Multi-vehicle track comparison visualization method and device, visualization equipment and storage medium
By displaying multi-vehicle trajectories on the map and building an adjustable timeline, the problem of low efficiency and accuracy of multi-vehicle trajectory comparison in the prior art is solved, and more efficient and accurate multi-vehicle trajectory comparison is achieved.
Patent Information
- Application Number
- CN202411317821.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2025-02-14
Smart Images
Figure CN119441558A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of track visualization, and in particular to a multi-vehicle track comparison visualization method, device, visualization equipment and storage medium. Background Art
[0002] Analyzing the vehicle conditions when multiple vehicles pass through the same road section is an important means of analyzing vehicle conditions. The premise of this analysis technology is to find multiple trajectories passing through the same road section.
[0003] The existing method for comparing multiple vehicle trajectories is that the staff queries the trajectories of multiple vehicles, and then compares them one by one by the naked eye, and then compares the trajectories of multiple vehicles passing through the same road section. The existing technology has the following technical problems: it is necessary to compare the trajectories of multiple vehicles with the naked eye, which is difficult to operate, complicated, and has a low accuracy rate and large errors.
[0004] Therefore, there is an urgent need to provide a multi-vehicle trajectory comparison visualization method, apparatus, visualization device and storage medium to improve the efficiency and accuracy of multi-vehicle trajectory comparison. Summary of the invention
[0005] In view of this, it is necessary to provide a multi-vehicle trajectory comparison visualization method, device, visualization equipment and storage medium to solve the technical problem in the prior art that the multi-vehicle trajectory comparison needs to be performed by the naked eye, resulting in low efficiency and accuracy of the multi-vehicle trajectory comparison.
[0006] On the one hand, in order to solve the above technical problems, the present invention provides a multi-vehicle trajectory comparison and visualization method, comprising: Acquire multiple vehicle trajectories, each of the trajectories comprising a trajectory coordinate point and a trajectory time point; Displaying the multi-vehicle trajectories on a map based on the trajectory coordinate points and the trajectory time points; Determining a reference track in the multi-vehicle track and a reference track time point of the reference track, and constructing an adjustable time axis based on the reference track time point; In response to the timeline adjustment request, a target time range in the adjustable timeline and a target partial track in each track corresponding to the target time range are determined, and the target partial track is displayed in the map.
[0007] In a possible implementation, the obtaining of multiple vehicle trajectories includes: Based on the query condition, the multi-vehicle trajectories matching the query condition are determined in a trajectory database.
[0008] In a possible implementation, the query conditions include a vehicle chassis number, a time range, and a track coordinate range.
[0009] In a possible implementation, the target partial trajectory includes a reference target partial trajectory of the reference trajectory and a non-reference target partial trajectory of the non-reference trajectory; then the method further includes: An overlapped trajectory in the non-reference target partial trajectory that overlaps with the reference target partial trajectory is determined, and a vehicle condition analysis is performed based on the overlapped trajectory.
[0010] In a possible implementation manner, determining the overlapping trajectory in the non-reference target partial trajectory that overlaps with the reference target partial trajectory includes: Acquire a plurality of reference target trajectory coordinate points of the reference target partial trajectory and a plurality of non-reference target trajectory coordinate points of the non-reference target partial trajectory; Determining the number of overlapping trajectory points among the plurality of reference target trajectory coordinate points and the plurality of non-reference target trajectory coordinate points; Determining an overlap rate based on the number of overlapped trajectory points and the number of the plurality of reference target trajectory coordinate points; When the overlap rate is greater than a threshold overlap rate, the non-reference target partial trajectory is determined to be the overlap trajectory.
[0011] In a possible implementation manner, determining the number of overlapping trajectory points among the plurality of reference target trajectory coordinate points and the plurality of non-reference target trajectory coordinate points includes: The non-reference target trajectory coordinate points among the plurality of non-reference target trajectory coordinate points whose coordinate point distance from the reference target trajectory coordinate point is less than a threshold distance are used as coincident trajectory points; The sum of the numbers of the overlapping trajectory points is taken as the number of the overlapping trajectory points.
[0012] In a possible implementation, the performing vehicle condition analysis based on the overlapped trajectory includes: Determine the starting time of the overlapping trajectory, and perform vehicle condition analysis based on the starting time.
[0013] On the other hand, the present invention also provides a multi-vehicle trajectory comparison and visualization device, comprising: A multi-vehicle trajectory acquisition unit, used to acquire multi-vehicle trajectories, each of which includes a trajectory coordinate point and a trajectory time point; A track display unit, used for displaying the multi-vehicle tracks on a map based on the track coordinate points and the track time points; an adjustable time axis construction unit, configured to determine a reference track in the multi-vehicle track and a reference track time point of the reference track, and to construct an adjustable time axis based on the reference track time point; The track update display unit is used to respond to the time axis adjustment request, determine the target time range in the adjustable time axis and the target partial track corresponding to the target time range in each track, and display the target partial track in the map.
[0014] On the other hand, the present invention also provides a visualization device, including a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the multi-vehicle trajectory comparison and visualization method described in any one of the possible implementations above.
[0015] On the other hand, the present invention further provides a computer-readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps in the multi-vehicle trajectory comparison and visualization method described in any possible implementation manner are implemented.
[0016] The beneficial effect of the present invention is that the multi-vehicle trajectory comparison and visualization method provided by the present invention displays the multi-vehicle trajectories on a map by acquiring the trajectory coordinate points and trajectory time points of the multi-vehicle trajectories. The multi-vehicle trajectories can be intuitively observed through the map without multiple inquiries on the trajectory of a single vehicle, thereby improving the comparison efficiency and accuracy of the multi-vehicle trajectories.
[0017] Furthermore, the present invention determines the reference trajectory time points in the multi-vehicle trajectories and constructs an adjustable timeline based on the reference trajectory time points. The trajectory time range of the target partial trajectory displayed in the map can be dynamically adjusted based on the adjustable timeline, thereby achieving a good interactive experience and improving the controllability and diversity of the multi-vehicle trajectory comparison visualization method. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.
[0019] Figure 1 A schematic diagram of a flow chart of an embodiment of a multi-vehicle trajectory comparison and visualization method provided by the present invention; Figure 2 A schematic diagram of a flow chart of an embodiment of determining a coincident trajectory of a non-reference target partial trajectory that coincides with a reference target partial trajectory provided by the present invention; Figure 3 For the present invention Figure 2A schematic flow chart of an embodiment of step S202; Figure 4 A schematic diagram of the structure of an embodiment of a multi-vehicle trajectory comparison and visualization device provided by the present invention; Figure 5 A schematic diagram of the structure of an embodiment of the visualization device provided by the present invention. DETAILED DESCRIPTION
[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.
[0021] It should be understood that the schematic drawings are not drawn to scale. The flowchart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present invention, can add one or more other operations to the flowchart, and can also remove one or more operations from the flowchart. Some of the block diagrams shown in the accompanying drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.
[0022] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0023] The present invention provides a multi-vehicle trajectory comparison visualization method, device, visualization equipment and storage medium, which are described below respectively.
[0024] Figure 1 A schematic diagram of an embodiment of the multi-vehicle trajectory comparison and visualization method provided by the present invention is shown in FIG. Figure 1 As shown in Figure 2, the multi-vehicle trajectory comparison visualization method includes: S101, obtaining multiple vehicle trajectories, each trajectory including a trajectory coordinate point and a trajectory time point; S102, displaying multiple vehicle trajectories on a map based on trajectory coordinate points and trajectory time points; S103, determining a reference track in the multi-vehicle track and a reference track time point of the reference track, and constructing an adjustable time axis based on the reference track time point; S104 , responding to the time axis adjustment request, determining a target time range in the adjustable time axis and a target partial track in each track corresponding to the target time range, and displaying the target partial track on the map.
[0025] The method for acquiring the multi-vehicle trajectories in step S101 is: acquiring the multi-vehicle trajectories from a storage medium or a database storing the multi-vehicle trajectories.
[0026] It should be understood that the map in step S102 is any one of the existing mature map software / programs, including but not limited to Amap and Baidu Map.
[0027] The reference trajectory in step S103 is any one of the multiple vehicle trajectories.
[0028] It should be noted that the adjustable time axis in step S103 is a time axis that can enlarge or reduce the time range by extending and rolling a roller, wherein the roller can be a mouse roller.
[0029] It should also be noted that: the display of the trajectories in steps S102 and S104 is specifically: displayed on a visual interface, wherein the visual interface uses vue2 as an interface development framework, which embeds the map into the visual interface through the application program interface (Application Program Interface, API) of the map software, thereby realizing the display of multiple vehicle trajectories on the map.
[0030] Compared with the prior art, the multi-vehicle trajectory comparison and visualization method provided by the embodiment of the present invention displays the multi-vehicle trajectories on a map by obtaining the trajectory coordinate points and trajectory time points of the multi-vehicle trajectories. The multi-vehicle trajectories can be intuitively observed through the map without multiple inquiries on the trajectory of a single vehicle, thereby improving the comparison efficiency and accuracy of the multi-vehicle trajectories.
[0031] Furthermore, the embodiments of the present invention determine the reference trajectory time points in the multi-vehicle trajectories and construct an adjustable timeline based on the reference trajectory time points. The trajectory time range of the target partial trajectory displayed in the map can be dynamically adjusted based on the adjustable timeline to achieve redrawing of the map trajectory, thereby achieving a good interactive experience and improving the controllability and diversity of the multi-vehicle trajectory comparison visualization method.
[0032] To improve the accuracy of the acquired multi-vehicle trajectories, in some embodiments of the present invention, the step S101 of acquiring the multi-vehicle trajectories includes: Based on the query condition, multiple vehicle trajectories matching the query condition are determined in the trajectory database.
[0033] The embodiments of the present invention can improve the purposefulness of the acquired multi-vehicle trajectories by acquiring the multi-vehicle trajectories based on the query conditions, and improve the controllability and accuracy of the acquired multi-vehicle trajectories.
[0034] In a specific embodiment of the present invention, the query conditions include vehicle chassis number, time range and track coordinate range.
[0035] In order to implement vehicle condition analysis based on the target partial trajectory, in some embodiments of the present invention, the target partial trajectory includes a reference target partial trajectory of the reference trajectory and a non-reference target partial trajectory of the non-reference trajectory; the multi-vehicle trajectory comparison and visualization method further includes: An overlapping trajectory in the non-reference target partial trajectory that overlaps with the reference target partial trajectory is determined, and a vehicle condition analysis is performed based on the overlapping trajectory.
[0036] In some embodiments of the present invention, Figure 2 As shown, determining the overlapped trajectory in the non-reference target partial trajectory that overlaps with the reference target partial trajectory includes: S201, obtaining a plurality of reference target trajectory coordinate points of a reference target partial trajectory and a plurality of non-reference target trajectory coordinate points of a non-reference target partial trajectory; S202, determining the number of overlapping trajectory points among a plurality of reference target trajectory coordinate points and a plurality of non-reference target trajectory coordinate points; S203, determining the overlap rate based on the number of overlapped trajectory points and the number of multiple reference target trajectory coordinate points; S204: When the overlap rate is greater than the threshold overlap rate, determine that the non-reference target partial trajectory is an overlap trajectory.
[0037] The embodiment of the present invention can ensure the accuracy and reliability of the determined coincident trajectory by setting that the non-reference target partial trajectory is determined as the coincident trajectory only when the coincidence rate is greater than the threshold coincidence rate, thereby improving the accuracy of the analysis results of the vehicle condition analysis based on the coincident trajectory.
[0038] It should be understood that the threshold overlap rate can be set or adjusted according to the actual application scenario. In a specific embodiment of the present invention, the threshold overlap rate is 80%.
[0039] Due to reasons such as lane width, the trajectory coordinate points cannot completely overlap. Therefore, in some embodiments of the present invention, Figure 3 As shown, step S202 includes: S301, taking a non-reference target trajectory coordinate point whose coordinate point distance from the reference target trajectory coordinate point is less than a threshold distance among a plurality of non-reference target trajectory coordinate points as a coincident trajectory point; S302: The sum of the numbers of overlapping trajectory points is used as the number of overlapping trajectory points.
[0040] The embodiment of the present invention determines the overlapping trajectory points by setting a threshold distance and using the threshold distance as a freely set error value, which can improve the matching degree and the overlap degree of the trajectory points and realize the rationality of the judgment of the overlapping trajectory points.
[0041] Likewise, the threshold distance may be set or adjusted according to actual application scenarios. In a specific embodiment of the present invention, the threshold distance is 1 meter.
[0042] In some embodiments of the present invention, vehicle condition analysis based on the coincident trajectory includes: Determine the starting time of the overlapping trajectory and perform vehicle condition analysis based on the starting time.
[0043] Specifically, the overlapping trajectory includes at least one trajectory, and the starting time of at least one trajectory passing through this section of road is determined. The vehicle condition can be analyzed based on the starting time. The analysis of the vehicle condition includes but is not limited to: the traffic conditions of the section in different time periods, and the operating parameters of different vehicles when passing through this section of road. The operating parameters include but are not limited to: fuel consumption, mileage, load, braking time ratio, etc.
[0044] In order to better implement the multi-vehicle trajectory comparison and visualization method in the embodiment of the present invention, based on the multi-vehicle trajectory comparison and visualization method, the embodiment of the present invention also provides a multi-vehicle trajectory comparison and visualization device, wherein the vehicle includes a transmission controller and a vehicle controller, such as Figure 4 As shown, the multi-vehicle trajectory comparison and visualization device 400 includes: A multi-vehicle trajectory acquisition unit 401 is used to acquire multi-vehicle trajectories, each trajectory including a trajectory coordinate point and a trajectory time point; A track display unit 402, for displaying multiple vehicle tracks on a map based on track coordinate points and track time points; An adjustable time axis construction unit 403 is used to determine a reference track and a reference track time point of the reference track in the multi-vehicle track, and to construct an adjustable time axis based on the reference track time point; The track updating and displaying unit 404 is used to respond to the time axis adjustment request, determine the target time range in the adjustable time axis and the target partial track in each track corresponding to the target time range, and display the target partial track in the map.
[0045] It should be noted that the multi-vehicle trajectory comparison and visualization device 400 provided in the above embodiment can implement the technical solution described in the above multi-vehicle trajectory comparison and visualization method embodiment. The specific implementation principles or specific implementation details of the above modules or units can refer to the corresponding contents in the above multi-vehicle trajectory comparison and visualization method embodiment, which will not be described one by one here.
[0046] like Figure 5 As shown, the present invention also provides a visualization device 500. The visualization device 500 includes a processor 501, a memory 502 and a display 503. Figure 5 Only some of the components of the visualization device 500 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.
[0047] In some embodiments, the processor 501 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 502, such as the multi-vehicle trajectory comparison and visualization method in the present invention.
[0048] In some embodiments of the present invention, processor 501 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 501 may be local or remote. In some embodiments, processor 501 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination thereof.
[0049] In some embodiments, the memory 502 may be an internal storage unit of the visualization device 500 , such as a hard disk or a memory of the visualization device 500 .
[0050] Furthermore, the memory 502 may include both an internal storage unit of the visualization device 500 and an external storage device. The memory 502 is used to store application software installed in the visualization device 500 and various data.
[0051] In some embodiments, the display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 503 is used to display information of the visualization device 500 and to display a visualized user interface. The components 501-503 of the visualization device 500 communicate with each other via a system bus.
[0052] In some embodiments of the present invention, when the processor 501 executes the multi-vehicle trajectory comparison and visualization program in the memory 502, the following steps may be implemented: Get multiple vehicle trajectories, each trajectory includes trajectory coordinate points and trajectory time points; Display multiple vehicle trajectories on a map based on trajectory coordinate points and trajectory time points; Determine a reference track and a reference track time point of the reference track in the multi-vehicle track, and construct an adjustable time axis based on the reference track time point; In response to the timeline adjustment request, a target time range in the adjustable timeline and a target partial track in each track corresponding to the target time range are determined, and the target partial track is displayed on the map.
[0053] It should be understood that: when the processor 501 executes the multi-vehicle trajectory comparison and visualization program in the memory 502, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.
[0054] Furthermore, the embodiment of the present invention does not specifically limit the type of visualization device 500 mentioned, and the visualization device 500 may be a portable visualization device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable visualization devices include but are not limited to portable visualization devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable visualization device may also be other portable visualization devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the visualization device 500 may not be a portable visualization device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).
[0055] Accordingly, an embodiment of the present invention further provides a computer-readable storage medium, which is used to store a computer-readable program or instruction. When the program or instruction is executed by a processor, the steps or functions in the multi-vehicle trajectory comparison and visualization method provided in the above-mentioned method embodiments can be implemented.
[0056] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.
[0057] The above is a detailed introduction to a multi-vehicle trajectory comparison visualization method, device, visualization equipment and storage medium provided by the present invention. In this article, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
Claims
1. A method for visualizing and comparing multi-vehicle trajectories, characterized in that: include: Acquire multiple vehicle trajectories, each of the trajectories comprising a trajectory coordinate point and a trajectory time point; Displaying the multi-vehicle trajectories on a map based on the trajectory coordinate points and the trajectory time points; Determining a reference track in the multi-vehicle track and a reference track time point of the reference track, and constructing an adjustable time axis based on the reference track time point; In response to the timeline adjustment request, a target time range in the adjustable timeline and a target partial track in each track corresponding to the target time range are determined, and the target partial track is displayed in the map.
2. The multi-vehicle trajectory comparison and visualization method according to claim 1 is characterized in that: The obtaining of multiple vehicle trajectories includes: Based on the query condition, the multi-vehicle trajectories matching the query condition are determined in a trajectory database.
3. The multi-vehicle trajectory comparison and visualization method according to claim 2 is characterized in that: The query conditions include vehicle chassis number, time range and track coordinate range.
4. The multi-vehicle trajectory comparison and visualization method according to claim 1 is characterized in that: The target partial trajectory includes a reference target partial trajectory of the reference trajectory and a non-reference target partial trajectory of the non-reference trajectory; the method further includes: An overlapped trajectory in the non-reference target partial trajectory that overlaps with the reference target partial trajectory is determined, and a vehicle condition analysis is performed based on the overlapped trajectory.
5. The multi-vehicle trajectory comparison and visualization method according to claim 4 is characterized in that: The determining of the overlapping trajectory of the non-reference target partial trajectory that overlaps with the reference target partial trajectory includes: Acquire a plurality of reference target trajectory coordinate points of the reference target partial trajectory and a plurality of non-reference target trajectory coordinate points of the non-reference target partial trajectory; Determining the number of overlapping trajectory points among the plurality of reference target trajectory coordinate points and the plurality of non-reference target trajectory coordinate points; Determining an overlap rate based on the number of overlapped trajectory points and the number of the plurality of reference target trajectory coordinate points; When the overlap rate is greater than a threshold overlap rate, the non-reference target partial trajectory is determined to be the overlap trajectory.
6. The multi-vehicle trajectory comparison and visualization method according to claim 5 is characterized in that: The determining of the number of overlapping trajectory points among the plurality of reference target trajectory coordinate points and the plurality of non-reference target trajectory coordinate points comprises: The non-reference target trajectory coordinate points among the plurality of non-reference target trajectory coordinate points whose coordinate point distance from the reference target trajectory coordinate point is less than a threshold distance are used as coincident trajectory points; The sum of the numbers of the overlapping trajectory points is taken as the number of the overlapping trajectory points.
7. The multi-vehicle trajectory comparison and visualization method according to claim 4 is characterized in that: The vehicle condition analysis based on the overlapped trajectory includes: Determine the starting time of the overlapping trajectory, and perform vehicle condition analysis based on the starting time.
8. A multi-vehicle trajectory comparison and visualization device, characterized in that: include: A multi-vehicle trajectory acquisition unit, used to acquire multi-vehicle trajectories, each of which includes a trajectory coordinate point and a trajectory time point; A track display unit, used for displaying the multi-vehicle tracks on a map based on the track coordinate points and the track time points; an adjustable time axis construction unit, configured to determine a reference track in the multi-vehicle track and a reference track time point of the reference track, and to construct an adjustable time axis based on the reference track time point; The track update display unit is used to respond to the time axis adjustment request, determine the target time range in the adjustable time axis and the target partial track corresponding to the target time range in each track, and display the target partial track in the map.
9. A visualization device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the multi-vehicle trajectory comparison and visualization method described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps in the multi-vehicle trajectory comparison and visualization method described in any one of claims 1 to 7 are implemented.