Data processing method and apparatus

Abstract

Embodiments of the present application disclose a data processing method and device, the embodiments of the present application map a trajectory point sequence of a target terminal in a range of an intersection into change information of spatial phases, and / or map a no-entry or passing state of the intersection or each traffic light of the intersection into corresponding change information of one or more spatial phases. According to the change information of the spatial phases and time of the trajectory point sequence, whether the intersection or the traffic light is in the no-entry or passing state when the target terminal passes through the intersection is determined. Thus, by mapping into the change information of the spatial phases, the data amount in judgment is reduced, the required computing resources are reduced, meanwhile, compared with an image recognition method, the accuracy is higher, and behaviors of all delivery terminals in violation of intersection traffic light instructions can be accurately identified and confirmed.

Description

[0001] This application is a divisional application of Chinese patent application filed on February 17, 2023, with application number 202310158945.5 and patent title "Data Processing Method and Apparatus". Technical Field

[0002] This invention relates to the field of intelligent transportation, and specifically to a data processing method and apparatus for processing trajectory data of a terminal. Background Technology

[0003] In online food delivery and courier platforms, some delivery personnel violate traffic rules in order to complete delivery tasks as quickly as possible. Running red lights at intersections is the most serious offense. Additionally, automated delivery devices may also run red lights at intersections due to equipment malfunctions or other problems. This poses a negative impact on the safety of delivery personnel and the public. Current technologies typically rely on image acquisition devices in traffic management systems to collect and identify violations of traffic light signals at intersections. However, when dealing with large amounts of data on delivery personnel and traffic intersections, this approach is resource-intensive and has low recognition efficiency. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a data processing method and apparatus to utilize the feature of delivery personnel's delivery terminals periodically reporting their locations, thereby more accurately identifying violations of traffic light instructions at intersections while consuming fewer resources.

[0005] Firstly, a data processing method is provided, the method comprising:

[0006] Determine the sequence of trajectory points of the target terminal within the intersection area, wherein the sequence of trajectory points includes multiple trajectory points of the target terminal;

[0007] Based on the trajectory point sequence, the spatial phase change information of the target terminal at the intersection is determined, where different spatial phases correspond to different location areas at the intersection; and

[0008] The behavior state of the target terminal passing through the intersection is determined based on the spatial phase change information and the time information corresponding to the trajectory point sequence.

[0009] Secondly, a data processing method is provided for determining the behavioral state of a target terminal passing through an intersection, the method comprising:

[0010] Determine a set of spatial phase change information for the intersection or its traffic lights, wherein the set of spatial phase change information includes at least one spatial phase change information corresponding to the permitted or prohibited states of the intersection or its traffic lights in different time periods, and different spatial phases correspond to different location areas of the intersection; and

[0011] The behavioral state of the target terminal passing through the intersection is determined based on the trajectory point sequence of the target terminal within the intersection area, the time information corresponding to the trajectory point sequence, and the set of change information.

[0012] Thirdly, a data processing apparatus is provided, the apparatus comprising:

[0013] A sequence determination unit is used to determine the sequence of trajectory points of a target terminal within the intersection area, wherein the sequence of trajectory points includes multiple trajectory points of the target terminal;

[0014] A change determination unit is configured to determine, based on the trajectory point sequence, the spatial phase change information of the target terminal at the intersection, wherein different spatial phases correspond to different location regions of the intersection; and

[0015] The state determination unit is used to determine the behavior state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence.

[0016] Fourthly, a data processing apparatus is provided for determining the behavioral state of a target terminal passing through an intersection, the apparatus comprising:

[0017] A set determination unit is used to determine a set of spatial phase change information for the intersection or each traffic light at the intersection. The set of spatial phase change information includes at least one spatial phase change information corresponding to the traffic flow state or prohibited state of the intersection or each traffic light at the intersection in each time period. Different spatial phases correspond to different location areas of the intersection.

[0018] The state determination unit is used to determine the behavioral state of the target terminal passing through the intersection based on the trajectory point sequence of the target terminal within the intersection range, the time information corresponding to the trajectory point sequence, and the change information set.

[0019] Fifthly, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the method according to the first or second aspect.

[0020] Sixthly, an electronic device is provided, the device comprising:

[0021] Memory is used to store one or more computer program instructions;

[0022] A processor, wherein the one or more computer program instructions are executed by the processor to implement the method according to the first aspect or the second aspect.

[0023] This invention maps the trajectory point sequence of the target terminal within the intersection area to spatial phase change information, and / or maps the prohibition or passage status of the intersection or traffic lights to corresponding multiple spatial phase change information. Based on the spatial phase change information and the time information of the trajectory point sequence, it determines whether the direction of passage of the target terminal through the intersection is prohibited or permitted. Therefore, mapping to spatial phase change information reduces the amount of data required for judgment, reduces the computational resources needed, and simultaneously improves accuracy, enabling the identification and confirmation of all delivery terminals' violations of intersection traffic light instructions. Attached Figure Description

[0024] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0025] Figure 1 This is a schematic diagram of the data processing system according to an embodiment of the present invention;

[0026] Figure 2 This is a flowchart of the data processing method according to the first embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the intersection spatial phase according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the spatial phase of a one-way intersection in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the spatial phase of a T-junction in an embodiment of the present invention;

[0030] Figure 6 This is a block diagram of a data processing apparatus according to a second embodiment of the present invention;

[0031] Figure 7 This is a flowchart of the data processing method according to the third embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of data processing of the trajectory point sequence passing through the T-junction in an embodiment of the present invention;

[0033] Figure 9 This is a block diagram of a data processing apparatus according to a fourth embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0035] The present invention is described below based on embodiments, but the invention is not limited to these embodiments. In the detailed description of the invention below, certain specific details are described in detail. Those skilled in the art will fully understand the invention even without these details. To avoid obscuring the essence of the invention, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0036] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0037] Unless the context explicitly requires it, the terms "including," "comprising," and similar terms used in this application should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to."

[0038] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In the following description, an online food delivery platform is used as an example. It should be understood that the solutions of this invention are also applicable to other types of e-commerce platforms, such as fresh food delivery or express delivery platforms. Furthermore, the solutions of this invention can also be applied to products targeting individual consumers. It should be understood that all information obtained from the client or user, or functional permissions of the user's terminal, as described in this application, are obtained in a legal and compliant manner with the explicit authorization of the user.

[0040] Figure 1 This is a schematic diagram of a data processing system according to an embodiment of the present invention. Figure 1 As shown, delivery personnel 11 carry delivery terminals 12 and complete the delivery task using a uniformly configured or self-configured vehicle. Delivery terminal 12 can connect to network 13 to interact with server 14 for task data. In some embodiments, delivery terminal 12 is a smartphone, tablet, smart wearable device, laptop, or other type of mobile communication terminal or a vehicle with a mobile communication terminal, such as an electric vehicle or car, suitable for delivery personnel. In some embodiments, delivery terminal 12 can also be a mobile intelligent delivery device, such as a delivery robot or delivery drone. Meanwhile, server 14 is a general-purpose data processing device that provides computing or application services to other clients on the network. In this embodiment, server 14 can be a single computer, a cluster of multiple computers, or a cloud server that can flexibly adjust computing resources through cloud technology.

[0041] Taking an online food delivery platform as an example, server 14 assigns delivery tasks to delivery terminal 12 based on interactions with other terminals (not shown in the figure). Delivery terminal 12 displays the specific details of the delivery task to the delivery personnel through an application or mini-program's human-computer interaction interface, provides navigation services to the delivery personnel through location-based services (LBS), and verifies the delivery task based on the actual trajectory data reported by delivery terminal 12 after the delivery personnel complete the task. To meet users' needs to understand the progress of delivery tasks, and also to ensure the safety of delivery personnel, the application or mini-program of delivery terminal 12 continuously reports location information and corresponding timestamps to server 14 with the consent and explicit authorization of the delivery personnel. The reported location information can be obtained through the satellite positioning device of delivery terminal 12. Thus, server 14 can record the trajectory point sequence of each delivery terminal 12.

[0042] In this embodiment of the invention, the sequence of trajectory points (i.e., movement trajectory information) of each delivery terminal 12 recorded by the server 14 during the delivery task is used, and combined with the corresponding time information, to identify whether the behavior of the corresponding delivery terminal 12 at the intersection violates the traffic light instructions.

[0043] Figure 2 This is a flowchart of the data processing method according to the first embodiment of the present invention. Figure 2 As shown, the method in this embodiment includes the following steps.

[0044] In step S210, the sequence of trajectory points of the target terminal within the intersection area is determined. The sequence of trajectory points includes multiple trajectory points of the target terminal.

[0045] As described above, server 14 records the set of trajectory points of delivery terminal 12. Therefore, on server 14, each intersection can be pre-marked as an Area of ​​Interest (AOI). Simultaneously, a geofence is set for the AOI corresponding to each intersection (i.e., the geographical coordinate range covered by the AOI is set). All trajectory points of the target terminal within the geofence of a specific intersection are identified as trajectory points of the target terminal passing through the intersection. Furthermore, the set of trajectory points of the target terminal at the intersection is preprocessed to obtain a sequence of trajectory points within the intersection area. Specifically, the trajectory points can first be sorted by time to obtain an initial sequence. The initial sequence contains all points in the trajectory point set and is sorted according to the timestamp of recording or reporting. Then, for each trajectory point in the trajectory point sequence, target trajectory points satisfying the following conditions are selected:

[0046] Condition A. The distance between the trajectory point and the center point of the intersection is no greater than a first value. In an optional implementation, the first value is selected from 30-50 meters, for example, 45 meters.

[0047] Condition B. The distance between the trajectory point and its adjacent points is not less than the second value, and the distance from the adjacent points to the center point of the intersection is greater than the distance from the trajectory point to the center point of the intersection. In one optional implementation, the second value is selected from 3 to 20 meters, for example, 5 meters.

[0048] Condition C. The time interval between a trajectory point and its adjacent points is within a predetermined time range. In one optional implementation, the time range is 15-25 seconds.

[0049] Condition A above restricts the location of the trajectory point to a certain range, thus excluding trajectory points with location drift. Simultaneously, conditions B and C eliminate jump points caused by positioning errors, ensuring that the target trajectory point is the local closest point to the intersection center point in the trajectory sequence. This constraint further guarantees that the trajectory sequence points represent a behavior of passing through an intersection.

[0050] Finally, the target trajectory point and its adjacent trajectory points are selected to form a sequence of trajectory points of the target terminal within the intersection area. This allows for a relatively accurate acquisition of the trajectory data of the target terminal as it passes through the intersection.

[0051] In one implementation, near real-time evaluation of the target terminal's behavior as it passes through an intersection is required. This necessitates real-time acquisition and processing of trajectory point sequences. In this case, step S210 may include:

[0052] Step S211: Periodically acquire the location information of the trajectory points reported by the target terminal. That is, the application or applet controls the target terminal to report location information to the server according to a predetermined period. The server receives the aforementioned location information.

[0053] Step S212: Determine the trajectory point sequence in real time based on the position information of the trajectory points.

[0054] Therefore, in application scenarios with high real-time requirements, trajectory point sequences can be quickly determined. Furthermore, these trajectory point sequences can be used to rapidly assess and determine the behavioral state of a target terminal passing through an intersection.

[0055] In another implementation, if real-time requirements are not high, the recorded historical data can be processed uniformly. For example, all trajectory data of the target terminal over the past day can be obtained, and multiple trajectory point sequences of the target terminal passing through various intersections during that time period can be obtained based on the trajectory data, and each sequence can be evaluated and judged.

[0056] In some alternative implementations, precise location trajectory information may not be required; instead, the trajectory point sequence of the target terminal can be determined using video recorded by traffic monitoring equipment already installed at the intersection. Specifically, in these implementations, step S210 includes:

[0057] Step S211': Obtain video containing the target terminal recorded by at least one camera device at the intersection.

[0058] In one implementation, the camera equipment is a traffic monitoring device, specifically a device fixedly installed at the intersection by the traffic management department to record video information of traffic flow. It can receive video streams generated by the traffic monitoring equipment in real time to achieve near real-time traffic violation judgment. Alternatively, it can acquire recorded video files at a unified time point for post-event judgment. Since judging red-light running actually requires examining each vehicle crossing the intersection, target tracking technology can be used to identify and track each vehicle in the video, thereby determining the sequence of trajectory points for each vehicle crossing the intersection.

[0059] If specific target terminals need to be identified, additional information is required. For example, the target terminal can report preliminary location information. Based on this preliminary location information, the time when the target terminal passed through the intersection can be determined. Based on this time, the time period containing the target terminal passing through the intersection can be expanded, and the video recorded during this time period is the video containing the target terminal. Another example is that a short-range communication base station can be set up at the intersection to collect beacons continuously broadcast by the target terminal; the video containing the target terminal can be determined based on the beacon reception time.

[0060] In another implementation, the camera device can be a camera that moves with the target terminal, such as a camera mounted on a vehicle driven by a delivery person carrying the target terminal, or a camera mounted on the delivery person's helmet. Subsequently, by identifying the position of a predetermined target facility (e.g., a sign, traffic light, road markings, or a building near the intersection) in the video frame of the video of the moving camera passing through the intersection, the relative position between the target facility and the camera device is determined. Then, based on the predetermined positioning information of the target facility and the relative position, the trajectory point of the target terminal is determined. Similarly, the target terminal can report preliminary location information. Based on the preliminary location information, the time when the target terminal passed through the intersection can be determined. Based on this time, a time period including the target terminal passing through the intersection can be obtained, and the video recorded during this time period is the video containing the target terminal.

[0061] Step S212': Extract the trajectory point sequence of the target terminal within the intersection area based on the video.

[0062] Specifically, the vehicle of the target terminal can be identified first in the video. In the scenario of judging whether each vehicle violates regulations, multiple targets in each frame of the video can be identified and continuously tracked using machine vision-based target recognition and tracking technology. Object tracking is a technique in computer vision used to locate objects of interest in an image sequence. It involves identifying the position of an object in consecutive frames and tracking its movement over time. The purpose of object tracking is to track moving objects in a video stream, even in the presence of noise and occlusion. Currently, deep learning technology is often used for machine vision-based target recognition and tracking. Deep learning-based object tracking methods have developed rapidly in recent years. They utilize deep learning algorithms, such as Convolutional Neural Networks (CNNs) and Recurrent Neural Networks (RNNs), to learn the features of targets in an image sequence to achieve target tracking. These methods typically use a trained deep learning model to identify targets and maintain the target's positional information through iterative calculations on the image sequence. Compared with other methods, deep learning-based methods have higher accuracy and stability, especially in maintaining high tracking performance in complex scenarios.

[0063] If tracking of a specific target terminal is required, the characteristics of the vehicle used by the target terminal can be incorporated during the identification process. For example, in a food delivery scenario, external features of the delivery personnel or delivery robots, such as clothing colors and logos, can be added to facilitate identification by target recognition and tracking algorithms.

[0064] Therefore, target tracking can be achieved in various application scenarios. Simultaneously, the relative position of the target and the traffic monitoring equipment capturing the video can be estimated based on the target's position in the video. This can be achieved through 3D vision reconstruction technology. The principle of 3D vision reconstruction is to estimate a point cloud in 3D space using the external parameters (such as focal length, optical center position, etc.) and internal parameters (such as rotation matrix, translation vector, etc.) of the traffic monitoring equipment's camera, as well as feature points on the image. First, feature points are detected in the video frames using a feature detection algorithm. Then, using the camera's internal and external parameters, a 3D reconstruction algorithm converts the image coordinates of the feature points into a 3D point cloud. Finally, by processing the point cloud, the relative position of the target and the traffic monitoring equipment can be calculated.

[0065] Then, the location of the target (i.e., the target terminal) can be calculated based on the positioning data of the traffic monitoring equipment itself and the estimated relative position of the target and the traffic monitoring equipment. This allows us to obtain the trajectory points of the target terminal at the recording time corresponding to that video frame. By analyzing multiple video frames containing the target terminal using machine vision technology, we can obtain the sequence of trajectory points of the target terminal within the intersection area.

[0066] It should be understood that by acquiring and analyzing videos from multiple traffic monitoring devices located at different locations at intersections, the accuracy of the acquired trajectory point sequences can be increased.

[0067] Similarly, when the camera device moves with the target terminal, the relative position of the target and the traffic monitoring equipment capturing the video is estimated based on the position of the target facility in the video. The location of the target (i.e., the target terminal) is calculated based on the pre-calibrated positioning data of the target facility itself and the estimated relative position of the target and the target facility, thereby obtaining the trajectory point of the target terminal at the recording time corresponding to the video frame.

[0068] In step S220, the spatial phase change information of the target terminal at the intersection is determined based on the trajectory point sequence. Different spatial phases correspond to different location areas within the intersection.

[0069] Since target terminals can pass through intersections in various ways, directly determining their passage method based on the trajectory point sequence would require extensive computation. In this embodiment, different location areas of the intersection are mapped to different quadrants of the coordinate system (i.e., different spatial phases), thereby mapping the trajectory point sequence of the target terminal to the spatial phase change information of the target terminal at the intersection. Since the number of spatial phases (also called quadrants) is far less than the number of trajectory points, and the data volume is also far less than the coordinates of trajectory points, the required computational resources can be reduced. Optionally, in this embodiment, the location area corresponding to the spatial phase is divided according to at least one entrance and / or exit of the intersection. Specifically, the location area corresponding to each spatial phase covers at least one entrance and / or exit of the intersection. The covered entrances and exits are those that can be passed without traffic light permission. It should be understood that in the following description, an entrance to an intersection refers to one or more lanes entering the intersection area, and an exit to an intersection refers to one or more lanes leaving the intersection area.

[0070] Figure 3 This is a schematic diagram of the intersection spatial phase according to an embodiment of the present invention. For example... Figure 3As shown, at intersection 31, with the center point o of the intersection as the origin and the line connecting the midpoint of the vehicle stop line to the center point o as the coordinate axis, intersection 31 can be divided into four parts. For ease of understanding, they are referred to as Phase I, Phase II, Phase III, and Phase IV in counterclockwise order. Phase I, according to the driving direction of the road, includes the east-to-west entrance 32 and the south-to-north exit 33 of intersection 31. Phase II includes the east-to-west exit 34 and the north-to-south entrance 35 of intersection 31. Phase III includes the west-to-east entrance 36 and the north-to-south exit 37 of intersection 31. Phase IV includes the south-to-north entrance 38 and the west-to-east exit 39 of intersection 31. That is, each phase includes one entrance and one exit. It is easy to see that in... Figure 3 In this scenario, traffic between entrances and exits within the same phase is always a right turn and does not require traffic light control. Therefore, the spatial phase division of intersections can also be based on the following principle: dividing the phase according to at least one entrance and / or exit of the intersection, so that traffic between entrances and exits covered by the same phase does not require traffic light control. For example, trajectory point sequence X enters the intersection from entrance 32 and exits from exit 34, meaning the target terminal travels straight through the intersection from east to west. The spatial phase change information corresponding to trajectory point sequence X is a change from phase I to phase II, which requires the east-west traffic light to be green and the north-south traffic light to be red.

[0071] It is easy to understand that the spatial phase of an intersection can also be divided according to the extension line of the lane divider between the opposite lanes of the roads connected to the intersection.

[0072] In this embodiment, the intersection is not limited to a crossroads, but can also be a one-way intersection, a T-junction, an island intersection, or an N-way intersection (N is greater than or equal to 5).

[0073] Figure 4 This is a schematic diagram of the spatial phase of a one-way intersection in an embodiment of the present invention. For example... Figure 4 As shown, a one-way intersection 41 usually requires traffic light control due to the presence of a pedestrian crossing. It can be directly divided into two spatial phases, namely, phase I and phase II located on both sides of the traffic light.

[0074] Figure 5 This is a schematic diagram of the spatial phase of a T-junction in an embodiment of the present invention. For example... Figure 5 As shown, if there are no restrictions on eastbound straight traffic at T-junction 51, then intersection 51 can be divided into 3 spatial phases according to the traffic attributes of the entrance and exit. Figure 5The area covered by the entrance and exit for eastbound straight traffic is Phase I; the area covered by the entrance and exit for westbound right turns is Phase II; and the area covered by the entrance and exit for southbound right turns is Phase III. Similarly, traffic between entrances and exits within each spatial phase does not require traffic light control. It should be understood that the above division is based on the premise that the intersection traffic lights do not restrict eastbound straight traffic. Since traffic control at T-junctions may have different logics, if the intersection traffic lights control eastbound traffic to prevent vehicles merging left from the south side of the intersection from causing danger (i.e., the traffic lights prohibit eastbound traffic at certain times), then the intersection needs to be divided into four spatial phases, similar to a crossroads. If a left turn from southbound to west is required at intersection 51 according to trajectory 52, then the spatial phase change information corresponding to trajectory 52 is from Phase III to Phase I. This requires the north-south traffic light to be green, and the east-west traffic light to be red. For example, if at intersection 51, one needs to travel straight from west to east along trajectory 53, the corresponding spatial phase change information is phase II changing to phase III. Therefore, the north-south traffic light needs to be red, while the east-west traffic light needs to be green.

[0075] It is evident that as long as the spatial phase change information corresponding to the trajectory point sequence involves phase transformation, the behavior of that trajectory point sequence needs to be controlled according to traffic light commands. By converting the trajectory point sequence into spatial phase change information, the trajectory of the target terminal can be matched with the specific intersection's passage or prohibition status.

[0076] In this embodiment, server 14 can pre-store the phase division information of each intersection in the map, as well as the geographic coordinate range covered by each phase. Therefore, the spatial phase change information corresponding to the trajectory point sequence can be obtained through the spatial phase distribution of the trajectory point sequence. Specifically, step S220 may include the following steps:

[0077] In step S221, the corresponding spatial phase is determined based on the position of each trajectory point in the trajectory point sequence.

[0078] In step S222, the change information is determined based on the spatial phase of each trajectory point.

[0079] Therefore, the change information of spatial phase can be quickly determined based on the correspondence between the position of the trajectory point and the spatial phase.

[0080] In an optional implementation, to further reduce the required computational resources, step S222 may first determine the entry spatial phase based on the spatial phase of at least one head trajectory point of the trajectory point sequence, then determine the exit spatial phase based on the spatial phase of at least one tail trajectory point of the trajectory point sequence, and finally use the set of the entry spatial phase and the exit spatial phase as the change information.

[0081] In this embodiment, the information on changes in spatial phase can be a set of identifiers of spatial phases before and after the change, or it can be a vector with an order that represents the order of spatial phase changes.

[0082] In step S230, the behavior state of the target terminal passing through the intersection is determined based on the spatial phase change information and the time information corresponding to the trajectory point sequence.

[0083] The trajectory point sequence is arranged sequentially, and each trajectory point has a corresponding timestamp. The trajectory point sequence carries corresponding time information, specifically the time interval between the beginning and end of each trajectory point. Simultaneously, different spatial phase changes correspond to different traffic light-controlled intersection procedures, with clearly defined permitted and prohibited times. For example, return to reference. Figure 3 For a trajectory X traveling straight through an intersection from east to west, the corresponding spatial phase change information is a change from phase I to phase II. The permitted travel time for this mode of traffic is when the east-west traffic light is green, and the prohibited travel time is when the east-west traffic light is red. By comparing the time information corresponding to the trajectory sequence X with the permitted and / or prohibited travel time corresponding to the spatial phase change information (phase I to phase II), it can be determined whether the trajectory sequence X violated traffic light instructions when passing through the intersection. It is easy to understand that the permitted and prohibited travel times of the intersection's traffic lights can be legally obtained from a database authorized by the traffic department, or they can be obtained through big data analysis. In this embodiment, the traffic light status needs to be pre-mapped to the corresponding spatial phase change information on server 14, thereby binding the permitted and prohibited travel times of the traffic lights with at least one spatial phase change information. Subsequently, in step S230 above, the behavioral state of the spatial phase change information corresponding to the trajectory sequence of the target terminal can be determined based on the permitted or prohibited travel times corresponding to each spatial phase change information.

[0084] In an optional implementation, step S230 includes the following steps.

[0085] In step S231, the time period information corresponding to the intersection and the spatial phase change information is determined. The time period information is used to characterize the permitted or prohibited time period for passing through the corresponding area at the intersection according to the spatial phase change information.

[0086] First, the correspondence between the traffic light's passability or prohibition status at the intersection and the change information of each spatial phase at the intersection is obtained. Then, the time period information of the spatial phase change information is determined according to the time period corresponding to the traffic light's passability or prohibition status.

[0087] In step S232, the time information of the trajectory point sequence is compared with the time period information to determine the behavioral state of the target terminal passing through the intersection.

[0088] Specifically, different rules can be used to determine whether the target terminal's behavior at the intersection is compliant (i.e., obeying traffic regulations) or non-compliant (i.e., violating traffic regulations). For example, if the time period information corresponds to a permitted traffic period, then if the time interval involved in the trajectory point sequence's time information is included within any permitted traffic period, the behavior is compliant. If it is not included in any permitted traffic period, or partially overlaps with a permitted traffic period, it indicates that the target terminal did not pass through the intersection during a permitted traffic period or rushed through the intersection during a traffic light transition. As another example, if the time period information corresponds to a prohibited traffic period, then if the time interval involved in the trajectory point sequence's time information is included within any prohibited traffic period or overlaps with a prohibited traffic period, the behavior is non-compliant; otherwise, it is compliant. Optionally, the time point corresponding to the midpoint of the trajectory point sequence can also be used to match the time period information; if it falls within a permitted traffic period, the behavior is compliant; if it falls within a prohibited traffic period, the behavior is non-compliant. Alternatively, the midpoint of the time period involved in the trajectory point sequence can be used to match the time period information. If it falls into the allowed time period, the behavior status is compliant; if it falls into the prohibited time period, the behavior status is non-compliant.

[0089] Therefore, using spatial phase change information as the primary criterion for querying time periods can effectively reduce query complexity and save computing resources when there are fewer time periods.

[0090] In another alternative implementation, the set of information on changes in the permissible spatial phase or the set of information on changes in the prohibited spatial phase within a given time period can be determined based on the time of passage through the intersection. The behavioral state is determined by comparing the spatial phase change information of the target terminal passing through the intersection with the set of changes.

[0091] Specifically, step S230 may include the following steps:

[0092] Step S234: Determine the time period or time point when the target terminal passes through the intersection based on the time information corresponding to the trajectory point sequence.

[0093] Step S235: Obtain the set of spatial phase change information of the intersection during the time period or time point. The set of spatial phase change information includes at least one spatial phase change information corresponding to the traffic light of the intersection in the passage state or prohibition state at the time.

[0094] Step S236: Compare the spatial phase change information of the terminal with the set of change information to determine the behavioral state of the target terminal as it passes through the intersection.

[0095] Therefore, using time as the primary factor for judgment can effectively reduce the complexity of queries and save computing resources when there are many time periods.

[0096] Optionally, after determining the behavior state of the target terminal passing through the intersection, the data processing method of this embodiment can also perform different operations according to different application scenarios.

[0097] In other alternative implementations, the determination can be based on the state of the traffic lights rather than the overall state of the intersection. That is, the spatial phase change information is mapped to the state of the traffic lights (green light - communication is allowed, red light - communication is prohibited), and the determination is based on this mapping.

[0098] Specifically, step S230 may include the following steps:

[0099] Step S237: Determine the target traffic light based on the spatial phase change information. The target traffic light is used to direct the passage or prohibition of traffic at the intersection corresponding to the spatial phase change information. That is, find the traffic light in the direction of passage of the trajectory point sequence of the target terminal through the intersection. For example, in... Figure 3 In the diagram, trajectory point sequence X crosses the intersection in a straight line from east to west. If the traffic light directing this direction is an east-facing traffic light, then that traffic light is the target traffic light.

[0100] Step S238: Determine the target state of the target traffic light when the terminal passes through the intersection based on the time information corresponding to the trajectory point sequence.

[0101] Step S239: Determine the behavior state of the target terminal passing through the intersection based on the target state of the target traffic light.

[0102] For example, if the time corresponding to trajectory point sequence X is 9:01, then it is determined whether the target traffic light is green at 9:01. If it is green, the target terminal is compliant when passing through the intersection; otherwise, it is compliant.

[0103] The target status of the target traffic light can be determined by comparing the switching time periods of the target traffic light.

[0104] As an alternative to the above scheme, the permitted or prohibited time periods (i.e., green light periods or red light periods) of the target traffic light can also be obtained in step S238. In step S239, the behavioral state of the target terminal passing through the intersection can be determined based on the permitted or prohibited time periods and the time information corresponding to the trajectory point sequence.

[0105] In some implementations, it is desirable to identify the behavioral state of the target terminal in near real-time and correct it promptly. Therefore, the method in this embodiment may include step S240, in response to the target terminal's behavior at the previous intersection being that it was passing through a prohibited time period, identifying the target terminal as a violating terminal. Further, a violation notification message can be sent to provide a warning. This ensures the safety of delivery personnel and the general public while also maintaining urban traffic order.

[0106] In some implementations where real-time requirements are lower, step S240' can be included, in response to the behavior status indicating passage during a prohibited time period, sending a violation notification to the target terminal. This notifies the target terminal of the violation and also provides feedback to traffic management departments and the delivery person's department (e.g., the delivery rider's station), facilitating timely intervention to stop dangerous traffic behavior and ensuring the safety of delivery personnel and the general public.

[0107] Therefore, this embodiment first maps the trajectory point sequence of the target terminal passing through the intersection to the spatial phase change information of the intersection, then queries the corresponding permitted or prohibited time periods for this change information, and automatically determines the behavioral state of the target terminal passing through the intersection by comparing the time information of the trajectory point sequence passing through the intersection with the time period information corresponding to the change information. Compared with traditional image recognition methods, this embodiment has higher accuracy and requires less computational resources.

[0108] Figure 6 This is a block diagram of a data processing apparatus according to a second embodiment of the present invention. Figure 6 As shown, the data processing device in this embodiment includes a sequence determination unit 61, a change determination unit 62, and a state determination unit 63. The sequence determination unit 61 determines a sequence of trajectory points of the target terminal within the intersection area, the sequence including multiple trajectory points of the target terminal. The change determination unit 62 determines the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence, where different spatial phases correspond to different location areas of the intersection. The state determination unit 63 determines the behavioral state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence.

[0109] Therefore, this embodiment first maps the trajectory point sequence of the target terminal passing through the intersection to the spatial phase change information of the intersection, then queries the corresponding permitted or prohibited time periods for this change information, and automatically determines the behavioral state of the target terminal passing through the intersection by comparing the time information of the trajectory point sequence passing through the intersection with the time period information corresponding to the change information. Compared with traditional image recognition methods, this embodiment has higher accuracy and requires less computational resources.

[0110] Meanwhile, unlike the first and second embodiments, the change information of the spatial phase of passage or prohibition in the time information of the trajectory point sequence can be determined first, and the behavior status of the target terminal can be determined as compliant (i.e., in compliance with traffic regulations) based on the relationship between the change information of the spatial phase of the trajectory point sequence and the set of change information of the spatial phase of passage or the set of change information of the spatial phase of prohibition.

[0111] Figure 7 This is a flowchart of the data processing method according to the third embodiment of the present invention. Figure 7 As shown, the data processing method in this embodiment includes the following steps.

[0112] In step S710, a set of spatial phase change information for the intersection or each traffic light at the intersection is determined. The set of spatial phase change information includes at least one spatial phase change information corresponding to the passage or prohibition status of the intersection or each traffic light at the intersection in each time period. Different spatial phases correspond to different location areas of the intersection.

[0113] The spatial phase division method in this embodiment is the same as in the previous embodiment. That is, the location area corresponding to the spatial phase is divided according to at least one entrance and / or exit of the intersection, so that traffic between entrances and exits covered by the same phase does not require traffic light control. Moreover, the acquisition of the trajectory point sequence is the same as in the previous embodiment, and will not be repeated here.

[0114] By matching pre-stored time period information, a set of spatial phase change information corresponding to the time when the target terminal passes through the intersection can be obtained.

[0115] Similar to the embodiments described above, some implementations of this embodiment map the traffic flow or restriction status of all directions at the intersection to spatial phase change information to obtain a change information set. This change information set includes multiple time periods and, within each time period, one or more spatial phase changes indicating whether traffic is permitted or prohibited for the entire intersection. For example, for Figure 4 As shown in the example, if the traffic lights at the intersection change every 2 minutes, the set of change information can be expressed in the following way:

[0116] Time period 9:00-9:01: {I, II}, {II, I}

[0117] Time period 9:02-9:03: NULL ........

[0119] In other words, during the two-minute period from 9:00 to 9:01, the set of spatial phase change information for traffic is {I, II}, {II, I}, indicating that two-way traffic is permitted. However, from 9:02 to 9:03, the traffic light turns red, and the set of spatial phase change information for traffic becomes empty (NULL), indicating that two-way traffic is prohibited.

[0120] In some implementations of this embodiment, the pass / stop status of each traffic light at an intersection is mapped to spatial phase change information to obtain a set of change information for each traffic light. This set of change information includes multiple time periods and, within each time period, one or more spatial phase changes indicating whether passage or prohibition is permitted for each traffic light. For example, for... Figure 4 As shown in the example, if the traffic light at the intersection facing east changes every 2 minutes, the set of information about the changes in that traffic light can be expressed in the following way:

[0121] Time period 9:00-9:01: {I, II}

[0122] Time period 9:02-9:03: NULL ........

[0124] In other words, during the two-minute period from 9:00 to 9:01, the set of spatial phase change information is {I, II}, indicating that the eastbound straight-ahead direction directed by this traffic light is permitted. However, from 9:02 to 9:03, the traffic light switches to red, and the set of spatial phase change information is empty (NULL), indicating that the eastbound straight-ahead direction directed by this traffic light is prohibited.

[0125] Step S720: Determine the behavior state of the target terminal passing through the intersection based on the trajectory point sequence of the target terminal within the intersection range, the time information corresponding to the trajectory point sequence, and the change information set.

[0126] Specifically, step S720 includes:

[0127] Step S721: Determine the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence.

[0128] Specifically, firstly, the spatial phase is determined based on the position of each trajectory point in the trajectory point sequence, and then the change information is determined based on the spatial phase of each trajectory point.

[0129] Furthermore, in order to further reduce the required computational resources, the entry spatial phase can be determined first based on the spatial phase of at least one head trajectory point of the trajectory point sequence; then, the exit spatial phase can be determined based on the spatial phase of at least one tail trajectory point of the trajectory point sequence; finally, the set of the entry spatial phase and the exit spatial phase is used as the change information.

[0130] Step S722: Determine the set of spatial phase change information for the time period corresponding to the time information based on the time information of the trajectory point sequence.

[0131] Step S723: Determine the relationship between the spatial phase change information of the target terminal at the intersection and the set of change information.

[0132] Step S724: Determine the behavior state of the target terminal passing through the intersection based on the affiliation relationship.

[0133] For example, refer to Figure 8 At intersection 81, in the trajectory point sequence 82 of the target terminal, the timestamp of the trajectory point at the midpoint is 9:02. Therefore, the time information of trajectory point sequence 82 is determined to be 9:02. The above time is then queried from the pre-stored traffic light switching time periods of intersection 81. For example... Figure 8 As shown, the traffic lights switch every 3 minutes, so trajectory point sequence 82 belongs to the traffic light period of 9:00-9:03. Furthermore, the changes in spatial phases corresponding to the traffic status (i.e., compliant status) or prohibited status during this period can be obtained, forming a set of change information. For Figure 8 At the T-junction shown, from 9:00 to 9:03, the north-south traffic light is red, and the east-west traffic light is green. Therefore, the set of change information corresponding to the traffic flow state includes {phase I, phase II} and {phase II, phase III}, while the set of change information corresponding to the prohibited traffic state includes {phase III, phase I}. The spatial phase change information corresponding to trajectory point sequence 82 is {phase II, phase III}. Since the above change information belongs to the set of change information corresponding to the traffic flow state, the behavior can be determined to be compliant. Alternatively, even if the above change information does not belong to the set of change information corresponding to the prohibited traffic state, the behavior can still be determined to be compliant.

[0134] When the change information set is mapped to the pass or stop status of each traffic light, in one optional implementation, step S720 may include:

[0135] Step S725: Determine the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence of the target terminal within the intersection range.

[0136] Step S726: Determine the target traffic light based on the spatial phase change information. The target traffic light is used to direct the passage or prohibition of traffic at the intersection corresponding to the spatial phase change information.

[0137] Step S727: Determine the behavior state of the target terminal passing through the intersection based on the time information corresponding to the trajectory point sequence and the set of change information of the target traffic light.

[0138] When the change information set is mapped to the pass or stop status of each traffic light, in another optional implementation, step S720 may include:

[0139] Step S728: Determine the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence of the target terminal within the intersection range.

[0140] Step S729: Determine the target traffic light based on the spatial phase change information. The target traffic light is used to direct the passage or prohibition of traffic at the intersection corresponding to the spatial phase change information.

[0141] Step S72A: Determine the permitted or prohibited time periods of the target traffic light based on the set of change information.

[0142] Step S72B: Determine the behavior state of the target terminal passing through the intersection based on the time information corresponding to the passage period or prohibition period and the trajectory point sequence.

[0143] The difference between the two implementation methods is whether to determine the state based on time or to obtain the time period corresponding to a specific state and compare it with the time elapsed.

[0144] The above embodiments realize the mapping of traffic light status to spatial phase change information, which enables the effective determination of some violations even when not all traffic light data is available.

[0145] In some optional implementations, to determine and evaluate the behavior status of the target terminal in near real-time, the location information of the trajectory points reported by the target terminal can be acquired periodically, and the trajectory point sequence can be determined in real time based on the location information of the trajectory points. Correspondingly, the method of this embodiment may include step S730, in response to the target terminal's behavior status at the previous intersection being that it is passing through a prohibited time period, marking the target terminal. Further, a violation warning message can be sent to provide a warning. Thus, on the one hand, the safety of delivery personnel and the general public is promptly ensured, and on the other hand, urban traffic order is maintained.

[0146] In another implementation, if real-time requirements are not high, the recorded historical data can be processed uniformly. For example, all trajectory data of the target terminal over the past day can be obtained, and multiple trajectory point sequences of the target terminal passing through various intersections within that time period can be obtained based on the trajectory data, and each sequence can be evaluated and judged. Correspondingly, the method of this embodiment may include step S730', in response to the behavior state of passing through a prohibited time period, sending a violation warning message to the target terminal. Thus, on the one hand, the target terminal is notified that a traffic violation has occurred, and on the other hand, feedback is provided to the traffic management department and the department of the delivery personnel (e.g., the station manager of the food delivery rider), which facilitates reminding delivery personnel to strengthen their awareness of traffic regulations, promptly stop dangerous passing behaviors, and ensure the safety of delivery personnel and the public.

[0147] Therefore, this embodiment first determines the set of spatial phase change information corresponding to the pre-mapped passage or prohibition status at that time based on the time information of the trajectory point sequence. Then, based on the spatial phase change information of the trajectory point sequence and the set of change information, it determines whether the target terminal's behavior at the intersection is compliant. Compared to traditional image recognition methods, this embodiment has higher accuracy and requires fewer computational resources.

[0148] Figure 9 This is a block diagram of a data processing apparatus according to the fourth embodiment of the present invention. Figure 9 As shown, the data processing device in this embodiment includes a set determination unit 91 and a state determination unit 92. The set determination unit 91 is used to determine a set of spatial phase change information for the intersection or its traffic lights based on the time information corresponding to the trajectory point sequence of the target terminal within the intersection area. The set of spatial phase change information includes at least one spatial phase change information corresponding to the passage or prohibition status of the intersection or traffic lights in each time period, with different spatial phases corresponding to different location areas of the intersection. The state determination unit 92 is used to determine the behavioral state of the target terminal passing through the intersection based on the trajectory point sequence and the set of change information.

[0149] Therefore, this embodiment first determines the set of spatial phase change information corresponding to the pre-mapped passage or prohibition status at the time of the trajectory point sequence. Then, based on the spatial phase change information of the trajectory point sequence and the set of change information, it determines whether the target terminal's behavior at the intersection is compliant. Compared to traditional image recognition methods, this embodiment has higher accuracy and requires fewer computational resources.

[0150] Figure 10 This is a schematic diagram of an electronic device according to an embodiment of the present invention. In this embodiment, the electronic device may be a server. Figure 10As shown, the electronic device includes at least one processor 101; a memory 102 communicatively connected to at least one processor 101; and a communication component 103 communicatively connected to a network, wherein the communication component 103 receives and transmits data under the control of the processor 101; wherein the memory 102 stores instructions executable by at least one processor 101, which are executed by at least one processor 101 to implement the above-described data processing method.

[0151] Specifically, the electronic device includes: one or more processors 101 and a memory 102. Figure 10 Taking a processor 101 as an example, the processor 101 and the memory 102 can be connected via a bus or other means. Figure 10 Taking a bus connection as an example, memory 102, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Processor 101 executes various functional applications and data processing of the device by running the non-volatile software programs, instructions, and modules stored in memory 102, thereby implementing the aforementioned data processing method.

[0152] Memory 102 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store an option list, etc. Furthermore, memory 102 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 102 may optionally include memory remotely located relative to processor 101, and these remote memories may be connected to external devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0153] One or more modules are stored in memory 102, and when executed by one or more processors 101, they execute the information interaction method in any of the above method embodiments.

[0154] The above-mentioned products can perform the methods provided in the embodiments of this application, and have the corresponding functional modules and beneficial effects of performing the methods. For technical details not described in detail in this embodiment, please refer to the methods provided in the embodiments of this application.

[0155] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program for use by a computer to execute some or all of the above-described method embodiments.

[0156] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0157] Another embodiment of this application relates to a computer program product, including a computer program / instructions that, when executed by a processor, can implement some or all of the above-described method embodiments.

[0158] That is, those skilled in the art will understand that the embodiments of this application can specify the relevant hardware (including the processor itself) by having the processor execute a computer program product (computer program / instruction) to implement all or part of the steps in the methods of the above embodiments.

[0159] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A data processing method, characterized in that, The method includes: A sequence of trajectory points of the target terminal within the intersection area is determined. The sequence of trajectory points includes multiple trajectory points of the target terminal. The distance between each trajectory point and the center point of the intersection is not greater than a first value. The distance between each trajectory point and its adjacent trajectory point is not less than a second value. Furthermore, the distance between each adjacent trajectory point and the center point of the intersection is greater than the distance between each trajectory point and the center point of the intersection. The time interval between each trajectory point and its adjacent trajectory point is within a predetermined time range. Each trajectory point is selected from an initial sequence and is the local closest point to the center point of the intersection in the initial sequence. The trajectory points are used to ensure that the sequence of trajectory points represents the behavior of passing through the intersection. Based on the trajectory point sequence, the spatial phase change information of the target terminal at the intersection is determined. Different spatial phases correspond to different location areas at the intersection, and passage between entrances and exits covered by the same phase does not require traffic light control; and The behavior state of the target terminal passing through the intersection is determined based on the spatial phase change information and the time information corresponding to the trajectory point sequence.

2. The method according to claim 1, characterized in that, The location area corresponding to the spatial phase is divided according to at least one entrance and / or exit of the intersection.

3. The method according to claim 1, characterized in that, Determining the behavioral state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence includes: Determine the time period information corresponding to the intersection and the spatial phase change information, wherein the time period information is used to characterize the permitted or prohibited time period for passing through the corresponding area at the intersection according to the spatial phase change information; and The time information of the trajectory point sequence is compared with the time period information to determine the behavioral state of the target terminal as it passes through the intersection.

4. The method according to claim 1, characterized in that, Determining the behavioral state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence includes: The time period or time point during which the target terminal passes through the intersection is determined based on the time information corresponding to the trajectory point sequence; Obtain a set of spatial phase change information of the intersection during the time period or at the time point. The set of spatial phase change information includes at least one spatial phase change information corresponding to the traffic state of the intersection at the time, or the set of spatial phase change information includes at least one spatial phase change information corresponding to the traffic restriction state of the intersection at the time. By comparing the spatial phase change information of the target terminal with the set of change information, the behavioral state of the target terminal as it passes through the intersection can be determined.

5. The method according to claim 1, characterized in that, Determining the behavioral state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence includes: The target traffic light is determined based on the spatial phase change information, and the target traffic light is used to direct the passage or prohibition of passage at the intersection corresponding to the spatial phase change information. The target state of the target traffic light when the terminal passes through the intersection is determined based on the time information corresponding to the trajectory point sequence. The behavior state of the target terminal passing through the intersection is determined based on the target state of the target traffic light.

6. The method according to claim 1, characterized in that, Determining the behavioral state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence includes: The target traffic light is determined based on the spatial phase change information, and the target traffic light is used to direct the passage or prohibition of passage at the intersection corresponding to the spatial phase change information. Determine the permitted or prohibited times for the target traffic light; The behavior state of the target terminal passing through the intersection is determined based on the time information corresponding to the passage period or prohibited period and the trajectory point sequence.

7. The method according to claim 3, characterized in that, Determining the time period information corresponding to the intersection and the spatial phase change information includes: Obtain information on the changes in each spatial phase of the intersection under traffic conditions, or information on the changes in each spatial phase under no-traffic conditions; The time period information is used to determine the change information of the spatial phase based on the time period corresponding to the passage status or the prohibition status. The time period information is used to characterize the communication time period information or the prohibition time period information corresponding to the change information of the spatial phase.

8. The method according to claim 1, characterized in that, The step of determining the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence includes: The corresponding spatial phase is determined based on the position of each trajectory point in the trajectory point sequence; The change information is determined based on the spatial phase of each trajectory point.

9. The method according to claim 8, characterized in that, The change information is determined based on the spatial phase of each trajectory point, including: The entry spatial phase is determined based on the spatial phase of at least one head trajectory point in the trajectory point sequence; The departure spatial phase is determined based on the spatial phase of at least one tail trajectory point in the trajectory point sequence; The set of the entering spatial phase and the leaving spatial phase is taken as the change information.

10. The method according to claim 1, characterized in that, Determining the sequence of trajectory points of the target terminal within the intersection area includes: Periodically acquire the location information of trajectory points reported by the target terminal; The trajectory point sequence is determined in real time based on the location information of the trajectory points.

11. The method according to claim 1, characterized in that, The method further includes: In response to the behavior status of passing through an intersection during a prohibited period, a violation warning message is sent to the target terminal.

12. The method according to claim 1, characterized in that, The intersection is a straight intersection, a T-junction, a crossroads, an island intersection, or an N-way intersection, where N is greater than or equal to 5.

13. The method according to claim 1, characterized in that, Determining the sequence of trajectory points of the target terminal within the intersection area includes: Obtain the geofence of the intersection; Obtain the set of trajectory points of the target terminal within the geofence; The initial sequence is determined by sorting the set of trajectory points according to the timestamps of each trajectory point; The trajectory points in the initial sequence are filtered to determine the trajectory point sequence.

14. The method according to claim 1, characterized in that, Determining the sequence of trajectory points of the target terminal within the intersection area includes: Acquire video recorded by at least one camera device at the intersection; The trajectory point sequence of the target terminal within the intersection area is extracted from the video.

15. The method according to claim 14, characterized in that, The camera device is a traffic monitoring device, and the video is a video of a vehicle containing the target terminal; The sequence of trajectory points of the target terminal within the intersection area extracted from the video includes: Identify the vehicle used by the target terminal in the video; The trajectory point sequence of the target terminal within the intersection area is determined based on the position of the vehicle in multiple frames of video images and the positioning information of the traffic monitoring equipment.

16. The method according to claim 14, characterized in that, The camera device is a camera device installed on the vehicle or helmet of the target terminal holder, and the video is a video recording the process of passing through the intersection; The sequence of trajectory points of the target terminal within the intersection area extracted from the video includes: Identify the predetermined target facility at the intersection in the video; The trajectory point sequence of the target terminal within the intersection range is determined based on the position of the predetermined target facility in multiple frames of video images and the predetermined positioning information of the target facility.

17. A data processing method for determining the behavioral state of a target terminal passing through an intersection, characterized in that, The method includes: A set of spatial phase change information for the intersection is determined. This set includes at least one spatial phase change information corresponding to the traffic flow or prohibited status of the intersection or its traffic lights at each time period. Different spatial phases correspond to different location areas of the intersection, and traffic flow between entrances and exits covered by the same phase does not require traffic light control. Based on the trajectory point sequence of the target terminal within the intersection area, the time information corresponding to the trajectory point sequence and the change information set determine the behavioral state of the target terminal passing through the intersection. The trajectory point sequence includes multiple trajectory points of the target terminal. The distance between each trajectory point and the center point of the intersection is not greater than a first value. The distance between each trajectory point and its adjacent trajectory point is not less than a second value. Furthermore, the distance between each adjacent trajectory point and the center point of the intersection is greater than the distance between each trajectory point and the center point of the intersection. The time interval between each trajectory point and its adjacent trajectory point is within a predetermined time range. Each trajectory point is selected from an initial sequence and is the local closest point to the center point of the intersection in the initial sequence. The trajectory points are used to ensure that the trajectory point sequence represents the behavior of passing through the intersection.

18. The method according to claim 17, characterized in that, The location area corresponding to the spatial phase is divided according to at least one entrance and / or exit of the intersection.

19. The method according to claim 17, characterized in that, Based on the trajectory point sequence of the target terminal within the intersection area, the time information corresponding to the trajectory point sequence and the set of change information, the behavioral state of the target terminal passing through the intersection is determined as follows: The spatial phase change information of the target terminal at the intersection is determined based on the trajectory point sequence; Based on the time information of the trajectory point sequence, determine the set of spatial phase change information for the time period corresponding to the time information; Determine the relationship between the spatial phase change information of the target terminal at the intersection and the set of change information; The behavior state of the target terminal passing through the intersection is determined based on the affiliation relationship.

20. The method according to claim 19, characterized in that, Determining the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence includes: The corresponding spatial phase is determined based on the position of each trajectory point in the trajectory point sequence; The change information is determined based on the spatial phase of each trajectory point.

21. The method according to claim 20, characterized in that, The change information is determined based on the spatial phase of each trajectory point, including: The entry spatial phase is determined based on the spatial phase of at least one head trajectory point in the trajectory point sequence; The departure spatial phase is determined based on the spatial phase of at least one tail trajectory point in the trajectory point sequence; The set of the entering spatial phase and the leaving spatial phase is taken as the change information.

22. The method according to claim 17, characterized in that, The method further includes: Periodically acquire the location information of trajectory points reported by the target terminal; The trajectory point sequence is determined in real time based on the location information of the trajectory points.

23. The method according to claim 19, characterized in that, The set of spatial phase change information for the time period corresponding to the time information determined based on the time information of the trajectory point sequence includes: Determine the time period information corresponding to the traffic light switching; and Determine the set of spatial phase change information for intersection passage or prohibition within the time period corresponding to the time period information.

24. The method according to claim 17, characterized in that, Based on the trajectory point sequence of the target terminal within the intersection area, the time information corresponding to the trajectory point sequence and the set of change information, the behavioral state of the target terminal passing through the intersection is determined as follows: The spatial phase change information of the target terminal at the intersection is determined based on the sequence of trajectory points of the target terminal within the intersection area; The target traffic light is determined based on the spatial phase change information, and the target traffic light is used to direct the passage or prohibition of passage at the intersection corresponding to the spatial phase change information. The behavior state of the target terminal passing through the intersection is determined based on the time information corresponding to the trajectory point sequence and the set of target traffic light change information.

25. The method according to claim 17, characterized in that, Based on the trajectory point sequence of the target terminal within the intersection area, the time information corresponding to the trajectory point sequence and the set of change information, the behavioral state of the target terminal passing through the intersection is determined as follows: The spatial phase change information of the target terminal at the intersection is determined based on the sequence of trajectory points of the target terminal within the intersection area; The target traffic light is determined based on the spatial phase change information, and the target traffic light is used to direct the passage or prohibition of passage at the intersection corresponding to the spatial phase change information. The permitted or prohibited periods for the target traffic light are determined based on the set of change information. The behavior state of the target terminal passing through the intersection is determined based on the time information corresponding to the passage period or prohibited period and the trajectory point sequence.

26. A data processing apparatus, characterized in that, The device includes: A sequence determination unit is used to determine a sequence of trajectory points of a target terminal within an intersection area. The sequence of trajectory points includes multiple trajectory points of the target terminal. The distance between each trajectory point and the center point of the intersection is not greater than a first value. The distance between each trajectory point and an adjacent trajectory point is not less than a second value. The distance between an adjacent trajectory point and the center point of the intersection is greater than the distance between the trajectory point and the center point of the intersection. The time interval between each trajectory point and its adjacent trajectory point is within a predetermined time range. The trajectory points are selected from an initial sequence and are the local nearest points to the center point of the intersection in the initial sequence. The trajectory points are used to ensure that the sequence of trajectory points represents the behavior of passing through the intersection. The change determination unit is used to determine the spatial phase change information of the target terminal at the intersection based on the trajectory point sequence. Different spatial phases correspond to different location areas of the intersection, and passage between entrances and exits covered by the same phase does not require traffic light control. The state determination unit is used to determine the behavior state of the target terminal passing through the intersection based on the spatial phase change information and the time information corresponding to the trajectory point sequence.

27. A data processing apparatus for determining the behavioral state of a target terminal passing through an intersection, characterized in that, The device includes: A set determination unit is used to determine a set of spatial phase change information for the intersection. This set includes spatial phase change information for at least one spatial phase corresponding to the traffic light's passage or prohibition status at each time period. Different spatial phases correspond to different location areas of the intersection, and passage between entrances and exits covered by the same phase does not require traffic light control. A state determination unit is used to determine the behavior state of the target terminal passing through the intersection based on the trajectory point sequence of the target terminal within the intersection range, the time information corresponding to the trajectory point sequence, and the change information set. The trajectory point sequence includes multiple trajectory points of the target terminal. The distance between each trajectory point and the center point of the intersection is not greater than a first value. The distance between each trajectory point and an adjacent trajectory point is not less than a second value. The distance between the adjacent trajectory point and the center point of the intersection is greater than the distance between the trajectory point and the center point of the intersection. The time interval between each trajectory point and the adjacent trajectory point is within a predetermined time range. The trajectory points are selected from an initial sequence and are the local nearest points to the center point of the intersection in the initial sequence. The trajectory points are used to ensure that the trajectory point sequence represents the behavior of passing through the intersection.

28. A computer-readable storage medium storing computer program instructions thereon, characterized in that, The computer program instructions, when executed by a processor, implement the method according to any one of claims 1-25.

29. An electronic device, characterized in that, The device includes: Memory is used to store one or more computer program instructions; A processor, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1-25.

Images