired data frame information is consistent with the number of targets detected by the exit ETC antenna; the fourteenth judgment unit 327 is used to judge the number of targets detected by the entrance ETC antenna when the number of targets detected by the exit ETC antenna is consistent with the number of targets detected by the exit ETC antenna. The fifteenth judgment unit 328 is used to determine whether the number of targets in the data frame information obtained again is the same as the number of targets in the data frame information obtained in the first time; if the number of targets in the data frame information obtained again is the same as the number of targets in the data frame information obtained in the first time, then it is determined whether one of the target IDs in the data frame information obtained again is different from the target ID in the data frame information obtained in the first time; the fourth replacement unit 329 is used to replace the target ID in the data frame information obtained again that is different from the target ID in the data frame information obtained in the first time with the target ID in the data frame information obtained in the first time if one of the target IDs in the data frame information obtained again is different from the target ID in the data frame information obtained in the first time. The sixteenth judgment unit 330 is used to determine whether the number of targets in the re-acquired data frame information is one less than the number of targets in the first acquired data frame information if the number of targets in the re-acquired data frame information is not the same as the number of targets in the first acquired data frame information. The seventeenth judgment unit 331 is used to determine whether all target IDs in the re-acquired data frame information are included in the first acquired data frame information if the number of targets in the re-acquired data frame information is one less than the number of targets in the first acquired data frame information. The third supplementation unit 332 is used to supplement the target IDs at the turning point in the first acquired data frame information into the re-acquired data frame information if all target IDs in the re-acquired data frame information are included in the first acquired data frame information. The third deletion unit 333 is used to delete target IDs that exist in the re-acquired data frame information but not in the first acquired data frame information if the number of targets in the re-acquired data frame information is not one less than the number of targets in the first acquired data frame information, and all target IDs in the first acquired data frame information are included in the re-acquired data frame information.

[0123] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned vehicle loss trajectory repair device 300 and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0124] The aforementioned vehicle loss trajectory repair device 300 can be implemented as a computer program, which can, for example... Figure 4 It runs on the computer device shown.

[0125] Please see Figure 4 , Figure 4 This is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 500 can be a server, wherein the server can be a standalone server or a server cluster composed of multiple servers.

[0126] See Figure 4 The computer device 500 includes a processor 502, a memory, and a network interface 505 connected via a system bus 501. The memory may include a non-volatile storage medium 503 and internal memory 504.

[0127] The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions that, when executed, cause the processor 502 to perform a method for recovering lost vehicle trajectories.

[0128] The processor 502 provides computing and control capabilities to support the operation of the entire computer device 500.

[0129] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can perform a vehicle loss trajectory repair method.

[0130] This network interface 505 is used for network communication with other devices. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 500 to which the present application is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0131] The processor 502 is used to run a computer program 5032 stored in the memory to perform the following steps:

[0132] The system first acquires data frame information detected by radar; determines whether the vehicle is turning; if the vehicle is not turning, it first acquires vehicle information detected by the ETC antenna; it then determines whether the number of targets in the first acquired data frame information matches the number of vehicle information; if the number of targets in the first acquired data frame information matches the number of vehicle information, it then determines whether both the number of targets and the number of vehicle information are the same; if both the number of targets and the number of vehicle information are the same, it acquires data frame information detected by radar again, and also acquires vehicle information detected by the ETC antenna again; if the vehicle information acquired again matches the vehicle information acquired in the first acquisition, it determines whether the acquired data frame information contains a target; if the acquired data frame information contains a target, and the target ID in the acquired data frame information is different from the target ID in the first acquired data frame information, it replaces the target ID in the acquired data frame information with the target ID in the first acquired data frame information.

[0133] In one embodiment, after performing the step of determining whether the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first acquisition are the same, the processor 502 further performs the following steps:

[0134] If the number of targets in the first acquired data frame is not the same as the number of vehicles in the first acquired data frame, then the radar-detected data frame is acquired again, and the vehicle information detected by the ETC antenna is acquired again. When the vehicle information acquired again is the same as the vehicle information acquired in the first acquisition, it is determined whether the number of targets in the second acquired data frame is the same as the number of targets in the first acquired data frame. If the number of targets in the second acquired data frame is the same as the number of targets in the first acquired data frame, it is determined whether the current vehicle is in a parked state. If the current vehicle is not in a parked state, it is determined whether any of the target IDs in the second acquired data frame is different from the target IDs in the first acquired data frame. If any of the target IDs in the second acquired data frame is different from the target IDs in the first acquired data frame, then the target IDs in the second acquired data frame that are different from the target IDs in the first acquired data frame are replaced with the corresponding target IDs in the first acquired data frame.

[0135] In one embodiment, after implementing the step of determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, the processor 502 further implements the following steps:

[0136] If the number of targets in the re-acquired data frame is not the same as the number of targets in the first acquired data frame, then determine whether the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame. If the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame, then determine whether all target IDs in the re-acquired data frame are included in the first acquired data frame. If all target IDs in the re-acquired data frame are included in the first acquired data frame, then add the target IDs that are more numerous in the first acquired data frame than in the re-acquired data frame to the re-acquired data frame. If the number of targets in the re-acquired data frame is not one less than the number of targets in the first acquired data frame, then if the number of targets in the re-acquired data frame is one more than the number of targets in the first acquired data frame, and all target IDs in the first acquired data frame are included in the re-acquired data frame, delete the target IDs that exist in the re-acquired data frame but not in the first acquired data frame.

[0137] In one embodiment, after implementing the step of determining whether the current vehicle is in a parked state, the processor 502 further implements the following steps:

[0138] If the vehicle is currently parked, determine whether there are multiple target IDs in the newly acquired data frame that are different from the target IDs in the first acquired data frame.

[0139] If multiple target IDs in the data frame information acquired again are different from the target IDs in the data frame information acquired in the first time, then the target IDs in the data frame information acquired again will be replaced with the target IDs in the same position in the data frame information acquired in the first time.

[0140] If the number of targets in the re-acquired data frame is not the same as the number of targets in the first acquired data frame, then determine whether the number of targets in the re-acquired data frame is less than the number of targets in the first acquired data frame. If the number of targets in the re-acquired data frame is less than the number of targets in the first acquired data frame, then determine whether all target IDs in the re-acquired data frame are included in the first acquired data frame. If all target IDs in the re-acquired data frame are included in the first acquired data frame, then add the target IDs that are more numerous in the first acquired data frame than in the re-acquired data frame to the target frame position of the radar parking location in the re-acquired data frame. If the number of targets in the re-acquired data frame is not less than the number of targets in the first acquired data frame, then if the number of targets in the re-acquired data frame is more than one more than the number of targets in the first acquired data frame, and all target IDs in the first acquired data frame are included in the re-acquired data frame, delete the target IDs that exist in the re-acquired data frame but not in the first acquired data frame.

[0141] In one embodiment, after implementing the step of determining whether the vehicle is turning, the processor 502 further implements the following steps:

[0142] If the vehicle is turning, the number of targets detected by the exit ETC antenna is obtained; it is determined whether the number of targets in the first obtained data frame is consistent with the number of targets detected by the exit ETC antenna; if the number of targets in the first obtained data frame is consistent with the number of targets detected by the exit ETC antenna, the data frame information obtained by the radar is obtained again, and the number of targets detected by the entrance ETC antenna is obtained; if the number of targets detected by the entrance ETC antenna is consistent with the number of targets detected by the exit ETC antenna, it is determined whether the number of targets in the second obtained data frame is the same as the number of targets in the first obtained data frame; if the number of targets in the second obtained data frame is the same as the number of targets in the first obtained data frame, it is determined whether any of the target IDs in the second obtained data frame is different from the target IDs in the first obtained data frame; if any of the target IDs in the second obtained data frame is different from the target IDs in the first obtained data frame, the target IDs in the second obtained data frame that are different from the target IDs in the first obtained data frame are replaced with the corresponding target IDs in the first obtained data frame.

[0143] In one embodiment, after implementing the step of determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, the processor 502 further implements the following steps:

[0144] If the number of targets in the re-acquired data frame is not the same as the number of targets in the first acquired data frame, then determine whether the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame. If the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame, then determine whether all target IDs in the re-acquired data frame are included in the first acquired data frame. If all target IDs in the re-acquired data frame are included in the first acquired data frame, then add the target IDs from the first acquired data frame that were turning to the re-acquired data frame. If the number of targets in the re-acquired data frame is not one less than the number of targets in the first acquired data frame, then if the number of targets in the re-acquired data frame is more than one more than the number of targets in the first acquired data frame, and all target IDs from the first acquired data frame are included in the re-acquired data frame, delete the target IDs that exist in the re-acquired data frame but not in the first acquired data frame.

[0145] It should be understood that in the embodiments of this application, the processor 502 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0146] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0147] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein when executed by a processor, the computer program causes the processor to perform the following steps:

[0148] The system first acquires data frame information detected by radar; determines whether the vehicle is turning; if the vehicle is not turning, it first acquires vehicle information detected by the ETC antenna; it then determines whether the number of targets in the first acquired data frame information matches the number of vehicle information; if the number of targets in the first acquired data frame information matches the number of vehicle information, it then determines whether both the number of targets and the number of vehicle information are the same; if both the number of targets and the number of vehicle information are the same, it acquires data frame information detected by radar again, and also acquires vehicle information detected by the ETC antenna again; if the vehicle information acquired again matches the vehicle information acquired in the first acquisition, it determines whether the acquired data frame information contains a target; if the acquired data frame information contains a target, and the target ID in the acquired data frame information is different from the target ID in the first acquired data frame information, it replaces the target ID in the acquired data frame information with the target ID in the first acquired data frame information.

[0149] In one embodiment, after executing the computer program to determine whether the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first acquisition are the same step, the processor further implements the following steps:

[0150] If the number of targets in the first acquired data frame is not the same as the number of vehicles in the first acquired data frame, then the radar-detected data frame is acquired again, and the vehicle information detected by the ETC antenna is acquired again. When the vehicle information acquired again is the same as the vehicle information acquired in the first acquisition, it is determined whether the number of targets in the second acquired data frame is the same as the number of targets in the first acquired data frame. If the number of targets in the second acquired data frame is the same as the number of targets in the first acquired data frame, it is determined whether the current vehicle is in a parked state. If the current vehicle is not in a parked state, it is determined whether any of the target IDs in the second acquired data frame is different from the target IDs in the first acquired data frame. If any of the target IDs in the second acquired data frame is different from the target IDs in the first acquired data frame, then the target IDs in the second acquired data frame that are different from the target IDs in the first acquired data frame are replaced with the corresponding target IDs in the first acquired data frame.

[0151] In one embodiment, after the processor executes the computer program to implement the step of determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, it further implements the following steps:

[0152] If the number of targets in the re-acquired data frame is not the same as the number of targets in the first acquired data frame, then determine whether the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame. If the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame, then determine whether all target IDs in the re-acquired data frame are included in the first acquired data frame. If all target IDs in the re-acquired data frame are included in the first acquired data frame, then add the target IDs that are more numerous in the first acquired data frame than in the re-acquired data frame to the re-acquired data frame. If the number of targets in the re-acquired data frame is not one less than the number of targets in the first acquired data frame, then if the number of targets in the re-acquired data frame is one more than the number of targets in the first acquired data frame, and all target IDs in the first acquired data frame are included in the re-acquired data frame, delete the target IDs that exist in the re-acquired data frame but not in the first acquired data frame.

[0153] In one embodiment, after executing the computer program to implement the step of determining whether the current vehicle is in a parked state, the processor further implements the following steps:

[0154] If the vehicle is currently parked, determine if multiple target IDs in the newly acquired data frame are different from those in the first acquired data frame. If multiple target IDs in the newly acquired data frame are different from those in the first acquired data frame, replace the target IDs in the newly acquired data frame with the target IDs at the same position in the first acquired data frame. If the number of targets in the newly acquired data frame is not the same as the number of targets in the first acquired data frame, determine if the number of targets in the newly acquired data frame is less than the number of targets in the first acquired data frame. If the number of targets in the newly acquired data frame is less than the number of targets in the first acquired data frame, determine if the number of targets in the newly acquired data frame is less than the number of targets in the first acquired data frame. If all target IDs in the second acquired data frame are included in the first acquired data frame, then the target IDs in the second acquired data frame that are more numerous than those in the first acquired data frame are added to the target frame position of the radar parking location in the second acquired data frame. If the number of targets in the second acquired data frame is not less than the number of targets in the first acquired data frame, then if the number of targets in the second acquired data frame is more than one more than the number of targets in the first acquired data frame, and all target IDs in the first acquired data frame are included in the second acquired data frame, then target IDs that exist in the second acquired data frame but not in the first acquired data frame are deleted.

[0155] In one embodiment, after executing the computer program to implement the step of determining whether the vehicle is turning, the processor further implements the following steps:

[0156] If the vehicle is turning, the number of targets detected by the exit ETC antenna is obtained; it is determined whether the number of targets in the first obtained data frame is consistent with the number of targets detected by the exit ETC antenna; if the number of targets in the first obtained data frame is consistent with the number of targets detected by the exit ETC antenna, the data frame information obtained by the radar is obtained again, and the number of targets detected by the entrance ETC antenna is obtained; if the number of targets detected by the entrance ETC antenna is consistent with the number of targets detected by the exit ETC antenna, it is determined whether the number of targets in the second obtained data frame is the same as the number of targets in the first obtained data frame; if the number of targets in the second obtained data frame is the same as the number of targets in the first obtained data frame, it is determined whether any of the target IDs in the second obtained data frame is different from the target IDs in the first obtained data frame; if any of the target IDs in the second obtained data frame is different from the target IDs in the first obtained data frame, the target IDs in the second obtained data frame that are different from the target IDs in the first obtained data frame are replaced with the corresponding target IDs in the first obtained data frame.

[0157] In one embodiment, after the processor executes the computer program to implement the step of determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, it further implements the following steps:

[0158] If the number of targets in the re-acquired data frame is not the same as the number of targets in the first acquired data frame, then determine whether the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame. If the number of targets in the re-acquired data frame is one less than the number of targets in the first acquired data frame, then determine whether all target IDs in the re-acquired data frame are included in the first acquired data frame. If all target IDs in the re-acquired data frame are included in the first acquired data frame, then add the target IDs from the first acquired data frame that were turning to the re-acquired data frame. If the number of targets in the re-acquired data frame is not one less than the number of targets in the first acquired data frame, then if the number of targets in the re-acquired data frame is more than one more than the number of targets in the first acquired data frame, and all target IDs from the first acquired data frame are included in the re-acquired data frame, delete the target IDs that exist in the re-acquired data frame but not in the first acquired data frame.

[0159] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0160] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0161] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0162] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0163] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0164] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for recovering the trajectory of a lost vehicle, characterized in that, include: The first acquisition of data frame information obtained from radar detection; Determine if the vehicle is turning; If the vehicle is not turning, the vehicle information detected by the ETC antenna will be obtained for the first time. Determine whether the number of targets in the first acquired data frame information is consistent with the number of vehicle information; If the number of targets in the first data frame information is the same as the number of vehicle information in the first data frame information, then determine whether the number of targets in the first data frame information and the number of vehicle information in the first data frame information are both the same. If the number of targets in the first data frame information acquisition is the same as the number of vehicle information acquisition in the first acquisition, then the data frame information obtained by radar detection is acquired again, and the vehicle information detected by ETC antenna is acquired again. When the vehicle information obtained again is consistent with the vehicle information obtained the first time, it is determined whether the data frame information obtained again has a target; If there is a target in the data frame information acquired again, and the target ID in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time, the target ID in the data frame information acquired again will be replaced with the target ID in the data frame information acquired in the first time. After determining whether the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first acquisition are both the same, the method further includes: If the number of targets in the first data frame information is not the same as the number of vehicle information in the first data frame information, then the data frame information obtained by the radar detection is obtained again, and the vehicle information detected by the ETC antenna is obtained again. When the vehicle information obtained again is consistent with the vehicle information obtained the first time, it is determined whether the number of targets in the data frame information obtained again is the same as the number of targets in the data frame information obtained the first time. If the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time, then it is determined whether the vehicle is currently in a parked state. If the vehicle is not currently parked, determine whether any of the target IDs in the newly acquired data frame information are different from the target IDs in the first acquired data frame information; If one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time, then the target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first time will be replaced with the corresponding target ID in the data frame information acquired in the first time. If the vehicle is currently parked, determine whether there are multiple target IDs in the newly acquired data frame that are different from the target IDs in the first acquired data frame. If multiple target IDs in the data frame information acquired again are different from the target IDs in the data frame information acquired in the first time, then the target IDs in the data frame information acquired again will be replaced with the target IDs in the same position in the data frame information acquired in the first time. If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is less than the number of targets in the data frame information acquired in the first time. If the number of targets in the data frame information obtained again is less than the number of targets in the data frame information obtained the first time, then determine whether the target IDs in the data frame information obtained again are all included in the data frame information obtained the first time. If all the target IDs in the data frame information acquired again are included in the data frame information acquired in the first data frame information, then the target IDs that are more numerous in the data frame information acquired in the first data frame information than in the data frame information acquired again will be added to the position of the target frame of the radar parking position in the data frame information acquired again. If the number of targets in the data frame information acquired again is not less than the number of targets in the data frame information acquired in the first time, then if the number of targets in the data frame information acquired again is more than one more than the number of targets in the data frame information acquired in the first time, and all target IDs in the data frame information acquired in the first time are included in the data frame information acquired again, then delete the target IDs that exist in the data frame information acquired again but not in the data frame information acquired in the first time.

2. The vehicle loss trajectory repair method according to claim 1, characterized in that, After determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, the method further includes: If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time. If the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time, then determine whether the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time. If the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time, then the target IDs that are more numerous in the data frame information acquired in the first time than in the data frame information acquired again will be added to the data frame information acquired again. If the number of targets in the re-acquired data frame information is not less than the number of targets in the first acquired data frame information by one, then if the number of targets in the re-acquired data frame information is more than the number of targets in the first acquired data frame information by one, and all target IDs in the first acquired data frame information are included in the re-acquired data frame information, then delete the target IDs that exist in the re-acquired data frame information but do not exist in the first acquired data frame information.

3. The method for restoring lost vehicle trajectory according to claim 1, characterized in that, After determining whether the vehicle is turning, the process also includes: If the vehicle is turning, the number of targets detected by the exit ETC antenna is obtained; Determine whether the number of targets in the first acquired data frame information is consistent with the number of targets detected by the exit ETC antenna; If the number of targets in the first acquired data frame is consistent with the number of targets detected by the exit ETC antenna, then the data frame information obtained by the radar detection is acquired again, and the number of targets detected by the entrance ETC antenna is also acquired. When the number of targets detected by the entrance ETC antenna is the same as the number of targets detected by the exit ETC antenna, determine whether the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time. If the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired in the first time, then determine whether there is a target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first time. If one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first acquisition, then the target ID in the data frame information acquired again that is different from the target ID in the data frame information acquired in the first acquisition will be replaced with the corresponding target ID in the data frame information acquired in the first acquisition.

4. The vehicle loss trajectory repair method according to claim 3, characterized in that, After determining whether the number of targets in the newly acquired data frame information is the same as the number of targets in the first acquired data frame information, the method further includes: If the number of targets in the data frame information acquired again is not the same as the number of targets in the data frame information acquired in the first time, then determine whether the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time. If the number of targets in the data frame information acquired again is one less than the number of targets in the data frame information acquired in the first time, then determine whether the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time. If the target IDs in the data frame information acquired again are all included in the data frame information acquired in the first time, then the target IDs at the time of turning in the data frame information acquired in the first time will be added to the data frame information acquired again. If the number of targets in the re-acquired data frame information is not less than one less than the number of targets in the first acquired data frame information, then if the number of targets in the re-acquired data frame information is more than one more than the number of targets in the first acquired data frame information, and all target IDs in the first acquired data frame information are included in the re-acquired data frame information, then delete the target IDs that exist in the re-acquired data frame information but do not exist in the first acquired data frame information.

5. A vehicle loss trajectory repair device, characterized in that, The device uses the vehicle loss trajectory recovery method as described in any one of claims 1 to 4, comprising: The first acquisition unit is used to acquire data frame information obtained by radar detection for the first time. The first judgment unit is used to determine whether the vehicle is turning. The second acquisition unit is used to acquire the vehicle information detected by the ETC antenna for the first time if the vehicle is not in a turning state. The second judgment unit is used to determine whether the number of targets in the first acquired data frame information is consistent with the number of vehicle information; The third judgment unit is used to determine whether the number of targets in the first data frame information and the number of vehicle information obtained in the first time are the same if the number of targets in the first data frame information is the same as the number of vehicle information obtained in the first time. The third acquisition unit is used to acquire the radar-detected data frame information again and the vehicle information detected by the ETC antenna again if the number of targets in the first acquired data frame information and the number of vehicle information acquired in the first acquisition are both one. The fourth judgment unit is used to determine whether the data frame information acquired again has a target when the vehicle information acquired again is consistent with the vehicle information acquired for the first time. The first replacement unit is used to replace the target ID in the newly acquired data frame information with the target ID in the first acquired data frame information if there is a target in the newly acquired data frame information and the target ID in the newly acquired data frame information is different from the target ID in the first acquired data frame information. Also includes: The fourth acquisition unit is used to acquire the data frame information detected by the radar again and the vehicle information detected by the ETC antenna again if the number of targets in the first acquired data frame information is not the same as the number of vehicle information acquired in the first acquisition. The fifth judgment unit is used to determine whether the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired in the first time when the vehicle information acquired again is consistent with the vehicle information acquired in the first time. The sixth judgment unit is used to determine whether the vehicle is currently in a parked state if the number of targets in the data frame information acquired again is the same as the number of targets in the data frame information acquired for the first time. The seventh judgment unit is used to determine whether, if the current vehicle is not in a parked state, one of the target IDs in the data frame information acquired again is different from the target ID in the data frame information acquired in the first time. The second replacement unit is used to replace the target ID in the data frame information that is different from the target ID in the data frame information obtained in the first acquisition with the target ID in the data frame information obtained in the first acquisition if the target ID in the data frame information obtained in the second acquisition is different from the target ID in the data frame information obtained in the first acquisition.

6. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 4.

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