Road closure event processing method, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a road closure event processing method, electronic equipment, a storage medium and a program product. The method relates to the field of maps and the technical field of computers. The method comprises the following steps: acquiring a vehicle track of an area range in which a road closure section corresponding to a road closure event is located; based on the vehicle trajectory, determining a target vehicle trajectory with a feature of passing through the closure road section; determining vehicle characteristics of a vehicle corresponding to the target vehicle track according to the target vehicle track and the closure road section; according to the vehicle characteristics, determining the confidence coefficient of a road closure releasing event of the vehicle; and determining whether to release the road closure event according to the confidence coefficient of the vehicle and the vehicle characteristics. The method is used for achieving the effect of improving the timeliness of releasing the road closure event.

Description

Technical Field

[0001] The present application relates to the field of maps and computer technology, and in particular to a method for processing a road closure event, an electronic device, a storage medium, and a program product. Background Art

[0002] When there is a traffic accident or other situation on the road, the relevant road section will be closed to ensure the effective handling of the accident or situation.

[0003] In the related art, after a road closure event occurs, the navigation application usually removes the road closure event according to the preset expiration time of the road closure event. In some cases, the road closure event may not be removed in time even though the road closure event of the road closure event in the navigation application has actually been removed, which affects the user's travel experience. Summary of the invention

[0004] The embodiments of the present application provide a method for processing a road closure event, an electronic device, a storage medium, and a program product, so as to achieve the effect of improving the timeliness of lifting the road closure event.

[0005] In a first aspect, an embodiment of the present application provides a method for handling a road closure event, including: obtaining a vehicle trajectory that passes through an area where a road closure section corresponding to the road closure event is located; based on the vehicle trajectory, determining a target vehicle trajectory having characteristics of passing through the road closure section; determining vehicle characteristics of a vehicle corresponding to the target vehicle trajectory according to the target vehicle trajectory and the road closure section; determining a confidence level of the vehicle in a road closure release event according to the vehicle characteristics; and determining whether to release the road closure event based on the vehicle confidence level and the vehicle characteristics.

[0006] In a second aspect, an embodiment of the present application provides a device for processing a road closure event, including:

[0007] An acquisition module, used to acquire vehicle trajectories passing through the area where the road closure section corresponding to the road closure event is located;

[0008] A selection module, for determining, based on the vehicle trajectory, a target vehicle trajectory having a characteristic of passing through a road closure section;

[0009] A feature determination module, used to determine the vehicle features of the vehicle corresponding to the target vehicle trajectory according to the target vehicle trajectory and the road closure section;

[0010] A confidence determination module, used to determine the confidence of the road closure release event of the vehicle according to the vehicle characteristics;

[0011] The event processing module is used to determine whether to lift the road closure event based on the confidence level and vehicle characteristics of the vehicle.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementation manners of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which when executed by a processor, implements the above first aspect and / or various possible implementation manners of the first aspect.

[0015] The method, electronic device, storage medium, and program product for handling road closure events provided by the embodiments of the present application obtain vehicle trajectories passing through the area range where the road closure section is located, then determine target vehicle trajectories with the characteristic of passing through the road closure section, determine vehicle characteristics of the vehicle according to the target vehicle trajectories and the road closure section, determine the confidence level of the vehicle actually passing through the road closure section according to the vehicle characteristics, and determine whether to lift the road closure event according to the vehicle characteristics and the confidence level. Determining target vehicle trajectories with the characteristic of passing through the road closure section in the trajectory data of the road network can effectively reduce the number of trajectories participating in the calculation and improve the processing efficiency of road closure events; by determining the confidence level of the vehicle actually passing through the road closure section through vehicle characteristics, combining vehicle characteristics and the confidence level of the vehicle, it can be determined whether the road closure section has been passed, and then determine whether to lift the road closure event, improving the accuracy of lifting the road closure event; determining whether to lift the road closure event based on the real trajectory of the vehicle instead of determining whether to lift the road closure event through the preset expiration duration of the road closure event can lift the road closure event in a timely manner when it is determined that there are vehicles passing through the road closure section, effectively improving the timeliness of lifting the road closure event and also improving the user travel experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0017] Figure 1 It is a schematic diagram of the scenario of the method for handling road closure events provided by the present application;

[0018] Figure 2 It is a flowchart of the method for handling road closure events provided by the present application Figure 1 ;

[0019] Figure 3Schematic flow chart for determining the optimal path between two first trajectory points provided by this application;

[0020] Figure 4 Schematic diagram of the application scenario of the method for handling road closure events provided by this application in a specific example;

[0021] Figure 5 Schematic flow chart of the method for handling road closure events provided by this application Figure 2 ;

[0022] Figure 6 Schematic structural diagram of the device for handling road closure events provided by this application;

[0023] Figure 7 Schematic structural diagram of the electronic device provided by this application.

[0024] Through the above-mentioned drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0025] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. 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 this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0026] The method for handling road closure events provided by the embodiments of this application can be applied to an application environment as Figure 1 shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed in the cloud or other network servers.

[0027] Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0028] The following uses specific embodiments to elaborate in detail on the technical solution of this application and how the technical solution of this application solves the above technical problems. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be elaborated in some embodiments. The embodiments of this application will be described below in conjunction with the accompanying drawings.

[0029] Figure 2 Flow schematic of the method for handling road closure events provided by this application Figure 1 , the method for handling road closure events can be applied to an electronic device, and the electronic device can be Figure 1 the server in; as Figure 2 shown, the method for handling road closure events includes:

[0030] S201. Obtain the vehicle trajectories passing through the area range where the road section corresponding to the road closure event is located.

[0031] Among them, a road closure event refers to an event of implementing a ban on a road section. The road section subject to road closure is the road section on which the ban is implemented in the road closure event, that is, the road section where passage is prohibited. A road closure event usually also includes information such as the reason for implementing the ban on the road section and the start time.

[0032] The area range where the road section subject to road closure is located is the area range at a first preset distance from the road section subject to road closure. Specifically, it can be the area range at a first preset distance from the starting point or the ending point of the road section subject to road closure; the vehicle trajectory is the trajectory of vehicle travel.

[0033] Specifically, a vehicle can upload the trajectory of its travel to the electronic device during or after the vehicle travels. When a road closure event occurs, relevant personnel upload the road closure event to the electronic device. The electronic device obtains the travel trajectory and the road closure event. For each road closure event, according to the distance between the road section corresponding to the road closure event and the travel trajectory, the vehicle trajectories passing through the area range where the road section subject to road closure is located are selected from the travel trajectories.

[0034] S202. Based on the vehicle trajectories, determine the target vehicle trajectories with the characteristic of passing through the road section subject to road closure.

[0035] Among them, the target vehicle trajectories with the characteristic of passing through the road section subject to road closure meet at least one of the following conditions: the target vehicle trajectory is the trajectory after the road closure event occurs, the distance difference information between the target vehicle trajectory and the road section subject to road closure meets the preset change trend condition, the offset distance between the target vehicle trajectory and the road section subject to road closure meets the preset offset condition, and the positional relationship between the target vehicle trajectory and the road section subject to road closure is the preset positional relationship.

[0036] The distance difference information includes the distances between respective trajectory points in the target vehicle trajectory and the road closure position points of the road closure section; the distance difference information satisfying the preset change trend condition means that, in the driving direction of the target vehicle trajectory, the distances corresponding to the respective trajectory points gradually increase and then gradually decrease in order.

[0037] The offset distance satisfying the preset offset condition means that the offset distance belongs to an offset distance interval, and the offset distance interval can be set according to actual requirements; the offset distance belonging to the offset distance interval indicates that the offset distance is small.

[0038] The preset position relationship means that the starting point and the ending point of the target vehicle trajectory are respectively on both sides of the road closure section.

[0039] It can be understood that the actual trajectory passing through the road closure section has the characteristics of passing through the road closure section, and the trajectory that does not actually pass through the road closure path may also have the characteristics of passing through the road closure section. Therefore, the target vehicle trajectory can be regarded as a trajectory suspected of passing through the road closure section.

[0040] Specifically, the electronic device determines the vehicle to which the vehicle trajectory belongs, obtains the trajectory of the vehicle within a specific time period, and the specific time period can be the time period from the start time of the road closure event to the current time; according to the difference between the trajectory of the vehicle within the specific time period and the road closure section, the trajectory of the vehicle within the specific time period is screened to obtain a trajectory with the characteristics of passing through the road closure section; through road matching speculation, the screened trajectory is processed by road matching speculation to obtain an optimized trajectory, and the target vehicle trajectory matching the road closure section is selected from the optimized trajectory.

[0041] It should be noted that the vehicle trajectory includes multiple trajectory points. The number of trajectory points may be small, and thus the number of trajectory points in the screened trajectory with the characteristics of passing through the road closure section may be small. There may be a relatively large distance between two trajectory points, and thus there may be multiple passing paths between the two trajectory points, and the passing path between the two trajectory points cannot be determined. To determine the specific passing path between the two trajectory points, the electronic device processes the screened trajectory by road matching speculation to obtain an optimized trajectory.

[0042] S203. Determine the vehicle characteristics of the vehicle corresponding to the target vehicle trajectory according to the target vehicle trajectory and the road closure section.

[0043] Among them, the vehicle characteristics are used to reflect the driving state of the vehicle on the target vehicle trajectory, the position relationship between the target vehicle trajectory and the road closure section, etc.

[0044] Optionally, the vehicle characteristics include: the trajectory integrity characteristic of the target vehicle trajectory, the vehicle speed characteristic of the vehicle on the target vehicle trajectory, and the position relationship characteristic between the target vehicle trajectory and the road closure section.

[0045] Specifically, the electronic device obtains the starting point and the ending point of the road closure section, calculates a first distance between the starting point and the target vehicle trajectory, calculates a second distance between the ending point and the target vehicle trajectory, and determines a trajectory integrity feature based on the first distance and the second distance; the electronic device obtains a first average speed of the vehicle on the target vehicle trajectory, obtains a second average speed corresponding to the vehicle on the road closure section, and determines a speed feature based on the first average speed and the second average speed; the electronic device calculates an offset value between a trajectory point of the target vehicle trajectory and the road closure section, determines perpendicular information between the target vehicle trajectory and the road closure section, and determines a positional relationship feature based on the offset value and the perpendicular information.

[0046] It should be noted that the target vehicle trajectory is obtained by screening the trajectories in the road network based on the road closure sections. There may be deviations between the data of the road network, vehicle trajectory and actual road. Therefore, the target vehicle trajectory is not necessarily the trajectory that actually passes through the road closure section, but the trajectory that may pass through the road closure section.

[0047] S204: Determine the confidence level of the road closure release event for the vehicle according to the vehicle characteristics.

[0048] The confidence level indicates the credibility of the target vehicle's trajectory actually passing through the road closure section. For example, when there are many vehicles with high confidence levels passing through the road closure section, it indicates that the road closure event corresponding to the road closure section may have been lifted.

[0049] Optionally, the electronic device divides the target vehicle trajectory into a pre-event trajectory, a road closure trajectory and a post-event trajectory, wherein the pre-event trajectory is a trajectory in the target vehicle trajectory whose trajectory points are after the starting point of the road closure section, the post-event trajectory is a trajectory in the target vehicle trajectory whose trajectory points are before the ending point of the road closure section, and the road closure trajectory is a trajectory in the target vehicle trajectory whose trajectory points correspond to the road closure section.

[0050] The electronic device determines the vehicle features corresponding to the pre-event trajectory, the road closure trajectory and the post-event trajectory respectively in the vehicle features; determines the confidence of the pre-event trajectory according to the vehicle features corresponding to the pre-event trajectory, and determines the confidence of the road closure trajectory according to the vehicle features corresponding to the road closure trajectory; determines the confidence of the post-event trajectory according to the vehicle features corresponding to the post-event trajectory; determines the confidence of the vehicle according to the confidence of the pre-event trajectory, the confidence of the road closure trajectory and the confidence of the post-event trajectory; for example, if at least two of the confidence of the pre-event trajectory, the confidence of the road closure trajectory and the confidence of the post-event trajectory are high confidence, then the confidence of the vehicle is determined to be high confidence, otherwise the confidence of the vehicle is determined to be low confidence.

[0051] Taking the determination of the confidence level of the pre-event trajectory based on the vehicle characteristics corresponding to the pre-event trajectory as an example, the vehicle characteristics corresponding to the pre-event trajectory include the trajectory integrity characteristic, the vehicle speed characteristic of the pre-event trajectory, and the positional relationship characteristic of the pre-event trajectory. If the trajectory integrity characteristic, the vehicle speed characteristic of the pre-event trajectory, and the positional relationship characteristic of the pre-event trajectory meet their respective corresponding preset conditions, it is determined that the confidence level of the pre-event trajectory is a high confidence level; otherwise, it is determined that the confidence level of the pre-event trajectory is a low confidence level.

[0052] Optionally, the electronic device determines whether the vehicle characteristics meet their respective corresponding preset conditions. If so, it is determined that the confidence level of the vehicle is relatively high; if not, it is determined that the confidence level of the vehicle is relatively low. Specifically, the vehicle characteristics include the trajectory integrity characteristic, the vehicle speed characteristic, and the positional relationship characteristic. If the trajectory integrity characteristic indicates that the target vehicle trajectory is complete, then the trajectory integrity characteristic meets the first preset condition; if the vehicle speed characteristic indicates that the vehicle speed on the target vehicle trajectory is not a low speed, then the vehicle speed characteristic meets the second preset condition; if the positional relationship characteristic indicates that the offset value between the target vehicle trajectory and the road closure section is small, then the positional relationship characteristic meets the third preset condition.

[0053] Step 205: Determine whether to lift the road closure event based on the confidence level of the vehicle and the vehicle characteristics.

[0054] Specifically, the number of target vehicle trajectories can be multiple, and accordingly, the number of vehicles corresponding to the target vehicle trajectories can be multiple. Based on the vehicle characteristics of multiple vehicles, the first target vehicle whose trajectory integrity characteristic meets the preset integrity condition is determined among the multiple vehicles, the second target vehicle whose vehicle speed characteristic meets the preset vehicle speed condition is determined, and the third target vehicle whose positional relationship characteristic meets the preset positional relationship condition is determined; based on the confidence levels of multiple vehicles, the high-confidence vehicles are determined among the multiple vehicles; whether to lift the road closure event is determined based on the numbers of the first target vehicle, the second target vehicle, the third target vehicle, and the high-confidence vehicles.

[0055] Optionally, when there is no parallel section for the road closure section, if at least one of the following conditions is met: the number of the first target vehicles reaches the first preset number, the number of the second target vehicles reaches the second preset number, the number of the third target vehicles reaches the third preset number, and the number of the high-confidence vehicles reaches the fourth preset number, the road closure event is lifted.

[0056] Optionally, when there is a parallel section for the road closure section, if at least one of the following conditions is met: the number of first target vehicles reaches a fifth preset quantity, the number of second target vehicles reaches a sixth preset quantity, the number of third target vehicles reaches a seventh preset quantity, and the number of high-confidence vehicles reaches an eighth preset quantity, where the fifth preset quantity is greater than the first preset quantity, the sixth preset quantity is greater than the second preset quantity, the seventh preset quantity is greater than the third preset quantity, and the eighth preset quantity is greater than the fourth preset quantity, then the road closure event is lifted.

[0057] That is to say, compared with the conditions for lifting the road closure event when there is no parallel section for the road closure section, the conditions for lifting the road closure event when there is a parallel section for the road closure section are more stringent.

[0058] In the above method for handling the road closure event, vehicle trajectories passing through the area range where the road closure section is located are obtained, then target vehicle trajectories with the feature of passing through the road closure section are determined, vehicle characteristics of the vehicle are determined based on the target vehicle trajectories and the road closure section, the confidence level of the vehicle actually passing through the road closure section is determined according to the vehicle characteristics, and whether to lift the road closure event is determined based on the vehicle characteristics and the confidence level. Determining target vehicle trajectories with the feature of passing through the road closure section in the trajectory data of the road network can effectively reduce the number of trajectories involved in the calculation and improve the processing efficiency of the road closure event; by determining the confidence level of the vehicle actually passing through the road closure section according to the vehicle characteristics, and combining the vehicle characteristics and the confidence level of the vehicle, it can be determined whether the road closure section has been passed, and then whether to lift the road closure event, improving the accuracy of lifting the road closure event; determining whether to lift the road closure event based on the true trajectory of the vehicle instead of the preset expiration duration of the road closure event can lift the road closure event in a timely manner when it is determined that there are vehicles passing through the road closure section, effectively improving the timeliness of lifting the road closure event and also improving the user travel experience.

[0059] In some embodiments, obtaining vehicle trajectories passing through the area range where the road closure section corresponding to the road closure event is located includes: obtaining the driving trajectories in the current cycle; and selecting, based on the distance between the road closure section corresponding to the road closure event and the driving trajectories, the vehicle trajectories passing through the area range where the road closure section is located from the driving trajectories.

[0060] Specifically, the electronic device is configured with a GPS matching unit. The GPS matching unit reads the real-time uploaded road closure events and driving trajectories from the message queue. The GPS matching unit can process the road closure events and driving trajectories periodically. For example, when the time duration from the previous cycle reaches a preset interval duration, the driving trajectories read in the current cycle are obtained.

[0061] In practical applications, the message queue can be a Kafka message queue; the driver can upload the driving trajectory generated by the vehicle to the Kafka message queue. When a road closure event occurs, the relevant personnel upload the road closure event to the Kafka message queue, and the GPS matching unit reads the real-time uploaded road closure events and driving trajectories from the Kafka message queue.

[0062] The read road closure events and driving trajectories can be the road closure events and driving trajectories in a specific area. For example, they can be all the road closure events and driving trajectories in Area A, or all the road closure events and driving trajectories in Region B.

[0063] For each road closure event, the GPS matching unit obtains the road closure position points of the road closure section corresponding to the road closure event. The road closure position points can be any position points on the road closure section. For example, they can be the starting point or the ending point of the road closure section.

[0064] For each driving trajectory in the current cycle, for each trajectory point (GPS point) on the driving trajectory, the GPS matching unit calculates the distance between the trajectory point and the road closure position point. If the distance belongs to a preset distance interval, the driving trajectory is regarded as the vehicle trajectory within the area range of the road closure section. Among them, the distance between the trajectory point and the road closure position point can be the perpendicular distance; the preset distance interval can be set according to actual needs. For example, the preset distance interval can be (0, 500).

[0065] In practical applications, after the GPS matching unit determines the vehicle trajectories passing through the area range of the road closure section, it can send the vehicle trajectories passing through the area range of the road closure section to the database for storage. In practical applications, the database can use ClickHouse database (a columnar database for real-time data analysis).

[0066] In the above embodiment, screening the vehicle trajectories passing through the area range of the road closure section among all the driving trajectories effectively reduces the data volume for subsequent determination of whether to lift the road closure event and improves the processing efficiency of the road closure event.

[0067] In some embodiments, based on the vehicle trajectories, determining the target vehicle trajectories that may pass through the road closure section includes: determining the vehicles to which the vehicle trajectories belong; obtaining the first candidate trajectories of the vehicles after the road closure event occurs; determining the distance difference information based on the road closure position points of the road closure section and the trajectory points in the first candidate trajectories. When the distance difference information meets the preset change trend condition, the first candidate trajectory is regarded as the second candidate trajectory with the characteristic of passing through the road closure section; based on the spatial tree structure of the road network, performing road matching speculation processing on the second candidate trajectory to obtain the third candidate trajectory; selecting the target vehicle trajectories matching the road closure section from the third candidate trajectories.

[0068] Among them, the road closure position point can be the starting point, the ending point or any point of the road closure section; the first candidate trajectory includes multiple trajectory points.

[0069] Specifically, the electronic device determines the vehicle to which the vehicle trajectory belongs, obtains the start time of the road closure event, and among all the trajectories of the vehicle, obtains the trajectory corresponding to the time period from the start time to the current time. It can be understood that the trajectory corresponding to the time period from the start time of the road closure event to the current time is the first candidate trajectory after the road closure event occurs.

[0070] The distance difference information includes: the distances between each trajectory point in the first candidate trajectory and the road closure position point respectively; the distance difference information satisfies the preset change trend condition, which means that according to the driving direction of the first candidate trajectory, the distances corresponding to each trajectory point have a trend of becoming smaller from larger and then becoming smaller from larger again, that is, when driving on the first candidate trajectory, the distance from the road closure section conforms to the trend of getting farther and then nearer again.

[0071] After obtaining the first candidate trajectory, obtain the road closure position point of the road closure section, respectively determine the distances between each trajectory point of the first candidate trajectory and the road closure position point, and according to the driving direction of the first candidate trajectory, determine the change trend of the distances corresponding to each trajectory point. If the change trend of the distances satisfies the preset change trend condition, it is determined that the first candidate trajectory has the characteristic of passing through the road closure section, and the first candidate trajectory is used as the second candidate trajectory.

[0072] Optionally, after obtaining the first candidate trajectory of the vehicle after the road closure event occurs, it further includes: the distance between the ending point of the first candidate trajectory and the ending point of the road closure section. If this distance is less than the second preset distance, the first candidate trajectory is excluded; among them, this distance being less than the second preset distance means that the ending point of the first candidate trajectory is relatively close to the ending point of the road closure section; in practical applications, if the distance between the ending point of the first candidate trajectory and the ending point of the road closure section is relatively close, it means that there is a possibility that the first candidate trajectory may not have passed through the road closure section.

[0073] Optionally, after obtaining the first candidate trajectory of the vehicle after the road closure event, it further includes: determining the number and clustering value of the trajectory points in the first candidate trajectory, determining the completion rate of the first candidate trajectory relative to the road closure section, determining the offset angle and offset value between the first candidate trajectory and the road closure section; if the number of trajectory points does not belong to the preset point number interval, or the clustering value of the trajectory points does not belong to the preset clustering value interval, or the completion rate does not belong to the preset completion rate interval, or the offset angle does not belong to the preset angle interval, or the offset value does not belong to the preset offset value interval, then the first candidate trajectory is eliminated; among them, the number of trajectory points not belonging to the preset point number interval means that the number of trajectory points is small; the clustering value of the trajectory points not belonging to the preset clustering value interval means that the clustering value is large; the completion rate not belonging to the preset completion rate interval means that the completion rate is small, and the offset value not belonging to the preset offset value interval means that the offset value is large.

[0074] Optionally, after selecting the second candidate trajectory with the feature of passing through the road closure section, it further includes: calculating the third distance between the starting point of the second candidate trajectory and the starting point of the road closure section, calculating the fourth distance between the ending point of the second candidate trajectory and the ending point of the road closure section, if the third distance is greater than the third preset distance, then truncate the trajectory of the part of the second candidate trajectory where the third distance is greater than the third preset distance, if the fourth distance is greater than the third preset distance, then truncate the trajectory of the part of the second candidate trajectory where the fourth distance is greater than the third preset distance; through this solution, the trajectory of the part farther from the road closure section can be truncated.

[0075] Through the above process, the second candidate trajectory with the feature of passing through the road closure section is selected from the first candidate trajectories, realizing the fine filtering of the first candidate trajectories, reducing the number of first candidate trajectories participating in the calculation, and improving the processing efficiency of the road closure event.

[0076] Optionally, based on the spatial tree structure of the road network, perform road matching speculation processing on the second candidate trajectory to obtain the third candidate trajectory, including: for each first trajectory point in the second candidate trajectory, according to the longitude and latitude of the first trajectory point, obtain the first alternative road sections around the first trajectory point in the spatial tree structure of the road network, according to the road direction corresponding to the first alternative road sections and the direction of the second candidate trajectory, select the second alternative road section from the first alternative road sections, and the direction difference between the selected second alternative road section and the second candidate trajectory is smaller than the direction difference between the unselected first alternative road section and the second candidate trajectory; calculate the projection distance between the first trajectory point and the second alternative road section, and select the third alternative road section from the second alternative road sections according to the projection distance; the projection distance between the selected third alternative road section and the first trajectory point is smaller than the projection distance between the unselected second alternative road section and the first trajectory point.

[0077] After obtaining the third alternative road segments of each first trajectory point, for two adjacent first trajectory points in the second candidate trajectory, based on the third alternative road segments of the two adjacent first trajectory points respectively, perform two-point matching speculation, calculate multiple speculation paths between the two adjacent first trajectory points, and determine the optimal path between the two adjacent first trajectory points among the multiple speculation paths with the goal of the shortest path according to the road topology; determine the third candidate trajectory based on the second candidate trajectory and the optimal path between the two adjacent first trajectory points; it can be understood that through the road matching speculation process, the paths between the first trajectory points in the second candidate trajectory are connected to obtain the third candidate trajectory; the electronic device matches the second trajectory points in the third candidate trajectory with the position points in the road closure section to select the target vehicle trajectory that may pass through the road closure section in the third candidate trajectory.

[0078] Among them, as Figure 3 shown, determining the optimal path between two adjacent first trajectory points among multiple speculation paths with the shortest path according to the road topology includes:

[0079] (1), Determine the observation probability between the first trajectory point and the speculation path; for each first trajectory point among the two first trajectory points, calculate the perpendicular distance between the first trajectory point and each speculation path, set that the perpendicular distance conforms to a normal distribution, according to this normal distribution, the probability density corresponding to each speculation path can be determined, perform logarithmic operation on the probability density corresponding to the speculation path to obtain the logarithmic probability, and use the logarithmic probability as the observation probability between the first trajectory point and the speculation path; exemplarily, the mean of the normal distribution that the perpendicular distance conforms to can be 0, and the standard deviation can be 20 meters.

[0080] (2), Determine the transition probability between the two first trajectory points; the two first trajectory points include a starting point and an ending point, calculate the probability that the speculation path of the starting point travels to the speculation path of the ending point, set that the difference between the Euclidean distance between the starting point and the ending point and the path distance of the speculation path from the starting point to the ending point conforms to a normal distribution, and then the probability density that the speculation path of the starting point travels to the speculation path of the ending point can be determined, perform logarithmic operation on this probability density to obtain the logarithmic probability, and use this logarithmic probability as the transition probability between the two first trajectory points; exemplarily, the mean of the normal distribution that the difference between the Euclidean distance and the path distance conforms to can be 0, and the standard deviation can be 10% of the path distance.

[0081] (3), Determine the target probability of the speculation path according to the observation probability and the transition probability; for each speculation path between the two first trajectory points, determine the sum value of the observation probability between the first trajectory point and this speculation path and the transition probability between the two first trajectory points to obtain the target probability of this speculation path.

[0082] (4)Select the optimal path from the speculative paths according to the target probability; sort all the speculative paths according to the target probability, and select the path with the highest target probability in the speculative paths as the optimal path.

[0083] In practical applications, the electronic device is configured with a trajectory filtering unit. The trajectory filtering unit can call the matching speculation service interface, obtain the vehicle trajectory from the database through the trajectory filtering unit, and determine the vehicle to which the vehicle trajectory belongs through the trajectory filtering unit; obtain the first candidate trajectory of the vehicle after the road closure event occurs, filter the first candidate trajectory according to the difference between the closed road section and the first candidate trajectory to obtain the second candidate trajectory, call the matching speculation service interface, and through the matching speculation service, based on the spatial tree structure of the road network, perform road matching speculation processing on the second candidate trajectory to obtain the third candidate trajectory. The trajectory filtering unit then matches the third candidate trajectory with the closed road section to select the target vehicle trajectory that matches the closed road section; it should be noted that the target vehicle trajectory that matches the closed road section includes, but is not limited to: the distance between the trajectory points of the target vehicle trajectory and the road closure position points of the closed road section belongs to the distance matching interval, and the number of trajectory points in the target vehicle trajectory belongs to the number matching interval.

[0084] In the above embodiment, the first candidate trajectory is refined and filtered to obtain a second candidate trajectory with a higher matching degree with the closed road section, reducing the number of first candidate trajectories participating in the calculation and improving the processing efficiency of the road closure event; through the road matching speculation processing, the paths between the first trajectory points in the second candidate trajectory are connected to obtain the optimized third candidate trajectory. Through the third candidate trajectory, the target vehicle trajectory that may pass through the closed road section can be selected more accurately, improving the accuracy of the road closure event processing.

[0085] In some embodiments, according to the target vehicle trajectory and the closed road section, determine the vehicle characteristics of the vehicle corresponding to the target vehicle trajectory, including: determine the trajectory integrity characteristic of the vehicle corresponding to the target vehicle trajectory according to the matching degree between the target vehicle trajectory and the closed road section; determine the position relationship characteristic according to the position relationship between the trajectory points on the target vehicle trajectory and the closed road section; determine the vehicle speed characteristic of the vehicle on the target vehicle trajectory according to the closed road section; the vehicle characteristics include the trajectory integrity characteristic, the position relationship characteristic, and the vehicle speed characteristic.

[0086] Among them, the trajectory integrity characteristic is used to indicate whether the distances of the sections before the starting point and after the ending point of the closed road section included in the target vehicle trajectory are greater than the complete section threshold.

[0087] The positional relationship features include: foot-of-perpendicular information, maximum offset value, minimum offset value, and average offset value; the foot-of-perpendicular information includes: whether there is a foot-of-perpendicular point (for a target trajectory point in the target vehicle trajectory, whether there is a corresponding foot-of-perpendicular point falling on the road closure section), and the corresponding foot-of-perpendicular distance; the maximum offset value is the maximum value among the offset values between the target trajectory points and the road closure section, the minimum offset value is the minimum value among the offset values between the target trajectory points and the road closure section, and the average offset value is the average value of the offset values between the target trajectory points and the road closure section.

[0088] Based on the road closure section, the target vehicle trajectory can be divided into a road closure trajectory segment and a non-road closure trajectory segment; the vehicle speed features include the first vehicle speed corresponding to the road closure trajectory segment and the second vehicle speed corresponding to the non-road closure trajectory segment; among them, the distance between the target trajectory points in the road closure trajectory segment and the road closure section is relatively close, and the distance between the target trajectory points in the non-road closure trajectory segment and the road closure section is relatively far.

[0089] It should be noted that the number of target vehicle trajectories can be multiple, and thus there are multiple vehicles. For each vehicle, the vehicle features are determined according to the target vehicle trajectory of the vehicle and the road closure section.

[0090] Specifically, for each vehicle, the target vehicle trajectory of the vehicle is divided into a road closure trajectory segment and a non-road closure trajectory segment. The non-road closure trajectory segment includes a pre-event trajectory segment (where the target trajectory points are on one side after the starting point of the road closure section) and a post-event trajectory segment (where the target trajectory points are on one side before the ending point of the road closure section); if the lengths of both the pre-event trajectory segment and the post-event trajectory segment exceed the complete road section threshold, the trajectory integrity feature is complete; otherwise, the trajectory integrity feature is incomplete.

[0091] For each target trajectory point in the target vehicle trajectory, determine whether there is a corresponding foot-of-perpendicular point on the road closure section. If the target vehicle trajectory includes target trajectory points with corresponding foot-of-perpendicular points, determine the foot-of-perpendicular distance, and use the presence of the foot-of-perpendicular point and the foot-of-perpendicular distance as the foot-of-perpendicular information. If the target vehicle trajectory does not include target trajectory points with corresponding foot-of-perpendicular points, use the absence of the foot-of-perpendicular point as the foot-of-perpendicular information; specifically, the foot-of-perpendicular information of the road closure trajectory segment, the pre-event trajectory segment, and the post-event trajectory segment can be calculated respectively.

[0092] For each target trajectory point in the target vehicle trajectory, calculate the offset value between the target trajectory point and the road closure section, and determine the maximum offset value, minimum offset value, and average offset value of the target vehicle trajectory according to the offset values of each target trajectory point; specifically, the offset value between the road closure trajectory segment and the road closure section can be calculated to obtain the maximum offset value, minimum offset value, and average offset value of the road closure trajectory segment; similarly, the maximum offset value, minimum offset value, and average offset value of the pre-event trajectory segment, and the maximum offset value, minimum offset value, and average offset value of the post-event trajectory segment can be determined.

[0093] For the road closure trajectory segment, the pre-event trajectory segment, and the post-event trajectory segment, the average vehicle speed in the road closure trajectory segment, the average vehicle speed in the pre-event trajectory segment, and the average vehicle speed in the post-event trajectory segment are obtained.

[0094] In the above embodiment, vehicle features in multiple dimensions are determined based on the target vehicle trajectory and the road closure section. The vehicle features in multiple dimensions can more comprehensively reflect the possibility that the target vehicle trajectory of the vehicle passes through the road closure section, thereby improving the quality of the confidence determined subsequently.

[0095] In some embodiments, the vehicle features include a trajectory integrity feature, a position relationship feature, and a vehicle speed feature; the target vehicle trajectory includes a road-closing trajectory segment and a non-road-closing trajectory segment; the vehicle speed feature includes a first vehicle speed corresponding to the road-closing trajectory segment and a second vehicle speed corresponding to the non-road-closing trajectory segment;

[0096] Determining the confidence of the road closure release event for the vehicle according to the vehicle characteristics, including: determining the confidence of the road closure trajectory segment according to the first vehicle speed, trajectory integrity characteristics and position relationship characteristics; determining the confidence of the non-road closure trajectory segment according to the second vehicle speed, trajectory integrity characteristics and position relationship characteristics; determining the confidence of the road closure release event for the vehicle according to the confidence of the road closure trajectory segment and the confidence of the non-road closure trajectory segment.

[0097] Among them, the first vehicle speed corresponding to the road closure trajectory segment is the average speed of the vehicle in the road closure trajectory segment; the second vehicle speed corresponding to the non-road closure trajectory segment includes the average speed of the vehicle in the trajectory segment before the event and the average speed of the trajectory segment after the event.

[0098] The positional relationship features include the offset values ​​and perpendicular information of the road closure trajectory segment, the trajectory segment before the event, and the trajectory segment after the event.

[0099] Exemplarily, Table 1 lists vehicle features and confidence levels.

[0100] Table 1

[0101]

[0102] If the first vehicle speed corresponding to the road closure trajectory segment does not belong to the preset low-speed interval, the trajectory integrity feature is complete, the average offset value of the road closure trajectory segment belongs to the preset offset value interval, and the perpendicular foot information of the road closure trajectory segment indicates that there is a perpendicular foot point, then the confidence of the road closure trajectory segment is determined to be high confidence.

[0103] Among them, the first vehicle speed does not belong to the preset low-speed interval, indicating that the first vehicle speed is not low speed, and the preset low-speed interval can be set according to actual needs; the average offset value belongs to the preset offset value interval, indicating that the average offset value is small, and the preset offset value interval can be set according to actual needs.

[0104] Similarly, if the average vehicle speed corresponding to the pre-event trajectory segment of the vehicle does not belong to the preset low-speed range, the trajectory integrity feature is complete, the average offset value of the pre-event trajectory segment belongs to the preset offset value range, and the footpoint information of the pre-event trajectory segment indicates the presence of a footpoint, then the confidence level of the pre-event trajectory segment is determined to be a high confidence level. For the post-event trajectory segment, if the corresponding average vehicle speed, trajectory integrity feature, average offset value, and footpoint information all meet the corresponding conditions, then the confidence level of the post-event trajectory segment is determined to be a high confidence level.

[0105] If the confidence level of the road closure trajectory segment corresponding to the vehicle is a high confidence level, then the confidence level of the vehicle is determined to be a high confidence level; if the confidence level of the road closure trajectory segment corresponding to the vehicle is not a high confidence level, the confidence level of the pre-event trajectory segment corresponding to the vehicle is a high confidence level, and the average offset value and the minimum offset value of the post-event trajectory segment meet the preset offset value conditions, then the confidence level of the vehicle is determined to be a high confidence level.

[0106] If the confidence level of the road closure trajectory segment corresponding to the vehicle is not a high confidence level, the confidence level of the post-event trajectory segment corresponding to the vehicle is a high confidence level, and the average offset value and the minimum offset value of the pre-event trajectory segment meet the preset offset value conditions, then the confidence level of the vehicle is determined to be a high confidence level.

[0107] Among them, the average offset value and the minimum offset value of the post-event trajectory segment (pre-event trajectory segment) meeting the preset offset value conditions means that both the average offset value and the minimum offset value are relatively small, and the preset offset value conditions can be determined according to the actual situation.

[0108] In the above embodiments, the confidence level of the vehicle is determined through vehicle features in multiple dimensions. The vehicle features in multiple dimensions can more comprehensively reflect the possibility that the target vehicle trajectory of the vehicle passes through the road closure section, improving the quality of the confidence level.

[0109] In some embodiments, the number of vehicles is multiple; the vehicle features include position relationship features, trajectory integrity features, and vehicle speed features;

[0110] Determine whether to lift the road closure event based on the confidence level of vehicles and vehicle characteristics, including: select high-confidence vehicles from multiple vehicles according to the confidence levels of the multiple vehicles; select a first vehicle from the multiple vehicles according to the positional relationship characteristics of the multiple vehicles; the positional relationship characteristics of the first vehicle meet the preset position conditions; select a second vehicle from the multiple vehicles according to the trajectory integrity characteristics of the multiple vehicles; the trajectory integrity characteristics of the second vehicle are complete; select a third vehicle from the multiple vehicles according to the vehicle speed characteristics of the multiple vehicles; the vehicle speed characteristics of the third vehicle do not belong to the preset low-speed interval; determine the position index values of the multiple vehicles according to the positional relationship characteristics of the multiple vehicles; determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of the first vehicle, the number of the second vehicle, the number of the third vehicle, and the position index values.

[0111] Among them, the position index values include the foot point completion rate and the average foot point distance.

[0112] Specifically, the electronic device selects high-confidence vehicles from multiple vehicles according to the confidence levels of the multiple vehicles; the positional relationship characteristics include foot point information, and the foot point information includes the foot point distance. The electronic device selects a first vehicle that meets the first preset position condition from the multiple vehicles according to the foot point distances of the multiple vehicles; among them, the first vehicle that meets the preset position condition includes the first vehicle whose foot point distance meets the first preset position condition (such as the foot point distance is less than the preset foot point distance threshold); the electronic device selects a second vehicle with complete trajectory integrity characteristics from the multiple vehicles according to the trajectory integrity characteristics of the multiple vehicles, and selects a third vehicle whose vehicle speed does not belong to the preset low-speed interval from the multiple vehicles according to the vehicle speed characteristics of the multiple vehicles; the positional relationship characteristics include foot point information, and the foot point information also includes the information on whether there is a foot point. Determine the vehicles with foot points among the multiple vehicles according to the foot point information of the multiple vehicles. For the vehicles with foot points, determine the foot point completion rate according to the number of foot points and the road closure section; calculate the average foot point distance according to the foot point distances of the multiple vehicles.

[0113] Exemplarily, count the number of high-confidence vehicles, the number of the first vehicle, the number of the second vehicle, the number of the third vehicle, and the position index values; as shown in Table 2.

[0114] Table 2

[0115]

[0116] Exemplarily, there are several situations where it is determined to lift the road closure event:

[0117] (1), If the number of high-confidence vehicles is greater than the first threshold, then lift the road closure event;

[0118] (2) If the number of the first vehicles is greater than the second threshold and the number of the third vehicles is greater than the third threshold, then lift the road closure event;

[0119] (3) If the number of the second vehicles is greater than the fourth threshold, the completion rate of the foot point is greater than the fifth threshold, and the average distance of the foot points is greater than the sixth threshold, then lift the road closure event.

[0120] If none of the above situations for the existence of the road closure event lifting is satisfied, then it is determined that the road closure event has not been lifted.

[0121] The above situations are taken as examples; in practical applications, in addition to the above situations, there may also be other situations for lifting the road closure event.

[0122] In the above embodiments, by fusing multiple vehicle features and confidence levels, when there are vehicles with high confidence levels passing through the road closure section, the road closure event is lifted. If there are no vehicles with high confidence levels passing through, it is also possible to confirm whether the road closure event has been lifted based on multiple vehicle features, which improves the flexibility in handling the road closure event.

[0123] Optionally, the method for handling the road closure event includes: performing surface expansion on the road closure section to obtain the analysis area of the road closure section; obtaining the shard index value of the road closure section in the map, and obtaining the first candidate section under the shard index value; determining the second candidate section intersecting with the analysis area in the first candidate section; based on the direction information of the road closure section and the direction information of the second candidate section, selecting the third candidate section in the second candidate section; performing link topology calculation on the third candidate section to obtain the topological section, and determining whether the topological section is a parallel section of the road closure section. If so, add a parallel road identifier to the road closure event.

[0124] Specifically, the electronic device performs line-to-surface expansion on the road closure section according to the trend of the road closure section within a preset range to obtain the analysis area; the preset range can be set according to actual needs; perform shard index value calculation on the road closure section to obtain the shard index value of the road closure section. Through the shard index value, the effective map range can be quickly located, and the first candidate section is obtained according to the shard index value; the shard index values of the first candidate section and the road closure section are the same; the shard index value can filter out invalid data and improve the calculation efficiency.

[0125] Perform spatial intersection calculation on the first candidate section and the analysis area to screen out the second candidate section intersecting with the analysis area in the first candidate section; through further refined screening, the accuracy of subsequent parallel road calculation is improved.

[0126] The direction information of the road closure section includes its traffic direction and road section angle, and the direction information of the second candidate section also includes its traffic direction and road section angle; among them, the road section angle can include the overall road section angle and the sub-road section angle.

[0127] Calculate a first difference value between the traffic direction of the road closure section and the traffic direction of the second candidate section, calculate a second difference value between the road section angle of the road closure section and the road section angle of the second candidate section, determine a comprehensive difference value according to the first difference value and the second difference value, and use the second candidate section whose comprehensive difference value belongs to a preset difference interval as the third candidate section.

[0128] Perform topological calculation of the link for the filtered third candidate section to integrate the overall structure of the link and obtain a topological section; determine the overlapping area between the topological section and the analysis range of the road closure section. If the length of the road section information included in the overlapping part reaches a preset length threshold, determine that the topological section is a parallel section of the road closure section and add a parallel road identifier to the road closure event.

[0129] In this embodiment, the map can be updated in real time and dynamically. For example, the map can be updated daily; for the map content newly added through the update, cache the map before the update and maintain and mark it. For the content that does not match between the updated map and the map before the update, mark the unmatched content to facilitate subsequent correction; update the map to ensure that the map is the latest data and improve the timeliness of the map.

[0130] In practical applications, the electronic device is configured with a GPS matching unit. After the GPS matching unit reads the road closure event from the message queue, it can call the parallel road judgment service and execute the above process through the parallel road judgment service to determine whether there is a parallel section for the road closure section corresponding to the road closure event. If so, add a parallel road identifier to the road closure event.

[0131] In some embodiments, determining whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, the number of second vehicles, the number of third vehicles, and the position index value includes: in the case where the road closure event does not have a parallel road identifier, determining whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, the number of second vehicles, the number of third vehicles, and the position index value; in the case where the road closure event has a parallel road identifier, obtain the parallel section of the road closure section. When multiple target vehicle trajectories include trajectories on the parallel section, determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, and the number of third vehicles; in the case where the road closure event has a parallel road identifier, when multiple target vehicle trajectories do not include trajectories on the parallel section, determine whether to lift the road closure event based on the number of high-confidence vehicles and the number of first vehicles.

[0132] Specifically, when there is no parallel road sign for the road closure event, if the number of high-confidence vehicles is greater than the first threshold, the road closure event is lifted; or, if the number of the first type of vehicles is greater than the second threshold and the number of the third type of vehicles is greater than the third threshold, the road closure event is lifted; or, if the number of the second type of vehicles is greater than the fourth threshold, the completion rate of the foot point is greater than the fifth threshold, and the average distance of the foot point is greater than the sixth threshold, the road closure event is lifted.

[0133] When there is a parallel road sign for the road closure event, obtain the parallel road section of the road closure section, and determine whether multiple target vehicle trajectories include trajectories on the parallel road section, that is, determine whether there are vehicles passing on the parallel road section; when the target vehicle trajectories do not include trajectories on the parallel road section (no vehicles pass on the parallel road section), if the number of high-confidence vehicles is greater than the seventh threshold, the road closure event is lifted; or, if the number of the first type of vehicles is greater than the eighth threshold and the number of the third type of vehicles is greater than the ninth threshold, the road closure event is lifted; when the target vehicle trajectories include trajectories on the parallel road section (there are vehicles passing on the parallel road section), if the number of high-confidence vehicles is greater than the tenth threshold, or if the number of the first type of vehicles is greater than the eleventh threshold, the road closure event is lifted.

[0134] Optionally, when there is a parallel road sign for the road closure event and the target vehicle trajectories include trajectories on the parallel road section, divide the target vehicle trajectories into trajectories passing through the parallel road section and trajectories passing through the road closure section, obtain the first quantity of the trajectories passing through the road closure section, obtain the second quantity of the trajectories passing through the parallel road section, the first quantity is the number of vehicles passing through the road closure section, and the second quantity is the number of vehicles passing through the parallel road section. When the first quantity is greater than the second quantity and the ratio between the first quantity and the second quantity exceeds the preset multiple, the road closure event is lifted.

[0135] Exemplarily, based on the number of high-confidence vehicles, the number of the first type of vehicles, the number of the second type of vehicles, and the number of the third type of vehicles, to determine whether to lift the road closure event, reference can be made to Table 3.

[0136] Table 3

[0137]

[0138] Among them, the first threshold, the second threshold,..., the eleventh threshold, and the preset multiple can all be set according to the actual situation. Among them, the first threshold is less than the seventh threshold, the seventh threshold is less than the tenth threshold; the second threshold is less than the eighth threshold, the eighth threshold is less than the eleventh threshold; the third threshold is less than the ninth threshold.

[0139] In the above embodiments, for different situations where there are parallel roads and where there are no parallel roads in the road closure section, whether to lift the road closure event is determined according to different vehicle characteristics, so that the embodiments of the present application can be applied to complex road scenarios and improve the accuracy of lifting the road closure event.

[0140] In a specific example, the method for handling road closure events can be applied to Figure 4 the application scenario shown in the figure. The electronic device can be the cloud server of a navigation application. The cloud server includes a message queue cluster, a GPS matching unit, a database, a trajectory filtering unit, an event lifting unit, a data lake, a backtracking system, and an evaluation system. The GPS matching unit can call the parallel road judgment service, and the trajectory filtering unit can call the matching and speculation service. The message queue cluster can be a Kafka message queue cluster, and the database can be a ClickHouse database.

[0141] Specifically, the driver can upload the driving trajectory generated by the vehicle to the Kafka message queue cluster. When a road closure event occurs, the relevant personnel upload the road closure event to the Kafka message queue cluster. The GPS matching unit reads the road closure event and the driving trajectory uploaded in real time from the Kafka message queue cluster. For the road closure event, in the driving trajectory, it determines the vehicle trajectories passing through the area range where the road closure section is located and sends the vehicle trajectories passing through the area range where the road closure section is located to the database for storage. The GPS matching unit calls the parallel road judgment service to determine whether there is a parallel road for the road closure section through the parallel road judgment service. If there is, it adds a parallel road identifier to the road closure event and determines the parallel road of the road closure section.

[0142] The trajectory filtering unit regularly obtains the vehicle trajectories passing through the area range where the road closure section is located from the database, filters the vehicle trajectories, and calls the matching and speculation service to optimize the paths of the filtered trajectories to determine the target vehicle trajectories that may pass through the road closure section.

[0143] The trajectory filtering unit can send the target vehicle trajectories that may pass through the road closure section to the Kafka message queue cluster. The event lifting unit obtains the target vehicle trajectories that may pass through the road closure section from the Kafka message queue cluster, determines the vehicle characteristics of the vehicles corresponding to the target vehicle trajectories according to the target vehicle trajectories and the road closure section, determines the confidence level of lifting the road closure event for the vehicles according to the vehicle characteristics, determines whether to lift the road closure event according to the confidence levels and vehicle characteristics of multiple vehicles, and sends the result of whether the road closure event is lifted to the Kafka message queue cluster.

[0144] For the data sent to the Kafka message queue cluster, such as road closure events, driving trajectories, vehicle characteristics, and the results of whether the road closure event has been lifted, all can be ingested into the lake for storage in the data lake, so that the retrospective system and evaluation system can use the data in the data lake to retrospectively analyze and evaluate the handling effect of the road closure event.

[0145] Figure 5 Schematic flow of the method for handling road closure events provided in this application Figure 2 , as Figure 5 shown, based on the Figure 2 embodiment, the method for handling road closure events is described in detail. The method includes:

[0146] S501. Obtain the driving trajectory in the current cycle. Based on the distance between the road closure section corresponding to the road closure event and the driving trajectory, select the vehicle trajectories passing through the area range where the road closure section is located from the driving trajectory.

[0147] S502. Determine the vehicle to which the vehicle trajectory belongs; obtain the first candidate trajectory of the vehicle after the road closure event occurs; determine the distance difference information based on the road closure position point of the road closure section and the trajectory points in the first candidate trajectory; when the distance difference information meets the preset change trend condition, use the first candidate trajectory as the second candidate trajectory with the characteristic of passing through the road closure section; based on the spatial tree structure of the road network, perform road matching speculation processing on the second candidate trajectory to obtain the third candidate trajectory; select the target vehicle trajectory that matches the road closure section from the third candidate trajectory.

[0148] S503. Determine the trajectory integrity characteristic of the vehicle corresponding to the target vehicle trajectory according to the matching degree between the target vehicle trajectory and the road closure section; determine the position relationship characteristic based on the position relationship between the trajectory points on the target vehicle trajectory and the road closure section; obtain the vehicle speed characteristic of the vehicle on the target vehicle trajectory according to the road closure section; the vehicle characteristics include trajectory integrity characteristic, position relationship characteristic, and vehicle speed characteristic; the vehicle speed characteristic includes the first vehicle speed corresponding to the road closure trajectory segment and the second vehicle speed corresponding to the non-road closure trajectory segment.

[0149] S504. Determine the confidence level of the road closure trajectory segment according to the first vehicle speed and the position relationship characteristic; determine the confidence level of the non-road closure trajectory segment according to the second vehicle speed, the trajectory integrity characteristic, and the position relationship characteristic; determine the confidence level of the vehicle for lifting the road closure event according to the confidence level of the road closure trajectory segment and the confidence level of the non-road closure trajectory segment.

[0150] S505. Select high-confidence vehicles from multiple vehicles based on the respective confidence levels of the multiple vehicles; select a first vehicle from the multiple vehicles based on the respective positional relationship features of the multiple vehicles; the positional relationship feature of the first vehicle meets a preset position condition; select a second vehicle from the multiple vehicles based on the respective trajectory integrity features of the multiple vehicles; the trajectory integrity feature of the second vehicle is complete; select a third vehicle from the multiple vehicles based on the respective vehicle speed features of the multiple vehicles; the vehicle speed feature of the third vehicle does not belong to a preset low-speed interval; determine the respective position index values of the multiple vehicles based on the respective positional relationship features of the multiple vehicles.

[0151] S506A. When there is no parallel road sign for the road closure event, determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, the number of second vehicles, the number of third vehicles, and the position index value.

[0152] S506B. When there is a parallel road sign for the road closure event, when the trajectories of multiple target vehicles include trajectories on a parallel road section, determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, and the number of third vehicles.

[0153] S506C. When there is a parallel road sign for the road closure event, when the trajectories of multiple target vehicles do not include trajectories on a parallel road section, determine whether to lift the road closure event based on the number of high-confidence vehicles and the number of first vehicles.

[0154] The method, electronic device, storage medium, and program product for handling road closure events provided by the embodiments of the present application obtain the vehicle trajectories passing through the area range where the road closure section is located, then determine the target vehicle trajectories with the feature of passing through the road closure section, determine the vehicle features of the vehicles according to the target vehicle trajectories and the road closure section, determine the confidence level of the vehicle actually passing through the road closure section according to the vehicle features, and determine whether to lift the road closure event according to the vehicle features and the confidence level. Determining the target vehicle trajectories with the feature of passing through the road closure section in the trajectory data of the road network can effectively reduce the number of trajectories participating in the calculation and improve the processing efficiency of road closure events; determining the confidence level of the vehicle actually passing through the road closure section through vehicle features, and combining vehicle features and the confidence level of the vehicle can determine whether the road closure section has been passed, and then determine whether to lift the road closure event, improving the accuracy of lifting the road closure event; determining whether to lift the road closure event based on the real trajectories of the vehicles instead of determining whether to lift the road closure event through the preset expiration duration of the road closure event can lift the road closure event in time when it is determined that there are vehicles passing through the road closure section, effectively improving the timeliness of lifting the road closure event and also improving the user travel experience.

[0155] It should be understood that although the steps in the flowcharts involved in the above embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0156] Figure 6 FIG. is a schematic structural diagram of a road closure event processing device provided by the present application. As Figure 6 shown, the road closure event processing device 60 provided in this embodiment includes:

[0157] An acquisition module 601, configured to acquire vehicle trajectories passing through the area range of the road closure section corresponding to the road closure event;

[0158] A selection module 602, configured to determine a target vehicle trajectory with the characteristic of passing through the road closure section based on the vehicle trajectories;

[0159] A feature determination module 603, configured to determine vehicle features of the vehicle corresponding to the target vehicle trajectory according to the target vehicle trajectory and the road closure section;

[0160] A confidence determination module 604, configured to determine the confidence of the vehicle in lifting the road closure event according to the vehicle features;

[0161] An event processing module 605, configured to determine whether to lift the road closure event according to the confidence of the vehicle and the vehicle features.

[0162] In a possible implementation manner, the feature determination module 603 is further configured to determine the trajectory integrity feature of the vehicle corresponding to the target vehicle trajectory according to the matching degree between the target vehicle trajectory and the road closure section; determine the position relationship feature according to the position relationship between the trajectory points on the target vehicle trajectory and the road closure section; obtain the vehicle speed feature of the vehicle on the target vehicle trajectory according to the road closure section; the vehicle features include the trajectory integrity feature, the position relationship feature, and the vehicle speed feature.

[0163] In a possible implementation manner, the vehicle features include a trajectory integrity feature, a position relationship feature, and a vehicle speed feature; the target vehicle trajectory includes a road closure trajectory segment and a non-road closure trajectory segment; the vehicle speed feature includes a first vehicle speed corresponding to the road closure trajectory segment and a second vehicle speed corresponding to the non-road closure trajectory segment;

[0164] The confidence determination module 604 is further used to determine the confidence of the road closure trajectory segment according to the first vehicle speed and position relationship characteristics; determine the confidence of the non-road closure trajectory segment according to the second vehicle speed, trajectory integrity characteristics and position relationship characteristics; and determine the confidence of the vehicle's road closure release event according to the confidence of the road closure trajectory segment and the confidence of the non-road closure trajectory segment.

[0165] In a possible implementation, there are multiple vehicles; the vehicle characteristics include position relationship characteristics, trajectory integrity characteristics and vehicle speed characteristics; the event processing module 605 is also used to select a high-confidence vehicle from multiple vehicles based on the confidence levels of each of the multiple vehicles; select a first vehicle from multiple vehicles based on the position relationship characteristics of each of the multiple vehicles; the position relationship characteristics of the first vehicle meet the preset position conditions; select a second vehicle from multiple vehicles based on the trajectory integrity characteristics of each of the multiple vehicles; the trajectory integrity characteristics of the second vehicle are complete; select a third vehicle from multiple vehicles based on the speed characteristics of each of the multiple vehicles; the speed characteristics of the third vehicle do not belong to the preset low-speed range; determine the position index values ​​of each of the multiple vehicles based on the position relationship characteristics of each of the multiple vehicles; determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of the first vehicle, the number of the second vehicle, the number of the third vehicle and the position index values.

[0166] In a possible implementation, the event processing module 605 is further used to determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, the number of second vehicles, and the number of third vehicles when there is no parallel road mark in the road closure event; when there is a parallel road mark in the road closure event, obtain the parallel road sections of the road closure section, and when multiple target vehicle trajectories include trajectories on the parallel road sections, determine whether to lift the road closure event based on the number of high-confidence vehicles, the number of first vehicles, and the number of third vehicles; when there is a parallel road mark in the road closure event, when multiple target vehicle trajectories do not include trajectories on the parallel road sections, determine whether to lift the road closure event based on the number of high-confidence vehicles and the number of first vehicles.

[0167] In a possible implementation, the acquisition module 601 is further used to obtain the driving trajectory in the current cycle; based on the distance between the road closure section corresponding to the road closure event and the driving trajectory, the vehicle trajectory that passes through the area where the road closure section is located is selected from the driving trajectory.

[0168] In a possible implementation, the selection module 602 is further configured to determine the vehicle to which the vehicle trajectory belongs; obtain the first candidate trajectory of the vehicle after the road closure event occurs; determine the distance difference information based on the road closure position points of the road closure section and the trajectory points in the first candidate trajectory; when the distance difference information meets the preset change trend condition, use the first candidate trajectory as the second candidate trajectory with the feature of passing through the road closure section; perform road matching speculation processing on the second candidate trajectory based on the spatial tree structure of the road network to obtain the third candidate trajectory; and select the target vehicle trajectory that matches the road closure section from the third candidate trajectory.

[0169] The road closure event processing device provided in this embodiment can execute the road closure event processing method provided in the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here in this embodiment.

[0170] Figure 7 It is a schematic structural diagram of the electronic device provided in this application. As Figure 7 shown, the electronic device 70 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the device 70 further includes a communication component 703. Among them, the processor 701, the memory 702, and the communication component 703 are connected through a bus.

[0171] In the specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that at least one processor 701 executes the above method.

[0172] The specific implementation process of the processor 701 can refer to the above method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here in this embodiment.

[0173] In the above embodiment, it should be understood that the processor may be a central processing unit (English: Central Processing Unit, abbreviated as: CPU), or other general-purpose processors, digital signal processors (English: Digital Signal Processor, abbreviated as: DSP), application specific integrated circuits (English: Application Specific Integrated Circuit, abbreviated as: ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by the hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0174] The memory may include a random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk memory.

[0175] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0176] This application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0177] This application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the above method is implemented.

[0178] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disc. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0179] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0180] The division of units is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed among each other can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0181] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0182] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0183] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. And the aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical discs and other various media that can store program codes.

[0184] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When this program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disks or optical discs and other various media that can store program codes.

[0185] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include known common general knowledge or conventional technical means in the technical field not disclosed by the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A method for handling a road closure event, characterized in that: include: Obtain vehicle trajectories that pass through the area where the road closure section corresponding to the road closure event is located; Based on the vehicle trajectory, determining a target vehicle trajectory having a characteristic of passing through the road closure section; Determining vehicle characteristics of a vehicle corresponding to the target vehicle trajectory according to the target vehicle trajectory and the road closure section; Determining, based on the vehicle characteristics, the confidence level of the vehicle in releasing the road closure event; Determine whether to release the road closure event according to the confidence level and the vehicle characteristics of the vehicle.

2. The method according to claim 1, characterized in that The determining, based on the target vehicle trajectory and the road closure section, vehicle characteristics of the vehicle corresponding to the target vehicle trajectory includes: Determining a trajectory integrity feature of a vehicle corresponding to the target vehicle trajectory according to a matching degree between the target vehicle trajectory and the road closure section; Determining a positional relationship feature based on a positional relationship between a trajectory point on the target vehicle trajectory and the road closure section; Acquiring a speed characteristic of the vehicle on the target vehicle trajectory according to the road closure section; The vehicle characteristics include the trajectory integrity characteristics, the position relationship characteristics and the vehicle speed characteristics.

3. The method according to claim 1, characterized in that The vehicle characteristics include trajectory integrity characteristics, position relationship characteristics and vehicle speed characteristics; The target vehicle trajectory includes a road-closing trajectory segment and a non-road-closing trajectory segment; the vehicle speed feature includes a first vehicle speed corresponding to the road-closing trajectory segment and a second vehicle speed corresponding to the non-road-closing trajectory segment; The determining, based on the vehicle characteristics, the confidence level of the vehicle in releasing the road closure event comprises: Determining the confidence level of the road closure trajectory segment according to the first vehicle speed and the position relationship feature; Determining the confidence of the non-road-closed trajectory segment according to the second vehicle speed, the trajectory integrity feature, and the position relationship feature; The confidence level of the vehicle in releasing the road closure event is determined according to the confidence level of the road closure trajectory segment and the confidence level of the non-road closure trajectory segment.

4. The method according to any one of claims 1 to 3, characterized in that The number of the vehicles is multiple; the vehicle characteristics include position relationship characteristics, trajectory integrity characteristics and vehicle speed characteristics; The determining whether to release the road closure event based on the confidence level and the vehicle characteristics of the vehicle includes: Selecting a high-confidence vehicle from the plurality of vehicles according to the respective confidences of the plurality of vehicles; Selecting a first vehicle from the plurality of vehicles according to the respective positional relationship characteristics of the plurality of vehicles; the positional relationship characteristics of the first vehicle meet a preset position condition; According to the trajectory integrity characteristics of each of the multiple vehicles, a second vehicle is selected from the multiple vehicles; the trajectory integrity characteristic of the second vehicle is complete; According to the vehicle speed characteristics of each of the multiple vehicles, a third vehicle is selected from the multiple vehicles; the vehicle speed characteristics of the third vehicle do not belong to the preset low speed range; Determining position index values ​​of each of the plurality of vehicles according to the position relationship characteristics of each of the plurality of vehicles; Whether to release the road closure event is determined based on the number of the high-confidence vehicles, the number of the first vehicles, the number of the second vehicles, the number of the third vehicles, and the location index value.

5. The method according to claim 4, characterized in that The determining whether to release the road closure event based on the number of the high-confidence vehicles, the number of the first vehicles, the number of the second vehicles, the number of the third vehicles, and the location index value includes: In the case where there is no parallel road mark in the road closure event, determining whether to release the road closure event according to the number of the high-confidence vehicles, the number of the first vehicles, the number of the second vehicles, the number of the third vehicles and the position index value; In the case where there is a parallel road mark in the road closure event, obtaining a parallel road section of the road closure section, and when the multiple target vehicle trajectories include a trajectory on the parallel road section, determining whether to release the road closure event according to the number of the high-confidence vehicles, the number of the first vehicles, and the number of the third vehicles; In the case where there is a parallel road mark in the road closure event, when the multiple target vehicle trajectories do not include a trajectory on the parallel road segment, it is determined whether to lift the road closure event based on the number of the high-confidence vehicles and the number of the first vehicles.

6. The method according to any one of claims 1 to 3, characterized in that The obtaining of the vehicle trajectory passing through the area where the road closure section corresponding to the road closure event is located includes: Get the driving trajectory in the current cycle; Based on the distance between the road closure section corresponding to the road closure event and the driving trajectory, a vehicle trajectory that passes through the area where the road closure section is located is selected from the driving trajectory.

7. The method according to any one of claims 1 to 3, characterized in that The determining, based on the vehicle trajectory, a target vehicle trajectory having a characteristic of passing through the road closure section comprises: determining the vehicle to which the vehicle trajectory belongs; Acquire a first candidate trajectory of the vehicle after the road closure event occurs; Determining distance difference information according to the road closure location point of the road closure section and the trajectory point in the first candidate trajectory; When the distance difference information satisfies a preset change trend condition, taking the first candidate trajectory as a second candidate trajectory having a feature of passing through the road closure section; Based on the spatial tree structure of the road network, performing road matching inference processing on the second candidate trajectory to obtain a third candidate trajectory; A target vehicle trajectory matching the road closure section is selected from the third candidate trajectories.

8. A device for processing road closure events, characterized in that: The device comprises: An acquisition module, used to acquire vehicle trajectories passing through the area where the road closure section corresponding to the road closure event is located; A selection module, configured to determine, based on the vehicle trajectory, a target vehicle trajectory having a characteristic of passing through the road closure section; A feature determination module, used to determine a vehicle feature of a vehicle corresponding to the target vehicle trajectory according to the target vehicle trajectory and the road closure section; A confidence determination module, used to determine the confidence of the vehicle in releasing the road closure event according to the vehicle characteristics; An event processing module is used to determine whether to release the road closure event based on the confidence level of the vehicle and the vehicle characteristics.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium / computer program product, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor; The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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