Abnormal track repairing method, device and equipment and storage medium

Abstract

The invention provides an abnormal track repairing method, and relates to the technical field of artificial intelligence, in particular to the technical fields of map navigation, automatic driving, intelligent traffic and the like. The method comprises the steps of determining an abnormal trajectory range corresponding to an abnormal trajectory point in response to determining that the abnormal trajectory point exists in a target trajectory; determining a target elevation trajectory corresponding to the abnormal trajectory point and a target sheet of the abnormal trajectory point in the target elevation trajectory based on the abnormal trajectory range; re-splicing the elevation trajectory corresponding to the target mapsheet to obtain a spliced elevation trajectory; and updating the target elevation trajectory by using the spliced elevation trajectory. According to the method, the repairing efficiency of the elevation trajectory is improved, and the precision of trajectory data is also improved.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, specifically to technical fields such as map navigation, autonomous driving, and intelligent transportation, and in particular to an abnormal trajectory repair method, device, equipment, and storage medium. Background Art

[0002] Elevation trajectory is a time series data consisting of a series of trajectory points containing geographic location information (latitude and longitude) and elevation data. In the field of autonomous driving and navigation, elevation data can include high-precision path planning for vehicles on complex terrain, as well as assisting vehicles in identifying geographical features such as road slopes and tunnel entrances. Summary of the invention

[0003] The present disclosure provides an abnormal trajectory repair method, device, equipment and storage medium.

[0004] According to a first aspect of the present disclosure, a method for repairing an abnormal trajectory is provided, comprising: in response to determining that an abnormal trajectory point exists in a target trajectory, determining an abnormal trajectory range corresponding to the abnormal trajectory point; determining a target elevation trajectory corresponding to the abnormal trajectory point and a target map of the abnormal trajectory point in the target elevation trajectory based on the abnormal trajectory range; re-splicing the elevation trajectory corresponding to the target map to obtain a spliced ​​elevation trajectory; and updating the target elevation trajectory using the spliced ​​elevation trajectory.

[0005] According to a second aspect of the present disclosure, an abnormal trajectory repairing device is provided, comprising: a trajectory range determination module, configured to determine an abnormal trajectory range corresponding to the abnormal trajectory point in response to determining that an abnormal trajectory point exists in a target trajectory; a map sheet determination module, configured to determine a target elevation trajectory corresponding to the abnormal trajectory point and a target map sheet of the abnormal trajectory point in the target elevation trajectory based on the abnormal trajectory range; a splicing module, configured to re-splice the elevation trajectory corresponding to the target map sheet to obtain a spliced ​​elevation trajectory; and an updating module, configured to update the target elevation trajectory using the spliced ​​elevation trajectory.

[0006] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any implementation manner in the first aspect.

[0007] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to cause a computer to execute the method described in any implementation manner of the first aspect.

[0008] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the computer program implements the method described in any implementation manner in the first aspect.

[0009] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0011] Figure 1 is an exemplary system architecture diagram in which the present disclosure may be applied;

[0012] Figure 2 is a flow chart of an embodiment of an abnormal trajectory repair method according to the present disclosure;

[0013] Figure 3 is a flow chart of another embodiment of the abnormal trajectory repair method according to the present disclosure;

[0014] Figure 4 is a flow chart of another embodiment of the abnormal trajectory repair method according to the present disclosure;

[0015] Figure 5 yes Figure 4 A flow chart of the target trajectory generation process in ;

[0016] Figure 6 is an application scenario diagram of the abnormal trajectory repair method according to the present disclosure;

[0017] Figure 7 is a structural schematic diagram of an embodiment of an abnormal trajectory repairing device according to the present disclosure;

[0018] Figure 8 It is a block diagram of an electronic device used to implement the abnormal trajectory repairing method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Figure 1 An exemplary system architecture 100 is shown to which an embodiment of the abnormal trajectory repairing method or abnormal trajectory repairing apparatus of the present disclosure can be applied.

[0022] like Figure 1 As shown, the system architecture 100 may include terminal devices 101, 102, 103, 104, a network 105, and a server 106. The network 105 is used to provide a medium for communication links between the terminal devices 101, 102, 103, 104 and the server 106. The network 105 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0023] The user can use the terminal devices 101, 102, 103, 104 to interact with the server 106 via the network 105 to receive or send information, etc. Various client applications can be installed on the terminal devices 101, 102, 103, 104.

[0024] Terminal devices 101, 102, 103, 104 may be hardware or software. When terminal devices 101, 102, 103, 104 are hardware, they may be various electronic devices, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, etc. When terminal devices 101, 102, 103, 104 are software, they may be installed in the above electronic devices. They may be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.

[0025] The server 106 can provide various services. For example, the server 106 can analyze and process the trajectory information obtained from the terminal devices 101, 102, 103, and 104, and generate a processing result (such as a spliced ​​and repaired elevation trajectory).

[0026] It should be noted that the server 106 can be hardware or software. When the server 106 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server 106 is software, it can be implemented as multiple software or software modules (for example, for providing distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0027] It should be noted that the abnormal trajectory repairing method provided in the embodiment of the present disclosure is generally executed by the server 106 , and accordingly, the abnormal trajectory repairing device is generally disposed in the server 106 .

[0028] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0029] Continue to refer Figure 2 , which shows a process 200 of an embodiment of an abnormal trajectory repair method according to the present disclosure. The abnormal trajectory repair method comprises the following steps:

[0030] Step 201, in response to determining that an abnormal trajectory point exists in the target trajectory, determining an abnormal trajectory range corresponding to the abnormal trajectory point.

[0031] In this embodiment, the execution subject of the abnormal trajectory repair method (for example Figure 1 When the server 105 shown in the figure determines that there is an abnormal trajectory point in the target trajectory, it will determine the trajectory range corresponding to the abnormal trajectory point, that is, the abnormal trajectory range.

[0032] The target trajectory here can be a trajectory image containing multiple trajectory points and the current road environment generated by processing a large number of collected trajectory points. For example, the crowdsourced trajectory data can be first obtained, and then the crowdsourced trajectory data can be split into one or more elevation batch trajectories at different latitudes, and then the overhead view data corresponding to these elevation batches can be generated respectively, and finally these overhead view trajectory images can be spliced ​​to obtain the above target trajectory.

[0033] Elevation splitting means splitting the track according to the elevation value, thereby splitting one or more elevation batch tracks. Each elevation batch track corresponds to an elevation value or an elevation range. Each elevation batch track contains multiple track points with the same elevation value or the same elevation range. These track points can be continuous or discontinuous. It should be noted that elevation refers to the distance from a point along the plumb line to the absolute base surface, which is called absolute elevation, or elevation for short.

[0034] After the target trajectory is generated, the target trajectory will be acquired and displayed, and the generated target trajectory will be quality inspected to determine whether there are abnormal trajectory points in the target trajectory. The quality inspection method can be manual quality inspection or automatic quality inspection. Manual quality inspection refers to the quality inspection of the target trajectory by relevant staff to determine whether there are abnormal trajectory points in the target trajectory. If it is determined that there are abnormal trajectory points, the relevant staff will send the ID (Identity document, unique code) information of the abnormal trajectory points to the above-mentioned execution entity. Automatic quality inspection refers to the above-mentioned execution entity automatically inspecting the target trajectory to determine whether there are abnormal trajectory points in the target trajectory. This embodiment does not limit the method for determining abnormal trajectories.

[0035] Whether it is a manual quality inspection method or an automatic quality inspection method, it will detect whether there are abnormal picture effects in the target trajectory map. If so, the abnormal trajectory points are determined according to the position of the abnormal picture effects. Common abnormal picture effects include: horizontal and vertical errors, slight sawtooth, dynamic occlusion, repeated lane numbers, etc. After determining that there are abnormal picture effects in the target trajectory map, the trajectory points in the abnormal picture effects will be determined as abnormal trajectory points, so the number of abnormal trajectory points can be multiple. After determining the abnormal trajectory points, the trajectory range of these abnormal trajectory points will be determined to obtain the abnormal trajectory range. Specifically, the abnormal trajectory range can be generated according to the position coordinates of the abnormal trajectory points.

[0036] Step 202: determine the target elevation trajectory corresponding to the abnormal trajectory point and the target map of the abnormal trajectory point in the target elevation trajectory based on the abnormal trajectory range.

[0037] In this embodiment, the above-mentioned execution subject will determine the target elevation trajectory corresponding to the abnormal trajectory point and the target map sheet of the abnormal trajectory point in the target elevation trajectory according to the abnormal trajectory range. Since different elevation batch trajectories have different trajectory ranges, after determining the abnormal trajectory range, the above-mentioned execution subject will determine which elevation batch trajectory the abnormal trajectory range falls within, and record the elevation batch trajectory as the target elevation trajectory. Since each elevation batch trajectory includes multiple maps, each map sheet corresponds to a different trajectory range, the above-mentioned execution subject will further determine which map sheet the abnormal trajectory range falls within, that is, the target map sheet.

[0038] In the process of generating a target trajectory based on a large number of collected trajectory points (i.e., crowdsourced trajectory data), after splitting the trajectory according to the elevation value, one or more elevation batch trajectories can be split, and each elevation batch trajectory corresponds to an elevation value or an elevation range. Afterwards, the above-mentioned execution body will also determine the map sheets contained in each elevation batch trajectory.

[0039] Here, the above-mentioned execution entity will divide the world map into sheets according to preset longitudes and latitudes, for example, the world map will be divided according to longitude 0.125 degrees and latitude 0.0833 degrees, so as to divide the world map into multiple sheets with the same longitude span and the same latitude span. The sheets here can be understood as grids, plates, etc. Therefore, the longitude and latitude range corresponding to each sheet can be determined by calculation. That is, when the longitude and latitude coordinates of a trajectory point are obtained, it can be determined by calculation in which sheet the trajectory point falls. Optionally, when dividing the world map into sheets, the multiple sheets obtained by the division can be numbered, so the sheet numbers corresponding to the abnormal trajectory points can be summarized. By dividing the trajectory points into smaller granularities, the subsequent processing of abnormal trajectory points is facilitated.

[0040] Step 203, rejoining the elevation tracks corresponding to the target map sheets to obtain a joined elevation track.

[0041] In this embodiment, the above-mentioned execution subject will re-splice the elevation trajectory corresponding to the target map sheet to obtain the spliced ​​elevation trajectory. After determining the minimum granularity file (map sheet) corresponding to the abnormal trajectory point, trajectory processing within a small range will be performed, such as re-splicing the target map sheet. It can be seen that when splitting the map sheet of the world map, the smaller the splitting range, the higher the splitting precision. When re-splicing the map sheet corresponding to the abnormal trajectory point, the smaller the range required for processing, the higher the processing efficiency will be.

[0042] Step 204, using the spliced ​​elevation trajectory to update the target elevation trajectory.

[0043] In this embodiment, the execution subject will use the spliced ​​elevation trajectory to update the target elevation trajectory, that is, use the repaired elevation trajectory to update the original elevation trajectory with abnormal trajectory points.

[0044] Optionally, after splitting to obtain multiple elevation batch trajectories, for each elevation batch trajectory, the information of the trajectory points included in it will be written into a file, thereby obtaining the elevation trajectory file corresponding to the elevation trajectory of the batch. The information of the trajectory points here may include: the trajectory point ID, longitude and latitude, timestamp, elevation value, map sheet number and other information.

[0045] Accordingly, after determining the abnormal trajectory point, the information of the abnormal trajectory point will be deleted from the target elevation trajectory file corresponding to the target elevation trajectory based on the ID information of the abnormal trajectory point. For the newly added trajectory points in the spliced ​​elevation trajectory, a part can be intercepted from the target elevation trajectory file to create a new elevation trajectory, and the newly added trajectory points can be added to the new batch of elevation trajectories. Accordingly, the information of the newly added trajectory points is written into the elevation trajectory file of the new batch of elevation trajectories.

[0046] The abnormal trajectory repair method provided by the disclosed embodiment first determines the abnormal trajectory range corresponding to the abnormal trajectory point in response to determining that there is an abnormal trajectory point in the target trajectory; then, based on the abnormal trajectory range, determines the target elevation trajectory corresponding to the abnormal trajectory point and the target map of the abnormal trajectory point in the target elevation trajectory; then, re-splicing the elevation trajectory corresponding to the target map to obtain the spliced ​​elevation trajectory; finally, using the spliced ​​elevation trajectory to update the target elevation trajectory. The abnormal trajectory repair method in this embodiment, after determining the abnormal trajectory point, does not need to re-produce the batch elevation trajectory, but only needs to re-splicing the map where the abnormal trajectory point is located, thereby improving the repair efficiency of the elevation trajectory and the accuracy of the trajectory data.

[0047] In addition, in the technical solutions involved in this disclosure, the acquisition, storage, use, processing, transportation, provision and disclosure of user personal information (such as vehicle trajectory information involved in this disclosure later) are in compliance with the relevant laws and regulations and do not violate public order and good morals.

[0048] Continue to refer Figure 3 , Figure 3 A process 300 of another embodiment of an abnormal trajectory repair method according to the present disclosure is shown. The abnormal trajectory repair method comprises the following steps:

[0049] Step 301: In response to determining that there is an abnormal part in the target trajectory, the trajectory points included in the abnormal part are determined as abnormal trajectory points.

[0050] In this embodiment, the execution subject of the abnormal trajectory repair method (for example Figure 1 The server 105 shown in the figure will determine the trajectory points contained in the abnormal picture effects as abnormal trajectory points when it is determined that there are abnormal parts in the target trajectory, that is, when it is identified that there are abnormal picture effects in the target trajectory. Here, the abnormal parts include but are not limited to: jagged parts, occluded parts, lane repetition parts, in addition, common abnormal effects also include: horizontal and vertical errors (the horizontal picture and the vertical picture cannot be aligned), trajectory accuracy problems, road section correspondence problems, etc.

[0051] Step 302, in response to determining that the abnormal trajectory point meets the preset continuity requirement, determining the abnormal trajectory range according to the position information of the abnormal trajectory point.

[0052] In this embodiment, the above-mentioned execution entity will also determine whether the abnormal trajectory point meets the preset continuity requirement, and when it is determined that the abnormal trajectory point meets the continuity requirement, the abnormal trajectory range is determined according to the position information of the abnormal trajectory point, wherein the continuity requirement includes: the time interval is less than the preset interval threshold or the distance difference is less than the preset distance threshold.

[0053] That is, the execution subject will determine whether the time interval between the acquisition times of two adjacent trajectory points in the abnormal trajectory point is less than a preset threshold, such as 1 second. If so, it is considered that the two trajectory points meet the continuity requirement.

[0054] Alternatively, the execution entity may calculate whether the distance between the two adjacent trajectory points before and after the abnormal trajectory point is less than a preset distance threshold, such as 10 meters, based on the latitude and longitude information of the two adjacent trajectory points. If so, the two trajectory points are considered to meet the continuity requirement.

[0055] When the above-mentioned execution subject determines that the abnormal trajectory point meets the continuity requirement, it will determine its corresponding trajectory range, that is, the abnormal trajectory range, according to the location information (latitude and longitude coordinates) of the abnormal trajectory point.

[0056] Therefore, the corresponding trajectory range is accurately generated according to the position information of the abnormal trajectory point, so that the abnormal trajectory point can be repaired more accurately later.

[0057] Step 303, determining the track range corresponding to each elevation batch track and the longitude and latitude information of the map sheet contained in each elevation batch track.

[0058] In this embodiment, the above-mentioned execution subject will determine the trajectory range corresponding to each elevation batch trajectory and the longitude and latitude information of the map sheet contained in each elevation batch trajectory. Since in the process of generating the target trajectory based on a large number of collected trajectory points (i.e., crowdsourcing trajectory data), after splitting the trajectory according to the elevation value, one or more elevation batch trajectories can be split out, each elevation batch trajectory corresponds to an elevation value or an elevation range, and each elevation batch trajectory corresponds to a trajectory range. Since each elevation batch trajectory includes multiple maps, each map corresponds to a different trajectory range. Therefore, the above-mentioned execution subject will obtain the trajectory range corresponding to each elevation batch trajectory and the longitude and latitude information of the map sheet contained in each elevation batch trajectory.

[0059] Step 304 , determining the target elevation trajectory corresponding to the abnormal trajectory point according to the abnormal trajectory range and the trajectory range corresponding to each elevation batch trajectory.

[0060] In this embodiment, the execution subject will determine the target elevation trajectory corresponding to the abnormal trajectory point according to the abnormal trajectory range and the trajectory range corresponding to each elevation batch trajectory. That is, after obtaining the trajectory range corresponding to each elevation batch trajectory, the abnormal trajectory range is compared with each trajectory range to determine in which trajectory range the abnormal trajectory range falls, that is, the target trajectory range corresponding to the abnormal trajectory range can be determined, and the elevation batch trajectory corresponding to the target trajectory range is determined as the target elevation trajectory.

[0061] Step 305, determining the target map sheet of the abnormal trajectory point in the target elevation trajectory according to the position information of the abnormal trajectory point and the latitude and longitude information of the map sheet contained in each elevation batch trajectory.

[0062] In this embodiment, the execution subject determines the target map sheet of the abnormal trajectory point in the target elevation trajectory according to the position information of the abnormal trajectory point and the longitude and latitude information of the map sheet contained in each elevation batch trajectory.

[0063] Since the above-mentioned execution entity will divide the world map into sheets according to preset longitudes and latitudes, for example, the world map will be divided according to longitude 0.125 degrees and latitude 0.0833 degrees, so as to divide the world map into multiple sheets with the same longitude span and the same latitude span. The sheets here can be understood as grids, plates, etc. Therefore, the longitude and latitude range corresponding to each sheet can be determined by calculation. That is, after obtaining the longitude and latitude coordinates of a trajectory point, it can be determined by calculation in which sheet the trajectory point falls. Optionally, when dividing the world map into sheets, the multiple sheets obtained by division can be numbered.

[0064] Therefore, after determining the target elevation trajectory, the execution subject can obtain the latitude and longitude information of the map sheet contained in the target elevation trajectory, and then determine which map sheet of the target elevation trajectory the abnormal trajectory point falls in, that is, which target map sheet it falls in, according to the location information of each abnormal trajectory point, and then summarize the target map sheet number. By dividing the trajectory points into smaller granularities, when processing the abnormal trajectory points, the abnormal trajectory points can be processed from a smaller range, reducing the processing time.

[0065] Step 306, rejoining the elevation tracks corresponding to the target map sheets to obtain a joined elevation track.

[0066] Step 307, using the spliced ​​elevation trajectory to update the target elevation trajectory.

[0067] Steps 306-307 are basically consistent with steps 203-204 of the aforementioned embodiment. For specific implementation methods, reference may be made to the aforementioned description of steps 203-204, which will not be repeated here.

[0068] from Figure 3 It can be seen that Figure 2 Compared with the corresponding embodiments, the abnormal trajectory repair method in this embodiment first determines the trajectory range corresponding to the elevation batch trajectory and the longitude and latitude information of the map included in the elevation batch trajectory, and then determines the corresponding target elevation trajectory and the map of the abnormal trajectory point in the target elevation trajectory according to the abnormal trajectory range corresponding to the abnormal trajectory point. Therefore, there is no need to re-produce the elevation batch trajectory, and only the map where the abnormal trajectory point is located needs to be re-spliced, which further improves the repair efficiency of the abnormal trajectory.

[0069] Continue to refer Figure 4 , Figure 4 A process 400 of another embodiment of an abnormal trajectory repair method according to the present disclosure is shown. The abnormal trajectory repair method comprises the following steps:

[0070] Step 401, in response to determining that there is an abnormal part in the target trajectory, determining the trajectory points included in the abnormal part as abnormal trajectory points.

[0071] Step 402, in response to determining that the abnormal trajectory point meets the preset continuity requirement, determining the abnormal trajectory range according to the position information of the abnormal trajectory point.

[0072] Step 403, determining the track range corresponding to each elevation batch track and the longitude and latitude information of the map sheet contained in each elevation batch track.

[0073] Step 404 , determining the target elevation trajectory corresponding to the abnormal trajectory point according to the abnormal trajectory range and the trajectory range corresponding to each elevation batch trajectory.

[0074] Step 405, determining the target map sheet of the abnormal trajectory point in the target elevation trajectory according to the position information of the abnormal trajectory point and the latitude and longitude information of the map sheet contained in each elevation batch trajectory.

[0075] Steps 401-405 are basically consistent with steps 301-305 of the aforementioned embodiment. For specific implementation methods, reference may be made to the aforementioned description of steps 301-305, which will not be repeated here.

[0076] Step 406 , in response to determining that the abnormal trajectory point meets the preset continuity requirement and the elevation value of the abnormal trajectory point is wrong, deleting the abnormal trajectory point from the target elevation trajectory.

[0077] In this embodiment, the execution subject of the abnormal trajectory repair method (for example Figure 1 The server 105 shown in the figure will delete the abnormal trajectory point from the target elevation trajectory when it is determined that the abnormal trajectory point meets the preset continuity requirement and the elevation value of the abnormal trajectory point is wrong. In some scenarios, for a section of trajectory, according to the trajectory range of the section of trajectory, it should be on the viaduct, but in the elevation batch trajectory, the section of trajectory is on the ground, that is, the elevation value of the section of trajectory should be the elevation value of the viaduct, but in the elevation batch trajectory, the elevation value of the section of trajectory is the ground, then it can be determined that at this time, the abnormality of the trajectory point is an elevation value error. In the case where multiple abnormal trajectory points are continuous trajectory points (i.e., meet the continuity requirements) and the elevation value of the abnormal trajectory point is wrong, the abnormal trajectory point needs to be deleted from the original elevation batch trajectory (i.e., the target elevation trajectory). That is, the target elevation trajectory corresponding to the abnormal trajectory point should be deleted. The row corresponding to the abnormal trajectory point is directly deleted from the original elevation batch trajectory.

[0078] Step 407, create a new elevation batch trajectory, add the abnormal trajectory points to the elevation batch trajectory, and obtain a new elevation batch trajectory.

[0079] In this embodiment, the above-mentioned execution subject will create a new elevation batch trajectory, add the abnormal trajectory points to the elevation batch trajectory, and obtain a new elevation batch trajectory. While deleting the abnormal trajectory points from the original elevation batch trajectory, a new elevation batch trajectory will be created. The elevation value or elevation range of the newly created elevation batch trajectory is the same as the correct elevation value or elevation range of the abnormal trajectory point, and then the abnormal trajectory point is added to the newly created elevation batch trajectory, thereby obtaining a newly created elevation batch trajectory containing the abnormal trajectory point, that is, the new elevation batch trajectory. That is, in this case, the operation of adding trajectory points to the newly created elevation batch trajectory is performed, a part of the original elevation batch trajectory is intercepted, a new elevation batch trajectory is created, and the trajectory points are added to the new elevation batch trajectory.

[0080] Step 408, determine the tracks included in the map sheets in the target elevation track to obtain a first track; determine the tracks included in the map sheets in the newly created batch track of elevation to obtain a second track.

[0081] In this embodiment, the execution subject will determine the track included in the map sheet of the target elevation track from which the abnormal track point has been deleted, i.e., the first track, and then determine the track included in the map sheet of the elevation newly created batch track to which the abnormal track point has been added, i.e., the second track.

[0082] Step 409, splicing the first trajectory and the second trajectory according to the time information to obtain a spliced ​​elevation trajectory.

[0083] In this embodiment, since the trajectory points all have timestamp information, the execution subject will splice the first trajectory and the second trajectory according to the time information to obtain a spliced ​​elevation trajectory. Thus, the original elevation trajectory from which the abnormal trajectory points have been deleted and the new elevation trajectory from which the abnormal trajectory points have been added are spliced ​​to generate an accurate spliced ​​elevation trajectory.

[0084] Step 410, generating an elevation trajectory file corresponding to the spliced ​​elevation trajectory according to the information of the trajectory points in the spliced ​​elevation trajectory.

[0085] In this embodiment, the above-mentioned execution entity will obtain the elevation trajectory file corresponding to the spliced ​​elevation trajectory based on the information of each trajectory point in the spliced ​​elevation trajectory, where the information of the trajectory point may include: the trajectory point ID, longitude and latitude, timestamp, elevation value, map sheet number and other information.

[0086] Step 411, using the elevation trajectory file corresponding to the spliced ​​elevation trajectory to update the target elevation trajectory file.

[0087] In this embodiment, the execution subject will use the elevation trajectory file corresponding to the spliced ​​elevation trajectory to update the target elevation trajectory file, wherein the target elevation trajectory file is determined according to the information of the trajectory points in the target elevation trajectory.

[0088] That is, the above-mentioned execution entity will also generate a target elevation trajectory file corresponding to the target elevation trajectory according to the information of each trajectory point in the target elevation trajectory. The information of the trajectory point here may include: the trajectory point ID, longitude and latitude, timestamp, elevation value, map sheet number and other information.

[0089] Then, the target elevation trajectory file is updated using the elevation trajectory file corresponding to the spliced ​​elevation trajectory. Thus, the abnormal trajectory points are repaired within a small range of the map, and the corresponding elevation trajectory file is updated, thereby ensuring the accuracy of the repair result.

[0090] from Figure 4 It can be seen that Figure 3 Compared with the corresponding embodiment, the abnormal trajectory repair method in this embodiment first splices the first trajectory with the abnormal trajectory points deleted and the second trajectory with the newly added abnormal trajectory points according to the time information, and then uses the spliced ​​second elevation trajectory file to update the target elevation trajectory file, so that while repairing the elevation trajectory, the corresponding elevation trajectory file is also updated, thereby ensuring the accuracy of the repair result and further improving the repair efficiency of the abnormal trajectory.

[0091] Continue to refer Figure 5 , Figure 5 Shows Figure 4 A process 500 of generating a target trajectory in FIG. The generating process of the target trajectory includes the following steps:

[0092] Step 501, determining at least one elevation range corresponding to an initial trajectory.

[0093] The execution subject will first determine at least one elevation range corresponding to the initial trajectory. Here, multiple elevation ranges can be pre-set, and then one or more elevation ranges corresponding to the initial trajectory are determined according to the elevation values ​​of the trajectory points in the initial trajectory.

[0094] In some optional implementations of this embodiment, the method further includes: acquiring collected trajectory data; and performing abnormality filtering and / or interpolation completion processing on the trajectory data to obtain an initial trajectory.

[0095] In this implementation, the execution subject will first obtain the collected trajectory data, that is, the original collected trajectory data, and then perform data preprocessing operations on the collected trajectory data to obtain the initial trajectory. Specifically, data preprocessing includes but is not limited to: abnormal filtering processing and / or interpolation completion processing. Abnormal filtering processing refers to filtering out abnormal trajectory points (such as sudden changes or jump points in elevation values) caused by acquisition errors. Interpolation completion processing refers to the situation where the trajectory is interrupted, and the trajectory points are completed using an interpolation algorithm. Thus, through data preprocessing operations, the integrity and accuracy of the collected trajectory data are guaranteed.

[0096] In some optional implementations of this embodiment, step 501 includes: calculating the elevation values ​​of the trajectory points in the initial trajectory and the curvature between two adjacent trajectory points; and determining at least one elevation range according to the elevation values ​​and the curvature.

[0097] In this implementation, the elevation value of each trajectory point in the initial trajectory is calculated, and the curvature between any two adjacent points is calculated, so as to determine at least one elevation range corresponding to the initial trajectory based on the elevation value and the curvature. The curvature reflects the curvature of the trajectory, that is, the rate of change of the trajectory near a certain point. The greater the curvature, the higher the curvature of the trajectory; the smaller the curvature, the closer the trajectory is to a straight line. Here, in addition to calculating the elevation value of the trajectory point, the curvature of the adjacent trajectory points is also calculated, mainly to analyze the geometric characteristics of the trajectory, ensure the accuracy and continuity of the trajectory data, and optimize the effect of the elevation range division.

[0098] Step 502 , split the initial trajectory according to the elevation range to obtain multiple elevation batch trajectories.

[0099] The execution subject will split the initial trajectory according to the determined elevation range to obtain multiple elevation batch trajectories. Determine in which elevation range the elevation value of each trajectory in the initial trajectory falls, and thus determine the elevation batch trajectory corresponding to the trajectory point.

[0100] Step 503 , according to the track range of the elevation batch track, the map sheets included in the elevation batch track are spliced ​​to obtain the batch map sheets corresponding to the elevation batch track.

[0101] The above-mentioned execution subject will splice the map sheets contained in the elevation batch trajectory according to the trajectory range of the elevation batch trajectory to obtain the batch map sheets corresponding to the elevation batch trajectory. Here, the above-mentioned execution subject will divide the world map according to the preset longitude and latitude, for example, divide the world map according to 0.125 degrees longitude and 0.0833 degrees latitude, so as to divide the world map into multiple maps with the same longitude span and the same latitude span. Therefore, the longitude and latitude range corresponding to each map sheet can be determined by calculation. That is, when the longitude and latitude coordinates of a trajectory point are obtained, it can be determined by calculation in which map sheet the trajectory point falls. Optionally, when the map sheet of the world map is divided, the multiple map sheets obtained by the division can be numbered, so the map sheet numbers corresponding to the abnormal trajectory points can be summarized. Therefore, after determining the trajectory range of the elevation batch trajectory, it is also possible to further determine which map sheets the elevation batch trajectory specifically includes according to the trajectory range. Afterwards, these map sheets are spliced ​​to obtain the batch map sheets corresponding to the elevation batch trajectory. For each elevation batch track, a corresponding batch map will be generated through the above steps.

[0102] Step 504 , stitching the batch maps corresponding to each elevation batch trajectory according to the time information to obtain the target trajectory.

[0103] Since each trajectory point has timestamp information, the above-mentioned execution entity will splice the batch maps corresponding to each elevation batch trajectory according to the time information, so as to obtain the spliced ​​target trajectory.

[0104] By calculating the trajectory range and map splicing of elevation batch trajectories, the corresponding batch map data can be generated, which not only ensures the continuity of the trajectory, but also facilitates regional storage and management, and improves the efficiency of subsequent repair of abnormal trajectory points.

[0105] Continue to refer Figure 6 , Figure 6 An application scenario of the abnormal track repair method according to the present disclosure is shown. In this application scenario, the initial track will first be split according to the elevation value of each track point 601, so as to obtain multiple elevation batch tracks 602. For each elevation batch track, the map information contained therein will be determined, and then the map will be spliced ​​603. The map of each elevation batch track is then spliced ​​to obtain the target track. Afterwards, the target track is manually marked 604 to determine whether there are abnormal track points. If not, data is calibrated 605.

[0106] If there is an abnormal track point, the corresponding abnormal track range is determined 606. Then the elevation batch track corresponding to the abnormal track range is determined to obtain the target elevation batch track 607. And the target map sheet of the abnormal track point in the target elevation batch track is determined 608. Finally, the target map sheet is re-joined to obtain the repaired elevation track 609. In this way, the abnormal track point can be repaired within a small range of the map sheet.

[0107] Further references Figure 7 As an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of an abnormal trajectory repairing device. Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0108] like Figure 7 As shown, the abnormal trajectory repairing device 700 of this embodiment includes: a trajectory range determination module 701, a map sheet determination module 702, a splicing module 703 and an updating module 704. Among them, the trajectory range determination module 701 is configured to determine the abnormal trajectory range corresponding to the abnormal trajectory point in response to determining that there is an abnormal trajectory point in the target trajectory; the map sheet determination module 702 is configured to determine the target elevation trajectory corresponding to the abnormal trajectory point and the target map sheet of the abnormal trajectory point in the target elevation trajectory based on the abnormal trajectory range; the splicing module 703 is configured to re-splice the elevation trajectory corresponding to the target map sheet to obtain the spliced ​​elevation trajectory; the updating module 704 is configured to update the target elevation trajectory using the spliced ​​elevation trajectory.

[0109] In this embodiment, in the abnormal trajectory repairing device 700, the specific processing of the trajectory range determination module 701, the map size determination module 702, the splicing module 703 and the updating module 704 and the technical effects thereof can be referred to respectively. Figure 2 The relevant descriptions of steps 201 - 204 in the corresponding embodiment are not repeated here.

[0110] In some optional implementations of the present embodiment, the abnormal trajectory repairing device 700 further includes: a trajectory generation module for generating a target trajectory, the trajectory generation module including: a range determination submodule, configured to determine at least one elevation range corresponding to an initial trajectory; a splitting submodule, configured to split the initial trajectory according to the elevation range to obtain a plurality of elevation batch trajectories; a first splicing submodule, configured to splice the map sheets contained in the elevation batch trajectory according to the trajectory range of the elevation batch trajectory to obtain the batch map sheets corresponding to the elevation batch trajectory; the first splicing submodule, configured to splice the batch map sheets corresponding to each elevation batch trajectory according to the time information to obtain the target trajectory.

[0111] In some optional implementations of this embodiment, the abnormal trajectory repairing device 700 further includes: a trajectory acquisition module configured to acquire collected trajectory data; and a trajectory processing module configured to perform abnormal filtering and / or interpolation completion processing on the trajectory data to obtain an initial trajectory.

[0112] In some optional implementations of this embodiment, the range determination submodule is further configured to: calculate the elevation values ​​of the trajectory points in the initial trajectory and the curvature between two adjacent trajectory points; and determine at least one elevation range according to the elevation values ​​and the curvature.

[0113] In some optional implementations of the present embodiment, the trajectory range determination module is further configured to: in response to determining that there is an abnormal part in the target trajectory, determine the trajectory points contained in the abnormal part as abnormal trajectory points, wherein the abnormal part includes at least one of the following: a jagged part, an occluded part, and a lane repetition part; in response to determining that the abnormal trajectory point meets a preset continuity requirement, determine the abnormal trajectory range according to the position information of the abnormal trajectory point, wherein the continuity requirement includes: the time interval is less than a preset interval threshold or the distance difference is less than a preset distance threshold.

[0114] In some optional implementations of the present embodiment, the map sheet determination module is further configured to: determine the trajectory range corresponding to the elevation batch trajectory and the longitude and latitude information of the map sheet contained in the elevation batch trajectory; determine the target elevation trajectory corresponding to the abnormal trajectory point based on the abnormal trajectory range and the trajectory range corresponding to the elevation batch trajectory; determine the target map sheet of the abnormal trajectory point in the target elevation trajectory based on the position information of the abnormal trajectory point and the longitude and latitude information of the map sheet contained in the elevation batch trajectory.

[0115] In some optional implementations of the present embodiment, the abnormal trajectory repairing device 700 further includes: a deletion module, configured to delete the abnormal trajectory point from the target elevation trajectory in response to determining that the abnormal trajectory point meets the preset continuity requirement and the elevation value of the abnormal trajectory point is wrong; a new creation module, configured to create a new elevation batch trajectory, add the abnormal trajectory point to the elevation batch trajectory, and obtain a new elevation batch trajectory; and the splicing module is further configured to: determine the trajectory included in the map sheet in the target elevation trajectory to obtain a first trajectory; determine the trajectory included in the map sheet in the new elevation batch trajectory to obtain a second trajectory; and splice the first trajectory and the second trajectory according to time information.

[0116] In some optional implementations of this embodiment, the update module is further configured to: generate an elevation trajectory file corresponding to the spliced ​​elevation trajectory based on the information of the trajectory points in the spliced ​​elevation trajectory; use the elevation trajectory file corresponding to the spliced ​​elevation trajectory to update the target elevation trajectory file, and the target elevation trajectory file is determined based on the information of the trajectory points in the target elevation trajectory.

[0117] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0118] Figure 8 A schematic block diagram of an example electronic device 800 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0119] like Figure 8 As shown, the device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0120] Multiple components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0121] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as the abnormal trajectory repair method. For example, in some embodiments, the abnormal trajectory repair method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the abnormal trajectory repair method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the abnormal trajectory repair method in any other appropriate manner (e.g., by means of firmware).

[0122] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable abnormal trajectory repair device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0124] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0127] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0128] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0129] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for repairing an abnormal trajectory, comprising: In response to determining that an abnormal trajectory point exists in the target trajectory, determining an abnormal trajectory range corresponding to the abnormal trajectory point; Determine, based on the abnormal trajectory range, a target elevation trajectory corresponding to the abnormal trajectory point and a target map sheet of the abnormal trajectory point in the target elevation trajectory; Re-joining the elevation tracks corresponding to the target map sheets to obtain a joined elevation track; The target elevation trajectory is updated using the spliced ​​elevation trajectory.

2. The method according to claim 1, wherein: The target trajectory is generated by the following steps: determining at least one elevation range corresponding to the initial trajectory; Splitting the initial trajectory according to the elevation range to obtain a plurality of elevation batch trajectories; According to the track range of the elevation batch track, the map sheets contained in the elevation batch track are spliced ​​to obtain the batch map sheets corresponding to the elevation batch track; The batch maps corresponding to each elevation batch trajectory are spliced ​​according to the time information to obtain the target trajectory.

3. The method according to claim 2, further comprising: Get the collected trajectory data; Anomaly filtering and / or interpolation completion processing is performed on the trajectory data to obtain the initial trajectory.

4. The method according to claim 3, wherein: The determining of at least one elevation range corresponding to the initial trajectory includes: Calculating the elevation values ​​of the trajectory points in the initial trajectory and the curvature between two adjacent trajectory points; The at least one elevation range is determined based on the elevation value and the curvature.

5. The method according to claim 1, wherein: In response to determining that an abnormal trajectory point exists in the target trajectory, determining an abnormal trajectory range corresponding to the abnormal trajectory point includes: In response to determining that there is an abnormal part in the target trajectory, determining the trajectory point contained in the abnormal part as the abnormal trajectory point, wherein the abnormal part includes at least one of the following: a serrated part, an occluded part, and a lane repetition part; In response to determining that the abnormal trajectory point meets a preset continuity requirement, the abnormal trajectory range is determined according to the position information of the abnormal trajectory point, wherein the continuity requirement includes: a time interval is less than a preset interval threshold or a distance difference is less than a preset distance threshold.

6. The method according to claim 2, wherein: The determining, based on the abnormal trajectory range, a target elevation trajectory corresponding to the abnormal trajectory point and a target map of the abnormal trajectory point in the target elevation trajectory includes: Determine the track range corresponding to the elevation batch track and the longitude and latitude information of the map sheet contained in the elevation batch track; Determine the target elevation trajectory corresponding to the abnormal trajectory point according to the abnormal trajectory range and the trajectory range corresponding to the elevation batch trajectory; According to the position information of the abnormal trajectory point and the longitude and latitude information of the map sheet contained in the elevation batch trajectory, the target map sheet of the abnormal trajectory point in the target elevation trajectory is determined.

7. The method according to claim 5, further comprising: In response to determining that the abnormal trajectory point meets a preset continuity requirement and the elevation value of the abnormal trajectory point is wrong, deleting the abnormal trajectory point from the target elevation trajectory; Create a new elevation batch trajectory, add the abnormal trajectory point to the elevation batch trajectory, and obtain a new elevation batch trajectory; as well as The rejoining of the elevation track corresponding to the target map sheet includes: Determine the trajectory included in the map sheet in the target elevation trajectory to obtain a first trajectory; Determine the trajectory included in the map sheet in the newly created batch trajectory of the elevation to obtain a second trajectory; The first track and the second track are spliced ​​according to time information.

8. The method according to claim 7, wherein: The step of updating the target elevation trajectory by using the spliced ​​elevation trajectory comprises: Generate an elevation track file corresponding to the spliced ​​elevation track according to the information of the track points in the spliced ​​elevation track; The target elevation trajectory file is updated using the elevation trajectory file corresponding to the spliced ​​elevation trajectory, wherein the target elevation trajectory file is determined according to the information of the trajectory points in the target elevation trajectory.

9. An abnormal trajectory repair device, comprising: a trajectory range determination module, configured to, in response to determining that an abnormal trajectory point exists in the target trajectory, determine an abnormal trajectory range corresponding to the abnormal trajectory point; A map sheet determination module is configured to determine a target elevation track corresponding to the abnormal track point and a target map sheet of the abnormal track point in the target elevation track based on the abnormal track range; A splicing module is configured to re-splice the elevation tracks corresponding to the target map sheet to obtain a spliced ​​elevation track; An updating module is configured to update the target elevation trajectory using the spliced ​​elevation trajectory.

10. The device according to claim 9, wherein: The device further comprises: a trajectory generation module for generating the target trajectory, wherein the trajectory generation module comprises: a range determination submodule, configured to determine at least one elevation range corresponding to the initial trajectory; A splitting submodule is configured to split the initial trajectory according to the elevation range to obtain a plurality of elevation batch trajectories; A first splicing submodule is configured to splice the map sheets contained in the elevation batch track according to the track range of the elevation batch track to obtain the batch map sheets corresponding to the elevation batch track; The first splicing submodule is configured to splice the batch map sheets corresponding to each elevation batch track according to the time information to obtain the target track.

11. The apparatus according to claim 10, further comprising: A trajectory acquisition module, configured to acquire collected trajectory data; The trajectory processing module is configured to perform abnormal filtering processing and / or interpolation and completion processing on the trajectory data to obtain the initial trajectory.

12. The device according to claim 11, wherein The range determination submodule is further configured to: Calculating the elevation values ​​of the trajectory points in the initial trajectory and the curvature between two adjacent trajectory points; The at least one elevation range is determined based on the elevation value and the curvature.

13. The device according to claim 9, wherein: The trajectory range determination module is further configured to: In response to determining that there is an abnormal part in the target trajectory, determining the trajectory point contained in the abnormal part as the abnormal trajectory point, wherein the abnormal part includes at least one of the following: a serrated part, an occluded part, and a lane repetition part; In response to determining that the abnormal trajectory point meets a preset continuity requirement, the abnormal trajectory range is determined according to the position information of the abnormal trajectory point, wherein the continuity requirement includes: a time interval is less than a preset interval threshold or a distance difference is less than a preset distance threshold.

14. The device according to claim 10, wherein: The image frame determination module is further configured to: Determine the track range corresponding to the elevation batch track and the longitude and latitude information of the map sheet contained in the elevation batch track; Determine the target elevation trajectory corresponding to the abnormal trajectory point according to the abnormal trajectory range and the trajectory range corresponding to the elevation batch trajectory; According to the position information of the abnormal trajectory point and the longitude and latitude information of the map sheet contained in the elevation batch trajectory, the target map sheet of the abnormal trajectory point in the target elevation trajectory is determined.

15. The apparatus according to claim 13, further comprising: a deletion module configured to delete the abnormal trajectory point from the target elevation trajectory in response to determining that the abnormal trajectory point meets a preset continuity requirement and the elevation value of the abnormal trajectory point is wrong; A new creation module is configured to create a new elevation batch trajectory, add the abnormal trajectory point to the elevation batch trajectory, and obtain a new elevation batch trajectory; and The splicing module is further configured to: Determine the trajectory included in the map sheet in the target elevation trajectory to obtain a first trajectory; Determine the trajectory included in the map sheet in the newly created batch trajectory of the elevation to obtain a second trajectory; The first track and the second track are spliced ​​according to time information.

16. The device according to claim 15, wherein: The update module is further configured to: Generate an elevation track file corresponding to the spliced ​​elevation track according to the information of the track points in the spliced ​​elevation track; The target elevation trajectory file is updated using the elevation trajectory file corresponding to the spliced ​​elevation trajectory, wherein the target elevation trajectory file is determined according to the information of the trajectory points in the target elevation trajectory.

17. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

18. A non-transitory computer-readable storage medium storing computer instructions, the computer instructions being used to cause the computer to execute the method of any one of claims 1-8.

19. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 8.

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