Highway toll collection method, device, system and equipment and storage medium

Abstract

The invention discloses a highway toll collection method, device, system and equipment and a storage medium. The method comprises the steps of obtaining vehicle identification information, vehicle positioning information in a vehicle driving process and driving image data; acquiring a track point position sequence and a track point time sequence during driving on the highway; obtaining a vehicle track according to the track point position sequence and the track point time sequence; the vehicle track comprises at least one passing road track; determining a traffic road track length according to the traffic road track; performing toll accounting according to the traffic road section track and the traffic road section track length to obtain an accounting result; and performing fee deduction operation on a payment account corresponding to the vehicle identification information according to the accounting result. According to the method, through the image data collected in the driving process of the vehicle, the passing road section track and the passing road section track length of the vehicle are determined, charging accounting is carried out according to the charging rule, fee deduction is automatically carried out from the corresponding account, charging equipment does not need to be maintained, and the cost is reduced.

Description

Technical Field

[0001] This application relates to the field of the Internet, and particularly to a highway toll collection method, device, system, equipment, and storage medium. Background Art

[0002] In today's society, highways have become an indispensable transportation infrastructure, and the highway toll collection system is also a key component thereof. With the continuous progress of technology, the Electronic Toll Collection (ETC) system has gradually become the mainstream toll collection method. ETC is a toll collection method that uses wireless communication technology to achieve automatic vehicle identification and billing. Its basic principle is to install an on-vehicle electronic tag on the vehicle and a card reader at the toll station. When a vehicle passes through the toll station, the on-vehicle electronic tag automatically communicates wirelessly with the card reader to achieve vehicle information identification and billing data transmission.

[0003] However, the implementation method of the highway ETC toll collection system requires the installation of relevant equipment at both ends of the vehicle and the toll station. The equipment maintenance and usage costs are relatively high, and the vehicle needs to decelerate when entering and leaving the toll station, which not only affects the traffic flow but also increases the vehicle's fuel consumption and emissions. Summary of the Invention

[0004] Based on the above problems, this application provides a highway toll collection method, device, system, equipment, and storage medium, which can realize intelligent toll collection based on the driving information of the vehicle on the highway.

[0005] This application discloses the following technical solutions:

[0006] In a first aspect of this application, a highway toll collection method is provided, and the method includes:

[0007] Obtain vehicle identification information, vehicle positioning information during vehicle driving, and driving image data;

[0008] According to the vehicle positioning information and the driving image data, obtain a trajectory point position sequence and a trajectory point time sequence when driving on the highway;

[0009] Obtain a vehicle trajectory based on the trajectory point position sequence and the trajectory point time sequence; the vehicle trajectory includes at least one passing section trajectory;

[0010] Determine the length of the passing section trajectory according to the passing section trajectory;

[0011] Perform toll accounting according to the passing section trajectory and the length of the passing section trajectory to obtain an accounting result;

[0012] Perform an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result.

[0013] In a possible implementation, the obtaining of the sequence of trajectory point positions and the sequence of trajectory point times when driving on a highway includes:

[0014] Input the image data into a highway feature recognition module to recognize ramp signs and highway signs included in the image data, and obtain a recognition result; the recognition result includes the time sequence of the vehicle entering and exiting the ramp and the time sequence of driving on the highway passing section;

[0015] Determine the time sequence of trajectory points when driving on the highway as the time sequence of the vehicle entering and exiting the ramp and the time sequence of driving on the highway passing section;

[0016] According to the position information corresponding to each moment of the trajectory point time sequence matched from the vehicle positioning information, obtain the sequence of trajectory point positions when driving on the highway.

[0017] In a possible implementation, the method further includes:

[0018] Obtain the set of longitude and latitude of the highway road network;

[0019] The obtaining of the vehicle trajectory according to the sequence of trajectory point positions and the sequence of trajectory point times includes:

[0020] According to the set of longitude and latitude and the passing section corresponding to each trajectory point in the sequence of trajectory point positions, obtain the set of trajectory point passing sections;

[0021] Determine the vehicle trajectory according to the set of trajectory point passing sections.

[0022] In a possible implementation, the determining of the length of the passing section trajectory according to the passing section trajectory includes:

[0023] In the set of trajectory point passing sections, for the positions of the trajectory points corresponding to the same passing section, determine the starting position and the ending position of each passing section trajectory;

[0024] According to the starting position and the ending position of each passing section trajectory, determine the length of each passing section trajectory in the vehicle trajectory.

[0025] In a possible implementation, the obtaining of the set of longitude and latitude of the highway road network includes:

[0026] Determine the first trajectory point position L 1 (lat min , long min ) and the second trajectory point position L 2 (lat max , longmax ); where lat min represents the minimum longitude, and long min represents the minimum latitude, lat max represents the maximum longitude, and long max represents the maximum latitude;

[0027] Determine the position P of the first target point in the highway road network 1 (lat min , long min ), the position P of the second target point 2 (lat min , long max ), the position P of the third target point 3 (lat max , long max ) and the position P of the fourth target point 4 (lat max , long min );

[0028] Determine the longitude and latitude set of the highway road network surrounded by the positions of the first target point, the second target point, the third target point, and the fourth target point.

[0029] In a possible implementation, in the set of trajectory point passing sections, after determining the starting position and the ending position of each passing section trajectory for the trajectory points corresponding to the same passing section, it further includes:

[0030] Obtain the vehicle speed sequence corresponding to the trajectory point time series;

[0031] Determine the starting time and the ending time of each passing section trajectory from the trajectory point time series according to the starting position and the ending position;

[0032] Perform integral calculation according to the starting time, the ending time, the trajectory point time series, and the vehicle speed sequence to obtain the verification length of each passing section trajectory;

[0033] The determining the length of each passing section trajectory in the vehicle trajectory according to the starting position and the ending position of each passing section trajectory includes:

[0034] Determine the first length of each passing section trajectory in the vehicle trajectory according to the distance between the starting position and the ending position of each passing section trajectory;

[0035] Determine the shortest length among the first length and the verification length of each passing section trajectory as the length of the corresponding passing section trajectory.

[0036] The second aspect of the present application provides a highway toll collection device, which includes:

[0037] A vehicle identification information acquisition module, configured to acquire vehicle identification information, vehicle positioning information during vehicle driving, and driving image data;

[0038] A trajectory information acquisition module, configured to acquire a sequence of trajectory point positions and a sequence of trajectory point times during driving on a highway according to the vehicle positioning information and the driving image data;

[0039] A vehicle trajectory acquisition module, configured to obtain a vehicle trajectory according to the sequence of trajectory point positions and the sequence of trajectory point times; the vehicle trajectory includes at least one passing section trajectory;

[0040] A passing section trajectory length acquisition module, configured to determine the length of the passing section trajectory according to the passing section trajectory;

[0041] A toll calculation module, configured to calculate the toll according to the passing section trajectory and the length of the passing section trajectory to obtain a calculation result;

[0042] A deduction module, configured to perform an operation of deducting the payment account corresponding to the vehicle identification information according to the calculation result.

[0043] The third aspect of the present application provides a highway toll collection system, which includes:

[0044] A vehicle vision sensing module, a highway feature recognition module, a vehicle positioning module, a vehicle information module, a vehicle network communication module, and a highway toll collection platform;

[0045] The vehicle vision sensing module is configured to collect image data during vehicle driving;

[0046] The highway feature recognition module is configured to perform highway feature recognition on the image data to obtain a sequence of trajectory point times during driving on the highway;

[0047] The vehicle positioning module is configured to collect positioning information during vehicle driving and obtain a sequence of trajectory point positions during driving on the highway according to the sequence of trajectory point times;

[0048] The vehicle information module is configured to store vehicle identification information;

[0049] The vehicle network communication module is configured to send the vehicle identification information, the sequence of trajectory point positions, and the sequence of trajectory point times during driving on the highway to the highway toll collection platform;

[0050] The highway toll platform is used to receive vehicle identification information, a sequence of trajectory point positions and a sequence of trajectory point times during the vehicle's travel on the highway; obtain the vehicle trajectory based on the sequence of trajectory point positions and the sequence of trajectory point times; the vehicle trajectory includes at least one passing section trajectory; determine the length of the passing section trajectory according to the passing section trajectory; perform toll accounting based on the passing section trajectory and the length of the passing section trajectory to obtain an accounting result; and perform an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result.

[0051] A fourth aspect of the present application provides a highway toll device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the highway toll method described in the first aspect of the present application is implemented.

[0052] A fifth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the highway toll method described in the first aspect of the present application is implemented.

[0053] Compared with the prior art, the present application has the following beneficial effects:

[0054] A highway toll method, device, system, device and storage medium provided by the present application. The method includes: obtaining vehicle identification information, vehicle positioning information and driving image data during the vehicle's travel; obtaining a sequence of trajectory point positions and a sequence of trajectory point times during the vehicle's travel on the highway according to the vehicle positioning information and the driving image data; obtaining a vehicle trajectory based on the sequence of trajectory point positions and the sequence of trajectory point times; the vehicle trajectory includes at least one passing section trajectory; determining the length of the passing section trajectory according to the passing section trajectory; performing toll accounting based on the passing section trajectory and the length of the passing section trajectory to obtain an accounting result; and performing an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result. This method obtains the sequence of trajectory point positions and the sequence of trajectory point times during the vehicle's travel on the highway through the image data and positioning information collected during the vehicle's travel, and then determines the passing section trajectory and the length of the passing section trajectory passed by the vehicle, performs toll accounting according to the toll rules, and automatically deducts fees from the corresponding account, without the need to maintain toll devices, reducing costs and at the same time reducing traffic impact. Description of the Drawings

[0055] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0056] Figure 1 Schematic flowchart of a highway toll collection method provided by an embodiment of the present application;

[0057] Figure 2 Schematic structural diagram of a highway toll collection device provided by an embodiment of the present application;

[0058] Figure 3 Schematic structural diagram of a highway toll collection system provided by an embodiment of the present application;

[0059] Figure 4 Schematic application scenario diagram of a highway toll collection system provided by an embodiment of the present application;

[0060] Figure 5 Schematic application scenario diagram of another highway toll collection system provided by an embodiment of the present application;

[0061] Figure 6 Structural diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0062] As mentioned above, in today's society, highways have become an indispensable transportation infrastructure, and the highway toll collection system is also a key part of it. With the continuous progress of technology, the Electronic Toll Collection (ETC) system has gradually become the mainstream toll collection method. ETC is a toll collection method that uses wireless communication technology to achieve automatic vehicle identification and billing. Its basic principle is to install an on-vehicle electronic tag on the vehicle and a card reader at the toll station. When the vehicle passes through the toll station, the on-vehicle electronic tag and the card reader automatically conduct wireless communication to achieve automatic vehicle information identification and transmission of billing data.

[0063] However, the implementation method of the highway ETC toll collection system requires the installation of relevant equipment at both ends of the vehicle and the toll station. Although this method has achieved fast and convenient automatic toll collection, there are still some problems and deficiencies.

[0064] First, vehicles need to slow down when entering and leaving toll stations, which not only affects the smooth flow of traffic but also increases vehicle fuel consumption and emissions. Second, the equipment maintenance and usage costs are relatively high because on-vehicle electronic tags need to be installed for each vehicle, and at the same time, the card readers need to be maintained and upgraded regularly.

[0065] In addition, since the card readers need to be fixedly installed on the toll stations, they are vulnerable to the influence of weather, natural disasters, etc., and may even be damaged or interfered with artificially, resulting in challenges to the stability and reliability of the ETC system.

[0066] In view of this, the embodiments of the present application provide a highway toll collection method, device, system, equipment, and storage medium. The method includes: obtaining vehicle identification information, vehicle positioning information during vehicle travel, and driving image data; obtaining a sequence of trajectory point positions and a sequence of trajectory point times during highway travel according to the vehicle positioning information and the driving image data; obtaining a vehicle trajectory based on the sequence of trajectory point positions and the sequence of trajectory point times; the vehicle trajectory includes at least one passing section trajectory; determining the length of the passing section trajectory according to the passing section trajectory; performing toll accounting according to the passing section trajectory and the length of the passing section trajectory to obtain an accounting result; and performing an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result. This method obtains the sequence of trajectory point positions and the sequence of trajectory point times of the vehicle during highway travel through the image data and positioning information collected during vehicle travel, and then determines the passing section trajectory and the length of the passing section trajectory passed by the vehicle, performs toll accounting according to the toll collection rules, and automatically deducts fees from the corresponding account.

[0067] In order to enable those skilled in the art to better understand the solution of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0068] Figure 1 This is a schematic flowchart of a highway toll collection method provided by the embodiments of the present application. As Figure 1 shown, the highway toll collection method includes:

[0069] S101. Obtain vehicle identification information, vehicle positioning information during vehicle travel, and driving image data.

[0070] The vehicle identification information includes the license plate number and the vehicle identification number. The vehicle positioning information can be the positioning information during the vehicle's driving process obtained through a positioning sensor. The driving image data can be the images of the surrounding traffic environment during the vehicle's driving process collected by a vision sensor.

[0071] S102. Obtain the position sequence of trajectory points and the time sequence of trajectory points when driving on the highway according to the vehicle positioning information and the driving image data.

[0072] The position sequence of trajectory points when driving on the highway includes: the position information of the vehicle entering and exiting the ramp and the position information when driving on the passing section; the time sequence of trajectory points when driving on the highway includes: the moments when the vehicle enters and exits the ramp and the moments when driving on the passing section.

[0073] In a possible implementation manner, S102 obtaining the position sequence of trajectory points and the time sequence of trajectory points when driving on the highway includes:

[0074] A1. Input the image data into the highway feature recognition module to identify the ramp signs and highway signs included in the image data, and obtain the recognition result; the recognition result includes the time sequence of the vehicle entering and exiting the ramp and the time sequence of driving on the highway passing section.

[0075] The highway feature recognition model can adopt the yolov3 or Faster R-CNN model structure. Input the pre-processed (mainly including random rotation, scaling ratio, cropping, etc.) data samples into the model for iterative training and optimization to obtain the final highway feature recognition model. The pre-processed data samples are images or videos containing ramps and highway signs, and the data is sourced from images with ramps and highway signboards under different weather conditions, different perspectives, different lighting, etc. captured when entering and exiting ramps and driving on the highway in real highway scenarios; the positions of the signboards marked in each image are represented by the central coordinates of the marked signboard target rectangle and the width and height of the rectangle.

[0076] The highway feature recognition model outputs frame by frame whether the vehicle enters and exits the ramp:

[0077] Z = {z 1 , z 2 ,..., zn}, zi ∈ {1, 0};

[0078] Whether driving on the highway H = {h 1 , h 2 ,..., h n}, h i ∈ {1, 0};

[0079] A2. Determine the time series of the vehicle entering and exiting the ramp and the time series of traveling on the highway passing section as the time series of trajectory points during highway driving.

[0080] Output the time series T of entering and exiting the ramp z ={t z1 ,t z2 ,...,t zn}, the time series T of traveling on the highway passing section h ={t h1 ,t h2 ,...,t hn}.

[0081] A3. Obtain the trajectory point position sequence during highway driving according to the position information corresponding to each moment of the trajectory point time series matched from the vehicle positioning information.

[0082] Trajectory point position sequence, that is, the positioning information of the vehicle entering and exiting the ramp and traveling on the highway:

[0083] L ={(lat 1 , long 1 ), (lat 2 , long 2 ),...,(lat n , long n )}.

[0084] S103. Obtain the vehicle trajectory according to the trajectory point position sequence and the trajectory point time series; the vehicle trajectory includes at least one passing section trajectory.

[0085] In a possible implementation, S103 obtaining the vehicle trajectory according to the trajectory point position sequence and the trajectory point time series includes:

[0086] B1. Obtain the trajectory point passing section set according to the highway network information and the passing section corresponding to each trajectory point in the trajectory point position sequence.

[0087] In a possible implementation, B1 includes:

[0088] Determine the first trajectory point position L 1 (lat min , long min ) and the second trajectory point position L 2 (lat max , long max ) from the trajectory point position sequence; where lat min represents the minimum longitude, long min represents the minimum latitude, lat maxRepresents the maximum longitude, long max Represents the maximum latitude; determine the position P of the first target point in the highway road network 1 (lat min , long min ), the position P of the second target point 2 (lat min , long max ), the position P of the third target point 3 (lat max , long max ) and the position P of the fourth target point 4 (lat max , long min ); determine the longitude and latitude set of the highway road network surrounded by the positions of the first target point, the second target point, the third target point and the fourth target point; obtain the set of passing sections of the trajectory points according to the longitude and latitude set of the highway road network and the passing section corresponding to each trajectory point in the trajectory point position sequence.

[0089] According to the vehicle trajectory point position sequence:

[0090] L = {(lat 1 , long 1 ), (lat 2 , long 2 ),...,(lat n , long n )}, calculate

[0091] L min = (lat min , long min ), L max = (lat max , long max ), retrieve the points P 1 (lat min , long min ), P 2 (lat min , long max ), P 3 (lat max , long max ), P 4 (lat max , long min ) in the highway road network, and intercept the longitude and latitude set of the highway road network surrounded by these four points, and for each trajectory point P n (lat n , long n)Projected onto the corresponding section r of the highway n , to obtain the set of passage sections of trajectory points based on the vehicle trajectory R = {r 1 , r 2 ,..., r n}. r 1 , r 2 ,..., r n is the characterization information of a certain passage section.

[0092] B2. Determine the vehicle trajectory according to the set of passage sections of trajectory points.

[0093] According to the set of passage sections of trajectory points R = {r 1 , r 2 ,..., r n}, obtain the corresponding passage section trajectory S.

[0094] S104. Determine the length of the passage section trajectory according to the passage section trajectory.

[0095] In a possible implementation manner, S104 determines the length of the passage section trajectory according to the passage section trajectory, including:

[0096] C1. In the set of passage sections of trajectory points, determine the starting position and ending position of each passage section trajectory according to the positions of the trajectory points corresponding to the same passage section.

[0097] In an example, in the set R = {r 1 , r 2 ,..., r n}, r 1 , r 2 ,....r k represents the same road section, 1 < k ≤ n, the starting position of this road section is (lat 1 , long 1 ), and the ending position is (lat k , long k ).

[0098] C2. Determine the length of each passage section trajectory in the vehicle trajectory according to the starting position and ending position of each passage section trajectory.

[0099] Continuing with the above example, calculate the distance between the starting position (lat 1 , long 1 ) and the ending position (lat k , long k ), which is the length of the passage section trajectory of this road section.

[0100] In order to avoid the situation where other highway sections near the tunnel may cause incorrect matching of the highway passing section due to GPS signal drift, resulting in incorrect calculation of the passing mileage, the embodiments of the present application provide a calculation method for the trajectory length of the passing section with redundant verification. The specific implementation method is as follows:

[0101] In a possible implementation manner, after determining the starting position and ending position of each passing section trajectory based on the positions of the trajectory points corresponding to the same passing section in the set of passing sections of the trajectory points in step C1, the following steps are further included:

[0102] Obtain the vehicle speed sequence corresponding to the time sequence of the trajectory points; determine the starting time and ending time of each passing section trajectory from the time sequence of the trajectory points according to the starting position and the ending position; perform integral calculation according to the starting time, the ending time, the time sequence of the trajectory points and the vehicle speed sequence to obtain the verification length of each passing section trajectory.

[0103] Obtain the speed information of the vehicle during driving speed = {s 1 , s 2 ,..., s n} and the time information timestamp = {t 1 , t 2 ,..., t n}, and based on the starting time, the ending time, and the time T z of entering and leaving the ramp = {t z1 , t z2 ,..., t zn}, and the time T h of driving on the highway {t h1 , t h2 ,..., t hn}, obtain the corresponding speed information and time information of the vehicle driving on the highway. By performing integral operation on the speed information and the time information, the verification length of each passing section trajectory of the vehicle can be obtained. According to the time of entering and leaving the ramp and the time of driving on the highway, the mileage of driving on each section of the highway can be correspondingly intercepted for redundant verification of the mileage of a highway passing section, avoiding the situation where other highway sections near the tunnel may cause incorrect matching of the highway passing section due to GPS signal drift, resulting in incorrect calculation of the passing mileage.

[0104] Step C2 determines the length of each passing section trajectory in the vehicle trajectory according to the starting position and the ending position of each passing section trajectory, including:

[0105] C21. Determine the first length of each passing section trajectory in the vehicle trajectory according to the distance between the starting position and the ending position of each passing section trajectory.

[0106] Continuing with the above example, calculate the starting position (lat 1 , long 1 ) and the ending position (lat k , long k ) distances, and use it as the first length of the passing section trajectory of this section of the road.

[0107] C22. Determine the shortest length among the first length and the verification length of each passing section trajectory as the corresponding passing section trajectory length.

[0108] S105. Conduct toll accounting based on the passing section trajectory and the passing section trajectory length to obtain the accounting result.

[0109] There are corresponding toll standards for different sections of the highway network.

[0110] In one example, the toll standard for a certain section of the highway is shown in the following table:

[0111] Vehicle category Passenger car (yuan per vehicle-kilometer) Truck (yuan per vehicle-kilometer) Class 1 0.55 0.45 Class 2 0.825 0.977 Class 3 1.1 1.35 Class 4 1.1 1.805

[0112] Determine the corresponding section toll standard information based on the passing section trajectory, and then determine the category based on the vehicle identification information (including license plate information, vehicle identification number information, etc.), and then determine the corresponding specific toll unit price. Calculate the toll amount based on the length of the passing section trajectory of this section and the unit price.

[0113] S106. Perform the operation of deducting fees from the payment account corresponding to the vehicle identification information based on the accounting result.

[0114] In one example, the user connects to the highway cloud information platform through the mobile client. The user can perform operations such as highway toll query, payment, and appeal through the client. For example, through the highway toll query function of the client, the user can view the name of the toll station where the vehicle enters and exits the highway, the time, the highway mileage, the driving trajectory, the billing rules, and the total toll. Through the highway payment function, the license plate number, vehicle identification number, and payment account are bound. Through the highway appeal function, an appeal can be made for incorrect toll deduction on the highway.

[0115] In the embodiment of the present application, the position sequence of trajectory points and the time sequence of trajectory points of the vehicle during highway driving are obtained through the image data and positioning information collected during the vehicle's driving process. Then, the passing section trajectory and the passing section trajectory length passed by the vehicle are determined. Toll accounting is carried out according to the toll rules, and fees are automatically deducted from the corresponding account, eliminating the need to maintain toll collection equipment, reducing costs, and at the same time reducing traffic impact.

[0116] Figure 2This is a structural diagram of a highway toll collection device provided by an embodiment of the present application. As Figure 2 shown, the device includes:

[0117] An information acquisition module 201, configured to acquire vehicle identification information, vehicle positioning information during vehicle travel, and driving image data;

[0118] A trajectory information acquisition module 202, configured to acquire a sequence of trajectory point positions and a sequence of trajectory point times during highway travel according to the vehicle positioning information and the driving image data;

[0119] A vehicle trajectory acquisition module 203, configured to obtain a vehicle trajectory according to the sequence of trajectory point positions and the sequence of trajectory point times; the vehicle trajectory includes at least one passing section trajectory;

[0120] A passing section trajectory length acquisition module 204, configured to determine the passing section trajectory length according to the passing section trajectory;

[0121] A toll accounting module 205, configured to perform toll accounting according to the passing section trajectory and the passing section trajectory length to obtain an accounting result;

[0122] A deduction module 206, configured to perform an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result.

[0123] In an embodiment of the present application, a sequence of trajectory point positions and a sequence of trajectory point times during highway travel are obtained through the image data and positioning information collected during vehicle travel, and then the passing section trajectory and the passing section trajectory length passed by the vehicle are determined, and toll accounting is performed according to the toll rules, and fees are automatically deducted from the corresponding account, which can reduce the equipment maintenance and usage costs and at the same time reduce traffic impact.

[0124] In a possible implementation manner, the trajectory information acquisition module includes:

[0125] An identification module, configured to input the image data into a highway feature identification module to identify ramp signs and highway signs included in the image data to obtain an identification result; the identification result includes a sequence of times for the vehicle to enter and exit the ramp and a sequence of times for traveling on the highway passing section;

[0126] A trajectory point time sequence determination module, configured to determine the sequence of times for the vehicle to enter and exit the ramp and the sequence of times for traveling on the highway passing section as the sequence of trajectory point times during highway travel;

[0127] A trajectory point position sequence determination module, configured to obtain a trajectory point position sequence during highway driving according to the position information corresponding to each moment of the trajectory point time series matched from the vehicle positioning information.

[0128] In a possible implementation, the apparatus further includes:

[0129] A longitude and latitude set acquisition module for the highway road network, configured to acquire the longitude and latitude set of the highway road network;

[0130] The vehicle trajectory acquisition module is specifically configured to obtain a trajectory point passing section set according to the longitude and latitude set and the passing section corresponding to each trajectory point in the trajectory point position sequence; and determine the vehicle trajectory according to the trajectory point passing section set.

[0131] In a possible implementation, the determining the length of the passing section trajectory according to the passing section trajectory includes:

[0132] In the trajectory point passing section set, the positions of the trajectory points corresponding to the same passing section are used to determine the start position and end position of each passing section trajectory;

[0133] According to the start position and end position of each passing section trajectory, determine the length of each passing section trajectory in the vehicle trajectory.

[0134] In a possible implementation, the acquiring the longitude and latitude set of the highway road network includes:

[0135] Determine the first trajectory point position L 1 (lat min , long min ) and the second trajectory point position L 2 (lat max , long max ) from the trajectory point position sequence; where lat min represents the minimum longitude, long min represents the minimum latitude, lat max represents the maximum longitude, long max represents the maximum latitude;

[0136] Determine the first target point position P 1 (lat min , long min ), the second target point position P 2 (lat min , long max ), the third target point position P 3 (lat max , long max) and the fourth target point position P 4 (lat max ,long min );

[0137] Determine the longitude and latitude set of the highway road network surrounded by the first target point position, the second target point position, the third target point position, and the fourth target point position.

[0138] In a possible implementation manner, in the set of trajectory point passing sections, after determining the starting position and the ending position of each passing section trajectory for the positions of the trajectory points corresponding to the same passing section, it further includes:

[0139] Obtain the vehicle speed sequence corresponding to the trajectory point time series;

[0140] Determine the starting time and the ending time of each passing section trajectory from the trajectory point time series according to the starting position and the ending position;

[0141] Perform integral calculation according to the starting time, the ending time, the trajectory point time series, and the vehicle speed sequence to obtain the verification length of each passing section trajectory;

[0142] The determining the length of each passing section trajectory in the vehicle trajectory according to the starting position and the ending position of each passing section trajectory includes:

[0143] Determine the first length of each passing section trajectory in the vehicle trajectory according to the distance between the starting position and the ending position of each passing section trajectory;

[0144] Determine the shortest length among the first length of each passing section trajectory and its verification length as the length of the corresponding passing section trajectory.

[0145] Figure 3 This is a schematic structural diagram of a highway toll collection system provided by an embodiment of the present application. As Figure 3 shown, an embodiment of the present application provides a highway toll collection system, and the system includes:

[0146] A vehicle network communication module 301, configured to obtain vehicle identification information, vehicle positioning information during vehicle driving, and driving image data, and send them to the highway toll collection platform 302;

[0147] The highway toll platform 302 is used to receive vehicle identification information, vehicle positioning information during vehicle driving, and driving image data; obtain a sequence of trajectory point positions and a sequence of trajectory point times when driving on the highway according to the vehicle positioning information and the driving image data; obtain a vehicle trajectory based on the sequence of trajectory point positions and the sequence of trajectory point times; the vehicle trajectory includes at least one passing section trajectory; determine the length of the passing section trajectory according to the passing section trajectory; perform toll accounting according to the passing section trajectory and the length of the passing section trajectory to obtain an accounting result; and perform an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result.

[0148] In the embodiment of the present application, a sequence of trajectory point positions and a sequence of trajectory point times when a vehicle is driving on the highway are obtained through image data and positioning information collected during vehicle driving, and then the passing section trajectory and the length of the passing section trajectory passed by the vehicle are determined. Toll accounting is performed according to the toll rules, and fees are automatically deducted from the corresponding account, which can reduce the equipment maintenance and usage costs and at the same time reduce traffic impacts.

[0149] In a possible implementation manner, the system further includes:

[0150] A vehicle vision sensing module, a vehicle positioning module, and a vehicle information module;

[0151] The vehicle vision sensing module is used to obtain image data during vehicle driving;

[0152] The vehicle positioning module is used to obtain position information during vehicle driving;

[0153] The vehicle information module is used to obtain vehicle identification information, vehicle speed information, and driving time information during vehicle driving.

[0154] In a possible implementation manner, the highway toll platform is specifically used to input the image data into a highway feature recognition module to identify ramp signs and highway signs included in the image data, and obtain an identification result; the identification result includes a time sequence of the vehicle entering and leaving the ramp and a time sequence of driving on the highway passing section; determine the time sequence of the vehicle entering and leaving the ramp and the time sequence of driving on the highway passing section as the sequence of trajectory point times when driving on the highway; and obtain the sequence of trajectory point positions when driving on the highway according to the position information corresponding to each moment of the sequence of trajectory point times matched from the vehicle positioning information.

[0155] In a possible implementation, the highway toll platform is further specifically configured to obtain the longitude and latitude set of the highway road network; obtain the set of trajectory point passing sections according to the longitude and latitude set and the passing sections corresponding to each trajectory point in the trajectory point position sequence; and determine the vehicle trajectory according to the set of trajectory point passing sections.

[0156] In a possible implementation, the highway toll platform is specifically configured to determine the start position and end position of each passing section trajectory in the vehicle trajectory according to the positions of the trajectory points corresponding to the same passing section in the set of trajectory point passing sections; and determine the length of each passing section trajectory in the vehicle trajectory according to the start position and end position of each passing section trajectory.

[0157] In a possible implementation, the highway toll platform is specifically configured to determine a first trajectory point position L 1 (lat min , long min ) and a second trajectory point position L 2 (lat max , long max ) from the trajectory point position sequence; where lat min represents the minimum longitude, long min represents the minimum latitude, lat max represents the maximum longitude, long max represents the maximum latitude; determine a first target point position P 1 (lat min , long min ), a second target point position P 2 (lat min , long max ), a third target point position P 3 (lat max , long max ) and a fourth target point position P 4 (lat max , long min ) in the highway road network; and determine the longitude and latitude set of the highway road network enclosed by the first target point position, the second target point position, the third target point position and the fourth target point position.

[0158] In a possible implementation, the highway toll platform is specifically configured to, after determining the starting position and the ending position of each passing section trajectory based on the positions of the trajectory points corresponding to the same passing section in the set of passing section trajectories of the trajectory points, obtain the vehicle speed sequence corresponding to the trajectory point time series; determine the starting time and the ending time of each passing section trajectory from the trajectory point time series according to the starting position and the ending position; perform integral calculation based on the starting time, the ending time, the trajectory point time series, and the vehicle speed sequence to obtain the verification length of each passing section trajectory; determine the first length of each passing section trajectory in the vehicle trajectory according to the distance between the starting position and the ending position of each passing section trajectory; and determine the shortest length among the first length and the verification length of each passing section trajectory as the length of the corresponding passing section trajectory.

[0159] Figure 4 FIG. is a schematic diagram of an application scenario of a highway toll system provided by an embodiment of the present application. As Figure 4 shown, an embodiment of the present application provides a highway toll system, which includes: a vehicle vision sensing module, a vehicle positioning module, a vehicle information module, a vehicle network communication module, and a highway toll platform.

[0160] The vehicle vision sensing module collects image data during driving (for example, records a video), and the image data includes image information of ramp signs and highway signs. The vehicle positioning module collects positioning information throughout the vehicle driving process, and the vehicle information module collects speed information, time information, license plate information, and frame information during the vehicle driving process. The above information is uploaded to the highway toll platform through the vehicle network communication module. The highway toll platform uses the highway feature recognition module to perform frame-by-frame recognition on the image data to obtain the time when the vehicle enters and exits the ramp and the time when the vehicle is driving on the highway, outputs the trajectory point time series of driving on the highway, matches the positioning information to obtain the trajectory point position series, and then matches the sections in the highway network to obtain the vehicle trajectory and calculates the length of each passing section. According to the passing section trajectories included in the vehicle trajectory, as well as the length of each passing section trajectory, license plate number, and frame number, the toll rule is matched and the toll is calculated. The fee is deducted from the payment account bound to the license plate number.

[0161] Since too much traffic is required to upload the image data frame by frame to the cloud platform for highway feature recognition, an embodiment of the present invention provides another highway toll system, which completes the highway feature recognition function on the vehicle to save the traffic uploaded to the highway toll platform. Refer to Figure 5 , Figure 5 FIG. is a schematic diagram of another application scenario of a highway toll system provided by an embodiment of the present application. As Figure 5As shown in the figure, an embodiment of the present application provides a highway toll collection system, which includes: a vehicle vision sensing module, a highway feature recognition module, a vehicle positioning module, a vehicle information module, a vehicle network communication module, and a highway toll collection platform.

[0162] The vehicle vision sensing module is used to collect image data during driving.

[0163] The highway feature recognition module is used to perform highway feature recognition on the image data to obtain a time series of trajectory points driving on the highway.

[0164] The vehicle positioning module is used to collect positioning information during the vehicle's driving process, and obtain a position sequence of trajectory points driving on the highway based on the time series of trajectory points.

[0165] The vehicle information module is used to store vehicle identification information.

[0166] The vehicle network communication module is used to send the vehicle identification information, the position sequence of trajectory points driving on the highway, and the time series of trajectory points to the highway toll collection platform.

[0167] The highway toll collection platform is used to receive the vehicle identification information, the position sequence of trajectory points driving on the highway, and the time series of trajectory points; obtain the vehicle trajectory according to the position sequence of trajectory points and the time series of trajectory points; the vehicle trajectory includes at least one passing section trajectory; determine the length of the passing section trajectory according to the passing section trajectory; perform toll accounting according to the passing section trajectory and the length of the passing section trajectory to obtain an accounting result; perform an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the accounting result.

[0168] The vehicle vision sensing module collects image data during driving (for example, records videos), and the image data contains image information of ramp signs and highway signs. The highway feature recognition module performs frame-by-frame recognition on the image data to obtain the moments when the vehicle enters and exits the ramp and the moments when the vehicle is driving on the highway, and outputs the time series of trajectory points during driving on the highway. The vehicle positioning module collects the positioning information during the whole driving process of the vehicle. The time series of trajectory points is matched with the positioning information during the whole driving process of the vehicle to obtain the trajectory point position sequence. The vehicle information module collects the speed information, time information, license plate information, and frame information during the driving process of the vehicle. The vehicle networking communication module uploads the time series of trajectory points during driving on the highway, the trajectory point position sequence, the speed information, the time information, the license plate information, and the frame information to the highway toll platform. The highway toll platform matches the trajectory point position sequence, and then matches the sections in the highway network to obtain the vehicle trajectory, calculates the trajectory length of each passing section, calculates the verification length based on the speed information and the time information, and performs redundancy verification on the trajectory length of the passing section. According to the passing section trajectories included in the vehicle trajectory, as well as the trajectory length of each passing section, the license plate number, and the frame number, the toll rules are matched and the toll is calculated.

[0169] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the highway toll collection method provided by the embodiment of the present application.

[0170] In practical applications, the computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium (non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, apparatus, or device.

[0171] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0172] The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0173] The computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or a cloud service system. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0174] As Figure 6 shown, a schematic structural diagram of a computer device provided by an embodiment of this application. The computer device can be applied as a highway toll collection device. Figure 6 The computer device 12 shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0175] As Figure 6 shown, the computer device 12 is presented in the form of a general-purpose computing device. The components of the computer device 12 may include but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0176] Bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an Accelerated Graphics Port, a processor bus, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0177] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including both volatile and nonvolatile media, removable and non-removable media.

[0178] System memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, storage system 34 can be used for reading and writing non-removable, nonvolatile magnetic media ( Figure 6 not shown and typically called a "hard disk drive"). Although Figure 6 not shown in the figures, a disk drive for reading and writing removable nonvolatile disks (such as a "floppy disk"), and an optical disk drive for reading and writing removable nonvolatile optical disks (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the embodiments of the present application.

[0179] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in memory 28, and such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 42 typically carry out the functions and / or methods of the embodiments described herein.

[0180] The computer device 12 can also communicate with one or more external devices 14 (such as keyboards, pointing devices, displays 24, etc.), and can also communicate with one or more devices that enable users to interact with the computer device 12, and / or communicate with any device that enables the computer device 12 to communicate with one or more other computing devices (such as network cards, modems, etc.). Such communication can be carried out through the input / output (I / O) interface 22. Moreover, the computer device 12 can also communicate with one or more networks (such as local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through the network adapter 20. As Figure 6 shown, the network adapter 20 communicates with other modules of the computer device 12 through the bus 18. It should be understood that although Figure 6 not shown in the figure, other hardware and / or software modules can be used in combination with the computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0181] The processor unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the highway toll collection method provided in the embodiments of the present application.

[0182] It should be noted that the various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components prompted as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative efforts.

[0183] As mentioned above, it is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A highway toll collection method, characterized in that: The method comprises: Obtain vehicle identification information, vehicle positioning information during vehicle driving, and driving image data; According to the vehicle positioning information and the driving image data, a trajectory point position sequence and a trajectory point time sequence when driving on the highway are obtained; Obtaining a vehicle trajectory according to a trajectory point position sequence and a trajectory point time sequence; the vehicle trajectory includes at least one passing road section trajectory; Determining the length of the passing section trajectory according to the passing section trajectory; Calculating the toll according to the passable road section trajectory and the passable road section trajectory length to obtain a calculation result; An operation of deducting fees from a payment account corresponding to the vehicle identification information is performed based on the calculation result.

2. The method according to claim 1, characterized in that The step of obtaining a trajectory point position sequence and a trajectory point time sequence when driving on a highway includes: Input the driving image data into a highway feature recognition module to recognize ramp signs and highway signs contained in the driving image data to obtain a recognition result; the recognition result includes a time series of vehicles entering and exiting ramps and a time series of vehicles traveling on a highway pass section; Determine the time series of the vehicle entering and exiting the ramp and the time series of the vehicle traveling on the expressway section as the trajectory point time series when traveling on the expressway; According to the position information corresponding to each moment of the trajectory point time series matched from the vehicle positioning information, the trajectory point position sequence when driving on the highway is obtained.

3. The method according to claim 1, characterized in that The method further comprises: Get the longitude and latitude set of the highway network; The step of obtaining the vehicle trajectory according to the trajectory point position sequence and the trajectory point time sequence comprises: Obtaining a trajectory point passable road section set according to the longitude and latitude set and the passable road section corresponding to each trajectory point in the trajectory point position sequence; The vehicle trajectory is determined according to the set of road sections traveled by the trajectory points.

4. The method according to claim 3, characterized in that The determining the length of the passing section trajectory according to the passing section trajectory comprises: The positions of the trajectory points corresponding to the same passing road section in the trajectory point passing road section set determine the starting position and the ending position of each passing road section trajectory; The length of each pass section trajectory in the vehicle trajectory is determined according to the starting position and the ending position of each pass section trajectory.

5. The method according to claim 3, characterized in that: The step of obtaining a set of longitude and latitude of a highway network includes: Determine the first trajectory point position L1 (lat min ,long min ) and the second trajectory point position L2 (lat max ,long max ); where lat min Indicates the minimum longitude, long min Indicates the minimum latitude, lat max Indicates the maximum longitude, long max Indicates the maximum latitude; Determine the first target point position P1 (lat min ,long min )、The second target point position P2 (lat min ,long max )、The third target point position P3 (lat max ,long max ) and the fourth target point position P4 (lat max ,long min ); Determine a set of longitude and latitude of a highway network surrounded by the first target point location, the second target point location, the third target point location, and the fourth target point location.

6. The method according to claim 4, characterized in that In the trajectory point passing road segment set, the positions of the trajectory points corresponding to the same passing road segment, after determining the starting position and the ending position of each passing road segment trajectory, further comprising: Obtaining a vehicle speed sequence corresponding to the trajectory point time series; According to the starting position and the ending position, determining the starting time and the ending time of each passable road segment trajectory from the trajectory point time series; Performing integral calculation according to the starting time, the ending time, the trajectory point time sequence and the vehicle speed sequence to obtain the verification length of each passable road section trajectory; The determining the length of each passing section trajectory in the vehicle trajectory according to the starting position and the ending position of each passing section trajectory comprises: Determine a first length of each passing road section trajectory in the vehicle trajectory according to the distance between the starting position and the ending position of each passing road section trajectory; The shortest of the first length and the check length of each passable section trajectory is determined as the corresponding passable section trajectory length.

7. A highway toll collection device, characterized in that: The device comprises: A vehicle identification information acquisition module is used to acquire vehicle identification information, vehicle positioning information during vehicle driving, and driving image data; A trajectory information acquisition module, used to acquire a trajectory point position sequence and a trajectory point time sequence when driving on a highway according to the vehicle positioning information and the driving image data; A vehicle trajectory acquisition module, used to obtain a vehicle trajectory according to a trajectory point position sequence and a trajectory point time sequence; the vehicle trajectory includes at least one passing road section trajectory; A passing section trajectory length acquisition module, used to determine the passing section trajectory length according to the passing section trajectory; A fee calculation module, used to calculate the toll according to the passing road section trajectory and the passing road section trajectory length, and obtain a calculation result; A deduction module is used to perform an operation of deducting fees from the payment account corresponding to the vehicle identification information according to the calculation result.

8. A highway toll collection system, characterized in that: The system comprises: Vehicle visual sensing module, highway feature recognition module, vehicle positioning module, vehicle information module, vehicle networking communication module and highway toll collection platform; The vehicle visual sensor module is used to collect image data during driving; The highway feature recognition module is used to perform highway feature recognition on the image data to obtain a time series of trajectory points traveling on the highway; The vehicle positioning module is used to collect positioning information of the vehicle during driving, and obtain a trajectory point position sequence of driving on the highway according to the trajectory point time sequence; The vehicle information module is used to store vehicle identification information; A vehicle networking communication module, used to send vehicle identification information, a trajectory point position sequence and a trajectory point time sequence on the highway to the highway toll collection platform; The highway toll collection platform is used to receive vehicle identification information, a trajectory point position sequence and a trajectory point time sequence of driving on the highway; obtain a vehicle trajectory according to the trajectory point position sequence and the trajectory point time sequence; the vehicle trajectory includes at least one pass section trajectory; determine the pass section trajectory length according to the pass section trajectory; calculate the toll according to the pass section trajectory and the pass section trajectory length to obtain a calculation result; and execute an operation of deducting the payment account corresponding to the vehicle identification information according to the calculation result.

9. A highway toll collection device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the highway toll collection method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the highway charging method as described in any one of claims 1 to 6 is implemented.

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