Method and device for detecting abnormal speed of vehicle

Abstract

The invention discloses a method and device for detecting vehicle speed abnormity, and belongs to the technical field of intelligent driving. A specific embodiment of the method comprises the following steps: acquiring driving tracks containing speed information of a plurality of vehicles; matching the driving track with a road map, and constructing a speed sequence for a road according to a matching result; searching one or more pieces of abnormal speed information in the speed sequence and determining abnormal position information in a road corresponding to the abnormal speed information; according to the embodiment of the invention, the speed sequence of the road is constructed based on the vehicle driving track and the road map, and the abnormal speed information and the abnormal position information in the road corresponding to the abnormal speed information are determined according to the speed sequence, so that the efficiency and the refinement degree of determining the abnormal speed position are improved; the accuracy of road information provided by the traffic management platform and the navigation platform is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a method and device for detecting abnormal vehicle speed. Background Art

[0002] With the popularization of new energy vehicles, in the actual driving scenarios of new energy vehicles, there are various road conditions (for example: road construction, road damage, too short intersection lane, etc.) that cause the vehicle to slow down. Therefore, there is a need for platforms that provide road information to vehicles (such as traffic management platforms, navigation platforms, etc.) to determine the location of abnormal vehicle speed on the road.

[0003] At present, the position of speed anomalies caused by traffic conditions (congestion or accidents) can only be determined through the vehicle's driving status, and it is impossible to accurately identify the problem of abnormal vehicle speed caused by road construction, road damage, short merging lanes, etc. The existing methods have a low degree of refinement in determining the position of speed anomalies, which affects the traffic management platform and navigation platform to provide accurate road information for vehicle driving, affects the navigation platform's road selection strategy, and also affects the passengers' vehicle experience. Summary of the invention

[0004] In view of this, the present invention provides a method and device for detecting vehicle speed anomalies, which can obtain driving trajectories containing speed information of multiple vehicles; match the driving trajectories with road maps, and construct a speed sequence for the road according to the matching results; search for one or more abnormal speed information in the speed sequence and determine the abnormal position information in the road corresponding to the abnormal speed information; the embodiment of the present invention constructs a speed sequence of the road based on the vehicle driving trajectories and the road map, and determines the abnormal speed information and the abnormal position information in the road corresponding to the abnormal speed information according to the speed sequence, thereby improving the efficiency and refinement of determining the speed abnormal position, and improving the accuracy of the road information provided by the traffic management platform and the navigation platform.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a method for detecting vehicle speed anomalies, comprising: obtaining driving trajectories containing speed information of multiple vehicles; matching the driving trajectories with a road map, and constructing a speed sequence for the road based on the matching results; searching for one or more abnormal speed information in the speed sequence; determining abnormal position information in the road corresponding to the abnormal speed information, and sending a prompt message containing the abnormal position information.

[0007] Optionally, the driving trajectory is matched with the road map, and a speed sequence for the road is constructed based on the matching result, including: dividing the road included in the road map into multiple lanes, and determining the lane to which the vehicle belongs based on the driving trajectory of the vehicle; and combining the speed information of vehicles belonging to the same lane to construct a speed sequence corresponding to each lane.

[0008] Optionally, dividing a road included in the road map into a plurality of lanes includes: according to the road map, cutting the road map into a plurality of parallel lanes, and constructing a lane line and a lane center line for each lane.

[0009] Optionally, after determining the lane to which the vehicle belongs, the method further includes: projecting the trajectory points in the driving trajectory of each vehicle onto the center line of the lane where the vehicle is located to obtain projection points corresponding to the trajectory points, the projection points being located on the center line of the lane; using the projection points to indicate the position information of the vehicle in the lane; combining the speed information of vehicles belonging to the same lane, including: correspondingly combining the position information indicated by multiple projection points located on the center line of the same lane and the speed information of the trajectory points corresponding to the multiple projection points.

[0010] Optionally, after constructing the speed sequence corresponding to each lane, it further includes: smoothing and denoising the speed sequence corresponding to each lane; searching for one or more abnormal speed information in the speed sequence, including: searching for one or more abnormal speed information in the speed sequence after smoothing and denoising.

[0011] Optionally, smoothing and denoising is performed on the speed sequence corresponding to each lane, including: using a filtering algorithm to smooth and denoise the speed sequence corresponding to each lane; wherein the filtering algorithm filters out trajectory points whose speed information is not higher than a set speed threshold.

[0012] Optionally, searching for one or more abnormal speed information in the speed sequence includes: using a lonely forest algorithm to determine one or more abnormal speed information in the speed sequence based on the alienation degree of multiple speed information in the speed sequence.

[0013] In a second aspect, an embodiment of the present invention provides a device for detecting abnormal vehicle speed, comprising:

[0014] An information acquisition module is used to acquire the driving trajectories of multiple vehicles containing speed information; match the driving trajectories with the road map, and construct a speed sequence for the road based on the matching results;

[0015] An abnormality search module is used to search for one or more abnormal speed information in the speed sequence;

[0016] A position model is determined, which is used to determine abnormal position information in a road corresponding to the abnormal speed information, and to send prompt information containing the abnormal position information.

[0017] Optionally, the device for detecting abnormal vehicle speed is used to match the driving trajectory with the road map, and construct a speed sequence for the road based on the matching result, including: dividing the road included in the road map into multiple lanes, and determining the lane to which the vehicle belongs based on the vehicle's driving trajectory; combining the speed information of vehicles belonging to the same lane to construct a speed sequence corresponding to each lane.

[0018] Optionally, the device for detecting abnormal vehicle speed is used to divide a road included in a road map into multiple lanes, including: according to the road map, cutting the road map into multiple parallel lanes, and constructing lane lines and lane center lines for each lane.

[0019] Optionally, the device for detecting abnormal vehicle speed, after determining the lane to which the vehicle belongs, further includes: projecting the trajectory points in the driving trajectory of each vehicle onto the center line of the lane where the vehicle is located to obtain projection points corresponding to the trajectory points, the projection points being located on the center line of the lane; using the projection points to indicate the position information of the vehicle in the lane; combining the speed information of vehicles belonging to the same lane, including: correspondingly combining the position information indicated by multiple projection points located on the center line of the same lane and the speed information of the trajectory points corresponding to the multiple projection points.

[0020] Optionally, the device for detecting abnormal vehicle speed is used to, after constructing the speed sequence corresponding to each lane, further include: smoothing and denoising the speed sequence corresponding to each lane; searching for one or more abnormal speed information in the speed sequence, including: searching for one or more abnormal speed information in the speed sequence after smoothing and denoising.

[0021] Optionally, smoothing and denoising is performed on the speed sequence corresponding to each lane, including: using a filtering algorithm to smooth and denoise the speed sequence corresponding to each lane; wherein the filtering algorithm filters out trajectory points whose speed information is not higher than a set speed threshold.

[0022] Optionally, the device for detecting abnormal vehicle speed is used to find one or more abnormal speed information in the speed sequence, including: using a lonely forest algorithm to determine one or more abnormal speed information in the speed sequence based on the degree of alienation of multiple speed information in the speed sequence.

[0023] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0024] one or more processors;

[0025] a storage device for storing one or more programs,

[0026] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting abnormal vehicle speed according to the above-mentioned embodiment of the present invention.

[0027] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which is stored a computer program for implementing a method for detecting abnormal vehicle speed. When the computer program is executed by an on-board processor, the method for detecting abnormal vehicle speed according to an embodiment of the present invention is implemented.

[0028] The technical solution of the above invention has the following advantages or beneficial effects: it is possible to obtain the driving trajectories containing speed information of multiple vehicles; match the driving trajectories with the road map, and construct a speed sequence for the road according to the matching results; search for one or more abnormal speed information in the speed sequence and determine the abnormal position information in the road corresponding to the abnormal speed information; the embodiment of the present invention constructs the speed sequence of the road based on the vehicle driving trajectory and the road map, and determines the abnormal speed information and the abnormal position information in the road corresponding to the abnormal speed information according to the speed sequence, thereby improving the efficiency and refinement of determining the abnormal speed position, and improving the accuracy of the road information provided by the traffic management platform and the navigation platform. The embodiment of the present invention can filter out the influence of special scenes on the speed information by smoothing and denoising the speed information, so that the search result of finding the abnormal speed information is closer to the actual situation. The embodiment of the present invention improves the accuracy of calibrating the abnormal speed position by matching the driving trajectory with the road map (such as a high-precision map). The embodiment of the present invention uses the lonely forest algorithm to quickly and accurately locate the abnormal speed information, thereby improving the efficiency of identifying the scene that needs to be analyzed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a flow chart of a method for detecting abnormal vehicle speed according to an embodiment of the present invention;

[0030] Figure 2A is a schematic diagram of multiple lanes and vehicle trajectory points provided according to an embodiment of the present invention;

[0031] Figure 2B is a schematic diagram of a projection of a vehicle trajectory point onto a lane centerline provided according to an embodiment of the present invention;

[0032] Figure 2C is a schematic diagram of a projection point located on a lane centerline provided by an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of a curve showing the relationship between vehicle speed and position provided according to an embodiment of the present invention;

[0034] Figure 4 It is a structural schematic diagram of a device for detecting abnormal vehicle speed suitable for implementing an embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of a computer system suitable for implementing the embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0037] It should be pointed out that the embodiments of the present invention and the technical features therein may be combined with each other without conflict.

[0038] In addition, the terms "first", "second", "third", etc. included in the embodiments of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific number or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances. This is just a way of distinguishing objects with the same attributes when describing them in the embodiments of the present invention.

[0039] Furthermore, the vehicle involved in the embodiment of the present invention may be an internal combustion engine vehicle using an engine as a power source, a hybrid vehicle using an engine and an electric motor as a power source, an electric vehicle using an electric motor as a power source, or the like.

[0040] Figure 1 A schematic diagram showing the main steps of the method for detecting abnormal vehicle speed provided by an embodiment of the present invention is shown:

[0041] The method for detecting abnormal vehicle speed provided by the embodiment of the present invention can be applied to traffic management platforms and navigation platforms, so that traffic management platforms and lane-level navigation platforms can provide more accurate and reasonable vehicle speed suggestions and route suggestions.

[0042] Step S101: Acquire driving trajectories containing speed information of multiple vehicles; match the driving trajectories with a road map, and construct a speed sequence for the road based on the matching results.

[0043] Specifically, in an embodiment of the present invention, the driving trajectories of multiple vehicles including speed information during the road driving process are obtained, and the driving trajectories of the multiple vehicles are matched with the road map, such as Figure 2AAs shown, L1, L2, and L3 represent different lanes on the road. Figure 2A The dots in different lanes represent trajectory points in the driving trajectory, and each trajectory point has speed information and position information (Position point with Speed).

[0044] Furthermore, a speed sequence for the road is constructed based on the matching results. The speed sequence corresponding to the road includes a set of speed information of multiple vehicles traveling on the road, wherein the speed information and the position information on the road may have a mapping relationship. Furthermore, the speed information and position information of the multiple vehicles may be reported by the vehicles, or may be obtained through a vehicle traffic management platform or a navigation platform. The embodiment of the present invention improves the accuracy of calibrating the speed anomaly position by matching the driving trajectory with a road map (e.g., a high-precision map).

[0045] Furthermore, if Figure 2A As shown, x and y represent the horizontal and vertical axes of the road map coordinate system, and L1, L2, and L3 represent the multiple lanes divided by the road included in the road map; further, the lane where the vehicle is located is determined, so as to combine the speed information of vehicles belonging to the same lane and construct the speed sequence corresponding to each lane. That is, multiple lanes are divided for the road included in the road map, and the lane to which the vehicle belongs is determined according to the driving trajectory of the vehicle; the speed information of vehicles belonging to the same lane is combined to construct the speed sequence corresponding to each lane. Therefore, one or more abnormal speed information can be found for each lane in the speed sequence corresponding to each lane in the subsequent process.

[0046] Further, in an embodiment of the present invention, dividing a road included in a road map into a plurality of lanes includes: according to the road map, cutting the road map into a plurality of parallel lanes, and constructing a lane line and a lane center line for each lane. Figure 2A As shown, L1, L2, and L3 represent multiple parallel lanes cut out of the road, and each lane has two lane lines indicated by solid or dotted lines, and a center line between the two lane lines (lane center line). The embodiment of the present invention divides lanes by combining a road map, thereby detecting whether there is an abnormal speed position for each lane, thereby improving the refinement of detecting abnormal speed and abnormal position.

[0047] Furthermore, after determining the lane to which the vehicle belongs, it further includes: projecting the trajectory points in the driving trajectory of each vehicle onto the center line of the lane where the vehicle is located to obtain projection points corresponding to the trajectory points, and the projection points are located on the center line of the lane; using the projection points to indicate the position information of the vehicle in the lane; combining the speed information of vehicles belonging to the same lane, including: correspondingly combining the position information indicated by multiple projection points located on the center line of the same lane and the speed information of the trajectory points corresponding to the multiple projection points.

[0048] Specifically, Figure 2B As shown, the trajectory points in the driving trajectory of each vehicle are projected onto the lane center line of the lane (L1, L2, L3) where the vehicle is located; Figure 2C As shown, the projection point corresponding to the trajectory point is obtained, and the projection point is located on the lane center line of the lane (L1, L2, L3). Therefore, the projection point is used to indicate the position information of the vehicle in the lane; and the speed information of the vehicles belonging to the same lane is combined, that is, the position information indicated by multiple projection points located on the center line of the same lane and the speed information of the trajectory points corresponding to the multiple projection points are correspondingly combined. The speed information of the trajectory points (projection points) located on the lane center line of each lane is obtained; by projecting the trajectory points in the driving trajectory of each vehicle onto the lane center line where the vehicle is located, the speed information and position information are normalized, thereby improving the accuracy of subsequent abnormal speed information and position information search.

[0049] Step S102: searching for one or more abnormal speed information in the speed sequence.

[0050] Step S103: determining abnormal position information on the road corresponding to the abnormal speed information, and sending prompt information including the abnormal position information.

[0051] Specifically, in an embodiment of the present invention, before searching for one or more abnormal speed information, the speed sequence is smoothed and denoised to filter out trajectory points that are not higher than a set speed threshold, for example, if the speed threshold is set to 5 km / h, then the speed information is 0 or a slower speed of 2 km / h is the speed information that is not higher than (lower than) the set speed threshold, wherein the factors causing the vehicle speed to be not higher than the set speed threshold may include traffic congestion, traffic accidents, etc., and the embodiment of the present invention filters out the speed information corresponding to traffic congestion, traffic accidents, etc. through smoothing and denoising, thereby improving the accuracy of identifying the problem of abnormal vehicle speed caused by road construction, road surface damage, too short intersection lanes, etc. That is, after constructing the speed sequence corresponding to each lane, it further includes: smoothing and denoising the speed sequence corresponding to each lane; searching for one or more abnormal speed information in the speed sequence, including: searching for one or more abnormal speed information in the smoothed and denoised speed sequence. Smoothing and denoising the speed sequence corresponding to each lane includes: using a filtering algorithm to smooth and denoise the speed sequence corresponding to each lane; wherein the filtering algorithm filters out trajectory points whose speed information is not higher than the set speed threshold.

[0052] Specifically, in an embodiment of the present invention, a Savitzky-Golay filtering algorithm may be used to smooth and reduce noise on a velocity sequence. The Savitzky-Golay filtering algorithm includes a filtering function savgol_filter. For example, the parameters included in savgol_filter are as follows:

[0053] savgol_filter(speed_limit_data,window_size,polynomial_order,axis=0)

[0054] Wherein, speed_limit_data is a speed sequence of a certain lane, the window size window_size is set to 5, and the polynomial order polynomial_order is set to 2 to obtain the optimal smoothing result. The embodiment of the present invention can filter out the influence of special scenarios on the speed information by smoothing and denoising the speed information, so that the search result of abnormal speed information is closer to the actual situation.

[0055] Figure 3 It is a schematic diagram of the relationship between vehicle speed and position based on the speed sequence of a certain lane, such as Figure 3As shown, the horizontal axis represents location information (location), and the vertical axis represents speed information (Speed). A speed-position relationship curve is constructed based on a speed sequence of a lane after smoothing and noise reduction processing. The speed information indicated by the curve segment marked by the circular area in the curve is lower than the other parts of the curve (i.e., the abnormal speed value range), that is, one or more abnormal speed information can be found through the curve.

[0056] Further, searching for one or more abnormal speed information in the speed sequence includes: using a lonely forest algorithm to determine one or more abnormal speed information in the speed sequence based on the degree of alienation of multiple speed information in the speed sequence. Specifically, in an embodiment of the present invention, the lonely forest algorithm can be used to find outliers in the speed sequence. The isolation forest algorithm has the characteristic of not using indicators such as distance and density to describe the difference between a sample and other samples, but directly describing the so-called degree of alienation (isolation), so the algorithm is simple and efficient. Specifically, an embodiment of the present invention can use the IsolationForest function in the sklearn tool included in python, and the model "model" composed of the function and parameters is, for example:

[0057] model=IsolationForest(…); Further, through model training, assuming that df is a speed sequence after smoothing of a lane, the model model.predict(df[['speed']]) is called to judge the speed abnormality value of a speed in the speed sequence, for example: output -1 represents abnormal speed, output 1 represents normal speed, that is, the speed is judged to be normal or abnormal by the value output by the isolation forest algorithm, and when it is determined that there is abnormal speed information, the lane and position where the speed abnormality is located are further determined. The embodiment of the present invention improves the efficiency of identifying the scene that needs to be analyzed by using the isolation forest algorithm to quickly and accurately locate the speed abnormality information.

[0058] Determine the abnormal position information on the road corresponding to the abnormal speed information, and send a prompt message containing the abnormal position information. Furthermore, by sending the lane where the identified speed anomaly is located and the abnormal position information, regular scenes (such as road construction, road damage, too short intersection lane, etc.) can be further analyzed and summarized to improve the speed control of the driving assistance system or improve the speed suggestions in navigation. Prompt messages containing abnormal position information can also be sent to other vehicles to remind other vehicles that there may be road construction, road damage, or too short intersection lanes at this location. The accuracy and refinement of speed suggestions for driving assistance are improved.

[0059] Figure 4 The schematic diagram of the structure of the device 400 for detecting abnormal vehicle speed according to the embodiment of the present invention is shown. The device 400 comprises:

[0060] The information acquisition module 401 is used to acquire the driving trajectories of multiple vehicles including speed information; match the driving trajectories with the road map, and construct a speed sequence for the road according to the matching results;

[0061] An abnormality search module 402 is used to search for one or more abnormal speed information in the speed sequence;

[0062] The position model 403 is determined to determine abnormal position information on the road corresponding to the abnormal speed information, and to send prompt information including the abnormal position information.

[0063] Reference below Figure 5 , which shows a schematic diagram of the structure of a computer system 500 suitable for implementing an embodiment of the present invention. Figure 5 The computer system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0064] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage part 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0065] The following components are connected to the I / O interface 505: an input section 506; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.

[0066] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are executed.

[0067] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0068] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0069] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: obtaining driving trajectories containing speed information of multiple vehicles; matching the driving trajectories with the road map, and constructing a speed sequence for the road according to the matching results; searching for one or more abnormal speed information in the speed sequence; determining abnormal position information in the road corresponding to the abnormal speed information, and sending a prompt message containing the abnormal position information.

[0070] It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for detecting abnormal vehicle speed, characterized in that: include: Obtaining driving trajectories of multiple vehicles including speed information; Matching the driving trajectory with a road map, and constructing a speed sequence for the road according to the matching result; searching for one or more abnormal speed information in the speed sequence; Abnormal position information on the road corresponding to the abnormal speed information is determined, and prompt information including the abnormal position information is sent.

2. The method for detecting abnormal vehicle speed according to claim 1, characterized in that: The step of matching the driving trajectory with the road map and constructing a speed sequence for the road according to the matching result includes: Dividing a road included in the road map into a plurality of lanes, and determining the lane to which the vehicle belongs according to the driving trajectory of the vehicle; The speed information of vehicles belonging to the same lane is combined to construct the speed sequence corresponding to each lane.

3. The method for detecting abnormal vehicle speed according to claim 2, characterized in that: The dividing a road included in the road map into a plurality of lanes comprises: According to the road map, the road map is cut into a plurality of parallel lanes, and a lane line and a lane center line are constructed for each of the lanes.

4. The method for detecting abnormal vehicle speed according to claim 2, characterized in that: After determining the lane to which the vehicle belongs, the method further includes: Projecting a trajectory point in the driving trajectory of each vehicle onto the center line of the lane where the vehicle is located to obtain a projection point corresponding to the trajectory point, wherein the projection point is located on the center line of the lane; Indicating position information of the vehicle in the lane using the projection point; The combining of the speed information of vehicles belonging to the same lane includes: correspondingly combining the position information indicated by a plurality of projection points located on the center line of the same lane and the speed information of the trajectory points corresponding to the plurality of projection points.

5. The method for detecting abnormal vehicle speed according to claim 2, characterized in that: After constructing the speed sequence corresponding to each lane, the method further includes: Performing smoothing and noise reduction on the speed sequence corresponding to each lane; The searching for one or more pieces of abnormal speed information in the speed sequence includes: Find one or more abnormal speed information in the smoothed and denoised speed sequence.

6. The method for detecting abnormal vehicle speed according to claim 5, characterized in that: The smoothing and denoising of the speed sequence corresponding to each lane includes: A filtering algorithm is used to smooth and reduce noise for the speed sequence corresponding to each lane; wherein the filtering algorithm filters out trajectory points whose speed information is not higher than a set speed threshold.

7. The method for detecting abnormal vehicle speed according to claim 1, characterized in that: The searching for one or more pieces of abnormal speed information in the speed sequence includes: By using the lonely forest algorithm, one or more abnormal speed information in the speed sequence is determined based on the alienation degree of multiple speed information in the speed sequence.

8. A device for detecting abnormal vehicle speed, characterized in that: The device for detecting abnormal vehicle speed comprises: An information acquisition module is used to acquire the driving trajectories of multiple vehicles containing speed information; match the driving trajectories with the road map, and construct a speed sequence for the road based on the matching results; An abnormality search module, used for searching one or more abnormal speed information in the speed sequence; A position model is determined, which is used to determine abnormal position information in the road corresponding to the abnormal speed information, and to send prompt information containing the abnormal position information.

9. An electronic device for detecting abnormal vehicle speed, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program for detecting abnormal vehicle speed stored thereon, characterized in that: The computer scale storage medium comprises: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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