A method, apparatus, electronic device, and storage medium for generating road network topology.

Abstract

The present invention relates to the field of road network topology, and in particular to a method, device, electronic device and storage medium for generating road network topology, the method comprising: obtaining a static road network topology corresponding to a target highway, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; detecting whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate; removing the road equipment node to be detected in the static road network topology corresponding to the node type of the abnormal road equipment node to be detected, and obtaining an initial dynamic road network topology; generating a target dynamic road network topology from the initial dynamic road network topology according to the road control information. By means of the present application, a dynamic road network topology can be generated.

Description

Technical Field

[0001] The present invention relates to the field of road network topology, and in particular to a method, device, electronic device and storage medium for generating road network topology. Background Art

[0002] Road network topology represents the structural information of the road network and is an important input information for traffic status detection, prediction and traffic control. It integrates road space attributes to make road network traffic status detection and prediction more accurate. In real-world environments, due to road construction, maintenance or bad weather (such as dense fog, heavy snow, icy roads, etc.), natural disasters (such as mudslides, landslides, earthquakes, etc.), etc., it is often necessary to implement traffic control or even road closures within a certain range and for a certain period of time for these temporary states. After the temporary state ends, traffic is restored, that is, the road network topology often changes in a local range and for a limited period of time. If the road network topology is not updated in a timely manner, there will be large errors in the traffic status detection and prediction results.

[0003] Therefore, how to dynamically generate road network topology has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method, device, electronic device and storage medium for generating a road network topology, which can generate a dynamic road network topology.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a road network topology, the method comprising:

[0006] Obtaining a static road network topology corresponding to the target road, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; the passing vehicle crossing rate refers to the passing probability of the same vehicle between two road equipment nodes;

[0007] Detecting whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate;

[0008] If the road equipment node to be detected is abnormal, the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected is removed to obtain an initial dynamic road network topology;

[0009] The initial dynamic road network topology is generated into a target dynamic road network topology according to the road control information.

[0010] In a possible implementation, the node type corresponding to the low-level static network topology is included in the node type corresponding to the high-level static network topology;

[0011] The static network topology of any level except the lowest level is constructed based on the static network topology of the corresponding previous level.

[0012] In one possible implementation, the lowest level static network topology is constructed by the following steps:

[0013] Acquire the route, location information, direction information, and historical vehicle traffic data corresponding to the first highway equipment node in the target highway, and the route and location information corresponding to the interchange node in the target highway; the first highway equipment node refers to a highway equipment node whose node type is the node type corresponding to the lowest level static network topology;

[0014] Determine the upstream and downstream relationship between the first highway equipment nodes in the same route according to the route, location information, direction information and historical vehicle traffic data corresponding to the first highway equipment nodes;

[0015] According to the position information corresponding to the interchange node, determine the first highway equipment node adjacent to the interchange node in the line to which the interchange node belongs, and obtain the adjacent first highway equipment node;

[0016] Determining upstream and downstream relationships between adjacent first highway equipment nodes in different routes according to historical vehicle traffic data corresponding to the adjacent first highway equipment nodes;

[0017] The lowest level static network topology is constructed according to the line, location information, direction information and upstream and downstream relationships corresponding to the first highway equipment node.

[0018] In a possible implementation manner, a static network topology other than the lowest level static network topology is constructed by the following steps:

[0019] Acquire the route, location information, and direction information corresponding to the second highway equipment node in the target highway; the second highway equipment node refers to a highway equipment node that belongs to the node type corresponding to the currently constructed static network topology and does not belong to the node type corresponding to the corresponding previous level static network topology;

[0020] According to the corresponding line, location information, and direction information of the second highway equipment node, the road section where the second highway equipment node is located is searched in the corresponding upper-level static network topology; the road section is composed of two adjacent highway equipment nodes, and the two highway equipment nodes are the starting node and the ending node of the road section respectively;

[0021] If there is no overpass node on the road section in the corresponding previous level static network topology, the road section in the corresponding previous level static network topology is split into a road section consisting of the second highway equipment node and the starting node in the road section, and a road section consisting of the second highway equipment node and the ending node in the road section to obtain the currently constructed static network topology.

[0022] In a possible implementation, the method further includes:

[0023] If there is an interchange node on the road section in the corresponding previous level static network topology, then according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the second highway equipment node, the second highway equipment node is inserted on the road section in the corresponding previous level static network topology to obtain the currently constructed static network topology.

[0024] In a possible implementation, the method further includes:

[0025] Obtain the node type, line, location information, and direction information corresponding to the newly built highway equipment node;

[0026] Determine the static network topology corresponding to the node type as an updated static network topology;

[0027] According to the line, location information, and direction information corresponding to the newly-built highway equipment node, searching the section where the newly-built highway equipment node is located in the updated static network topology;

[0028] If the road section in the updated static network topology does not have an interchange node, split the road section in the updated static network topology into a road section consisting of the newly built highway equipment node and a starting node in the road section, and a road section consisting of the newly built highway equipment node and a terminating node in the road section, to obtain a currently constructed static network topology;

[0029] If there is an interchange node on the road section in the updated static network topology, the newly created highway equipment node is inserted on the road section in the updated static network topology according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the newly created highway equipment node to obtain an updated static network topology.

[0030] In a possible implementation manner, the first passing vehicle crossing rate between the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the static road network topology is determined by the following steps:

[0031] Obtaining the hourly average vehicle travel time, hourly minimum vehicle travel time and hourly maximum vehicle travel time of the road section between the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the current time period, and the passing vehicle identifications corresponding to the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the current time period;

[0032] Calculate the second time window quantity range according to the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time;

[0033] Within the number range of the second time windows, the number of the same passing vehicle identifications of the upstream adjacent highway equipment node in the i-th second time window of the current time period and the same passing vehicle identifications of the highway equipment node to be detected in the j-th second time window are counted according to the passing vehicle identifications within the second time window of the current time period; the number of passing vehicle identifications of the upstream adjacent highway equipment node in the i-th second time window of the current time period is counted according to the passing vehicle identifications to obtain a first number; and the number of passing vehicle identifications of the highway equipment node to be detected in the j-th second time window of the current time period is counted according to the passing vehicle identifications to obtain a second number;

[0034] determining a minimum value of the first quantity and the second quantity as a target value;

[0035] The ratio of the number of identical passing vehicle identifications to the target value is determined as the initial first passing vehicle intersection rate of the upstream adjacent highway equipment node in the i-th second time window and the to-be-detected highway equipment node in the j-th second time window;

[0036] A target first passing vehicle crossing rate is calculated based on all initial first passing vehicle crossing rates.

[0037] In a second aspect, an embodiment of the present application further provides a device for generating a road network topology, wherein the device for generating a road network topology comprises:

[0038] An acquisition module is used to acquire a static road network topology corresponding to a target road, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; the passing vehicle crossing rate refers to the passing probability of the same vehicle between two road equipment nodes;

[0039] A detection module, configured to detect whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate;

[0040] A removal module, for removing the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected, if the road equipment node to be detected is abnormal, to obtain an initial dynamic road network topology;

[0041] A generation module is used to generate a target dynamic road network topology from the initial dynamic road network topology according to the road control information.

[0042] In a possible implementation, the node type corresponding to the low-level static network topology is included in the node type corresponding to the high-level static network topology;

[0043] The static network topology of any level except the lowest level is constructed based on the static network topology of the corresponding previous level.

[0044] In a possible implementation, the acquisition module is specifically used to acquire the belonging line, position information, direction information, and historical vehicle traffic data corresponding to the first highway equipment node in the target highway, and the belonging line and position information corresponding to the interchange node in the target highway; the first highway equipment node refers to a highway equipment node whose node type is the node type corresponding to the static network topology of the lowest level; according to the belonging line, position information, direction information, and historical vehicle traffic data corresponding to the first highway equipment node, the upstream and downstream relationship between the first highway equipment nodes in the same line is determined; according to the position information corresponding to the interchange node, the first highway equipment node adjacent to the interchange node in the belonging line of the interchange node is determined to obtain the adjacent first highway equipment node; according to the historical vehicle traffic data corresponding to the adjacent first highway equipment nodes, the upstream and downstream relationship between the adjacent first highway equipment nodes in different lines is determined; according to the belonging line, position information, direction information, and the upstream and downstream relationship corresponding to the first highway equipment node, the static network topology of the lowest level is constructed.

[0045] In a possible implementation, the acquisition module is specifically used to acquire the line, location information, and direction information corresponding to the second highway equipment node in the target highway; the second highway equipment node refers to a highway equipment node that belongs to the node type corresponding to the currently constructed static network topology and does not belong to the node type corresponding to the corresponding previous-level static network topology; according to the line, location information, and direction information corresponding to the second highway equipment node, the section where the second highway equipment node is located is searched in the corresponding previous-level static network topology; the section is composed of two adjacent highway equipment nodes, and the two highway equipment nodes are the starting node and the ending node of the section respectively; if there is no overpass node in the section in the corresponding previous-level static network topology, the section in the corresponding previous-level static network topology is split into a section composed of the second highway equipment node and the starting node in the section, and a section composed of the second highway equipment node and the ending node in the section, to obtain the currently constructed static network topology.

[0046] In one possible implementation, the acquisition module is specifically used to, if there is an overpass node on the road section in the corresponding previous level static network topology, insert the second highway equipment node on the road section in the corresponding previous level static network topology according to the location information of the overpass node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the second highway equipment node, so as to obtain the currently constructed static network topology.

[0047] In a possible implementation, the device also includes an update module; the update module is specifically used to obtain the node type, the line, the location information, and the direction information corresponding to the newly built highway equipment node; the static network topology corresponding to the node type is determined as the updated static network topology; according to the line, the location information, and the direction information corresponding to the newly built highway equipment node, the section where the newly built highway equipment node is located is searched in the updated static network topology; if there is no interchange node in the section in the updated static network topology, the section in the updated static network topology is split into a section consisting of the newly built highway equipment node and the starting node in the section, and a section consisting of the newly built highway equipment node and the ending node in the section, so as to obtain the currently constructed static network topology; if there is an interchange node in the section in the updated static network topology, according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the section, and the location information corresponding to the newly built highway equipment node, the newly built highway equipment node is inserted on the section in the updated static network topology to obtain the updated static network topology.

[0048] In a possible implementation, the acquisition module is specifically used to obtain the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time of the section between the to-be-detected highway equipment node and the corresponding upstream adjacent highway equipment node in the current time period, as well as the passing vehicle identifications corresponding to the to-be-detected highway equipment node and the corresponding upstream adjacent highway equipment node in the current time period; calculate the second time window quantity range according to the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time; within the second time window quantity range, count the number of traffic between the upstream adjacent highway equipment node and the to-be-detected highway equipment node in the i-th second time window in the current time period according to the passing vehicle identification. the number of identical passing vehicle identifiers in a time window; obtaining a first number by counting the number of passing vehicle identifiers of the upstream adjacent highway equipment node in the i-th second time window in the current time period according to the passing vehicle identifiers; obtaining a second number by counting the number of passing vehicle identifiers of the to-be-detected highway equipment node in the j-th second time window in the current time period according to the passing vehicle identifiers; determining the minimum value of the first number and the second number as a target value; determining the ratio of the number of identical passing vehicle identifiers to the target value as an initial first passing vehicle crossing rate of the upstream adjacent highway equipment node in the i-th second time window and the to-be-detected highway equipment node in the j-th second time window; and calculating a target first passing vehicle crossing rate according to all initial first passing vehicle crossing rates.

[0049] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the method for generating a road network topology as described in any one of the first aspects.

[0050] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for generating a road network topology as described in any one of the first aspects are executed.

[0051] The embodiment of the present application provides a method, device, electronic device and storage medium for generating a road network topology, the method comprising: obtaining a static road network topology corresponding to a target highway, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; detecting whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate; if the road equipment node to be detected is abnormal, removing the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected, and obtaining an initial dynamic road network topology; generating a target dynamic road network topology from the initial dynamic road network topology according to the road control information. Through the method of the present application, a dynamic road network topology can be generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A flow chart of a method for generating a road network topology provided in an embodiment of the present application is shown;

[0054] Figure 2 A schematic diagram of the construction process of the lowest level static network topology provided by an embodiment of the present application is shown;

[0055] Figure 3 A schematic diagram of the structure of a device for generating a road network topology provided in an embodiment of the present application is shown;

[0056] Figure 4 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0057] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0058] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0059] In order to enable those skilled in the art to use the content of this application, the following implementation is provided in conjunction with a specific application scenario "road network topology field". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the "road network topology field", it should be understood that this is only an exemplary embodiment.

[0060] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0061] A method for generating a road network topology provided in an embodiment of the present application is described in detail below.

[0062] Reference Figure 1 As shown, it is a flow chart of a method for generating a road network topology provided in an embodiment of the present application. The specific execution process of the method for generating a road network topology is as follows:

[0063] The following is a description of the exemplary steps of the present application embodiment:

[0064] S101. Obtain the static road network topology corresponding to the target highway, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology.

[0065] In the implementation manner of the present application, the target highway includes multiple types of nodes, such as types corresponding to highway equipment nodes such as gantry node types, toll station node types, and detector node types, and may also include interchange node types; the node corresponding to the gantry node type is the gantry, the node corresponding to the toll station node type is the toll station, the node corresponding to the detector node type is the detector (specifically, it may be a microwave detector, radar, video detector, etc.), and the node corresponding to the interchange node type is the interchange. Therefore, highway equipment nodes may include gantry nodes, toll station nodes, and detector nodes. The static road network topology corresponding to the target highway includes the spatial relationships among all nodes in the target highway, such as adjacency, inclusion, intersection, and connectivity.

[0066] Among them, the road control information is the current road information that is being closed. The road equipment node to be detected refers to the road equipment node that needs to be detected for anomalies in the static road network topology, among which the toll station node generally does not need to be detected for anomalies; the corresponding upstream adjacent road equipment node refers to the road equipment node that is upstream of the road equipment node to be detected in the static road network topology and is adjacent to the road equipment node to be detected, and the downstream adjacent road equipment node refers to the road equipment node that is downstream of the road equipment node to be detected in the static road network topology and is adjacent to the road equipment node to be detected. The crossing rate of passing vehicles refers to the probability of the same vehicle passing between two road equipment nodes.

[0067] In addition, in the embodiment of the present application, multiple levels of static road network topology are constructed in advance, and the node types corresponding to the low-level static network topology are included in the node types corresponding to the high-level static network topology; any level of static network topology except the lowest level is constructed based on the corresponding previous level of static network topology. The node types corresponding to each level of static road network topology are determined according to the actual situation and are not limited here.

[0068] For example, the first-level static network topology includes gantry nodes and interchange nodes; the second-level static network topology includes toll stations in addition to the gantry nodes and interchange nodes in the first-level static network topology; the third-level static network topology includes detector nodes in addition to the gantry nodes, interchange nodes and toll station nodes in the first-level and second-level static network topologies. Moreover, the second-level static network topology is constructed based on the first-level static network topology, and the third-level static network topology is constructed based on the second-level static network topology.

[0069] Reference Figure 2 As shown, it is a schematic diagram of the construction process of the lowest level static network topology provided in the embodiment of the present application:

[0070] S201. Obtain the route, location information, direction information, and historical vehicle traffic data corresponding to the first highway equipment node in the target highway, as well as the route and location information corresponding to the interchange node in the target highway; the first highway equipment node refers to a highway equipment node whose node type is the lowest level of the static network topology corresponding node type.

[0071] In the implementation mode of the present application, the target highway includes one or more routes. The location information refers to the stake number of the node. The direction information refers to the driving direction of the route where the highway equipment node is located, including up and down; the driving direction corresponding to a highway equipment node can be up, down, or up and down (such as a toll station node); the historical vehicle traffic data includes the vehicle identifications that the highway equipment node passes through at each time.

[0072] S202: Determine the upstream and downstream relationship between the first highway equipment nodes in the same route according to the routes, location information, direction information and historical vehicle traffic data corresponding to the first highway equipment nodes.

[0073] In an embodiment of the present application, the upstream and downstream relationship between the first highway equipment nodes in the same line is used to characterize the upstream highway equipment nodes and / or downstream highway equipment nodes corresponding to each first highway equipment node in the same line, specifically including the upstream and downstream relationship between each highway equipment node under each line.

[0074] Here, the upstream and downstream relationship between the first highway equipment nodes in the same line is determined through the following steps:

[0075] a. Group and sort all first highway device nodes according to their respective routes, location information, and direction information to obtain at least one first highway device node sequence.

[0076] In an implementation manner of the present application, all first highway device nodes of the same route and the same direction information are combined into a group to obtain at least one first highway device node set; for each first highway device node set, the first highway device node set is sorted according to the position information corresponding to the first highway device node set to obtain a first highway device node sequence.

[0077] Here, if the direction information corresponding to the first highway device node set is upward, the first highway device node set is sorted in ascending order according to the position information corresponding to the first highway device node set; if the direction information corresponding to the first highway device node set is downward, the first highway device node set is sorted in descending order according to the position information corresponding to the first highway device node set.

[0078] In addition, if the direction information corresponding to a first highway device node is uplink and downlink, the first highway device node is grouped as uplink and also as downlink. Example: The direction information corresponding to toll station A is uplink and downlink, and the line to which it belongs is M. Then the toll station should be classified into the set of first highway device nodes whose line to which it belongs is M and whose direction information is uplink, and also be classified into the set of first highway device nodes whose line to which it belongs is M and whose direction information is downlink.

[0079] b. For every two adjacent first highway equipment nodes in each first highway equipment node sequence, determine the historical vehicle crossing rate between the two first highway equipment nodes according to the historical vehicle traffic data respectively corresponding to the two first highway equipment node sequences.

[0080] In an implementation manner of the present application, the historical vehicle traffic data is divided according to a first preset time length to obtain a plurality of historical vehicle traffic data sets; for each historical vehicle traffic data set, the number of vehicles in the historical vehicle traffic data set that pass through the two first highway device node sequences according to the direction information corresponding to the first highway device node sequence is counted to obtain a first vehicle number; and the number of vehicles in the historical vehicle traffic data set that pass through the two first highway device node sequences respectively is counted to obtain a second vehicle number; and the ratio between the minimum value of the first vehicle number and the second vehicle number is determined as the historical traffic vehicle crossing rate between the two first highway device nodes under the historical vehicle traffic data set.

[0081] For example, the first highway device node sequence is {highway device node 1, highway device node 2}. According to the direction information corresponding to the first highway device node sequence, it can be known that the highway device node 1 is passed first and then the highway device node 2. The historical vehicle traffic data corresponds to the vehicle identifications that pass through each first highway equipment node at each time between 3:00 and 5:00; the first preset time length is 1 hour, and the historical vehicle traffic data is divided into a historical vehicle traffic data set between 3:00 and 4:00 and a historical vehicle traffic data set from 4:00 to 5:00; for the historical vehicle traffic data set between 3:00 and 4:00, the number of vehicles that first pass through highway equipment node 1 and then highway equipment node 2 in the historical vehicle traffic data set is counted to obtain a first vehicle number A; the number of vehicles that pass through highway equipment node 1 in the historical vehicle traffic data set is counted to obtain a second vehicle number B; the number of vehicles that pass through highway equipment node 2 in the historical vehicle traffic data set is counted to obtain a second vehicle number C; B>C, then A / C is determined as the historical vehicle crossing rate between highway equipment node 1 and highway equipment node 2 under the historical vehicle traffic data set. The historical vehicle traffic dataset between 4:00 and 5:00 is similar to the historical vehicle traffic dataset between 3:00 and 4:00.

[0082] d. If the maximum value of all historical crossing rates of vehicles passing between the two first highway equipment nodes is greater than a preset threshold, an upstream-downstream relationship exists between the two highway equipment nodes.

[0083] S203: Determine, according to the position information corresponding to the interchange node, a first highway equipment node adjacent to the interchange node in the line to which the interchange node belongs, and obtain an adjacent first highway equipment node.

[0084] In the implementation manner of the present application, the adjacent first highway equipment nodes include a first highway equipment node upstream of the interchange node on the line to which the interchange node belongs and adjacent to the interchange point, and a first highway equipment node downstream of the interchange node on the line to which the interchange node belongs and adjacent to the interchange point.

[0085] S204: Determine upstream and downstream relationships between adjacent first highway equipment nodes in different routes according to historical vehicle traffic data corresponding to adjacent first highway equipment nodes.

[0086] In an embodiment of the present application, the historical vehicle traffic data is divided according to a first preset time length to obtain a plurality of historical vehicle traffic data sets; for each adjacent first highway equipment node, the adjacent first highway equipment node is paired with other adjacent first highway equipment nodes to obtain an adjacent first highway equipment node pair; the number of vehicles that sequentially pass through the adjacent first highway equipment node and another adjacent first highway equipment node in the adjacent first highway equipment node pair in each historical vehicle traffic data set is counted to obtain a third vehicle number; and the number of vehicles that respectively pass through each adjacent first highway equipment node in the adjacent first highway equipment node pair in each historical vehicle traffic data set is counted to obtain a fourth vehicle number; a ratio between the minimum value of the third vehicle number and the fourth vehicle number is determined as a historical vehicle crossing rate between two adjacent first highway equipment nodes in the adjacent first highway equipment node pair under each historical vehicle traffic data set; if the maximum value of all historical vehicle crossing rates between two adjacent first highway equipment nodes in the adjacent first highway equipment node pair is greater than a preset threshold, then there is an upstream and downstream relationship between the two highway equipment nodes in the adjacent first highway equipment node pair.

[0087] S205: Construct a lowest-level static network topology according to the line, location information, direction information, and upstream and downstream relationships corresponding to the first highway device node.

[0088] In the implementation manner of the present application, two first highway device nodes having an upstream and downstream relationship in the lowest level static network topology are connected.

[0089] Furthermore, a static network topology other than the lowest level static network topology is constructed by the following steps:

[0090] Step 1: Obtain the route, location information, and direction information corresponding to the second highway equipment node in the target highway; the second highway equipment node refers to a highway equipment node that belongs to the node type corresponding to the currently constructed static network topology and does not belong to the node type corresponding to the corresponding previous level static network topology.

[0091] For example, if the node types corresponding to the currently constructed static network topology include gantry node types and toll station node types, and the corresponding node types in the previous level of static network topology include gantry node types, then the second highway equipment node is a toll station node.

[0092] Step 2: According to the corresponding line, location information, and direction information of the second highway equipment node, find the section where the second highway equipment node is located in the corresponding upper-level static network topology; the section is composed of two adjacent highway equipment nodes, and the two highway equipment nodes are the starting node and the ending node of the section respectively.

[0093] In the implementation manner of the present application, the route and direction information corresponding to the road section are the same as the route and direction information corresponding to the second highway device node, and the location information corresponding to the second highway device node is between the start node and the end node in the road section.

[0094] Step three: if there is no overpass node for the road section in the corresponding previous level static network topology, the road section in the corresponding previous level static network topology is split into a road section consisting of the second highway equipment node and the starting node in the road section, and a road section consisting of the second highway equipment node and the ending node in the road section, to obtain the currently constructed static network topology.

[0095] Step 4: If there is an interchange node on the road section in the corresponding previous level static network topology, then according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the second highway equipment node, insert the second highway equipment node on the road section in the corresponding previous level static network topology to obtain the currently constructed static network topology.

[0096] In the implementation manner of the present application, the interchange nodes, the starting nodes and the ending nodes of the road sections, and the second highway equipment nodes in the currently constructed static network topology are arranged in sequence according to the location information.

[0097] For example, the position information of the interchange node is 6, the position information corresponding to the starting node of the section is 1, the position information corresponding to the ending node of the section is 8, and the position information corresponding to the second highway equipment node is 3, then the second highway equipment node is inserted between the starting node of the section and the interchange node.

[0098] Furthermore, when a new highway equipment node is created on the target highway, the static network topology is updated through the following steps:

[0099] Step 1: Obtain the node type, line, location information, and direction information corresponding to the newly built highway equipment node.

[0100] Step 2: Determine the static network topology corresponding to the node type as the updated static network topology.

[0101] Step 3: Find the road section where the newly built highway equipment node is located in the updated static network topology according to the corresponding line, location information, and direction information of the newly built highway equipment node;

[0102] Step 4: If there is no interchange node on the road section in the updated static network topology, the road section in the updated static network topology is split into a road section consisting of a newly built highway equipment node and a starting node in the road section, and a road section consisting of a newly built highway equipment node and an ending node in the road section, to obtain an updated static network topology.

[0103] Step 5. If there is an interchange node on the road section in the updated static network topology, the newly created highway equipment node is inserted on the road section in the updated static network topology according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the newly created highway equipment node to obtain the updated static network topology.

[0104] In addition, if the number of newly built highway equipment nodes is greater than 1, all newly built highway equipment nodes are sorted according to the location information and direction information corresponding to the newly built highway equipment nodes to obtain a newly built highway equipment node sequence; and the newly built highway equipment nodes are inserted in sequence according to the arrangement order in the newly built highway equipment node sequence.

[0105] Furthermore, when the target highway removes the highway equipment node, the static network topology is updated through the following steps:

[0106] Step 1: Obtain the node type, line, location information, and direction information corresponding to the demolition road equipment node.

[0107] Step 2: Determine the static network topology corresponding to the node type corresponding to the demolished highway equipment node as the static network topology to be updated.

[0108] Step 3: According to the line, location information, and direction information corresponding to the demolished highway equipment node, the road section where the demolished highway equipment node is located is found in the static network topology to be updated.

[0109] In the implementation manner of the present application, there are two road sections where the highway equipment node is removed, one is the road section where the highway equipment node is removed as the starting node, and the other is the road section where the highway equipment node is removed as the ending node.

[0110] Step 4: If there is no interchange node on the road section in the static network topology to be updated, all road sections where the demolished highway equipment nodes are located in the static network topology to be updated are merged into one road section to obtain an updated static network topology.

[0111] Step 5. If there is an overpass node in the road section in the static network topology to be updated, all the road sections where the demolished highway equipment node is located in the static network topology to be updated are merged into one road section to obtain the updated static network topology, and the positional relationship between the overpass node in the static network topology to be updated, the end node of the road section with the demolished highway equipment node as the starting node, and the start node of the road section with the demolished highway equipment node as the ending node remains unchanged to obtain the updated static network topology.

[0112] Furthermore, the first passing vehicle crossing rate between the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the static road network topology is determined by the following steps:

[0113] Step 1: Obtain the hourly average vehicle travel time, hourly minimum vehicle travel time and hourly maximum vehicle travel time of the section between the highway equipment node to be detected and the corresponding upstream adjacent highway equipment node in the current time period, as well as the passing vehicle identifications corresponding to the highway equipment node to be detected and the corresponding upstream adjacent highway equipment node in the current time period.

[0114] In an implementation manner of the present application, the average vehicle speed, maximum vehicle speed, minimum vehicle speed of the section between the highway equipment node to be detected and the corresponding upstream adjacent highway equipment node in the current time period per hour, and the length of the section between the highway equipment node to be detected and the corresponding upstream adjacent highway equipment node are obtained; the average value of all average vehicle speeds is determined as the hourly average vehicle speed; the maximum value of all maximum vehicle speeds is determined as the hourly maximum vehicle speed; the minimum value of all minimum vehicle speeds is determined as the hourly minimum vehicle speed; the ratio between the section length and the hourly average vehicle speed is determined as the hourly average vehicle travel time; the ratio between the section length and the minimum vehicle speed is determined as the hourly minimum vehicle travel time; and the ratio between the section length and the maximum vehicle speed is determined as the hourly maximum vehicle travel time.

[0115] Step 2: Calculate the range of the number of second time windows based on the hourly average vehicle travel time, the hourly minimum vehicle travel time, and the hourly maximum vehicle travel time.

[0116] In an implementation manner of the present application, the average of the hourly minimum vehicle travel time and the hourly average vehicle travel time is determined as the minimum boundary value within the time window number range, and the hourly average of the hourly maximum vehicle travel time and the average vehicle travel time is determined as the maximum boundary value within the time window number range.

[0117] Step 3: Within the range of the number of second time windows, count the number of passing vehicle identifications of the upstream adjacent highway equipment nodes in the i-th second time window in the current time period and the same number of passing vehicle identifications of the highway equipment node to be detected in the j-th second time window according to the passing vehicle identifications; count the number of passing vehicle identifications of the upstream adjacent highway equipment nodes in the i-th second time window in the current time period according to the passing vehicle identifications to obtain a first number; and count the number of passing vehicle identifications of the highway equipment node to be detected in the j-th second time window in the current time period according to the passing vehicle identifications to obtain a second number; wherein i and j are within the range of the number of second time windows.

[0118] For example, assuming that according to the corresponding passing vehicle identification of the corresponding upstream adjacent highway equipment node in the current time period, the passing vehicle identification of the corresponding upstream adjacent highway equipment node in the i-th second time window in the current time period includes {passing vehicle identification A, passing vehicle identification C, passing vehicle identification D, passing vehicle identification E, passing vehicle identification F}; assuming that according to the corresponding passing vehicle identification of the highway equipment node to be detected in the current time period, the passing vehicle identification of the highway equipment node to be detected in the j-th second time window in the current time period includes {passing vehicle identification A, passing vehicle identification B, passing vehicle identification C, passing vehicle identification D}; then the number of passing vehicle identifications of the upstream adjacent highway equipment node in the i-th second time window in the current time period that is the same as that of the highway equipment node to be detected in the j-th second time window is 3, namely, passing vehicle identification A, passing vehicle identification C, and passing vehicle identification D.

[0119] As can be seen from the above example, the first number is 5, which are respectively the vehicle identification A, vehicle identification C, vehicle identification D, vehicle identification E, and vehicle identification F. The second number is 4, which are respectively the vehicle identification A, vehicle identification B, vehicle identification C, and vehicle identification D.

[0120] Step 4: Determine the minimum value of the first quantity and the second quantity as the target value.

[0121] Step 5: The ratio of the number of vehicles with the same passing identification to the target value is determined as the initial first passing vehicle crossing rate.

[0122] Step 6: Calculate the target first passing vehicle crossing rate based on all initial first passing vehicle crossing rates.

[0123] In the implementation manner of the present application, the average value of all initial first passing vehicle crossing rates can be determined as the first passing vehicle crossing rate; or the weighted value of all initial first passing vehicle crossing rates can be determined as the first passing vehicle crossing rate.

[0124] Here, the calculation process of the second passing vehicle crossing rate between the road equipment node to be detected and the corresponding downstream adjacent road equipment node in the static road network topology is the same as the calculation process of the first passing vehicle crossing rate.

[0125] S102: Detect whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate.

[0126] In the real-time mode of the present application, the sum of the first passing vehicle crossing rates between the road equipment node to be detected and all corresponding upstream adjacent road equipment nodes is calculated to obtain a first sum value; the sum of the first passing vehicle crossing rates between the road equipment node to be detected and all corresponding upstream adjacent road equipment nodes is calculated to obtain a first sum value; the sum of the second passing vehicle crossing rates between the road equipment node to be detected and all corresponding downstream adjacent road equipment nodes is calculated to obtain a second sum value; if the difference between the first sum value and the second sum value is greater than a preset threshold value, the road equipment node to be detected is abnormal.

[0127] S103: If the road equipment node to be detected is abnormal, the road equipment node to be detected in the static road network topology corresponding to the node type of the road equipment node to be detected is removed to obtain an initial dynamic road network topology.

[0128] In an implementation manner of the present application, a static road network topology corresponding to a node type corresponding to a road equipment node to be detected is determined as a target static road network topology; the road section where the road equipment node to be detected is located is searched in the target static network topology according to the corresponding line, location information, and direction information of the road equipment node to be detected; if there is no interchange node in the road section in the target static network topology, all road sections where the road equipment node to be detected is located in the target static network topology are merged into one road section to obtain an initial dynamic road network topology; if there is an interchange node in the road section in the target static network topology, all road sections where the road equipment node to be detected is located in the target static network topology are merged into one road section to obtain an initial dynamic road network topology, and the positional relationship between the interchange node in the target static network topology, the end node of the road section with the road equipment node to be detected as the starting node, and the start node of the road section with the road equipment node to be detected as the ending node remains unchanged to obtain an initial dynamic road network topology.

[0129] In addition, if there is no abnormality in the road equipment nodes to be detected, the static road network topology is determined as the initial dynamic road network topology.

[0130] S104: Generate a target dynamic road network topology from the initial dynamic road network topology according to the road control information.

[0131] In an implementation manner of the present application, road control information includes a starting line, a starting direction, a starting position, an ending line, an ending starting direction, and an ending starting position; the upstream adjacent nodes corresponding to the starting position on the starting line in the same direction as the starting direction in the static road network topology corresponding to each level are used as the starting nodes corresponding to each level; the upstream adjacent nodes corresponding to the ending position on the ending line in the same direction as the ending direction in the static road network topology corresponding to each level are used as the ending nodes corresponding to each level; the road sections between the corresponding starting nodes and the ending nodes in the static road network topology corresponding to each level are dismantled at the corresponding positions in the initial dynamic road network topology corresponding to each level to obtain the target dynamic road network topology.

[0132] Furthermore, some detectors can only collect flow and speed information. For detectors that can only collect flow and speed information, the dynamic time normalization (DTW) correlation between their flow and speed and the flow and speed of downstream detectors on the same line and in the same direction is analyzed with a time window of 12 hours and a step size of 1 hour. If the correlation is less than the threshold, the detector is abnormal.

[0133] The present application provides a method for generating a road network topology, which includes: obtaining a static road network topology corresponding to a target highway, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; detecting whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate; if the road equipment node to be detected is abnormal, removing the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected, and obtaining an initial dynamic road network topology; generating a target dynamic road network topology from the initial dynamic road network topology according to the road control information. Through the method of the present application, a dynamic road network topology can be generated.

[0134] Based on the same inventive concept, the embodiments of the present application also provide a device for generating a road network topology corresponding to the method for generating a road network topology. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the method for generating a road network topology in the embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0135] Reference Figure 3 , which is a schematic diagram of a device for generating a road network topology provided in an embodiment of the present application, wherein the device for generating a road network topology includes:

[0136] The acquisition module 301 is used to acquire the static road network topology corresponding to the target road, the road control information, the first passing vehicle crossing rate between the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the static road network topology, and the second passing vehicle crossing rate between the road equipment node to be detected and the corresponding downstream adjacent road equipment node in the static road network topology; the passing vehicle crossing rate refers to the passing probability of the same vehicle between two road equipment nodes;

[0137] A detection module 302, configured to detect whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate;

[0138] The removal module 303 is used for removing the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected if the road equipment node to be detected is abnormal, so as to obtain an initial dynamic road network topology;

[0139] The generation module 304 is used to generate a target dynamic road network topology from the initial dynamic road network topology according to the road control information.

[0140] In a possible implementation, the node type corresponding to the low-level static network topology is included in the node type corresponding to the high-level static network topology;

[0141] The static network topology of any level except the lowest level is constructed based on the static network topology of the corresponding previous level.

[0142] In a possible implementation, the acquisition module 301 is specifically used to acquire the route, position information, direction information, and historical vehicle traffic data corresponding to the first highway equipment node in the target highway, as well as the route and position information corresponding to the interchange node in the target highway; the first highway equipment node refers to a highway equipment node whose node type is the node type corresponding to the lowest level of the static network topology; according to the route, position information, direction information, and historical vehicle traffic data corresponding to the first highway equipment node, the upstream and downstream relationship between the first highway equipment nodes in the same route is determined; according to the position information corresponding to the interchange node, the first highway equipment node adjacent to the interchange node in the route to which the interchange node belongs is determined to obtain the adjacent first highway equipment node; according to the historical vehicle traffic data corresponding to the adjacent first highway equipment nodes, the upstream and downstream relationship between the adjacent first highway equipment nodes in different routes is determined; according to the route, position information, direction information, and the upstream and downstream relationship corresponding to the first highway equipment node, the lowest level of the static network topology is constructed.

[0143] In a possible implementation, the acquisition module 301 is specifically used to obtain the line, location information, and direction information corresponding to the second highway equipment node in the target highway; the second highway equipment node refers to a highway equipment node that belongs to the node type corresponding to the currently constructed static network topology and does not belong to the node type corresponding to the corresponding previous-level static network topology; according to the line, location information, and direction information corresponding to the second highway equipment node, the section where the second highway equipment node is located is searched in the corresponding previous-level static network topology; the section is composed of two adjacent highway equipment nodes, and the two highway equipment nodes are the starting node and the ending node of the section respectively; if there is no overpass node in the section in the corresponding previous-level static network topology, the section in the corresponding previous-level static network topology is split into a section composed of the second highway equipment node and the starting node in the section, and a section composed of the second highway equipment node and the ending node in the section, to obtain the currently constructed static network topology.

[0144] In one possible implementation, the acquisition module 301 is specifically used to, if there is an overpass node on the road section in the corresponding previous level static network topology, insert the second highway equipment node on the road section in the corresponding previous level static network topology according to the location information of the overpass node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the second highway equipment node, so as to obtain the currently constructed static network topology.

[0145] In a possible implementation, the device also includes an update module 305; the update module is specifically used to obtain the node type, the line, the location information, and the direction information corresponding to the newly built highway equipment node; the static network topology corresponding to the node type is determined as the updated static network topology; according to the line, the location information, and the direction information corresponding to the newly built highway equipment node, the section where the newly built highway equipment node is located is searched in the updated static network topology; if there is no interchange node in the section in the updated static network topology, the section in the updated static network topology is split into a section consisting of the newly built highway equipment node and the starting node in the section, and a section consisting of the newly built highway equipment node and the ending node in the section, so as to obtain the currently constructed static network topology; if there is an interchange node in the section in the updated static network topology, according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the section, and the location information corresponding to the newly built highway equipment node, the newly built highway equipment node is inserted on the section in the updated static network topology to obtain the updated static network topology.

[0146] In a possible implementation, the acquisition module 301 is specifically used to obtain the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time of the section between the to-be-detected highway equipment node and the corresponding upstream adjacent highway equipment node in the current time period, as well as the passing vehicle identifications corresponding to the to-be-detected highway equipment node and the corresponding upstream adjacent highway equipment node in the current time period; calculate the second time window quantity range according to the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time; within the second time window quantity range, count the number of traffic between the upstream adjacent highway equipment node and the to-be-detected highway equipment node in the i-th second time window in the current time period according to the passing vehicle identification. the number of identical passing vehicle identifications in the second time window; counting the number of passing vehicle identifications of the upstream adjacent highway equipment node in the i-th second time window in the current time period according to the passing vehicle identifications, to obtain a first number; and counting the number of passing vehicle identifications of the to-be-detected highway equipment node in the j-th second time window in the current time period according to the passing vehicle identifications, to obtain a second number; determining the minimum value of the first number and the second number as a target value; determining the ratio of the number of identical passing vehicle identifications to the target value as an initial first passing vehicle crossing rate of the upstream adjacent highway equipment node in the i-th second time window and the to-be-detected highway equipment node in the j-th second time window; and calculating a target first passing vehicle crossing rate according to all initial first passing vehicle crossing rates.

[0147] The embodiment of the present application provides a device for generating a road network topology, which includes: an acquisition module 301, which is used to acquire a static road network topology corresponding to a target road, road control information, a first passing vehicle crossing rate between a road device node to be detected and a corresponding upstream adjacent road device node in the static road network topology, and a second passing vehicle crossing rate between a road device node to be detected and a corresponding downstream adjacent road device node in the static road network topology; the passing vehicle crossing rate refers to the passing probability of the same vehicle between two road device nodes; a detection module 302, which is used to detect whether the road device node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate; a removal module 303, which is used to remove the road device node to be detected in the static road network topology corresponding to the node type corresponding to the road device node to be detected if the road device node to be detected is abnormal, and obtain an initial dynamic road network topology; a generation module 304, which is used to generate a target dynamic road network topology from the initial dynamic road network topology according to the road control information. Through the method of the present application, a dynamic road network topology can be generated.

[0148] like Figure 4As shown, an electronic device 400 provided in an embodiment of the present application includes: a processor 401, a memory 402 and a bus, wherein the memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device is running, the processor 401 communicates with the memory 402 through the bus, and the processor 401 executes the machine-readable instructions to perform the steps of the method for generating a road network topology as described above.

[0149] Specifically, the above-mentioned memory 402 and processor 401 can be general-purpose memories and processors, which are not specifically limited here. When the processor 401 runs the computer program stored in the memory 402, the above-mentioned road network topology generation method can be executed.

[0150] Corresponding to the above-mentioned method for generating road network topology, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned method for generating road network topology are executed.

[0151] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0152] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0154] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the information processing method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0155] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for generating a road network topology, characterized in that: The method comprises: Obtaining a static road network topology corresponding to the target road, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; the passing vehicle crossing rate refers to the passing probability of the same vehicle between two road equipment nodes; the calculation process of the second passing vehicle crossing rate is the same as the calculation process of the first passing vehicle crossing rate; Detecting whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate, including: calculating the sum of the first passing vehicle crossing rates between the road equipment node to be detected and all corresponding upstream adjacent road equipment nodes to obtain a first sum value; calculating the sum of the second passing vehicle crossing rates between the road equipment node to be detected and all corresponding downstream adjacent road equipment nodes to obtain a second sum value; if the difference between the first sum value and the second sum value is greater than a preset threshold value, the road equipment node to be detected is abnormal; If the road equipment node to be detected is abnormal, the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected is removed to obtain an initial dynamic road network topology; Generate a target dynamic road network topology from the initial dynamic road network topology according to the road control information; The first vehicle crossing rate between the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the static road network topology is determined by the following steps: obtaining the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time of the road section between the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the current time period, and the corresponding vehicle identifications of the road equipment node to be detected and the corresponding upstream adjacent road equipment node in the current time period; calculating the second time window quantity range according to the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time; within the second time window quantity range, counting the number of vehicles crossing the upstream adjacent road equipment node with the road equipment node to be detected in the i-th second time window in the current time period according to the vehicle identification The number of identical passing vehicle identifications in the jth second time window; the number of passing vehicle identifications of the upstream adjacent highway equipment node in the ith second time window in the current time period is counted according to the passing vehicle identification to obtain a first number; and the number of passing vehicle identifications of the to-be-detected highway equipment node in the jth second time window in the current time period is counted according to the passing vehicle identification to obtain a second number; the minimum value of the first number and the second number is determined as a target value; the ratio of the number of identical passing vehicle identifications to the target value is determined as an initial first passing vehicle crossing rate of the upstream adjacent highway equipment node in the ith second time window and the to-be-detected highway equipment node in the jth second time window; the target first passing vehicle crossing rate is calculated according to all initial first passing vehicle crossing rates; wherein i and j are within the second time window number range.

2. The method for generating a road network topology according to claim 1, characterized in that: The node type corresponding to the low-level static network topology is included in the node type corresponding to the high-level static network topology; The static network topology of any level except the lowest level is constructed based on the static network topology of the corresponding previous level.

3. The method for generating a road network topology according to claim 2, characterized in that: The lowest level static network topology is constructed by following these steps: Acquire the route, location information, direction information and historical vehicle traffic data corresponding to the first highway equipment node in the target highway, and the route and location information corresponding to the interchange node in the target highway; the first highway equipment node refers to a highway equipment node whose node type is the lowest level of the static network topology corresponding node type; Determine the upstream and downstream relationship between the first highway equipment nodes in the same route according to the route, location information, direction information and historical vehicle traffic data corresponding to the first highway equipment nodes; According to the position information corresponding to the interchange node, determine the first highway equipment node adjacent to the interchange node in the line to which the interchange node belongs, and obtain the adjacent first highway equipment node; Determining upstream and downstream relationships between adjacent first highway equipment nodes in different routes according to historical vehicle traffic data corresponding to the adjacent first highway equipment nodes; The lowest level static network topology is constructed according to the line, location information, direction information and upstream and downstream relationships corresponding to the first highway equipment node.

4. The method for generating a road network topology according to claim 2, characterized in that: Use the following steps to construct a static network topology other than the lowest level: Acquire the route, location information and direction information corresponding to the second highway equipment node in the target highway; the second highway equipment node refers to a highway equipment node that belongs to the node type corresponding to the currently constructed static network topology and does not belong to the node type corresponding to the corresponding previous level static network topology; According to the corresponding line, location information and direction information of the second highway equipment node, searching for the road section where the second highway equipment node is located in the corresponding upper-level static network topology; The road section is composed of two adjacent highway equipment nodes, and the two highway equipment nodes are respectively the starting node and the ending node of the road section; If there is no overpass node on the road section in the corresponding previous level static network topology, the road section in the corresponding previous level static network topology is split into a road section consisting of the second highway equipment node and the starting node in the road section and a road section consisting of the second highway equipment node and the ending node in the road section to obtain the currently constructed static network topology.

5. The method for generating a road network topology according to claim 4, characterized in that: The method further comprises: If there is an interchange node on the road section in the corresponding previous level static network topology, then according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the road section respectively, and the location information corresponding to the second highway equipment node, the second highway equipment node is inserted on the road section in the corresponding previous level static network topology to obtain the currently constructed static network topology.

6. The method for generating a road network topology according to claim 2, characterized in that: The method further comprises: Obtain the node type, line, location information and direction information corresponding to the newly built highway equipment node; Determine the static network topology corresponding to the node type as an updated static network topology; According to the line, location information and direction information corresponding to the newly-built highway equipment node, searching the road section where the newly-built highway equipment node is located in the updated static network topology; If the road section in the updated static network topology does not have an interchange node, split the road section in the updated static network topology into a road section consisting of the newly-built highway equipment node and a starting node in the road section and a road section consisting of the newly-built highway equipment node and a terminating node in the road section, to obtain a currently constructed static network topology; If there is an interchange node on the road section in the updated static network topology, the newly created highway equipment node is inserted on the road section in the updated static network topology according to the location information of the interchange node, the location information corresponding to the starting node and the ending node of the road section, and the location information corresponding to the newly created highway equipment node to obtain an updated static network topology.

7. A device for generating a road network topology, characterized in that: The device comprises: An acquisition module is used to acquire a static road network topology corresponding to a target road, road control information, a first passing vehicle crossing rate between a road equipment node to be detected and a corresponding upstream adjacent road equipment node in the static road network topology, and a second passing vehicle crossing rate between a road equipment node to be detected and a corresponding downstream adjacent road equipment node in the static road network topology; the passing vehicle crossing rate refers to the passing probability of the same vehicle between two road equipment nodes; the calculation process of the second passing vehicle crossing rate is the same as the calculation process of the first passing vehicle crossing rate; A detection module, used for detecting whether the road equipment node to be detected is abnormal according to the first passing vehicle crossing rate and the second passing vehicle crossing rate, comprising: calculating the sum of the first passing vehicle crossing rates between the road equipment node to be detected and all corresponding upstream adjacent road equipment nodes to obtain a first sum value; calculating the sum of the second passing vehicle crossing rates between the road equipment node to be detected and all corresponding downstream adjacent road equipment nodes to obtain a second sum value; if the difference between the first sum value and the second sum value is greater than a preset threshold value, the road equipment node to be detected is abnormal; A removal module, for removing the road equipment node to be detected in the static road network topology corresponding to the node type corresponding to the road equipment node to be detected, if the road equipment node to be detected is abnormal, to obtain an initial dynamic road network topology; A generating module, used for generating a target dynamic road network topology from the initial dynamic road network topology according to the road control information; The acquisition module is specifically used to acquire the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time of the section between the to-be-detected highway equipment node and the corresponding upstream adjacent highway equipment node in the current time period, and the corresponding passing vehicle identifications of the to-be-detected highway equipment node and the corresponding upstream adjacent highway equipment node in the current time period; calculate the second time window quantity range according to the hourly average vehicle travel time, the hourly minimum vehicle travel time and the hourly maximum vehicle travel time; within the second time window quantity range, count the number of passing vehicle identifications of the upstream adjacent highway equipment node in the i-th second time window in the current time period that are the same as the number of passing vehicle identifications of the to-be-detected highway equipment node in the j-th second time window according to the passing vehicle identification; The number of passing vehicle identifications of the upstream adjacent highway equipment node in the i-th second time window in the current time period is counted according to the passing vehicle identification to obtain a first number; and the number of passing vehicle identifications of the to-be-detected highway equipment node in the j-th second time window in the current time period is counted according to the passing vehicle identification to obtain a second number; the minimum value of the first number and the second number is determined as a target value; the ratio of the number of identical passing vehicle identifications to the target value is determined as an initial first passing vehicle crossing rate of the upstream adjacent highway equipment node in the i-th second time window and the to-be-detected highway equipment node in the j-th second time window; the target first passing vehicle crossing rate is calculated according to all initial first passing vehicle crossing rates; wherein i and j are within the second time window number range.

8. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the method for generating a road network topology as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for generating a road network topology according to any one of claims 1 to 6 are executed.

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