A parking analysis method based on vehicle trajectory

Abstract

The present invention relates to a parking analysis method based on vehicle trajectory, which belongs to the field of intelligent transportation technology. The method comprises: marking the passing vehicle data of each intersection according to the path coordination direction to obtain a number of vehicle trajectory data; repairing and completing the vehicle trajectory data according to the vehicle speed and the passing vehicle data of two intersections adjacent to the missing intersection; extracting the number of intersections passed by the same vehicle from two groups of vehicle trajectory data in adjacent time periods, and when the number of intersections meets the set threshold value of effective trajectory data volume, the two groups of vehicle trajectory data are tracked and connected to obtain the optimal vehicle trajectory data; according to the optimal vehicle trajectory data, combined with the obtained intersection equipment type and the non-stop travel time of different sections, the parking situation of each intersection is analyzed to obtain the path parking rate and the intersection continuous traffic rate in the path coordination direction. The present invention greatly improves the accuracy of the two groups of data, namely, the path parking rate and the intersection continuous traffic rate.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a parking analysis method based on vehicle trajectory. Background Art

[0002] Urban commuting routes usually carry a large amount of traffic, especially during peak hours in the morning and evening, when commuting routes are prone to congestion. In order to avoid commuting congestion in advance, it is usually necessary to formulate corresponding path coordination strategies for commuting routes to ensure the rapid passage of traffic.

[0003] The formulation of each path coordination strategy requires an evaluation of its operating effect to ensure the rationality of the path coordination strategy. At present, with the improvement of road infrastructure, detection equipment including checkpoint equipment, electric police equipment, and integrated radar and vision devices can provide vehicle passing data with license plates, and then collect statistics on vehicle passing data over a period of time, and then evaluate the operating effect of the path coordination strategy based on the traffic rate and traffic duration as indicators.

[0004] However, in the existing scheme, when calculating the traffic rate, it is impossible to determine whether the passing vehicle has completely passed the road section specified by the path coordination strategy, making the traffic rate inaccurate. For example, the vehicle stops for a long time in the road section, exceeding the statistical time for traffic calculation, or the vehicle does not enter the road section within the statistical time, but exits the road section within the statistical time. In addition, considering that the intersection equipment is incomplete, it is impossible to ensure that every intersection on the entire path is covered by equipment, so it is impossible to determine whether the vehicle stops at the section of the intersection equipment, which easily leads to misjudgment of the vehicle's traffic time.

[0005] Therefore, how to improve the accuracy of the evaluation indicators of the path coordination strategy so that the path coordination strategy can be accurately and reasonably evaluated is an urgent problem to be solved. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a parking analysis method based on vehicle trajectory, which solves the technical problem that it is difficult to accurately and reasonably evaluate the path coordination strategy based on the evaluation indicators obtained based on the prior art.

[0008] (II) Technical solution

[0009] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0010] In a first aspect, an embodiment of the present invention provides a parking analysis method based on vehicle trajectory, comprising:

[0011] The acquired vehicle passing data at each intersection is marked according to the path coordination direction to obtain a number of vehicle trajectory data;

[0012] When there is an intersection with missing vehicle passing data, trajectory repair data is obtained according to the vehicle speed and the vehicle passing data of two intersections adjacent to the missing intersection, and the vehicle trajectory data is supplemented based on the trajectory repair data;

[0013] The number of intersections that the same vehicle passes through is extracted from two sets of vehicle trajectory data in adjacent time periods, and when the number of intersections meets the set threshold of effective trajectory data volume, the two sets of vehicle trajectory data are connected to obtain the optimal vehicle trajectory data;

[0014] According to the optimal vehicle trajectory data, combined with the acquired intersection equipment type and the non-stop travel time of different road sections, the parking situation at each intersection is analyzed to obtain the path parking rate and intersection continuous traffic rate in the path coordination direction.

[0015] Optionally, the acquired vehicle passing data at each intersection is marked according to the path coordination direction, and several vehicle trajectory data are obtained, including:

[0016] Obtain path information and vehicle passing data on the path within a set time period;

[0017] According to the path information, the path coordination direction between adjacent intersections on the path is determined;

[0018] The path coordination direction at each intersection is used as a screening condition to screen and obtain the vehicle passing data along the path coordination direction;

[0019] Generate a vehicle trajectory data set based on the filtered vehicle passing data, wherein each vehicle trajectory data in the vehicle trajectory data set is within a set time interval;

[0020] Among them, the path coordination direction refers to the directional guidance determined by analyzing the relationship between adjacent intersections one by one on a given path from the starting point to the end point.

[0021] Optionally, before obtaining trajectory repair data according to the vehicle speed and the vehicle passing data of two intersections adjacent to the missing intersection, and completing the vehicle trajectory data based on the trajectory repair data, the method further includes:

[0022] Sort the passing time of each vehicle in the vehicle trajectory data to determine the order in which the vehicles appear at each intersection;

[0023] Compare the order in which vehicles appear at each intersection with the order of intersections in the path coordination direction, and determine whether there are intersections with missing vehicle passing data based on the comparison results;

[0024] If the order in which vehicles appear at each intersection is consistent with the order of intersections in the path coordination direction, it is determined that there is no intersection with missing vehicle passing data;

[0025] If the order in which vehicles appear at each intersection is inconsistent with the order of intersections in the path coordination direction, it is determined that there are intersections with missing vehicle passing data.

[0026] Optionally, obtaining trajectory repair data according to the vehicle speed and the vehicle passing data of two intersections adjacent to the missing intersection, and completing the vehicle trajectory data based on the trajectory repair data includes:

[0027] Obtain vehicle passing data and distance information at two intersections adjacent to the missing intersection;

[0028] According to the vehicle passing data and distance information of the two intersections adjacent to the missing intersection, combined with the speed calculation formula, the driving speed of the vehicle in the road section is obtained;

[0029] According to the driving speed, the number of missing intersections in the road section and the passing data of the two intersections adjacent to the missing intersection, the passing time of the vehicle at each missing intersection is obtained, and the passing time is used as the trajectory repair data to complete the vehicle trajectory data.

[0030] Optionally, the number of intersections passed by the same vehicle is extracted from two sets of vehicle trajectory data in adjacent time periods, and when the number of intersections meets a set threshold of effective trajectory data volume, the two sets of vehicle trajectory data are connected to obtain the optimal vehicle trajectory data, including:

[0031] Extract the number of intersections passed by the same vehicle from two sets of vehicle trajectory data in adjacent time periods;

[0032] When the number of intersections is greater than the set threshold value of the amount of valid trajectory data, the time difference between the last vehicle passing data in the vehicle trajectory data of the previous period and the first vehicle passing data in the vehicle trajectory data of the next period is obtained;

[0033] Determine whether the time difference is greater than the time length of the period to which the vehicle trajectory data belongs;

[0034] If the time difference is greater than the time length of the time period to which the vehicle trajectory data belongs, it is determined that the trajectories in the two sets of vehicle trajectory data in adjacent time periods are discontinuous, and different trajectory numbers are set for the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period, and the vehicle trajectory data of the next time period is determined to be the optimal vehicle trajectory data;

[0035] If the time difference is not greater than the time length of the time period to which the vehicle trajectory data belongs, the two sets of vehicle trajectory data in the adjacent time periods are connected, and the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period are set to the same trajectory number to obtain the optimal vehicle trajectory data.

[0036] Optionally, if the time difference is greater than the time length of the time period to which the vehicle trajectory data belongs, determining that the trajectories in two sets of vehicle trajectory data in adjacent time periods are discontinuous, setting different trajectory numbers for the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period, and determining that the vehicle trajectory data of the next time period is the optimal vehicle trajectory data includes:

[0037] Obtain the number of intersections that the same vehicle passes through in the vehicle trajectory data of the next period;

[0038] Determine whether the number of intersections passed by the same vehicle in the vehicle trajectory data is greater than the threshold value of the valid trajectory data;

[0039] If the number of intersections passed by the same vehicle in the vehicle trajectory data is greater than the effective trajectory data amount threshold, the vehicle trajectory data is determined to be the optimal vehicle trajectory data, and a corresponding trajectory number is generated;

[0040] If the number of intersections passed by the same vehicle in the vehicle trajectory data is not greater than the valid trajectory data amount threshold, it is determined that the vehicle trajectory data does not meet the parking analysis condition within the time period.

[0041] Optionally, if the time difference is not greater than the time length of the time period to which the vehicle trajectory data belongs, the two sets of vehicle trajectory data are connected, and the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period are set to the same trajectory number, and obtaining the optimal vehicle trajectory data includes:

[0042] Determine whether the number of vehicle trajectories in the previous period is set with a trajectory number;

[0043] If the vehicle trajectory number of the previous period is set with a trajectory number, the trajectory number of the vehicle trajectory number of the previous period is assigned to the vehicle trajectory number of the next period, and the vehicle trajectory data of the previous and next two periods are connected to obtain the optimal vehicle trajectory data;

[0044] If the vehicle trajectory number of the previous period is not set with a trajectory number, a new trajectory number is generated and assigned to the vehicle trajectory data of the previous and next two periods, and the vehicle trajectory data of the previous and next two periods are connected to obtain the optimal vehicle trajectory data.

[0045] Optionally, according to the optimal vehicle trajectory data, combined with the acquired intersection equipment type and non-stop travel time of different sections, the parking situation of each intersection is analyzed to obtain the path parking rate and intersection continuous traffic rate in the path coordination direction, including:

[0046] Obtain the standard vehicle speed and intersection equipment types for road design;

[0047] According to the standard vehicle speed, the time range thresholds for vehicles to pass through different road sections without stopping are obtained, and it is determined whether the passing time of vehicles in different road sections in the optimal vehicle trajectory data is within the corresponding time range thresholds;

[0048] If the travel time of the vehicle in different sections in the optimal vehicle trajectory data is not within the corresponding time range threshold, the travel time of the vehicle in the section calculated by the standard vehicle speed will be used as the non-stop travel time of the section;

[0049] If the travel time of vehicles in different sections in the optimal vehicle trajectory data is within the corresponding time range threshold, the average of the travel time of all vehicles in the optimal vehicle trajectory data in the section is used as the non-stop travel time of the section;

[0050] According to the driving time of vehicles on different road sections, the non-stop passing time of different road sections and the types of intersection equipment in the optimal vehicle trajectory data, the number of stopping intersections and the maximum number of continuous non-stop passing intersections for each vehicle in the optimal vehicle trajectory data are obtained;

[0051] Based on the number of parking intersections and the maximum number of intersections passed without stopping, combined with the total number of intersections in the optimal vehicle trajectory data, the path parking rate and intersection continuous traffic rate in the path coordination direction are obtained.

[0052] Optionally, according to the driving time of the vehicle on different road sections, the non-stop passing time of different road sections and the type of intersection equipment in the optimal vehicle trajectory data, obtaining the number of intersections where each vehicle stops and the maximum number of intersections passed continuously without stopping in the optimal vehicle trajectory data includes:

[0053] Get the intersection equipment type of each intersection on the road;

[0054] Compare the driving time of the vehicle on different road sections with the corresponding non-stop travel time, and determine the number of stopping sections and intersections of the vehicle in the optimal vehicle trajectory data based on the comparison results;

[0055] Determine the intersection where each vehicle performs a parking action in the parking section according to the type of intersection equipment;

[0056] If the intersection equipment at the upstream intersection in the parking section is an electric alarm equipment, it is determined that the vehicle has performed a parking action at the downstream intersection in the parking section;

[0057] If the intersection equipment at the upstream intersection in the parking section is a checkpoint equipment, it is determined that the vehicle is performing a parking action at the upstream intersection in the parking section;

[0058] According to the determined intersections at which the vehicle performs a parking action in the parking section, a maximum number of intersections that the vehicle passes continuously without stopping is obtained.

[0059] Optionally, after analyzing the parking situation at each intersection according to the optimal vehicle trajectory data, combining the acquired intersection equipment type and the non-stop travel time of different road sections, and obtaining the path parking rate and the intersection continuous traffic rate in the path coordination direction, the method further includes:

[0060] Based on the analysis results of the parking situation at each intersection and the type of intersection equipment, determine the time when vehicles enter and leave the intersection;

[0061] If the vehicle does not stop at the intersection, the vehicle's entry and exit times at the intersection are both recorded in the optimal vehicle trajectory data;

[0062] If the vehicle stops at an intersection and the intersection equipment is an electric alarm device, the vehicle's departure time at the intersection is the time recorded in the optimal vehicle trajectory data, and the entry time is the time obtained by adding the vehicle's departure time at the previous intersection to the non-stop travel time in the section;

[0063] If a vehicle stops at an intersection and the intersection equipment is a checkpoint equipment, the vehicle's entry time at the intersection is the recorded time in the optimal vehicle trajectory data, and the departure time is the time obtained by subtracting the vehicle's non-stop travel time in the section from the vehicle's entry time at the next intersection.

[0064] (III) Beneficial effects

[0065] The beneficial effects of the present invention are as follows: considering that the intersection equipment is incomplete and it is impossible to ensure that each intersection on the entire path is covered by the intersection equipment, the present invention repairs the vehicle trajectory data through the vehicle speed and the vehicle passing data of the two intersections adjacent to the missing intersection, and at the same time, the two sets of vehicle trajectory data in adjacent time periods are tracked and connected to obtain the optimal vehicle trajectory data of the vehicle passing the path. Then, based on the optimal vehicle trajectory data, the parking situation of the vehicle at each intersection on the path is analyzed to obtain the path parking rate and the intersection continuous traffic rate. Compared with the prior art, the present invention greatly improves the data accuracy of the two groups of path parking rate and intersection continuous traffic rate, so that when the path parking rate and the continuous passing rate are used as evaluation indicators to evaluate the path coordination strategy, the accuracy and rationality of the evaluation results can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Picture 1 A schematic flow chart of a parking analysis method based on vehicle trajectory provided by an embodiment of the present invention;

[0067] Picture 2 A schematic diagram of the adjacency relationship of intersections in a certain path provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0069] refer to Picture 1 As shown, a parking analysis method based on vehicle trajectory is proposed in an embodiment of the present invention, and the method includes: first, marking the acquired vehicle passing data at each intersection according to the path coordination direction to obtain a number of vehicle trajectory data; then, when there is an intersection with missing vehicle passing data, trajectory repair data is obtained according to the vehicle speed and the vehicle passing data of two intersections adjacent to the missing intersection, and the vehicle trajectory data is completed based on the trajectory repair data; then, the number of intersections passed by the same vehicle is extracted from two sets of vehicle trajectory data in adjacent time periods, and when the number of intersections meets the set effective trajectory data amount threshold, the two sets of vehicle trajectory data are connected to obtain optimal vehicle trajectory data; finally, according to the optimal vehicle trajectory data, combined with the acquired intersection equipment type and the non-stop travel time of different sections, the parking situation of each intersection is analyzed to obtain the parking rate and the intersection continuous traffic rate in the path coordination direction.

[0070] Considering that the intersection equipment is incomplete and it is impossible to ensure that every intersection on the entire path is covered by the intersection equipment, this embodiment repairs the vehicle trajectory data through the vehicle speed and the passing data of the two intersections adjacent to the missing intersection, and at the same time, the two sets of vehicle trajectory data in adjacent time periods are connected to obtain the optimal vehicle trajectory data of the vehicle passing the path. Then, based on the optimal vehicle trajectory data, the parking situation of the vehicle at each intersection on the path is analyzed to obtain the path parking rate and the intersection continuous traffic rate. Compared with the prior art, this embodiment greatly improves the data accuracy of the two groups of path parking rate and intersection continuous traffic rate, so that when the path parking rate and continuous traffic rate are used as evaluation indicators to evaluate the path coordination strategy, the accuracy and rationality of the evaluation results can be greatly improved.

[0071] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0072] refer to Picture 1 As shown, this embodiment proposes a parking analysis method based on vehicle trajectory, which includes:

[0073] S100: Mark the acquired vehicle passing data at each intersection according to the path coordination direction to obtain a number of vehicle trajectory data.

[0074] In this embodiment, step S100 may include the following sub-steps S110-S140:

[0075] S110, obtaining path information and vehicle passing data on the path within a set time period.

[0076] The path information includes: path ID, starting intersection ID, end intersection ID and intersection ID, and the vehicle passing data includes: intersection entrance ID, intersection exit ID, license plate number and traffic opening time. In a specific embodiment, Picture 2 The path diagram is shown in FIG. 1 , and the path information is shown in Table 1.

[0077] Table 1. Path information

[0078]

[0079] S120: Determine the path coordination direction between adjacent intersections on the path according to the path information, wherein the path coordination direction refers to the directional guidance determined by analyzing the relationship between adjacent intersections one by one on a given path from the starting point to the end point.

[0080] From the starting point to the end point of the path, the adjacent relationship between the intersections is analyzed one by one to identify the path coordination direction and the entrance of each intersection along the path coordination direction. Picture 2 The adjacent relationship of the intersections in the path shown is analyzed to obtain the adjacent relationship information of the intersections shown in Table 2, and then the adjacent relationship information of the intersections is determined according to the adjacent relationship information of the intersections. Picture 2The path coordination direction and import information between adjacent intersections on the path shown are specifically as follows: from intersection 20001 to intersection 20002, the path coordination direction is from west to east, and the import along the path coordination direction of intersection 20002 is the west import; from intersection 20002 to intersection 20003, the path coordination direction is from west to east, and the import along the path coordination direction of intersection 20003 is the west import; from intersection 20003 to intersection 20004, the path coordination direction is from south to north, and the import along the path coordination direction of intersection 20004 is the south import; from intersection 20004 to intersection 20005, the path coordination direction is from south to north, and the import along the path coordination direction of intersection 20005 is the south import.

[0081] Table 2. Intersection neighbor relationship information

[0082]

[0083] S130: Taking the path coordination direction at each intersection as a screening condition, screening and obtaining vehicle passing data along the path coordination direction.

[0084] S140: Generate a vehicle trajectory data set based on the filtered vehicle passing data, wherein each vehicle trajectory data in the vehicle trajectory data set is within a set time interval.

[0085] For example, when filtering the vehicle trajectory data with the coordinated direction from south to north from 8:00 to 8:30 and setting the time interval to 15 minutes, there are three vehicles A, B, and C in the period from 8:00 to 9:00, and their passing data are from 8:00 to 8:08 (vehicle A), 8:05 to 8:14 (vehicle B), and 8:10 to 8:20 (vehicle C). Among them, the vehicle trajectory data of vehicles A and B and the vehicle trajectory data of vehicle C in the period from 8:10 to 8:15 are classified into the first group, and the vehicle trajectory data of vehicle C in the period from 8:16 to 8:20 is classified into the second group.

[0086] S200: When there is an intersection with missing vehicle passing data, track repair data is obtained according to the vehicle speed and the vehicle passing data of two intersections adjacent to the missing intersection, and the vehicle track data is completed based on the track repair data.

[0087] In this embodiment, before step S200, the following steps F100-F300 are also included:

[0088] F100. Sort the passing time of each vehicle in the vehicle trajectory data to determine the order in which the vehicles appear at each intersection.

[0089] F200. Compare the order in which vehicles appear at each intersection with the order of intersections in the path coordination direction, and determine whether there are intersections with missing vehicle passing data based on the comparison result.

[0090] F300a. If the order in which vehicles appear at each intersection is consistent with the order of intersections in the path coordination direction, it is determined that there is no intersection with missing vehicle passing data.

[0091] F300b. If the order in which vehicles appear at each intersection is inconsistent with the order of intersections in the path coordination direction, it is determined that there are intersections with missing vehicle passing data.

[0092] In a specific embodiment, the vehicle passing data of each vehicle is sorted by the passing time, and the first and last intersections where the vehicle appears are obtained. Starting from the first intersection, the analysis is performed in the order of the intersections in the path coordination direction, and ending at the last intersection, it is determined whether the vehicle passing data is missing at some intersections. If there is no missing, the vehicle trajectory is complete and no processing is performed; if there is a missing, the trajectory needs to be completed.

[0093] In this embodiment, step S200 may include the following sub-steps S210-S230:

[0094] S210: Obtain vehicle passing data and distance information at two intersections adjacent to the missing intersection.

[0095] Get the missing intersection that needs to be completed. i , the nearest upstream intersection with passing vehicle data is im , the downstream intersection with the closest vehicle passing data is i+n .

[0096] S220: Obtain the driving speed of the vehicle in the road section according to the vehicle passing data and distance information of the two intersections adjacent to the missing intersection and in combination with a speed calculation formula.

[0097] The speed calculation formula is:

[0098] (1)

[0099] In formula (1), v i-m,i+n Represents a vehicle at an intersection im To the intersection i+n The driving speed between l i-m,i+n Representative intersection im To the intersection i+n The distance between t i+n Represents a vehicle at an intersection i+n The moment of passage, t i-m Represents a vehicle at an intersection im Moment of passage.

[0100] S230, obtaining the passing time of the vehicle at each missing intersection according to the driving speed, the number of missing intersections in the road section, and the passing data of the two intersections adjacent to the missing intersection, and using the passing time as the trajectory repair data to complete the vehicle trajectory data.

[0101] According to the vehicle's speed in the missing section, the number of missing intersections, and the passing data of the two intersections adjacent to the missing intersection, the passing time of the vehicle at each missing intersection is obtained by formula (2), and the trajectory repair data of the missing intersection is generated in combination with the path coordination direction, so that the trajectory repair data is complemented to the vehicle trajectory data of the period, and the complete vehicle trajectory data of the period is obtained.

[0102] (2)

[0103] In formula (2), t i Indicates that the vehicle is at the missing intersection i The passage time, t i-m Represents a vehicle at a missing intersection im The passage time, l i-m,i Representative intersection im To the intersection i The distance between.

[0104] S300, extracting the number of intersections passed by the same vehicle from two sets of vehicle trajectory data in adjacent time periods, and when the number of intersections meets a set threshold value of effective trajectory data, connecting the two sets of vehicle trajectory data to obtain optimal vehicle trajectory data.

[0105] Determining whether the vehicle trajectory data needs to be connected is an iterative judgment process. For example, according to the time series, the vehicle trajectory data is divided into time periods: T1, T2, T3 and T4, among which T1 and T2 need to be judged once, T2 and T3 need to be judged once, and T3 and T4 need to be judged once. Therefore, each judgment determines the processing method of the vehicle trajectory data of the next time period (because the data of the previous period in this analysis is the data of the next time period in the previous analysis, which is the data that has been analyzed and does not need to be judged again in this analysis). At the same time, when the trajectory connection is not completely the connection of two time periods, but the connection of multiple consecutive time periods, for example, when a trajectory appears in T1, T2, and T3, after analyzing the data of the time period from T1 to T2 and connecting the trajectory, continue the data of the time period from T2 to T3, and connect the data of the time period from T3 to the back to form a complete vehicle trajectory data.

[0106] In this embodiment, step S300 may include the following sub-steps S310-S340:

[0107] S310: Extract the number of intersections passed by the same vehicle from two sets of vehicle trajectory data in adjacent time periods.

[0108] S320: When the number of intersections is greater than the set threshold value of the amount of valid trajectory data, a time difference between the last vehicle passing data in the vehicle trajectory data of the previous period and the first vehicle passing data in the vehicle trajectory data of the next period is obtained.

[0109] S330, determining whether the time difference is greater than the time length of the time period to which the vehicle trajectory data belongs;

[0110] S340a. If the time difference is greater than the time length of the time period to which the vehicle trajectory data belongs, it is determined that the trajectories in the two sets of vehicle trajectory data in adjacent time periods are discontinuous, and different trajectory numbers are set for the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period, and the vehicle trajectory data of the next time period is determined to be the optimal vehicle trajectory data.

[0111] S340b, if the time difference is not greater than the time length of the time period to which the vehicle trajectory data belongs, then the two sets of vehicle trajectory data of the adjacent time periods are connected, and the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period are set to the same trajectory number to obtain the optimal vehicle trajectory data.

[0112] Further, sub-step S340a may include the following steps S341-S343:

[0113] S341. Obtain the number of intersections passed by the same vehicle in the vehicle trajectory data of the next period.

[0114] S342: Determine whether the number of intersections passed by the same vehicle in the vehicle trajectory data is greater than a threshold value of the amount of valid trajectory data.

[0115] S343a: If the number of intersections passed by the same vehicle in the vehicle trajectory data is greater than the effective trajectory data amount threshold, the vehicle trajectory data is determined to be the optimal vehicle trajectory data, and a corresponding trajectory number is generated.

[0116] S343b: If the number of intersections passed by the same vehicle in the vehicle trajectory data is not greater than the effective trajectory data amount threshold, it is determined that the vehicle trajectory data does not meet the parking analysis conditions within the time period. That is, the vehicle trajectory data has no trajectory number, and the trajectory connection and trajectory number setting are performed when waiting for the next iteration.

[0117] Further, sub-step S340b may include the following steps S344-S345:

[0118] S344: Determine whether the number of vehicle trajectories in the previous period is set with a trajectory number.

[0119] S345a. If the vehicle trajectory number of the previous period is set with a trajectory number, the trajectory number of the vehicle trajectory number of the previous period is assigned to the vehicle trajectory number of the next period, and the vehicle trajectory data of the previous and next two periods are connected to obtain the optimal vehicle trajectory data.

[0120] S345b. If the vehicle trajectory number of the previous time period is not set with a trajectory number, a new trajectory number is generated and assigned to the vehicle trajectory data of the previous and next two time periods, and the vehicle trajectory data of the previous and next two time periods are connected to obtain the optimal vehicle trajectory data.

[0121] S400: Analyze the parking situation at each intersection based on the optimal vehicle trajectory data, in combination with the acquired intersection equipment type and the non-stop travel time of different road sections, and obtain the path parking rate and intersection continuous traffic rate in the path coordination direction.

[0122] In this embodiment, step S400 may include the following sub-steps S410-S440:

[0123] S410: Obtain the standard vehicle speed and intersection equipment type designed for the road.

[0124] S420: Obtain time range thresholds for non-stop passage of vehicles on different road sections according to the standard vehicle speed, and determine whether the passage time of vehicles on different road sections in the optimal vehicle trajectory data is within the corresponding time range thresholds.

[0125] The time range thresholds are:

[0126] (3)

[0127] In formula (3), l i-j,i+k Represents the distance of sections of different lengths, a Represents the configuration parameter, the default value is 0.7 (can be set according to the minimum driving speed of the road section), V Represents standard vehicle speed.

[0128] S430a. If the travel time of the vehicle in different sections in the optimal vehicle trajectory data is not within the corresponding time range threshold, the travel time of the vehicle in the section obtained by calculating the standard vehicle speed is used as the non-stop travel time of the section.

[0129] S430b. If the travel time of vehicles in different road sections in the optimal vehicle trajectory data is within the corresponding time range threshold, the average of the travel time of all vehicles in the optimal vehicle trajectory data in the road section is used as the non-stop travel time of the road section.

[0130] S440, according to the driving time of the vehicle in different sections, the non-stop passing time in different sections and the type of intersection equipment in the optimal vehicle trajectory data, the number of stopping intersections for each vehicle in the optimal vehicle trajectory data and the maximum number of intersections passed continuously without stopping are obtained.

[0131] S450: Based on the number of parking intersections and the maximum number of intersections passed without stopping, combined with the total number of intersections in the optimal vehicle trajectory data, a path parking rate and an intersection continuous traffic rate in the path coordination direction are obtained.

[0132] Path parking rate = number of parking intersections / total number of intersections on the path.

[0133] Continuous traffic rate at an intersection = maximum number of intersections passed without stopping / total number of intersections on the route.

[0134] Further, sub-step S440 may include the following steps S441-S445:

[0135] S441. Obtain the intersection equipment type of each intersection on the road.

[0136] S442: Compare the driving time of the vehicle on different road sections with the corresponding non-stop travel time, and determine the number of parking sections and parking intersections of the vehicle in the optimal vehicle trajectory data according to the comparison result.

[0137] By calculating the number of vehicles from the intersection i -1 to the intersection i Travel time , then the travel time Non-stop travel time for this section t f For comparison, if (where b is a configuration parameter, the default value is 1.2), the vehicle has performed a parking action on the road section, otherwise the vehicle has not performed a parking action on the road section.

[0138] (4)

[0139] In formula (4), t i-1 Represents a vehicle at an intersection i -1 moment, t i Represents a vehicle at an intersection i moment.

[0140] S443. Determine the intersection where each vehicle performs a parking action in the parking section according to the type of intersection equipment.

[0141] S444a: If the intersection equipment at the upstream intersection in the parking section is an electric alarm equipment, it is determined that the vehicle is performing a parking action at the downstream intersection in the parking section.

[0142] S444b: If the intersection device at the upstream intersection in the parking section is a checkpoint device, it is determined that the vehicle is performing a parking action at the upstream intersection in the parking section.

[0143] S445. According to the determined intersections where the vehicle performs parking actions in the parking section, obtain the maximum number of intersections that the vehicle passes continuously without stopping.

[0144] In this embodiment, after step S400, the following steps S510-S520 are also included:

[0145] S510: Based on the analysis results of the parking situation at each intersection and the type of intersection equipment, determine the entry and exit times of the vehicle at the intersection.

[0146] S520a: If the vehicle does not stop at the intersection, the vehicle's entry and exit times at the intersection are both recorded times in the optimal vehicle trajectory data.

[0147] S520b. If the vehicle stops at an intersection and the intersection equipment is an electric alarm device, the vehicle's departure time at the intersection is the recorded time in the optimal vehicle trajectory data, and the vehicle's entry time is the time obtained by adding the vehicle's departure time at the previous intersection to the non-stop travel time in the section.

[0148] S52c. If the vehicle stops at an intersection and the intersection equipment is a checkpoint equipment, the vehicle's entry time at the intersection is the recorded time in the optimal vehicle trajectory data, and the vehicle's departure time is the time obtained by subtracting the vehicle's non-stop travel time in the section from the vehicle's entry time at the next intersection.

[0149] In summary, the parking analysis method based on trajectory data proposed in the embodiment of the present invention, first of all, takes into account the situation that the intersection equipment is incomplete and cannot guarantee that each intersection on the entire path is covered by the intersection equipment, and proposes a method for completing the vehicle trajectory based on the vehicle speed and the vehicle passing data of the two intersections adjacent to the missing intersection, so as to repair the missing data, and at the same time, the trajectory of the two groups of vehicle trajectory data in adjacent time periods is connected to obtain the optimal vehicle trajectory data. Finally, based on the optimal vehicle trajectory data, the parking situation of the vehicle at each intersection on the path is analyzed to obtain the path parking rate and the intersection continuous traffic rate in the path coordination direction. By using the path parking rate and intersection continuous traffic rate obtained by the present invention as the evaluation indicators of the path coordination strategy, it can greatly improve the accuracy and rationality of the evaluation results, that is, when the path parking rate is lower and the intersection continuous traffic rate is higher, the coordination effect of the path coordination strategy is better.

[0150] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0152] It should be noted that in the description of the present invention, the word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. The use of the words first, second, third, etc., is only for convenience of expression and does not indicate any order. These words may be understood as part of the name of the component.

[0153] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0154] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments after obtaining the basic inventive concepts.

[0155] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the invention.

Claims

1. A parking analysis method based on vehicle trajectory, characterized in that: include: The acquired vehicle passing data at each intersection is marked according to the path coordination direction to obtain a number of vehicle trajectory data; wherein the path coordination direction refers to the directional guidance determined by analyzing the relationship between adjacent intersections one by one on a given path from the starting point to the end point; When there is an intersection with missing vehicle passing data, obtain the vehicle passing data and distance information at the two intersections adjacent to the missing intersection; obtain the vehicle's driving speed between the two intersections based on the vehicle passing data and distance information at the two intersections adjacent to the missing intersection and the speed calculation formula; obtain the vehicle's passing time at each missing intersection based on the driving speed, the number of missing intersections in the road section, and the vehicle passing data at the two intersections adjacent to the missing intersection, and use the passing time as trajectory repair data to complete the vehicle trajectory data; The number of intersections that the same vehicle passes through is extracted from two sets of vehicle trajectory data in adjacent time periods, and when the number of intersections meets the set threshold of effective trajectory data volume, the two sets of vehicle trajectory data are connected to obtain the optimal vehicle trajectory data; According to the optimal vehicle trajectory data, combined with the acquired intersection equipment type and the non-stop travel time of different road sections, the parking situation at each intersection is analyzed to obtain the path parking rate and intersection continuous traffic rate in the path coordination direction.

2. The method according to claim 1, characterized in that The acquired vehicle passing data at each intersection is marked according to the path coordination direction, and several vehicle trajectory data are obtained, including: Obtain path information and vehicle passing data on the path within a set time period; According to the path information, the path coordination direction between adjacent intersections on the path is determined; The path coordination direction at each intersection is used as a screening condition to screen and obtain the vehicle passing data along the path coordination direction; A vehicle trajectory data set is generated based on the filtered vehicle passing data, and each vehicle trajectory data in the vehicle trajectory data set is within a set time interval.

3. The method according to claim 1, characterized in that Before obtaining trajectory repair data according to the vehicle speed and the vehicle passing data of two intersections adjacent to the missing intersection and completing the vehicle trajectory data based on the trajectory repair data, the method further includes: Sort the passing time of each vehicle in the vehicle trajectory data to determine the order in which the vehicles appear at each intersection; Compare the order in which vehicles appear at each intersection with the order of intersections in the path coordination direction, and determine whether there are intersections with missing vehicle passing data based on the comparison results; If the order in which vehicles appear at each intersection is consistent with the order of intersections in the path coordination direction, it is determined that there is no intersection with missing vehicle passing data; If the order in which vehicles appear at each intersection is inconsistent with the order of intersections in the path coordination direction, it is determined that there are intersections with missing vehicle passing data.

4. The method according to claim 1, characterized in that The number of intersections that the same vehicle passes through is extracted from two sets of vehicle trajectory data in adjacent time periods, and when the number of intersections meets the set threshold of effective trajectory data volume, the two sets of vehicle trajectory data are connected to obtain the optimal vehicle trajectory data, including: Extract the number of intersections passed by the same vehicle from two sets of vehicle trajectory data in adjacent time periods; When the number of intersections is greater than the set threshold value of the amount of valid trajectory data, the time difference between the last vehicle passing data in the vehicle trajectory data of the previous period and the first vehicle passing data in the vehicle trajectory data of the next period is obtained; Determine whether the time difference is greater than the time length of the period to which the vehicle trajectory data belongs; If the time difference is greater than the time length of the time period to which the vehicle trajectory data belongs, it is determined that the trajectories in the two sets of vehicle trajectory data in adjacent time periods are discontinuous, and different trajectory numbers are set for the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period, and the vehicle trajectory data of the next time period is determined to be the optimal vehicle trajectory data; If the time difference is not greater than the time length of the time period to which the vehicle trajectory data belongs, the two sets of vehicle trajectory data in the adjacent time periods are connected, and the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period are set to the same trajectory number to obtain the optimal vehicle trajectory data.

5. The method according to claim 4, characterized in that If the time difference is greater than the time length of the time period to which the vehicle trajectory data belongs, it is determined that the trajectories in the two sets of vehicle trajectory data in adjacent time periods are discontinuous, and different trajectory numbers are set for the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period, and determining that the vehicle trajectory data of the next time period is the optimal vehicle trajectory data includes: Obtain the number of intersections that the same vehicle passes through in the vehicle trajectory data of the next period; Determine whether the number of intersections passed by the same vehicle in the vehicle trajectory data is greater than the threshold value of the valid trajectory data; If the number of intersections passed by the same vehicle in the vehicle trajectory data is greater than the effective trajectory data amount threshold, the vehicle trajectory data is determined to be the optimal vehicle trajectory data, and a corresponding trajectory number is generated; If the number of intersections passed by the same vehicle in the vehicle trajectory data is not greater than the valid trajectory data amount threshold, it is determined that the vehicle trajectory data does not meet the parking analysis condition in the subsequent time period.

6. The method according to claim 4, characterized in that If the time difference is not greater than the time length of the time period to which the vehicle trajectory data belongs, the two sets of vehicle trajectory data are connected, and the vehicle trajectory data of the previous time period and the vehicle trajectory data of the next time period are set to the same trajectory number. The optimal vehicle trajectory data includes: Determine whether the number of vehicle trajectories in the previous period is set with a trajectory number; If the vehicle trajectory number of the previous period is set with a trajectory number, the trajectory number of the vehicle trajectory number of the previous period is assigned to the vehicle trajectory number of the next period, and the vehicle trajectory data of the previous and next two periods are connected to obtain the optimal vehicle trajectory data; If the vehicle trajectory number of the previous period is not set with a trajectory number, a new trajectory number is generated and assigned to the vehicle trajectory data of the previous and next two periods, and the vehicle trajectory data of the previous and next two periods are connected to obtain the optimal vehicle trajectory data.

7. The method according to claim 1, characterized in that According to the optimal vehicle trajectory data, combined with the obtained intersection equipment type and non-stop travel time of different sections, the parking situation of each intersection is analyzed to obtain the path parking rate and intersection continuous traffic rate in the path coordination direction, including: Obtain the standard vehicle speed and intersection equipment types for road design; According to the standard vehicle speed, the time range thresholds for vehicles to pass through different road sections without stopping are obtained, and it is determined whether the passing time of vehicles in different road sections in the optimal vehicle trajectory data is within the corresponding time range thresholds; If the travel time of the vehicle in different sections in the optimal vehicle trajectory data is not within the corresponding time range threshold, the travel time of the vehicle in the section calculated by the standard vehicle speed will be used as the non-stop travel time of the section; If the travel time of vehicles in different sections in the optimal vehicle trajectory data is within the corresponding time range threshold, the average of the travel time of all vehicles in the optimal vehicle trajectory data in the section is used as the non-stop travel time of the section; According to the driving time of vehicles on different road sections, the non-stop passing time of different road sections and the types of intersection equipment in the optimal vehicle trajectory data, the number of stopping intersections and the maximum number of continuous non-stop passing intersections for each vehicle in the optimal vehicle trajectory data are obtained; Based on the number of parking intersections and the maximum number of intersections passed without stopping, combined with the total number of intersections in the optimal vehicle trajectory data, the path parking rate and intersection continuous traffic rate in the path coordination direction are obtained.

8. The method according to claim 7, characterized in that According to the driving time of vehicles in different sections, the non-stop passing time of different sections and the types of intersection equipment in the optimal vehicle trajectory data, the number of intersections where each vehicle stops and the maximum number of intersections passed without stopping in the optimal vehicle trajectory data are obtained, including: Get the intersection equipment type of each intersection on the road; Compare the driving time of the vehicle on different road sections with the corresponding non-stop travel time, and determine the number of stopping sections and intersections of the vehicle in the optimal vehicle trajectory data based on the comparison results; Determine the intersection where each vehicle performs a parking action in the parking section according to the type of intersection equipment; If the intersection equipment at the upstream intersection in the parking section is an electric alarm equipment, it is determined that the vehicle has performed a parking action at the downstream intersection in the parking section; If the intersection equipment at the upstream intersection in the parking section is a checkpoint equipment, it is determined that the vehicle is performing a parking action at the upstream intersection in the parking section; According to the determined intersections at which the vehicle performs a parking action in the parking section, a maximum number of intersections that the vehicle passes continuously without stopping is obtained.

9. The method according to claim 1, characterized in that After analyzing the parking situation at each intersection based on the optimal vehicle trajectory data, combined with the acquired intersection equipment types and non-stop travel time of different sections, and obtaining the path parking rate and intersection continuous traffic rate in the path coordination direction, it also includes: Based on the analysis results of the parking situation at each intersection and the type of intersection equipment, determine the time when vehicles enter and leave the intersection; If the vehicle does not stop at the intersection, the vehicle's entry and exit times at the intersection are both recorded in the optimal vehicle trajectory data; If the vehicle stops at an intersection and the intersection equipment is an electric alarm device, the vehicle's departure time at the intersection is the time recorded in the optimal vehicle trajectory data, and the entry time is the time obtained by adding the vehicle's departure time at the previous intersection to the vehicle's non-stop travel time from the previous intersection to this intersection; If a vehicle stops at an intersection and the intersection equipment is a checkpoint equipment, the vehicle's entry time at the intersection is the recorded time in the optimal vehicle trajectory data, and the vehicle's departure time is the time obtained by subtracting the vehicle's non-stop travel time from the intersection to the next intersection from the vehicle's entry time at the next intersection.

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