Method and device for identifying loading and unloading points based on track morphological characteristics, medium and electronic equipment

Abstract

The invention discloses a method and device for identifying loading and unloading points based on track morphological characteristics, a medium and electronic equipment, and the method comprises the steps: obtaining track point data generated by the operation of a to-be-analyzed freight vehicle in a preset period, the to-be-analyzed freight vehicle being each freight vehicle in a freight vehicle list; according to the track point data, identifying at least one parking section of the to-be-analyzed freight vehicle and driving sections adjacent to the two ends of the to-be-analyzed freight vehicle; geometric operation and spatial analysis are carried out on each parking section and the driving sections adjacent to the two ends of the parking section, and candidate sections of the freight vehicle to be analyzed are obtained; and counting the number of the track points in the candidate segments, and determining loading and unloading points of the to-be-analyzed freight vehicle based on the number of the track points in the candidate segments and / or the geometrical morphology formed by the track points in the candidate segments. Therefore, by adopting the embodiment of the invention, the identification accuracy of the unloading point of the freight vehicle can be effectively improved, and particularly, accurate identification can be realized in an open area without POI (Point Of Interest), so that data support is provided for the application of a full logistics scene.

Description

Technical Field

[0001] The present application relates to the field of data mining technology, and in particular to a method, device, medium and electronic device for identifying loading and unloading points based on trajectory morphological features. Background Art

[0002] In the modern logistics industry, accurate identification of the loading and unloading points of freight vehicles is of great significance for optimizing logistics processes and improving transportation efficiency. Especially in freight scenarios, accurate identification of loading and unloading points can provide key data support for vehicle-cargo matching, empty and full load status analysis, upstream and downstream relationship building, cargo source location, and cargo flow analysis.

[0003] In the related technologies, traditional methods rely on the speed and duration of the stop point, and use known POI data for judgment, or further use clustering methods for the stop points. These implementation methods ignore the most important morphological information contained in the trajectory, resulting in inaccurate recognition. In addition, when there is no POI data, it is impossible to identify the loading and unloading point based only on the speed and duration of the stop point. Summary of the invention

[0004] The embodiments of the present application provide a method, device, medium and electronic device for identifying loading and unloading points based on trajectory morphological features. In order to have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary is not a general review, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a preface to the detailed description that follows.

[0005] In a first aspect, an embodiment of the present application provides a method for identifying loading and unloading points based on trajectory morphological features, the method comprising:

[0006] Acquire the trajectory point data generated by the operation of the freight vehicles to be analyzed within a preset period, where the freight vehicles to be analyzed are each freight vehicle in the freight vehicle list;

[0007] According to the trajectory point data, identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends;

[0008] Performing geometric operations and spatial analysis on each stop segment and the driving segments adjacent to both ends of the stop segment to obtain candidate segments of the freight vehicle to be analyzed, wherein the candidate segments include at least one of a vertex return segment, a circumscribed rectangular segment, and a stop-go segment;

[0009] The number of trajectory points in the candidate segment is counted, and the loading and unloading points of the freight vehicle to be analyzed are determined based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, and the geometric shape includes at least one of collinear points, small rectangles, large rectangles, regular rectangles and elongated rectangles.

[0010] Optionally, identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends thereof according to the trajectory point data, comprises:

[0011] Through the trajectory point data, the trajectory point sequence of the freight vehicle to be analyzed is fitted;

[0012] The trajectory point sequence of the freight vehicle to be analyzed is sorted in a forward direction according to the chronological order to obtain a continuous trajectory segment of the freight vehicle to be analyzed;

[0013] Determine a trajectory segment in which the velocity of a trajectory point in the continuous trajectory segment of the freight vehicle to be analyzed is less than a preset velocity threshold and the duration is greater than a preset time threshold as a first stop segment;

[0014] Any trajectory segment except the first stop segment in the continuous trajectory segments of the freight vehicle to be analyzed is used as a candidate trajectory segment;

[0015] Count the duration and cumulative travel distance of the trajectory points in each candidate trajectory segment;

[0016] The alternative trajectory segment whose duration is less than a preset time threshold and whose cumulative travel distance is less than a preset distance threshold is used as the second stop segment;

[0017] Merging the adjacent stop segments in each first stop segment and each second stop segment, and using the merged stop segment as the final stop segment of the freight vehicle to be analyzed;

[0018] The remaining road segments, excluding the stop segments, in the continuous trajectory segments of the freight vehicle to be analyzed and which are closest to both ends of at least one stop segment are used as the driving segments respectively adjacent to both ends of the at least one stop segment.

[0019] Optionally, geometric operations and spatial analysis are performed on each stop segment and the driving segments adjacent to both ends thereof to obtain candidate segments of the freight vehicle to be analyzed, including:

[0020] For both ends of each stop segment of the freight vehicle to be analyzed, a travel sub-segment of a preset distance is respectively intercepted forward and forward from two travel segments adjacent to the two ends to obtain a front travel segment interception segment and a rear travel segment interception segment;

[0021] Identify the spatial position overlap of the preceding running segment cut-off segment and the following running segment cut-off segment;

[0022] Calculate a first ratio of the spatial position overlap portion to the intercepted segment of the previous travel segment;

[0023] Calculate a second ratio of the spatial position overlap portion to the intercepted segment of the subsequent travel segment;

[0024] A candidate segment of the freight vehicle to be analyzed is determined according to the first ratio or the second ratio.

[0025] Optionally, determining a candidate segment of a freight vehicle to be analyzed according to the first ratio or the second ratio includes:

[0026] When the first ratio or the second ratio is greater than the preset ratio threshold, each stop segment of the freight vehicle to be analyzed is regarded as a vertex turnaround segment.

[0027] Optionally, determining a candidate segment of a freight vehicle to be analyzed according to the first ratio or the second ratio includes:

[0028] When the first ratio or the second ratio is less than or equal to the preset ratio threshold, a spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed to obtain a circumscribed rectangular section or a stop-go section.

[0029] Optionally, a spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed to obtain a circumscribed rectangular segment, including:

[0030] According to the stop trajectory points of each stop section of the freight vehicle to be analyzed, a minimum circumscribed rectangle is constructed;

[0031] When the lengths of the long and short sides of the minimum circumscribed rectangle of each docking segment are greater than a preset length threshold and the ratio of the long and short sides is greater than a preset ratio and less than a preset ratio threshold, each docking segment is used as a circumscribed rectangle segment.

[0032] Optionally, a spatial analysis is performed based on the stop trajectory points of each stop segment of the freight vehicle to be analyzed to obtain the stop and go segments, including

[0033] Constructing a minimum circumscribed rectangle according to the stop trajectory points of each stop segment of the freight vehicle to be analyzed; judging whether the minimum circumscribed rectangle of each stop segment meets a preset condition, wherein the preset condition includes at least one of threshold judgment according to the length of the long side, the length of the short side, and the ratio of the length of the long side to the short side of the minimum circumscribed rectangle;

[0034] If yes, calculate the total time of the freight vehicles to be analyzed in each stop section;

[0035] De-duplicate the longitude and latitude points in each stop section of the freight vehicle to be analyzed, and count the number of longitude and latitude points in each stop section after de-duplicate;

[0036] The number of longitude and latitude points in each stop segment after deduplication is counted as the number of stops;

[0037] When the total duration of each stop segment is greater than a preset duration threshold and the number of stops is greater than a preset number threshold, each stop segment is regarded as a stop-and-go segment.

[0038] Optionally, determining whether the minimum bounding rectangle of each stop segment meets a preset condition includes:

[0039] Determine whether the length of the long side of the minimum circumscribed rectangle of each stop segment is less than or equal to a preset length threshold; or,

[0040] Determine whether the length of the short side of the minimum circumscribed rectangle of each stop segment is less than or equal to a preset length threshold; or,

[0041] Determine whether the ratio of the length of the long side to the short side is greater than or equal to a preset ratio threshold; or,

[0042] It is determined whether the ratio of the length of the long side to the short side is less than or equal to a preset ratio threshold.

[0043] Optionally, based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, determining the loading and unloading point of the freight vehicle to be analyzed includes:

[0044] When there is only one trajectory point in the candidate segment, the single trajectory point in the candidate segment is used as the first loading and unloading point of the freight vehicle to be analyzed; or

[0045] When the number of trajectory points in the candidate segment is three or more, determine whether the trajectory points in the candidate segment are collinear or whether there is a minimum circumscribed rectangle;

[0046] Divide the minimum circumscribed rectangle into a small rectangle and a large rectangle according to a preset division condition;

[0047] Divide the large rectangle into regular rectangles and long rectangles;

[0048] Determine the second loading and unloading point of the freight vehicle to be analyzed based on the small rectangle or the regular rectangle; or determine the third loading and unloading point of the freight vehicle to be analyzed based on two trajectory points or three or more collinear trajectory points or a long rectangle existing in the trajectory points in the candidate segment;

[0049] All the first loading and unloading points or all the second loading and unloading points or all the third loading and unloading points found are combined into one set to obtain the loading and unloading points of the freight vehicle to be analyzed.

[0050] Optionally, before determining the loading and unloading point of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, the method further includes:

[0051] De-duplicate the longitude and latitude of the stop track points corresponding to the vertex return segment, the circumscribed rectangular segment, and the stop-go segment;

[0052] The number of trajectory points corresponding to the vertex return segment, circumscribed rectangle segment, and stop-go segment after deduplication is counted as the number of trajectory points in the candidate segment.

[0053] Optionally, based on the small rectangle or the regular rectangle, determining the second loading and unloading point of the freight vehicle to be analyzed includes:

[0054] Identify the trajectory point in each stop segment that is closest to the center of gravity of the small rectangle or the regular rectangle;

[0055] The trajectory point closest to the center of gravity of the small rectangle and the regular rectangle is used as the second loading and unloading point of the freight vehicle to be analyzed.

[0056] Optionally, based on two trajectory points or three or more collinear trajectory points or long rectangles existing in the trajectory points in the candidate segment, determining the third loading and unloading point of the freight vehicle to be analyzed includes:

[0057] From two trajectory points or three or more collinear trajectory points or long rectangular shapes existing in the trajectory points in the candidate segment, determine whether there is a target trajectory point within a preset distance from the first loading and unloading point or the second loading and unloading point;

[0058] If it exists, the target trajectory point is used as the third loading and unloading point of the freight vehicle to be analyzed;

[0059] If it does not exist, determine the starting stop point of each stop segment; through the starting stop point, find an anchor point that meets the preset distance threshold to the adjacent front driving segment; through the anchor point, reversely find the farthest trajectory point on the stop segment closest to the anchor point as the third loading and unloading point of the freight vehicle to be analyzed.

[0060] In a second aspect, an embodiment of the present application provides a device for identifying loading and unloading points based on trajectory morphological features, the device comprising:

[0061] An acquisition module is used to acquire the track point data generated by the operation of the freight vehicles to be analyzed within a preset period, and the freight vehicles to be analyzed are each freight vehicle in the freight vehicle list;

[0062] An identification module, used to identify at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends according to the trajectory point data;

[0063] An operation and analysis module is used to perform geometric operations and spatial analysis on each stop segment and the driving segments corresponding to both ends thereof, so as to obtain candidate segments of the freight vehicle to be analyzed, wherein the candidate segments include at least one of a vertex return segment, a circumscribed rectangular segment, and a stop-go segment;

[0064] A determination module is used to count the number of trajectory points in the candidate segment, and determine the loading and unloading points of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric form formed by the trajectory points in the candidate segment, and the geometric form includes at least one of collinear points, small rectangles, large rectangles, regular rectangles and elongated rectangles.

[0065] In a third aspect, an embodiment of the present application provides a computer storage medium, which stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.

[0066] In a fourth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0067] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0068] In the embodiments of the present application, on the one hand, the present application performs geometric operations and spatial analysis on each stop segment and the driving segments corresponding to its two ends, thereby realizing the identification of loading and unloading points by utilizing the trajectory morphology. The trajectory morphology can characterize the behavior of the vehicle, thereby improving the overall recognition effect. On the other hand, the present application can accurately identify loading and unloading points in open areas without POIs by counting the number of trajectory points in the candidate segments and / or the geometric morphology formed by the trajectory points in the candidate segments, thereby effectively improving the recognition accuracy of the unloading points of freight vehicles, and providing data support for the application of the entire logistics scenario.

[0069] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0071] Figure 1 It is a flowchart of a method for identifying loading and unloading points based on trajectory morphological features provided in an embodiment of the present application;

[0072] Figure 2 This is a schematic diagram of a recognition scenario of a parking segment and a driving segment provided by the present application;

[0073] Figure 3 This is a schematic diagram of a recognition scene of a vertex return segment provided by the present application;

[0074] Figure 4 This is a schematic diagram of a recognition scene of a circumscribed rectangular segment provided by the present application;

[0075] Figure 5 This is a diagram of the overall processing flow architecture in an experimental scenario provided by this application;

[0076] Figure 6 It is a structural schematic diagram of a device for identifying loading and unloading points based on trajectory morphological features provided in an embodiment of the present application;

[0077] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] The following description and the accompanying drawings sufficiently illustrate specific embodiments of the present application to enable those skilled in the art to practice them.

[0079] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0080] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0081] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0082] The present application provides a method, device, medium and electronic device for identifying loading and unloading points based on trajectory morphological features, so as to solve the problems existing in the above-mentioned related technical issues. In the embodiments of the present application, on the one hand, the present application performs geometric operations and spatial analysis on each stop segment and the driving segments corresponding to both ends thereof, and realizes the use of trajectory morphology to identify loading and unloading points. The trajectory morphology can characterize the behavior of the vehicle, thereby improving the overall recognition effect; on the other hand, the present application can realize accurate identification of loading and unloading points for open areas without POI by counting the number of trajectory points in the candidate segment and / or the geometric morphology formed by the trajectory points in the candidate segment, thereby effectively improving the recognition accuracy of the unloading points of freight vehicles, and further providing data support for the application of the whole logistics scenario. The following is a detailed description using an exemplary embodiment.

[0083] The following will be combined with the attached Figure 1 -Attached Figure 5 , a method for identifying loading and unloading points based on trajectory morphological features provided in an embodiment of the present application is introduced in detail. The method can be implemented by relying on a computer program and can be run on a device for identifying loading and unloading points based on trajectory morphological features based on a von Neumann system. The computer program can be integrated into an application or run as an independent tool application.

[0084] See also Figure 1 , which is a flow chart of a method for identifying loading and unloading points based on trajectory morphological features according to an embodiment of the present application. Figure 1 As shown, the method of the embodiment of the present application may include the following steps:

[0085] S101, obtaining trajectory point data generated by the operation of the freight vehicles to be analyzed within a preset period, where the freight vehicles to be analyzed are each freight vehicle in a freight vehicle list;

[0086] Among them, the preset period refers to a specific time range, which is set as the time window for data collection and analysis. For example, it can be one day, one week, or one month. The freight vehicle to be analyzed refers to the freight vehicle that needs to be analyzed for trajectory data. It can be a heavy truck or other types of vehicles. The freight vehicle list is a list of all freight vehicles that need to be analyzed. Track point data refers to the vehicle location information recorded by the vehicle-mounted GPS system or other positioning devices. These data usually include timestamps, longitude, latitude, speed, etc.

[0087] In some embodiments, the company first obtains a list of all freight vehicles from its system last month. This list includes the vehicle ID, license plate number, driver information, etc. Each freight vehicle in the list is a freight vehicle to be analyzed. Then, the track point data of the freight vehicle to be analyzed last month can be extracted from the vehicle tracking system. The track point data includes the daily driving route, stop location, driving speed and time, etc.

[0088] S102, identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends according to the trajectory point data;

[0089] Among them, the stop segment refers to the trajectory segment where the freight vehicle is relatively stationary or moves at a low speed for a certain period of time, usually manifested as continuous trajectory points with little or no change in the vehicle position over a period of time. The driving segment is the driving segment immediately before and after the stop segment, which can be divided into the front driving segment and the rear driving segment. The front driving segment is the driving trajectory of the vehicle moving from the previous stop point or the starting point to the current stop point before the stop segment. The rear driving segment is the driving trajectory of the vehicle moving from the current stop point to the next stop point or the destination after the stop segment.

[0090] In some embodiments of the present application, the specific process of identifying at least one stop segment of the freight vehicle to be analyzed and the driving segments adjacent to both ends thereof according to the trajectory point data includes: fitting a trajectory point sequence of the freight vehicle to be analyzed through the trajectory point data; sorting the trajectory point sequence of the freight vehicle to be analyzed in forward order according to the chronological order to obtain continuous trajectory segments of the freight vehicle to be analyzed; determining a trajectory segment in which the trajectory point speed in the continuous trajectory segments of the freight vehicle to be analyzed is less than a preset speed threshold and the duration is greater than a preset time threshold as the first stop segment; and selecting the continuous trajectory segments of the freight vehicle to be analyzed except the first stop segment. Any trajectory segment other than a stop segment is used as an alternative trajectory segment; the duration and cumulative driving distance of the trajectory points in each alternative trajectory segment are counted; the alternative trajectory segment whose duration is less than a preset time threshold and whose cumulative driving distance is less than a preset distance threshold is used as the second stop segment; the stop segments adjacent to each first stop segment and each second stop segment are merged, and the merged stop segments are used as the final stop segment of the freight vehicle to be analyzed; the remaining road segments other than the stop segments in the continuous trajectory segments of the freight vehicle to be analyzed and which are closest to the two ends of at least one stop segment are used as the driving segments adjacent to the two ends of at least one stop segment.

[0091] Among them, forward sorting is to sort the trajectory point sequence in chronological order. The preset speed threshold is a preset value used to distinguish whether the vehicle is driving or stopping. If the speed of the trajectory point is lower than this threshold, it means that the vehicle has stopped or the speed is very low, close to the stop state. The preset time threshold is another preset value used to determine whether the trajectory point constitutes a valid stop segment. If the speed of the trajectory point is lower than the preset speed threshold within a certain period of time, and this time exceeds the preset time threshold, then this time period is identified as a stop segment. The preset distance threshold is another threshold used to determine whether the trajectory point constitutes a valid stop segment. If the cumulative distance traveled by the trajectory point within a certain period of time is less than this threshold and this time is less than the preset time threshold, it means that the vehicle has hardly moved during this period of time, so it can be identified as a stop segment.

[0092] For example Figure 2As shown, speed is speed, s is a preset speed threshold, time is duration, t is a preset time threshold, distance is driving distance, and d is a preset distance threshold. At this time, the method 1 for determining the stop segment is: determine whether there is at least one trajectory segment in the continuous trajectory segments of the freight vehicle to be analyzed whose trajectory point speed speed is less than the preset speed threshold s and whose duration time time is greater than the preset time threshold t. The method 2 for determining the stop segment is: take the trajectory segments other than the stop segments identified by method 1 as candidate trajectory segments, further judge the candidate trajectory segments, and determine whether there is at least one trajectory segment in the candidate trajectory segments whose trajectory point duration time time is less than the preset time threshold s and whose cumulative driving distance distance is less than the preset distance threshold d. The adjacent stop segments identified by methods 1 and 2 are merged to determine the final stop segment, and the trajectory segment with the closest distance between the two ends of each stop segment is taken as its corresponding driving segment.

[0093] In the embodiment of the present application, by accurately fitting and analyzing the trajectory point data of the freight vehicle, the driving section and the stop section of the vehicle can be effectively distinguished. This refined trajectory analysis not only improves the accuracy of loading and unloading point identification, but also reduces misjudgments and missed judgments.

[0094] S103, performing geometric calculation and spatial analysis on each stop segment and the driving segments adjacent to both ends thereof, to obtain candidate segments of the freight vehicle to be analyzed;

[0095] In some embodiments of the present application, geometric operations and spatial analysis are performed on each stop segment and the driving segments adjacent to its two ends to obtain the specific process of candidate segments of the freight vehicle to be analyzed, including: for the two ends of each stop segment of the freight vehicle to be analyzed, driving sub-segments of a preset distance forward and forward and backward are respectively intercepted from the two driving segments adjacent to its two ends to obtain a front driving segment intercepted segment and a rear driving segment intercepted segment; identifying the spatial position overlapping part of the front driving segment intercepted segment and the rear driving segment intercepted segment; calculating a first ratio of the spatial position overlapping part to the front driving segment intercepted segment; calculating a second ratio of the spatial position overlapping part to the rear driving segment intercepted segment; and determining the candidate segments of the freight vehicle to be analyzed according to the first ratio or the second ratio.

[0096] Among them, the driving sub-segment is a part intercepted from the driving segment of the vehicle, which is intercepted based on a specific distance. The front driving segment intercepted segment refers to a track intercepted forward (i.e., the direction the vehicle comes from) from the driving segment corresponding to the front end of the vehicle's stop segment. The rear driving segment intercepted segment refers to a track intercepted backward (i.e., the direction the vehicle goes) from the driving segment corresponding to the rear end of the vehicle's stop segment. The overlapping part refers to the area where the front driving segment intercepted segment and the rear driving segment intercepted segment overlap in spatial position. The vertex return segment is, if the first ratio or the second ratio is greater than the preset ratio threshold, it indicates that the driving trajectories of the vehicle at both ends of the stop segment have significant overlap, indicating that the vehicle has made a turnaround at this point, so the stop segment is identified as the vertex return segment. The circumscribed rectangular segment is, if the ratio does not meet the vertex return condition, obtained by spatial analysis of the stop segment. The stop-go segment is the section where the vehicle briefly stops and moves.

[0097] In some embodiments, the specific process of determining the candidate segments of the freight vehicle to be analyzed based on the first ratio or the second ratio includes: when the first ratio or the second ratio is greater than a preset ratio threshold, each stop segment of the freight vehicle to be analyzed is used as a vertex return segment.

[0098] For example Figure 3 As shown, if the vehicle has a turning-back behavior, the overlapping part can be identified by the above-mentioned vertex turning-back segment identification method.

[0099] In other embodiments, the specific process of determining the candidate segments of the freight vehicle to be analyzed based on the first ratio or the second ratio includes: when the first ratio or the second ratio is less than or equal to a preset ratio threshold, performing spatial analysis based on the stop trajectory points of each stop segment of the freight vehicle to be analyzed to obtain a circumscribed rectangular segment or a stop-go segment.

[0100] Specifically, a spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed, and the specific process of obtaining the circumscribed rectangular segment includes: constructing a minimum circumscribed rectangle according to the stop trajectory points of each stop section of the freight vehicle to be analyzed; when the length of the long and short sides of the minimum circumscribed rectangle of each stop section is greater than a preset length threshold and the ratio of the long and short sides is greater than a preset ratio and less than a preset ratio threshold, each stop section is used as a circumscribed rectangular segment.

[0101] Specifically, a spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed, and the specific process of obtaining the stop and go sections includes: constructing a minimum enclosing rectangle according to the stop trajectory points of each stop section of the freight vehicle to be analyzed; judging whether the minimum enclosing rectangle of each stop section meets preset conditions, and the preset conditions include at least one of threshold judgments based on the long side length, the short side length, and the ratio of the long and short side lengths of the minimum enclosing rectangle; if so, calculating the total duration of the freight vehicle to be analyzed in each stop section; deduplicating the longitude and latitude points in each stop section of the freight vehicle to be analyzed, and counting the number of longitude and latitude points in each stop section after deduplication; taking the number of longitude and latitude points in each stop section after deduplication as the number of stop and go times; when the total duration of each stop section is greater than the preset duration threshold and the number of stop and go times is greater than the preset number threshold, each stop section is regarded as a stop and go section.

[0102] Specifically, the specific process of determining whether the minimum bounding rectangle of each stop segment meets the preset conditions includes: determining whether the length of the long side of the minimum bounding rectangle of each stop segment is less than or equal to the preset length threshold; or, determining whether the length of the short side of the minimum bounding rectangle of each stop segment is less than or equal to the preset length threshold; or, determining whether the ratio of the lengths of the long and short sides is greater than or equal to the preset ratio threshold; or, determining whether the ratio of the lengths of the long and short sides is less than or equal to the preset ratio threshold.

[0103] For example Figure 4 As shown in the figure, when the vertex return segment is not identified, the circumscribed rectangle segment can be identified by establishing the minimum circumscribed rectangle through the Shapely algorithm. If the vertex return segment and the circumscribed rectangle segment are not identified, the stop-go segment can be identified. Finally, the vertex return segment, the circumscribed rectangle segment, or the stop-go segment can be used as the candidate segment of the freight vehicle to be analyzed.

[0104] In the embodiments of the present application, a detailed trajectory analysis method can more accurately identify the behavior patterns of freight vehicles at specific locations, such as vertex turns, circumscribed rectangular segments, or stop-and-go segments. This analysis improves the understanding of vehicle driving behavior and can accurately identify loading and unloading points.

[0105] S104, counting the number of trajectory points in the candidate segment, and determining the loading and unloading points of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, wherein the geometric shape includes at least one of collinear points, a small rectangle, a large rectangle, a regular rectangle, and a long rectangle.

[0106] In some embodiments of the present application, the specific process of determining the loading and unloading points of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment includes: when the number of trajectory points in the candidate segment is single, taking the single trajectory point in the candidate segment as the first loading and unloading point of the freight vehicle to be analyzed; or, when the number of trajectory points in the candidate segment is three or more, determining whether the trajectory points in the candidate segment are collinear or whether there is a minimum circumscribed rectangle; dividing the minimum circumscribed rectangle into small rectangles and large rectangles according to preset division conditions; dividing the large rectangle into regular rectangles and long strip rectangles; determining the second loading and unloading point of the freight vehicle to be analyzed based on the small rectangles or regular rectangles; or, determining the third loading and unloading point of the freight vehicle to be analyzed based on two trajectory points or three or more collinear trajectory points or long strip rectangles in the trajectory points in the candidate segment; merging all the first loading and unloading points or all the second loading and unloading points or all the third loading and unloading points found into a set to obtain the loading and unloading points of the freight vehicle to be analyzed.

[0107] Among them, a single trajectory point is a situation where there is only one trajectory point in the candidate segment, which indicates that the vehicle has a short stop at this point, which may be related to loading and unloading activities. Collinear trajectory points are in the candidate segment, at least three trajectory points are roughly located on the same straight line in space, which may indicate that the vehicle has traveled in a straight line between these points. The minimum enclosing rectangle is constructed based on the stop trajectory points using shapely, and can completely contain the minimum rectangular area of ​​a set of trajectory points, which is used to analyze the spatial distribution of trajectory points. Small rectangles and large rectangles are classified based on the comparison results of the length and width of the minimum enclosing rectangle with the preset length threshold. The length and width of the small rectangle are both less than the preset length threshold, while the length and width of the large rectangle are greater than or equal to this threshold. Regular rectangles and long strip rectangles are the results of further classification of large rectangles. Regular rectangles or long strip rectangles are determined based on the ratio of the length and width of the small enclosing rectangle. Regular rectangles refer to rectangles with a length-to-width ratio close to 1, while long strip rectangles refer to rectangles with a length-to-width ratio significantly greater than 1.

[0108] In the embodiment of the present application, for a single trajectory point, it is directly used as a loading and unloading point, which simplifies the analysis process and improves efficiency. For a candidate segment containing multiple trajectory points, by judging whether the trajectory points are collinear or whether there is a minimum circumscribed rectangle, and further dividing the rectangle type, the possible loading and unloading area can be more accurately identified. This method not only improves the accuracy of loading and unloading point identification, but also provides richer information for logistics scheduling and route planning by distinguishing different types of loading and unloading points.

[0109] In some embodiments of the present application, it specifically includes: deduplicating the longitude and latitude of the stop trajectory points corresponding to the vertex return segment, the circumscribed rectangular segment, and the stop-go segment; counting the number of trajectory points corresponding to the vertex return segment, the circumscribed rectangular segment, and the stop-go segment after deduplication as the number of trajectory points in the candidate segment.

[0110] Specifically, based on the small rectangle or the regular rectangle, the process of determining the second loading and unloading point of the freight vehicle to be analyzed specifically includes: identifying the trajectory point closest to the center of gravity of the small rectangle or the regular rectangle in each stop segment; and taking the trajectory point closest to the center of gravity of the small rectangle and the regular rectangle as the second loading and unloading point of the freight vehicle to be analyzed.

[0111] Specifically, the specific process of determining the third loading and unloading point of the freight vehicle to be analyzed based on two trajectory points or three or more collinear trajectory points or long rectangles existing in the trajectory points in the candidate segment includes: judging whether there is a target trajectory point within a preset distance from the first loading and unloading point or the second loading and unloading point from the two trajectory points or three or more collinear trajectory points or long rectangles existing in the trajectory points in the candidate segment; if so, taking the target trajectory point as the third loading and unloading point of the freight vehicle to be analyzed; if not, determining the starting stop point of each stop segment; through the starting stop point, finding an anchor point that meets a preset distance threshold to the front driving segment adjacent to it; through the anchor point, reversely finding the farthest trajectory point on the stop segment closest to the anchor point as the third loading and unloading point of the freight vehicle to be analyzed.

[0112] Furthermore, if it is in an experimental scenario, the actual waybill data generated by the operation of the freight vehicle to be analyzed within a preset period can be obtained, the latitude and longitude of the starting point and the latitude and longitude of the ending point of the actual waybill data can be obtained, and the latitude and longitude points can be merged and deduplicated to obtain the actual loading and unloading points. The ratio of the number of actual loading and unloading points that are consistent with the predicted loading and unloading points predicted by this application to the number of predicted loading and unloading points is calculated to obtain the recall rate, and the recall rate can be used to evaluate the accuracy of the method for identifying loading and unloading points based on trajectory morphological features provided by this application.

[0113] The overall process architecture diagram of the experimental scenario is as follows: Figure 5 As shown, the trajectory segment of the freight vehicle is obtained, and the stop segment and driving segment are identified on the trajectory segment to obtain the driving segment and the stop segment. Based on the driving segment and its stop segment, the vertex return segment, the circumscribed rectangle segment and the stop-go segment are identified to obtain the candidate segment. Based on the candidate segment, the candidate points of different types are identified to finally obtain the predicted loading and unloading points. By obtaining the actual waybill data of the freight vehicle, the recall rate and accuracy rate can be calculated, and then the predicted loading and unloading points can be evaluated.

[0114] In the embodiments of the present application, on the one hand, the present application performs geometric operations and spatial analysis on each stop segment and the driving segments corresponding to its two ends, thereby realizing the identification of loading and unloading points by utilizing the trajectory morphology. The trajectory morphology can characterize the behavior of the vehicle, thereby improving the overall recognition effect. On the other hand, the present application can accurately identify loading and unloading points in open areas without POIs by counting the number of trajectory points in the candidate segments and / or the geometric morphology formed by the trajectory points in the candidate segments, thereby effectively improving the recognition accuracy of the unloading points of freight vehicles, and providing data support for the application of the entire logistics scenario.

[0115] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0116] See also Figure 6 , which shows a schematic diagram of the structure of a device for identifying loading and unloading points based on trajectory morphological features provided by an exemplary embodiment of the present application. The device for identifying loading and unloading points based on trajectory morphological features can be implemented as all or part of an electronic device through software, hardware, or a combination of both. The device 1 includes an acquisition module 10, an identification module 20, an operation and analysis module 30, and a determination module 40.

[0117] An acquisition module 10 is used to acquire track point data generated by the operation of the freight vehicles to be analyzed within a preset period, where the freight vehicles to be analyzed are the freight vehicles in the freight vehicle list;

[0118] An identification module 20, for identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends thereof according to the trajectory point data;

[0119] The operation and analysis module 30 is used to perform geometric operations and spatial analysis on each stop segment and the driving segments corresponding to both ends thereof to obtain candidate segments of the freight vehicle to be analyzed, wherein the candidate segments include at least one of a vertex return segment, a circumscribed rectangular segment, and a stop-go segment;

[0120] The determination module 40 is used to count the number of trajectory points in the candidate segment, and determine the loading and unloading points of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, and the geometric shape includes at least one of collinear points, small rectangles, large rectangles, regular rectangles and elongated rectangles.

[0121] It should be noted that the device for identifying loading and unloading points based on trajectory morphological features provided in the above embodiment only uses the division of the above functional modules as an example when executing the method for identifying loading and unloading points based on trajectory morphological features. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for identifying loading and unloading points based on trajectory morphological features provided in the above embodiment and the method embodiment for identifying loading and unloading points based on trajectory morphological features belong to the same concept. The implementation process is detailed in the method embodiment, which will not be repeated here.

[0122] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0123] In the embodiments of the present application, on the one hand, the present application performs geometric operations and spatial analysis on each stop segment and the driving segments corresponding to its two ends, thereby realizing the identification of loading and unloading points by utilizing the trajectory morphology. The trajectory morphology can characterize the behavior of the vehicle, thereby improving the overall recognition effect. On the other hand, the present application can accurately identify loading and unloading points in open areas without POIs by counting the number of trajectory points in the candidate segments and / or the geometric morphology formed by the trajectory points in the candidate segments, thereby effectively improving the recognition accuracy of the unloading points of freight vehicles, and providing data support for the application of the entire logistics scenario.

[0124] The present application also provides a computer-readable medium having program instructions stored thereon, which, when executed by a processor, implement the method for identifying loading and unloading points based on trajectory morphological features provided by the above-mentioned various method embodiments.

[0125] The present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method for identifying loading and unloading points based on trajectory morphological features of the above-mentioned various method embodiments.

[0126] See also Figure 7 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0127] The communication bus 1002 is used to realize the connection and communication between these components.

[0128] The user interface 1003 may include a display screen (Display) and a camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.

[0129] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0130] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts within the entire electronic device 1000, and executes various functions and processes data of the electronic device 1000 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes operating devices, user interfaces and applications, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0131] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing the operating device, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may also be optionally at least one storage device located away from the aforementioned processor 1001. As Figure 7As shown, the memory 1005 as a computer storage medium may include an operating device, a network communication module, a user interface module, and an application program for identifying loading and unloading points based on trajectory morphological features.

[0132] exist Figure 7 In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call the application program stored in the memory 1005 for identifying loading and unloading points based on trajectory morphological features, and specifically perform the following operations:

[0133] Acquire the trajectory point data generated by the operation of the freight vehicles to be analyzed within a preset period, where the freight vehicles to be analyzed are each freight vehicle in the freight vehicle list;

[0134] According to the trajectory point data, identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends;

[0135] Performing geometric operations and spatial analysis on each stop segment and the driving segments adjacent to both ends of the stop segment to obtain candidate segments of the freight vehicle to be analyzed, wherein the candidate segments include at least one of a vertex return segment, a circumscribed rectangular segment, and a stop-go segment;

[0136] The number of trajectory points in the candidate segment is counted, and the loading and unloading points of the freight vehicle to be analyzed are determined based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, and the geometric shape includes at least one of collinear points, small rectangles, large rectangles, regular rectangles and elongated rectangles.

[0137] In one embodiment, when the processor 1001 identifies at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments according to the trajectory point data, the processor 1001 specifically performs the following operations:

[0138] Through the trajectory point data, the trajectory point sequence of the freight vehicle to be analyzed is fitted;

[0139] The trajectory point sequence of the freight vehicle to be analyzed is sorted in a forward direction according to the chronological order to obtain a continuous trajectory segment of the freight vehicle to be analyzed;

[0140] Determine a trajectory segment in which the velocity of a trajectory point in the continuous trajectory segment of the freight vehicle to be analyzed is less than a preset velocity threshold and the duration is greater than a preset time threshold as a first stop segment;

[0141] Any trajectory segment except the first stop segment in the continuous trajectory segments of the freight vehicle to be analyzed is used as a candidate trajectory segment;

[0142] Count the duration and cumulative travel distance of the trajectory points in each candidate trajectory segment;

[0143] The alternative trajectory segment whose duration is less than a preset time threshold and whose cumulative travel distance is less than a preset distance threshold is used as the second stop segment;

[0144] Merging the adjacent stop segments in each first stop segment and each second stop segment, and using the merged stop segment as the final stop segment of the freight vehicle to be analyzed;

[0145] The remaining road segments of the continuous trajectory segments of the freight vehicle to be analyzed that are closest to both ends of the stop segment, except for at least one stop segment, are used as the driving segments adjacent to both ends of the at least one stop segment.

[0146] In one embodiment, when the processor 1001 performs geometric operations and spatial analysis on each stop segment and the driving segments adjacent to both ends thereof to obtain candidate segments of the freight vehicle to be analyzed, the following operations are specifically performed:

[0147] For both ends of each stop segment of the freight vehicle to be analyzed, a travel sub-segment of a preset distance is respectively intercepted forward and forward from two travel segments adjacent to the two ends to obtain a front travel segment interception segment and a rear travel segment interception segment;

[0148] Identify the spatial position overlap of the preceding running segment cut-off segment and the following running segment cut-off segment;

[0149] Calculate a first ratio of the spatial position overlap portion to the intercepted segment of the previous travel segment;

[0150] Calculate a second ratio of the spatial position overlap portion to the intercepted segment of the subsequent travel segment;

[0151] A candidate segment of the freight vehicle to be analyzed is determined according to the first ratio or the second ratio.

[0152] In one embodiment, when the processor 1001 determines the candidate segment of the freight vehicle to be analyzed according to the first ratio or the second ratio, the processor 1001 specifically performs the following operations:

[0153] When the first ratio or the second ratio is greater than the preset ratio threshold, each stop segment of the freight vehicle to be analyzed is regarded as a vertex turnaround segment.

[0154] In one embodiment, when the processor 1001 determines the candidate segment of the freight vehicle to be analyzed according to the first ratio or the second ratio, the processor 1001 specifically performs the following operations:

[0155] When the first ratio or the second ratio is less than or equal to the preset ratio threshold, a spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed to obtain a circumscribed rectangular section or a stop-go section.

[0156] In one embodiment, when the processor 1001 performs spatial analysis based on the stop trajectory points of each stop segment of the freight vehicle to be analyzed and obtains the circumscribed rectangular segment, the processor 1001 specifically performs the following operations:

[0157] According to the stop trajectory points of each stop section of the freight vehicle to be analyzed, a minimum circumscribed rectangle is constructed;

[0158] When the lengths of the long and short sides of the minimum circumscribed rectangle of each docking segment are greater than a preset length threshold and the ratio of the long and short sides is greater than a preset ratio and less than a preset ratio threshold, each docking segment is used as a circumscribed rectangle segment.

[0159] In one embodiment, the processor 1001 performs spatial analysis based on the stop trajectory points of each stop segment of the freight vehicle to be analyzed, and when obtaining the stop and go segments, specifically performs the following operations:

[0160] Constructing a minimum circumscribed rectangle according to the stop trajectory points of each stop segment of the freight vehicle to be analyzed; judging whether the minimum circumscribed rectangle of each stop segment meets a preset condition, wherein the preset condition includes at least one of the length of the long side, the length of the short side, and the ratio of the length of the long side to the short side of the minimum circumscribed rectangle;

[0161] If yes, calculate the total time of the freight vehicles to be analyzed in each stop section;

[0162] De-duplicate the longitude and latitude points in each stop section of the freight vehicle to be analyzed, and count the number of longitude and latitude points in each stop section after de-duplicate;

[0163] The number of longitude and latitude points in each stop segment after deduplication is counted as the number of stops;

[0164] When the total duration of each stop segment is greater than a preset duration threshold and the number of stops is greater than a preset number threshold, each stop segment is regarded as a stop-and-go segment.

[0165] In one embodiment, when the processor 1001 determines whether the minimum bounding rectangle of each stop segment meets a preset condition, the following operations are specifically performed:

[0166] Determine whether the length of the long side of the minimum circumscribed rectangle of each stop segment is less than or equal to a preset length threshold; or,

[0167] Determine whether the length of the short side of the minimum circumscribed rectangle of each stop segment is less than or equal to a preset length threshold; or,

[0168] Determine whether the ratio of the length of the long side to the short side is greater than or equal to a preset ratio threshold; or,

[0169] It is determined whether the ratio of the length of the long side to the short side is less than or equal to a preset ratio threshold.

[0170] In one embodiment, when the processor 1001 determines the loading and unloading points of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, the processor 1001 specifically performs the following operations:

[0171] When there is only one trajectory point in the candidate segment, the single trajectory point in the candidate segment is used as the first loading and unloading point of the freight vehicle to be analyzed; or

[0172] When the number of trajectory points in the candidate segment is three or more, determine whether the trajectory points in the candidate segment are collinear or whether there is a minimum circumscribed rectangle;

[0173] Divide the minimum circumscribed rectangle into a small rectangle and a large rectangle according to a preset division condition;

[0174] Divide the large rectangle into regular rectangles and long rectangles;

[0175] Determine the second loading and unloading point of the freight vehicle to be analyzed based on the small rectangle or the regular rectangle; or determine the third loading and unloading point of the freight vehicle to be analyzed based on two trajectory points or three or more collinear trajectory points or a long rectangle existing in the trajectory points in the candidate segment;

[0176] All the first loading and unloading points or all the second loading and unloading points or all the third loading and unloading points found are combined into one set to obtain the loading and unloading points of the freight vehicle to be analyzed.

[0177] In one embodiment, before the processor 1001 determines the loading and unloading point of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric form formed by the trajectory points in the candidate segment, it further performs the following operations:

[0178] De-duplicate the longitude and latitude of the stop track points corresponding to the vertex return segment, the circumscribed rectangular segment, and the stop-go segment;

[0179] The number of trajectory points corresponding to the vertex return segment, circumscribed rectangle segment, and stop-go segment after deduplication is counted as the number of trajectory points in the candidate segment.

[0180] In one embodiment, when the processor 1001 determines the second loading and unloading point of the freight vehicle to be analyzed based on the small rectangle or the regular rectangle, the following operations are specifically performed:

[0181] Identify the trajectory point in each stop segment that is closest to the center of gravity of the small rectangle or the regular rectangle;

[0182] The trajectory point closest to the center of gravity of the small rectangle and the regular rectangle is used as the second loading and unloading point of the freight vehicle to be analyzed.

[0183] In one embodiment, when the processor 1001 determines the third loading and unloading point of the freight vehicle to be analyzed based on two trajectory points or three or more collinear trajectory points or long rectangles in the trajectory points in the candidate segment, the following operations are specifically performed:

[0184] From two trajectory points or three or more collinear trajectory points or long rectangular shapes existing in the trajectory points in the candidate segment, determine whether there is a target trajectory point within a preset distance from the first loading and unloading point or the second loading and unloading point;

[0185] If it exists, the target trajectory point is used as the third loading and unloading point of the freight vehicle to be analyzed;

[0186] If it does not exist, determine the starting stop point of each stop segment; through the starting stop point, find an anchor point that meets the preset distance threshold to the adjacent front driving segment; through the anchor point, reversely find the farthest trajectory point on the stop segment closest to the anchor point as the third loading and unloading point of the freight vehicle to be analyzed.

[0187] In the embodiments of the present application, on the one hand, the present application performs geometric operations and spatial analysis on each stop segment and the driving segments corresponding to its two ends, thereby realizing the identification of loading and unloading points by utilizing the trajectory morphology. The trajectory morphology can characterize the behavior of the vehicle, thereby improving the overall recognition effect. On the other hand, the present application can accurately identify loading and unloading points in open areas without POIs by counting the number of trajectory points in the candidate segments and / or the geometric morphology formed by the trajectory points in the candidate segments, thereby effectively improving the recognition accuracy of the unloading points of freight vehicles, and providing data support for the application of the entire logistics scenario.

[0188] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program for identifying the loading and unloading points based on the trajectory morphological features can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium of the program for identifying the loading and unloading points based on the trajectory morphological features can be a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0189] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for identifying loading and unloading points based on trajectory morphological features, characterized in that: The method comprises: Acquire trajectory point data generated by the operation of the freight vehicles to be analyzed within a preset period, wherein the freight vehicles to be analyzed are each freight vehicle in the freight vehicle list; According to the trajectory point data, identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends; Performing geometric operations and spatial analysis on each stop segment and the driving segments adjacent to both ends thereof to obtain candidate segments of the freight vehicle to be analyzed, wherein the candidate segments include at least one of a vertex return segment, a circumscribed rectangular segment, and a stop-go segment; The number of trajectory points in the candidate segment is counted, and the loading and unloading point of the freight vehicle to be analyzed is determined based on the number of trajectory points in the candidate segment and / or the geometric shape formed by the trajectory points in the candidate segment, wherein the geometric shape includes at least one of collinear points, a small rectangle, a large rectangle, a regular rectangle and an elongated rectangle.

2. The method according to claim 1, characterized in that The step of identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends thereof according to the trajectory point data comprises: Fitting the trajectory point sequence of the freight vehicle to be analyzed through the trajectory point data; Sorting the trajectory point sequence of the freight vehicle to be analyzed in a forward direction according to the chronological order to obtain a continuous trajectory segment of the freight vehicle to be analyzed; Determine, as a first stop segment, a trajectory segment in which a trajectory point speed is less than a preset speed threshold and a duration is greater than a preset time threshold in the continuous trajectory segments of the freight vehicle to be analyzed; taking any trajectory segment of the continuous trajectory segments of the freight vehicle to be analyzed except the first stop segment as a candidate trajectory segment; Count the duration and cumulative travel distance of the trajectory points in each candidate trajectory segment; The alternative trajectory segment whose duration is less than a preset time threshold and whose cumulative travel distance is less than a preset distance threshold is used as a second stop segment; Merging the adjacent stop segments of each first stop segment and each second stop segment, and using the merged stop segment as the final stop segment of the freight vehicle to be analyzed; The remaining road segments of the continuous trajectory segments of the freight vehicle to be analyzed, except the stop segments and closest to both ends of at least one stop segment, are used as the driving segments respectively adjacent to both ends of the at least one stop segment.

3. The method according to claim 1, characterized in that The geometric operation and spatial analysis are performed on each stop segment and the driving segments adjacent to both ends thereof to obtain the candidate segments of the freight vehicle to be analyzed, including: For both ends of each stop segment of the freight vehicle to be analyzed, a travel sub-segment of a preset distance is respectively intercepted forward and forward from two travel segments adjacent to the two ends to obtain a front travel segment interception segment and a rear travel segment interception segment; Identifying the spatial position overlapped portion of the front running segment cut-off segment and the rear running segment cut-off segment; Calculating a first ratio of the spatial position overlap portion to the intercepted segment of the preceding travel segment; Calculating a second ratio of the spatial position overlap portion to the intercepted segment of the rear running segment; The candidate segment of the freight vehicle to be analyzed is determined according to the first ratio or the second ratio.

4. The method according to claim 3, characterized in that: The step of determining the candidate segment of the freight vehicle to be analyzed according to the first ratio or the second ratio includes: When the first ratio or the second ratio is greater than a preset ratio threshold, each stop segment of the freight vehicle to be analyzed is used as a vertex turnaround segment.

5. The method according to claim 3, characterized in that: The step of determining the candidate segment of the freight vehicle to be analyzed according to the first ratio or the second ratio includes: When the first ratio or the second ratio is less than or equal to a preset ratio threshold, a spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed to obtain a circumscribed rectangular section or a stop-go section.

6. The method according to claim 5, characterized in that The spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed to obtain the circumscribed rectangular segment, including: Constructing a minimum circumscribed rectangle according to the stop trajectory points of each stop section of the freight vehicle to be analyzed; When the lengths of the long and short sides of the minimum circumscribed rectangle of each docking segment are greater than a preset length threshold and the ratio of the long and short sides is greater than a preset ratio and less than a preset ratio threshold, each docking segment is used as a circumscribed rectangle segment.

7. The method according to claim 5, characterized in that The spatial analysis is performed based on the stop trajectory points of each stop section of the freight vehicle to be analyzed to obtain the stop and go sections, including Constructing a minimum circumscribed rectangle according to the stop trajectory points of each stop section of the freight vehicle to be analyzed; judging whether the minimum circumscribed rectangle of each stop section meets a preset condition, wherein the preset condition includes at least one of threshold judgment according to the length of the long side, the length of the short side, and the ratio of the length of the long side to the short side of the minimum circumscribed rectangle; If yes, calculate the total duration of the freight vehicle to be analyzed at each stop section; Deduplication of longitude and latitude points in each stop section of the freight vehicle to be analyzed is performed, and the number of longitude and latitude points in each stop section after deduplication is counted; The number of longitude and latitude points in each stop segment after deduplication is counted as the number of stops; When the total duration of each stop segment is greater than a preset duration threshold and the number of stops is greater than a preset number threshold, each stop segment is regarded as a stop segment.

8. The method according to claim 7, characterized in that The determining whether the minimum bounding rectangle of each stop segment meets a preset condition includes: Determine whether the length of the long side of the minimum circumscribed rectangle of each stop segment is less than or equal to a preset length threshold; or, Determine whether the length of the short side of the minimum circumscribed rectangle of each stop segment is less than or equal to a preset length threshold; or, Determine whether the ratio of the length of the long side to the short side is greater than or equal to a preset ratio threshold; or, It is determined whether the ratio of the length of the long side to the short side is less than or equal to a preset ratio threshold.

9. The method according to claim 1, characterized in that: The determining of the loading and unloading point of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric form formed by the trajectory points in the candidate segment includes: In the case where the number of trajectory points in the candidate segment is single, the single trajectory point in the candidate segment is used as the first loading and unloading point of the freight vehicle to be analyzed; or When the number of trajectory points in the candidate segment is three or more, determining whether the trajectory points in the candidate segment are collinear or whether a minimum circumscribed rectangle exists; Dividing the minimum circumscribed rectangle into a small rectangle and a large rectangle according to a preset division condition; Divide the large rectangle into regular rectangles and long strip rectangles; Based on the small rectangle or the regular rectangle, determine the second loading and unloading point of the freight vehicle to be analyzed; or, based on two trajectory points or three or more collinear trajectory points in the trajectory points in the candidate segment or the long rectangle, determine the third loading and unloading point of the freight vehicle to be analyzed; All of the first loading and unloading points or all of the second loading and unloading points or all of the third loading and unloading points found are combined into one set to obtain the loading and unloading points of the freight vehicle to be analyzed.

10. The method according to claim 9, characterized in that Before determining the loading and unloading point of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric form formed by the trajectory points in the candidate segment, the method further includes: Deduplication is performed on the longitude and latitude of the stop track points corresponding to the vertex return segment, the circumscribed rectangular segment, and the stop-go segment; The number of trajectory points corresponding to the vertex return segment, the circumscribed rectangle segment, and the stop-go segment after deduplication is counted as the number of trajectory points in the candidate segment.

11. The method according to claim 9, characterized in that The step of determining the second loading and unloading point of the freight vehicle to be analyzed based on the small rectangle or the regular rectangle includes: Identify the trajectory point in each stop segment that is closest to the center of gravity of the small rectangle or the regular rectangle; The trajectory point closest to the center of gravity of the small rectangle and the regular rectangle is used as the second loading and unloading point of the freight vehicle to be analyzed.

12. The method according to claim 9, characterized in that The determining of the third loading and unloading point of the freight vehicle to be analyzed based on two trajectory points or three or more collinear trajectory points or the long rectangle existing in the trajectory points in the candidate segment includes: From two trajectory points or three or more collinear trajectory points or the long rectangle existing in the trajectory points in the candidate segment, determine whether there is a target trajectory point within a preset distance from the first loading and unloading point or the second loading and unloading point; If it exists, taking the target trajectory point as the third loading and unloading point of the freight vehicle to be analyzed; If it does not exist, determine the starting stop point of each stop segment; through the starting stop point, find an anchor point that meets the preset distance threshold to the adjacent front driving segment; through the anchor point, reversely find the farthest trajectory point on the stop segment closest to the anchor point as the third loading and unloading point of the freight vehicle to be analyzed.

13. A device for identifying loading and unloading points based on trajectory morphological features, characterized in that: The device comprises: An acquisition module, used to acquire trajectory point data generated by the operation of the freight vehicles to be analyzed within a preset period, wherein the freight vehicles to be analyzed are each freight vehicle in the freight vehicle list; An identification module, used for identifying at least one stop segment of the freight vehicle to be analyzed and its two adjacent travel segments at both ends thereof according to the trajectory point data; An operation and analysis module, used for performing geometric operations and spatial analysis on each stop segment and the driving segments corresponding to both ends thereof, to obtain candidate segments of the freight vehicle to be analyzed, wherein the candidate segments include at least one of a vertex return segment, a circumscribed rectangular segment, and a stop-go segment; A determination module is used to count the number of trajectory points in the candidate segment, and determine the loading and unloading points of the freight vehicle to be analyzed based on the number of trajectory points in the candidate segment and / or the geometric form formed by the trajectory points in the candidate segment, wherein the geometric form includes at least one of collinear points, a small rectangle, a large rectangle, a regular rectangle and an elongated rectangle.

14. A computer storage medium, characterized in that: The computer storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method according to any one of claims 1 to 12.

15. An electronic device, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method according to any one of claims 1 to 12.

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