Track privacy protection and data sharing method and system based on event triggering

Abstract

The invention relates to a track privacy protection and data sharing method and system based on event triggering, and relates to the technical field of vehicle tracks, and the method comprises the steps: collecting the actual position point of a vehicle in real time; acquiring actual track information of the vehicle based on the actual position point of the vehicle; determining an estimated position interval based on the actual vehicle trajectory information; performing differential privacy adjustment based on the actual position point of the vehicle to generate shared initial trajectory data; determining whether the actual position point of the vehicle is located in the estimated position interval or not; if yes, outputting the shared initial trajectory data; if not, collecting vehicle monitoring information; generating event adjustment information based on the vehicle monitoring information; and adjusting the shared initial trajectory data based on the event adjustment information to form shared adjustment trajectory data and outputting the shared adjustment trajectory data. The method has the effect of improving the accuracy of the shared vehicle trajectory data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle trajectory, in particular to a trajectory privacy protection and data sharing method and system based on event triggering. BACKGROUND

[0002] Vehicle trajectory refers to the sequence data of spatial and temporal position and motion state generated by the vehicle in the motion process, which records the key information such as the position, moving direction and speed of the vehicle at a specific time point, and is the core data basis in the fields of intelligent transportation system, automatic driving and traffic management.

[0003] At present, when sharing vehicle trajectory data, differential privacy technology is generally used to protect the privacy of the data before sharing. Differential privacy technology adds random noise to the trajectory data to blur the accurate position information of a single vehicle while preserving the overall statistical characteristics, thereby protecting the privacy of the shared data.

[0004] When differential privacy technology is used to protect the privacy of the data, the noise amplitude is generally set according to the area where the trajectory point is located. When the vehicle is in an emergency situation, the set noise amplitude can easily cause the trajectory point to deviate too much, thereby reducing the accuracy of the shared vehicle trajectory data. SUMMARY

[0005] In order to improve the accuracy of the shared vehicle trajectory data, the present application provides a trajectory privacy protection and data sharing method and system based on event triggering.

[0006] In the first aspect, the present application provides a trajectory privacy protection and data sharing method based on event triggering, which adopts the following technical scheme:

[0007] A trajectory privacy protection and data sharing method based on event triggering, comprising:

[0008] S1: Real-time collection of vehicle actual position points;

[0009] S2: Retrieving vehicle actual trajectory information based on the vehicle actual position points;

[0010] S3: Determining an estimated position interval based on the vehicle actual trajectory information;

[0011] S4: Differential privacy adjustment based on the vehicle actual position points to generate shared initial trajectory data;

[0012] S5: Determining whether the vehicle actual position points are located within the estimated position interval;

[0013] S6: If yes, outputting the shared initial trajectory data;

[0014] S7: If no, collect vehicle monitoring information;

[0015] S8: Generate event adjustment information based on the vehicle monitoring information;

[0016] S9: Adjust the shared initial trajectory data based on the event adjustment information to form shared adjustment trajectory data and output.

[0017] Optionally, after the step S6, it further includes:

[0018] S61: Based on the vehicle actual position point, call nearby position construction situation information and nearby position historical trajectory information;

[0019] S62: Determine the historical trajectory change interval based on the nearby position historical trajectory information;

[0020] S63: Generate construction trajectory change interval based on the nearby position construction situation information;

[0021] S64: Determine the trajectory change coincidence rate based on the historical trajectory change interval and the construction trajectory change interval;

[0022] S65: Determine the construction trajectory change reference value based on the vehicle actual position point and the construction trajectory change interval;

[0023] S66: Determine the trajectory change comprehensive influence value based on the trajectory change coincidence rate and the construction trajectory change reference value;

[0024] S67: When and only when the trajectory change comprehensive influence value is greater than the preset trajectory change reference influence value, calculate the difference between the trajectory change comprehensive influence value and the trajectory change reference influence value as the trajectory change influence deviation value;

[0025] S68: Determine the trajectory change adjustment information based on the trajectory change influence deviation value, and adjust and update the shared initial trajectory data based on the trajectory change adjustment information.

[0026] Optionally, the step S63 includes:

[0027] S631: Call construction type information based on the nearby position construction situation information;

[0028] S632: Determine construction type demand time period and influence weather information based on the construction type information;

[0029] S633: Call actual position weather information based on the vehicle actual position point;

[0030] S634: determining a construction weather satisfaction degree based on matching the actual location weather information and the influence weather information;

[0031] S635: collecting a current time point;

[0032] S636: determining a construction time satisfaction degree based on the current time point and the construction type required time period;

[0033] S637: generating a construction influence range based on the construction weather satisfaction degree and the construction time satisfaction degree;

[0034] S638: determining a construction influence change interval based on the construction influence range, and taking the construction influence change interval as the construction track change interval.

[0035] Optionally, the step S637 comprises:

[0036] S6371: determining a weather satisfaction influence range based on the construction weather satisfaction degree;

[0037] S6372: determining a time satisfaction influence range based on the construction time satisfaction degree;

[0038] S6373: determining an overlapping influence range and a comprehensive influence range based on the weather satisfaction influence range and the time satisfaction influence range;

[0039] S6374: determining an influence range proportion value based on the overlapping influence range and the comprehensive influence range;

[0040] S6375: determining whether the influence range proportion value is greater than a preset influence range reference proportion value;

[0041] S6376: if yes, taking the overlapping influence range as the construction influence range;

[0042] S6377: if no, taking the comprehensive influence range as the construction influence range.

[0043] Optionally, before the S638, further comprising:

[0044] S6381: based on the vehicle actual location point, calling surrounding building information and road specification value;

[0045] S6382: determining a building surrounding safety requirement value based on the surrounding building information;

[0046] S6383: determining a remaining allowable range based on the road specification value and the building surrounding safety requirement value;

[0047] S6384: determining whether the construction influence range is located within the residual allowable range;

[0048] S6385: if yes, continue to execute construction influence change interval determination based on the construction influence range;

[0049] S6386: if no, replace the construction influence range based on the residual allowable range.

[0050] Optionally, the step S8 comprises:

[0051] S81: calling a vehicle speed detection value based on the vehicle monitoring information;

[0052] S82: determining a vehicle speed change value based on the vehicle speed detection value;

[0053] S83: calling surrounding detection data information based on the vehicle actual position point;

[0054] S84: generating a vehicle speed reference change interval based on the surrounding detection data information;

[0055] S85: generating vehicle speed adjustment information based on the vehicle speed change value and the vehicle speed reference change interval, and taking the vehicle speed adjustment information as the event adjustment information.

[0056] Optionally, the step S84 comprises:

[0057] S841: calling surrounding vehicle data information and surrounding monitoring data information based on the surrounding detection data information;

[0058] S842: calling surrounding vehicle type information and surrounding vehicle speed value based on the surrounding vehicle data information;

[0059] S843: determining a vehicle type influence value based on the surrounding vehicle type information;

[0060] S844: determining a vehicle speed initial interval based on the vehicle type influence value and the surrounding vehicle speed value;

[0061] S845: generating a surrounding monitoring adjustment value based on the surrounding monitoring data information;

[0062] S846: adjusting the vehicle speed initial interval based on the surrounding monitoring adjustment value to form the vehicle speed reference change interval.

[0063] Optionally, the step S845 comprises:

[0064] S8451: calling monitoring image information and monitoring speed detection value based on the surrounding monitoring data information;

[0065] S8452: comparing the monitoring image information based on a preset unit time to obtain an image vehicle change speed value;

[0066] S8453: determining whether the image vehicle speed value is consistent with the monitoring speed detection value;

[0067] S8454: if yes, outputting a preset monitoring reference adjustment value as the surrounding monitoring adjustment value;

[0068] S8455: if no, determining a vehicle speed ratio value based on the image vehicle speed value and the monitoring speed detection value;

[0069] S8456: determining a vehicle speed ratio adjustment value based on the vehicle speed ratio value, and taking the vehicle speed ratio adjustment value as the surrounding monitoring adjustment value.

[0070] Optionally, the step S85 comprises:

[0071] S851: determining whether the vehicle speed change value is located in the vehicle speed reference change interval;

[0072] S852: if yes, calculating a difference value between the vehicle speed change value and the vehicle speed reference change interval as a vehicle speed change deviation value;

[0073] S853: determining a speed change abnormality adjustment information based on the vehicle speed change deviation value, and taking the speed change abnormality adjustment information as the vehicle speed adjustment information;

[0074] S854: if no, calling image abnormality information based on the surrounding detection data information;

[0075] S855: determining abnormal accident type information based on the image abnormality information;

[0076] S856: determining accident adjustment information based on the abnormal accident type information, and taking the accident adjustment information as the vehicle speed adjustment information.

[0077] In a second aspect, the present application provides a trajectory privacy protection and data sharing system based on event triggering, which adopts the following technical solution:

[0078] A trajectory privacy protection and data sharing system based on event triggering, comprising:

[0079] A collection module for collecting vehicle actual position points and vehicle monitoring information;

[0080] A memory for storing a trajectory privacy protection and data sharing method based on event triggering according to any one of the first aspect;

[0081] A processor loads and executes a program in memory.

[0082] In summary, the present application includes at least one of the following beneficial technical effects:

[0083] 1. By collecting and analyzing the actual position points of the vehicle in real time to obtain shared initial trajectory data, determining whether the actual position points of the vehicle are located in the estimated position interval, when located, directly outputting the shared initial trajectory data, when not located, collecting vehicle monitoring information and generating event adjustment information to adjust the shared initial trajectory data to form shared adjustment trajectory data and output, thereby improving the accuracy of shared vehicle trajectory data;

[0084] 2. By retrieving nearby location construction situation information and nearby location historical trajectory information through the actual position points of the vehicle, and respectively obtaining historical trajectory change interval and construction trajectory change interval, and then analyzing to obtain trajectory change comprehensive influence value, when and only when the trajectory change comprehensive influence value is greater than the preset trajectory change reference influence value, calculating the trajectory change influence deviation value to determine the trajectory change adjustment information, and updating the shared initial trajectory data through the trajectory change adjustment information, thereby improving the accuracy of the obtained shared initial trajectory data;

[0085] 3. By retrieving the vehicle speed detection value through the vehicle monitoring information and determining the vehicle speed change value, retrieving the surrounding detection data information through the actual position points of the vehicle and generating the vehicle speed reference change interval, generating the vehicle speed adjustment information as the event adjustment information through the vehicle speed change value and the vehicle speed reference change interval, thereby improving the accuracy of the obtained event adjustment information. BRIEF DESCRIPTION OF DRAWINGS

[0086] Figure 1 is a method flowchart of trajectory privacy protection and data sharing based on event triggering of an embodiment of the present application;

[0087] Figure 2 is a method flowchart after outputting shared initial trajectory data of an embodiment of the present application;

[0088] Figure 3 is a method flowchart of generating a construction trajectory change interval of an embodiment of the present application;

[0089] Figure 4 is a method flowchart of generating a construction influence range of an embodiment of the present application;

[0090] Figure 5 is a method flowchart before determining a construction influence change interval based on a construction influence range of an embodiment of the present application;

[0091] Figure 6 is a method flowchart of generating event adjustment information of an embodiment of the present application;

[0092] Figure 7 is a flow chart of a generation method of a vehicle speed reference variation range according to an embodiment of the present application. DETAILED DESCRIPTION

[0093] The application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0094] A trajectory privacy protection and data sharing method based on event triggering, by collecting the actual position point of the vehicle in real time and according to the judgment result of whether it is located in the estimated position interval, outputs the shared initial trajectory data or the shared adjusted trajectory data, thereby improving the accuracy of the shared vehicle trajectory data.

[0095] Reference Figure 1 , the embodiment of the application discloses a trajectory privacy protection and data sharing method based on event triggering, which comprises:

[0096] S1: collecting the actual position point of the vehicle in real time.

[0097] Among them, the actual position point of the vehicle refers to the actual position point of the vehicle which needs to share data at present, and the actual position point of the vehicle is collected by the position sensor such as GPS preset on the vehicle.

[0098] S2: calling the actual trajectory information of the vehicle based on the actual position point of the vehicle.

[0099] Among them, the actual trajectory information of the vehicle refers to the moving trajectory information of the vehicle in a unit time before the current time, and the unit time is obtained by presetting. The preset unit time can be 5 seconds. The actual trajectory information of the vehicle is obtained by calling the actual position point of the vehicle before the current time, and selecting the actual position point of the vehicle in a preset unit time to combine the position points to form a trajectory and serve as the actual trajectory information of the vehicle, which is convenient for subsequent use.

[0100] S3: determining the estimated position interval based on the actual trajectory information of the vehicle.

[0101] Among them, the estimated position interval refers to the range interval in which the vehicle is estimated to be located at the current time. The trajectory in the actual trajectory information of the vehicle is called, the moving direction of the trajectory at the previous time is determined, the moving direction and the preset direction deviation angle are combined, and the position of the vehicle at the current time is estimated to serve as the estimated position interval, which is convenient for subsequent use. The direction deviation angle refers to the deviation angle allowed when estimating the position, and the direction deviation angle is obtained by pre-input.

[0102] S4: performing differential privacy adjustment based on the actual position point of the vehicle to generate shared initial trajectory data.

[0103] The shared initial trajectory data refers to the initial data corresponding to the sharing of the trajectory data of the vehicle. The shared initial trajectory data is generated by adjusting the differential privacy of the actual position point of the vehicle, facilitating subsequent use. The differential privacy adjustment is prior art and will not be described in detail.

[0104] S5: Determine whether the actual position point of the vehicle is located in the estimated position interval. If yes, perform S6; if no, perform S7.

[0105] The shared initial trajectory data is generated by adjusting the differential privacy of the actual position point of the vehicle, facilitating subsequent use. The differential privacy adjustment is prior art and will not be described in detail.

[0106] S6: Output the shared initial trajectory data.

[0107] When the actual position point of the vehicle is located in the estimated position interval, it means that the shared initial trajectory data does not need to be adjusted, so the shared initial trajectory data is output.

[0108] S7: Collect vehicle monitoring information.

[0109] The vehicle monitoring information refers to the detection information of the vehicle detecting the surrounding situation, and the vehicle monitoring information is collected by the camera, radar and other sensors preset on the vehicle.

[0110] When the actual position point of the vehicle is not located in the estimated position interval, it means that the shared initial trajectory data needs to be adjusted, so the vehicle monitoring information is collected, facilitating subsequent use.

[0111] S8: Generate event adjustment information based on the vehicle monitoring information.

[0112] The event adjustment information refers to the adjustment information corresponding to the noise adjustment of the shared data of the trajectory affected by the event of the vehicle. The event adjustment information is generated by analyzing the vehicle monitoring information, facilitating subsequent use. The specific generation steps of the event adjustment information are referred to S81-S85.

[0113] S9: Adjust the shared initial trajectory data based on the event adjustment information to form shared adjustment trajectory data and output.

[0114] The shared adjustment trajectory data refers to the data corresponding to the noise adjustment of the shared trajectory data. The shared initial trajectory data is adjusted by the event adjustment information to form the shared adjustment trajectory data and output, thereby improving the accuracy of the shared vehicle trajectory data.

[0115] After step S6, in order to further ensure the rationality of sharing the initial trajectory data, it is necessary to perform further separate analysis and calculation on the shared initial trajectory data, which will be explained in detail through the following steps.

[0116] Reference Figure 2 The steps following the output of shared initial trajectory data are as follows:

[0117] S61: Retrieve construction information and historical trajectory information of nearby locations based on the actual location of the vehicle.

[0118] The "Nearby Location Construction Information" refers to information such as the type of construction work being carried out near the vehicle's location. The "Nearby Location Historical Trajectory Information" refers to the trajectory information of other vehicles when they traveled to locations near the vehicle's location. This information is generated by querying relevant construction information uploaded from nearby locations corresponding to the vehicle's actual location, and then querying historical trajectory data of other vehicles uploaded from those nearby locations as well, which is then used as the "Nearby Location Historical Trajectory Information." This facilitates subsequent use.

[0119] S62: Determine the range of historical trajectory changes based on historical trajectory information of nearby locations.

[0120] Among them, the historical trajectory change interval refers to the maximum range of change in the historical trajectory when the location changes in the vicinity. By retrieving each trajectory from the historical trajectory information of the vicinity location, and selecting the location of the outermost trajectory as the end value of the range interval, a historical trajectory change interval is generated for convenient subsequent use.

[0121] S63: Generate the construction trajectory change range based on the construction information of the nearby location.

[0122] The construction trajectory change range refers to the maximum range of change that occurs when changes are needed in the vicinity of the construction site based on the construction situation. This range is generated by analyzing construction information in the vicinity for subsequent use. The specific steps for generating the construction trajectory change range are detailed in S631 to S638.

[0123] S64: Determine the overlap rate of trajectory changes based on the historical trajectory change interval and the construction trajectory change interval.

[0124] The trajectory change overlap rate refers to the overlap rate when trajectory changes coincide. The overlap rate between the historical trajectory change interval and the construction trajectory change interval is calculated and used as the trajectory change overlap rate for convenient subsequent use.

[0125] S65: determining a construction track change reference value based on the actual vehicle position point and the construction track change interval.

[0126] The construction track change reference value refers to a reference influence value for indicating whether the position of the vehicle is located in the construction track change interval. By analyzing whether the position of the vehicle is located in the construction track change interval, calculating the distance value between the position of the vehicle and the corresponding intermediate value of the construction track change interval to obtain an intermediate distance value, and inputting the intermediate distance value into the preset track change reference database to match the construction track change reference value, the construction track change reference value is obtained for subsequent use. The track change reference database pre-stores a comparison table of different intermediate distance values and corresponding construction track change reference values, and the track change reference database is obtained by pre-input.

[0127] S66: determining a track change comprehensive influence value based on the track change coincidence rate and the construction track change reference value.

[0128] The track change comprehensive influence value refers to an influence value generated by the track change. By inputting the track change coincidence rate and the construction track change reference value into the preset track change comprehensive influence database to match the track change comprehensive influence value, the track change comprehensive influence value is obtained for subsequent use. The track change comprehensive influence database pre-stores different track change coincidence rates and construction track change reference values and corresponding track change comprehensive influence values, and the track change comprehensive influence database is obtained by pre-input.

[0129] S67: when and only when the track change comprehensive influence value is greater than the preset track change reference influence value, calculating the difference between the track change comprehensive influence value and the track change reference influence value as a track change influence deviation value.

[0130] The track change reference influence value refers to the minimum influence value corresponding to the need to adjust the shared initial track data, and the track change reference influence value is obtained by pre-input. The track change influence deviation value refers to the deviation value corresponding to the deviation of the track change comprehensive influence value.

[0131] When and only when the track change comprehensive influence value is greater than the track change reference influence value, it means that the shared initial track data needs to be adjusted at this time, so the difference between the track change comprehensive influence value and the track change reference influence value is calculated as the track change influence deviation value for subsequent use.

[0132] S68: determining track change adjustment information based on the track change influence deviation value, and updating the shared initial track data based on the track change adjustment information.

[0133] The trajectory change adjustment information refers to adjustment information corresponding to noise adjustment of the shared initial trajectory data according to the trajectory change influence bias value. Different trajectory change influence bias values correspond to different trajectory change adjustment information. By inputting the trajectory change influence bias value into the preset trajectory change adjustment database to match the trajectory change adjustment information, the shared initial trajectory data is adjusted, and the adjusted shared initial trajectory data is used as new shared initial trajectory data to complete the update, thereby improving the accuracy of the obtained shared initial trajectory data.

[0134] The trajectory change adjustment database pre-stores a correspondence table of different trajectory change influence bias values and corresponding trajectory change adjustment information, and the trajectory change adjustment database is obtained by pre-input.

[0135] In step S63, in order to further ensure the rationality of the construction trajectory change interval, further separate analysis and calculation of the construction trajectory change interval are required, which is specifically described as follows.

[0136] Referring to Figure 3 The method for generating the construction trajectory change interval includes the following steps:

[0137] S631: Construction type information is retrieved based on nearby location construction situation information.

[0138] The construction type information refers to the type information of the construction, and the construction type information includes road surface construction, pipeline construction, landscape greening construction, and the like. The nearby location construction situation information includes the construction type information. The construction type information is retrieved through the nearby location construction situation information for subsequent use.

[0139] S632: Construction type demand time period and influence weather information are determined based on the construction type information.

[0140] The construction type demand time period refers to a time period required for the construction of the construction type, and the influence weather information refers to weather condition information affected by the construction of the construction type. Different construction type information corresponds to different construction type demand time periods and influence weather information.

[0141] The construction type demand time period and the influence weather information are matched by inputting the construction type information into the preset construction type database, for subsequent use. The construction type database pre-stores a correspondence table of different construction type information and corresponding construction type demand time periods and influence weather information, and the construction type database is obtained by pre-input.

[0142] S633: Actual location weather information is retrieved based on the vehicle actual location point.

[0143] The actual position weather information refers to weather condition information corresponding to the actual position point of the vehicle at the current time. The weather condition at the actual position point is queried from a weather database to obtain the actual position weather information, which is convenient for subsequent use. The weather database stores weather conditions at different positions in real time.

[0144] S634: Determine the construction weather satisfaction degree based on the matching of the actual position weather information and the influence weather information.

[0145] The construction weather satisfaction degree refers to the satisfaction of the current weather to the construction demand. The actual position weather information and the influence weather information are compared, and the sum value of the satisfaction results of the temperature, humidity, precipitation and other parameters in the compared weather conditions is calculated to obtain the construction weather satisfaction degree, which is convenient for subsequent use.

[0146] S635: Collect the current time point.

[0147] The current time point refers to the time point corresponding to the current time, which is obtained by querying a time database. The time database collects and stores time in real time.

[0148] S636: Determine the construction time satisfaction degree based on the current time point and the construction type demand time period.

[0149] The construction time satisfaction degree refers to the satisfaction of the current time to the construction demand. The current time point and the construction type demand time period are analyzed, and the intermediate value corresponding to the current time point and the construction type demand time period is calculated to obtain the intermediate time value. The intermediate time value is input into a preset construction time satisfaction database to obtain the construction time satisfaction degree, which is convenient for subsequent use. The construction time satisfaction database pre-stores a comparison table of different intermediate time values and corresponding construction time satisfaction degrees, which is obtained by pre-input.

[0150] S637: Generate the construction influence range based on the construction weather satisfaction degree and the construction time satisfaction degree.

[0151] The construction influence range refers to the area range corresponding to the influence of the construction on the surrounding positions. The construction weather satisfaction degree and the construction time satisfaction degree are analyzed to generate the construction influence range, which is convenient for subsequent use. The specific generation steps of the construction influence range are described in S6371 to S6377.

[0152] S638: Determine the construction influence change interval based on the construction influence range, and take the construction influence change interval as the construction track change interval.

[0153] The construction influence change interval refers to an interval corresponding to an interval of a track change estimated after the construction influence range produces an influence. Different construction influence ranges correspond to different construction influence change intervals. The construction influence change interval is matched by inputting the construction influence range into a preset construction influence change database, and the construction influence change interval is used as the construction track change interval, thereby improving the accuracy of the obtained construction track change interval. The construction influence change database pre-stores a comparison table of different construction influence ranges and corresponding construction influence change intervals, and the construction influence change database is obtained by pre-input.

[0154] In step S637, in order to further ensure the rationality of the construction influence range, further separate analysis and calculation of the construction influence range are required, which is specifically described as follows.

[0155] With reference to Figure 4 The construction influence range generation method includes the following steps:

[0156] S6371: determining a weather satisfaction influence range based on a construction weather satisfaction degree.

[0157] The weather satisfaction influence range refers to an influence range produced by a weather satisfaction situation of the weather on the construction. Different construction weather satisfaction degrees correspond to different weather satisfaction influence ranges. The weather satisfaction influence range is matched by inputting the construction weather satisfaction degree into a weather satisfaction influence database, and is convenient for subsequent use. The weather satisfaction influence database pre-stores a comparison table of different construction weather satisfaction degrees and corresponding weather satisfaction influence ranges, and the weather satisfaction influence database is obtained by pre-input.

[0158] S6372: determining a time satisfaction influence range based on a construction time satisfaction degree.

[0159] The time satisfaction influence range refers to an influence range produced by a time satisfaction situation of the time on the construction. Different construction time satisfaction degrees correspond to different time satisfaction influence ranges. The time satisfaction influence range is matched by inputting the construction time satisfaction degree into a time satisfaction influence database, and is convenient for subsequent use. The time satisfaction influence database pre-stores a comparison table of different construction time satisfaction degrees and corresponding time satisfaction influence ranges, and the time satisfaction influence database is obtained by pre-input.

[0160] S6373: determining a coincidence influence range and a comprehensive influence range based on the weather satisfaction influence range and the time satisfaction influence range.

[0161] The overlapping influence range refers to a region range corresponding to the overlap of the weather influence range and the time influence range, and the comprehensive influence range refers to a region range corresponding to the comprehensive coverage of the weather influence range and the time influence range. By analyzing the weather influence range and the time influence range, and taking the region range corresponding to the overlap of the two as the overlapping influence range and the region range corresponding to the comprehensive coverage of the two as the comprehensive influence range, subsequent use is facilitated.

[0162] S6374: Determine the influence range proportion value based on the overlapping influence range and the comprehensive influence range.

[0163] The influence range proportion value refers to a proportion value between the overlapping influence range and the comprehensive influence range. By calculating the proportion value between the overlapping influence range and the comprehensive influence range and taking it as the influence range proportion value, subsequent use is facilitated.

[0164] S6375: Determine whether the influence range proportion value is greater than a preset influence range reference proportion value. If yes, perform S6376; if no, perform S6377.

[0165] The influence range reference proportion value refers to a maximum proportion value corresponding to the use of the overlapping influence range, and is obtained by pre-input. By determining whether the influence range proportion value is greater than the preset influence range reference proportion value, it is determined whether the overlapping influence range can be directly used.

[0166] S6376: Take the overlapping influence range as the construction influence range.

[0167] When the influence range proportion value is greater than the preset influence range reference proportion value, it means that the overlapping influence range can be directly used at this time, so the overlapping influence range is taken as the construction influence range, improving the accuracy of the obtained construction influence range.

[0168] S6377: Take the comprehensive influence range as the construction influence range.

[0169] When the influence range proportion value is not greater than the preset influence range reference proportion value, it means that the overlapping influence range cannot be directly used at this time, so the comprehensive influence range is taken as the construction influence range, improving the accuracy of the obtained construction influence range.

[0170] Before step S638, in order to further ensure the rationality of the construction influence range, it is necessary to make further separate analysis and calculation on the construction influence range. The specific process is described in detail as follows.

[0171] Reference Figure 5, located before determining the construction influence change interval based on the construction influence range includes the following steps:

[0172] S6381: retrieve surrounding building information and road specification value based on the actual position point of the vehicle.

[0173] The surrounding building information refers to the type of information of the buildings around the vehicle, and the road specification value refers to the width specification information of the road where the vehicle is located. The surrounding building information and road specification value are retrieved by querying the map database at the actual position point of the vehicle, which is convenient for subsequent use.

[0174] S6382: determine the building surrounding safety requirement value based on the surrounding building information.

[0175] The building surrounding safety requirement value refers to the safety distance value that needs to be maintained when the surrounding building is under construction. Different surrounding building information corresponds to different building surrounding safety requirement values. The building surrounding safety requirement value is matched by inputting the surrounding building information into the preset building surrounding safety requirement database, which is convenient for subsequent use. The building surrounding safety requirement database pre-stores a comparison table of different surrounding building information and corresponding building surrounding safety requirement values, which is obtained by pre-inputting the building surrounding safety requirement database.

[0176] S6383: determine the remaining allowable range based on the road specification value and the building surrounding safety requirement value.

[0177] The remaining allowable range refers to the range of the road specification that can be used for construction. The position points on both sides of the road where the vehicle is located are determined based on the road specification value and the actual position point of the vehicle, and then the position points close to the inside of the road are calculated based on the building surrounding safety requirement value. The remaining allowable range is generated based on the position points close to the inside of the road, which is convenient for subsequent use.

[0178] S6384: determine whether the construction influence range is located within the remaining allowable range. If yes, execute S6385; if no, execute S6386.

[0179] Whether the construction influence range needs to be replaced is determined by judging whether the construction influence range is located within the remaining allowable range.

[0180] S6385: continue to execute S638.

[0181] When the construction influence range is located within the remaining allowable range, it means that the construction influence range does not need to be replaced, so continue to execute S638.

[0182] S6386: replace the construction influence range based on the remaining allowable range.

[0183] When the construction influence range is not located in the remaining allowable range, it indicates that the construction influence range needs to be replaced, so the construction influence range is replaced by the remaining allowable range, thereby improving the accuracy of the obtained construction influence range.

[0184] In step S8, in order to further ensure the rationality of the event adjustment information, further separate analysis and calculation of the event adjustment information are required, which is specifically described as follows.

[0185] Referring to Figure 6 , the event adjustment information generation method comprises the following steps:

[0186] S81: Obtain a vehicle speed detection value based on vehicle monitoring information.

[0187] The vehicle speed detection value refers to a vehicle speed value corresponding to the vehicle driving, which is detected and obtained by a vehicle speed sensor preset on the vehicle.

[0188] S82: Determine a vehicle speed change value based on the vehicle speed detection value.

[0189] The vehicle speed change value refers to a change value of the vehicle speed in a unit time, which is obtained by pre-inputting the unit time. The unit time can be 4 seconds. The vehicle speed change value is obtained by calculating the average value of the deviation values of the vehicle speed detection values corresponding to the unit time, which is convenient for subsequent use.

[0190] S83: Obtain surrounding detection data information based on the actual position point of the vehicle.

[0191] The surrounding detection data information refers to the detection data information of the vehicles and monitoring in the surrounding of the vehicle. The detection data of the vehicles and monitoring in the surrounding of the vehicle is obtained based on the actual position point of the vehicle, which is convenient for subsequent use.

[0192] S84: Generate a vehicle speed reference change interval based on the surrounding detection data information.

[0193] The vehicle speed reference change interval refers to a reference change interval in which the vehicle speed corresponding to the surrounding situation shared data needs to be located. The vehicle speed reference change interval is generated by analyzing the surrounding detection data information, which is convenient for subsequent use. The specific generation steps of the vehicle speed reference change interval are described with reference to S841 to S846.

[0194] S85: Generate vehicle speed adjustment information based on the vehicle speed change value and the vehicle speed reference change interval, and take the vehicle speed adjustment information as the event adjustment information.

[0195] The vehicle speed adjustment information is adjustment information corresponding to adjustment of the shared trajectory data according to the vehicle speed. The vehicle speed adjustment information is generated by analyzing the vehicle speed change value and the vehicle speed reference change interval, and is used as event adjustment information, thereby improving the accuracy of the obtained event adjustment information. The specific generation steps of the vehicle speed adjustment information are described with reference to S851 to S856.

[0196] In step S84, in order to further ensure the rationality of the vehicle speed reference change interval, further separate analysis and calculation of the vehicle speed reference change interval is required. The specific steps are described in detail as follows.

[0197] Referring to Figure 7 The method for generating the vehicle speed reference change interval includes the following steps:

[0198] S841: Based on the surrounding detection data information, the surrounding vehicle data information and the surrounding monitoring data information are retrieved.

[0199] The surrounding vehicle data information refers to the detection data information of the vehicles around the vehicle, and the surrounding monitoring data information refers to the detection data information of the monitoring around the vehicle. The surrounding detection data information includes the surrounding vehicle data information and the surrounding monitoring data information, which are retrieved for subsequent use.

[0200] S842: Based on the surrounding vehicle data information, the surrounding vehicle type information and the surrounding vehicle speed value are retrieved.

[0201] The surrounding vehicle type information refers to the type information of the vehicles around the shared data vehicle, and the surrounding vehicle speed value refers to the vehicle speed value corresponding to the vehicles around the shared data vehicle when driving. The surrounding vehicle data information includes the surrounding vehicle type information and the surrounding vehicle speed value, which are retrieved for subsequent use.

[0202] S843: Based on the surrounding vehicle type information, the vehicle type influence value is determined.

[0203] The vehicle type influence value refers to the influence value of the type of the surrounding vehicles on the vehicle speed. Different vehicle type influence values correspond to different vehicle type influence values. The vehicle type influence value is obtained by inputting the surrounding vehicle type information into a preset vehicle type influence database, which is convenient for subsequent use. The vehicle type influence database pre-stores a comparison table of different vehicle type influence values and corresponding vehicle type influence values, which is obtained by pre-input.

[0204] S844: determining a vehicle speed initial interval based on the vehicle category influence value and the surrounding vehicle speed value.

[0205] The vehicle speed initial interval refers to an initial interval in which the vehicle sharing data needs to be in during the driving process. The vehicle speed initial interval is matched by inputting the vehicle category influence value and the surrounding vehicle speed value into the preset vehicle speed initial interval database, facilitating subsequent use. The vehicle speed initial interval database pre-stores a comparison table of different vehicle category influence values and surrounding vehicle speed values and corresponding vehicle speed initial intervals, and the vehicle speed initial interval database is obtained by pre-input.

[0206] S845: generating a surrounding monitoring adjustment value based on surrounding monitoring data information.

[0207] The surrounding monitoring adjustment value refers to an adjustment value corresponding to the adjustment of the vehicle speed interval according to the surrounding monitoring data. The surrounding monitoring adjustment value is generated by analyzing the surrounding monitoring data information, facilitating subsequent use. The specific generation steps of the surrounding monitoring adjustment value are referred to S8451-S8456.

[0208] S846: adjusting the vehicle speed initial interval based on the surrounding monitoring adjustment value to form a vehicle speed reference change interval.

[0209] The two product values are calculated by multiplying the surrounding monitoring adjustment value and the two interval end values of the vehicle speed initial interval, respectively, and the two product values are used as the interval end values of the vehicle speed reference change interval, thereby forming the vehicle speed reference change interval and improving the accuracy of the obtained vehicle speed reference change interval.

[0210] In step S845, in order to further ensure the rationality of the surrounding monitoring adjustment value, it is necessary to make further separate analysis and calculation on the surrounding monitoring adjustment value. The specific steps are as follows.

[0211] The generation method of the surrounding monitoring adjustment value includes the following steps:

[0212] S8451: retrieving monitoring image information and monitoring speed detection values based on surrounding monitoring data information.

[0213] The monitoring image information refers to the image information detected by the surrounding monitoring, and the monitoring speed detection value refers to the speed detection value of each vehicle detected by the surrounding monitoring. The surrounding monitoring data information includes the monitoring image information and the monitoring speed detection value, and the monitoring image information and the monitoring speed detection value are retrieved through the surrounding monitoring data information, facilitating subsequent use.

[0214] S8452: comparing the monitoring image information based on a preset unit time to obtain an image vehicle change speed value.

[0215] The image vehicle change speed value refers to the vehicle speed value of the monitored image within a unit time, which is obtained by pre-input. The image vehicle change speed value is calculated by comparing the monitored image information corresponding to the preset unit time, facilitating subsequent use. The change image determines the object moving speed, which is prior art and will not be described in detail.

[0216] S8453: Determine whether the image vehicle speed value and the monitored speed detection value are consistent. If yes, perform S8454; if no, perform S8455.

[0217] The image vehicle speed value and the monitored speed detection value are compared to determine whether adjustment is needed based on the image vehicle speed value.

[0218] S8454: Output the preset monitored reference adjustment value as the surrounding monitoring adjustment value.

[0219] The monitored reference adjustment value refers to the adjustment value corresponding to no adjustment, which is obtained by pre-input. When the image vehicle speed value and the monitored speed detection value are consistent, it means that no adjustment is needed based on the image vehicle speed value, so the preset monitored reference adjustment value is output as the surrounding monitoring adjustment value, improving the accuracy of the obtained surrounding monitoring adjustment value.

[0220] S8455: Determine the vehicle speed ratio value based on the image vehicle speed value and the monitored speed detection value.

[0221] The vehicle speed ratio value refers to the ratio between the image vehicle speed value and the monitored speed detection value. When the image vehicle speed value and the monitored speed detection value are inconsistent, it means that no adjustment is needed based on the image vehicle speed value, so the ratio between the image vehicle speed value and the monitored speed detection value is calculated as the vehicle speed ratio value, facilitating subsequent use.

[0222] S8456: Determine the vehicle speed ratio adjustment value based on the vehicle speed ratio value, and use the vehicle speed ratio adjustment value as the surrounding monitoring adjustment value.

[0223] The vehicle speed ratio adjustment value refers to the adjustment value corresponding to the adjustment of the vehicle speed interval based on the vehicle speed ratio value. Different vehicle speed ratio values correspond to different vehicle speed ratio adjustment values. The vehicle speed ratio value is input into the preset vehicle speed ratio adjustment database to match the vehicle speed ratio adjustment value, and the vehicle speed ratio adjustment value is used as the surrounding monitoring adjustment value, improving the accuracy of the obtained surrounding monitoring adjustment value. The vehicle speed ratio adjustment database pre-stores a comparison table of different vehicle speed ratio values and corresponding vehicle speed ratio adjustment values, which is obtained by pre-input.

[0224] In step S85, in order to further ensure the rationality of the vehicle speed adjustment information, further separate analysis and calculation of the vehicle speed adjustment information is required, which is specifically described as follows.

[0225] The method for generating the vehicle speed adjustment information comprises the following steps:

[0226] S851: Determine whether the vehicle speed change value is located in the vehicle speed reference change interval. If yes, perform S852; if no, perform S854.

[0227] Wherein, whether the vehicle speed change value is located in the vehicle speed reference change interval is determined, so as to determine whether to adjust directly according to the vehicle speed change value.

[0228] S852: Calculate the difference between the vehicle speed change value and the vehicle speed reference change interval as the vehicle speed change deviation value.

[0229] Wherein, the vehicle speed change deviation value refers to the deviation value between the vehicle speed change value and the vehicle speed reference change interval. When the vehicle speed change value is located in the vehicle speed reference change interval, it means that the adjustment is made according to the vehicle speed change value at this time, so the deviation value between the vehicle speed change value and the vehicle speed reference change interval is calculated as the vehicle speed change deviation value, which is convenient for subsequent use.

[0230] S853: Determine the speed abnormality adjustment information based on the vehicle speed change deviation value, and take the speed abnormality adjustment information as the vehicle speed adjustment information.

[0231] Wherein, the speed abnormality adjustment information refers to the adjustment information corresponding to the adjustment according to the vehicle speed change deviation value. Different vehicle speed change deviation values correspond to different speed abnormality adjustment information. The vehicle speed change deviation value is input into the preset speed abnormality adjustment database to match the speed abnormality adjustment information, and the speed abnormality adjustment information is taken as the vehicle speed adjustment information, which improves the accuracy of the obtained vehicle speed adjustment information. The speed abnormality adjustment database pre-stores a comparison table of different vehicle speed change deviation values and corresponding speed abnormality adjustment information, and the speed abnormality adjustment database is obtained by pre-input.

[0232] S854: Retrieve image abnormality information based on the surrounding detection data information.

[0233] Wherein, the image abnormality information refers to the image information corresponding to the abnormal stay in the image. The surrounding detection data information includes the image abnormality information. When the vehicle speed change value is not located in the vehicle speed reference change interval, it means that the vehicle speed is abnormal at this time, and the adjustment cannot be made according to the vehicle speed change value, so the image abnormality information is retrieved through the surrounding detection data information, which is convenient for subsequent use.

[0234] S855: determine the abnormal accident type information based on the image abnormal information.

[0235] The abnormal accident type information refers to the type information corresponding to the abnormal vehicle stay. The abnormal accident type information is obtained by matching the preset vehicle accident features of the image abnormal information, facilitating subsequent use. The vehicle accident features refer to features such as vehicle collision with each other and foreign objects staying on the road, which are obtained by pre-input.

[0236] S856: determine the accident adjustment information based on the abnormal accident type information, and use the accident adjustment information as the vehicle speed adjustment information.

[0237] The accident adjustment information refers to the adjustment information corresponding to the adjustment according to the accident situation. Different abnormal accident type information corresponds to different accident adjustment information. The accident adjustment information is obtained by inputting the abnormal accident type information into the preset accident adjustment database for matching, and the accident adjustment information is used as the vehicle speed adjustment information, improving the accuracy of the obtained vehicle speed adjustment information. The accident adjustment database pre-stores a comparison table of different abnormal accident type information and corresponding accident adjustment information, and the accident adjustment database is obtained by pre-input.

[0238] Based on the same inventive concept, the present application provides a trajectory privacy protection and data sharing system based on event triggering, comprising:

[0239] The acquisition module is used to acquire the actual position point of the vehicle and the vehicle monitoring information.

[0240] The memory is used to store the trajectory privacy protection and data sharing method based on event triggering as described above.

[0241] The processor loads and executes the program in the memory.

[0242] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0243] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the scope of the present application is within the protection scope of the present application. It should be noted that, for ordinary skilled in the art, some improvements and refinements without departing from the principles of the present application are also considered as the protection scope of the present application.

Claims

1. An event-triggered trajectory privacy protection and data sharing method, characterized in that, Comprising: S1: collecting a vehicle actual position point in real time; S2: calling vehicle actual trajectory information based on the vehicle actual position point; S3: determining an estimated position interval based on the vehicle actual trajectory information; S4: performing differential privacy adjustment based on the vehicle actual position point to generate shared initial trajectory data; S5: determining whether the vehicle actual position point is located in the estimated position interval; S6: if yes, outputting the shared initial trajectory data; S7: if no, collecting vehicle monitoring information; S8: generating event adjustment information based on the vehicle monitoring information; S9: adjusting the shared initial trajectory data based on the event adjustment information to form shared adjusted trajectory data and outputting.

2. The method of claim 1, wherein, Located after the step S6 further comprising: S61: calling nearby position construction situation information and nearby position historical trajectory information based on the vehicle actual position point; S62: determining a historical trajectory change interval based on the nearby position historical trajectory information; S63: generating a construction trajectory change interval based on the nearby position construction situation information; S64: determining a trajectory change coincidence rate based on the historical trajectory change interval and the construction trajectory change interval; S65: determining a construction trajectory change reference value based on the vehicle actual position point and the construction trajectory change interval; S66: determining a trajectory change comprehensive influence value based on the trajectory change coincidence rate and the construction trajectory change reference value; S67: when and only when the trajectory change comprehensive influence value is greater than a preset trajectory change reference influence value, calculating a difference value between the trajectory change comprehensive influence value and the trajectory change reference influence value as a trajectory change influence deviation value; S68: determining trajectory change adjustment information based on the trajectory change influence deviation value, and adjusting and updating the shared initial trajectory data based on the trajectory change adjustment information.

3. The method of claim 2, wherein, The step S63 comprises: S631: calling construction type information based on the nearby position construction situation information; S632: determining construction type demand time period and influence weather information based on the construction type information; S633: calling actual position weather information based on the vehicle actual position point; S634: determining construction weather satisfaction degree based on matching the actual position weather information and the influence weather information; S635: collecting a current time point; S636: determining construction time satisfaction degree based on the current time point and the construction type demand time period; S637: generating construction influence range based on the construction weather satisfaction degree and the construction time satisfaction degree; S638: determining a construction influence change interval based on the construction influence range, and taking the construction influence change interval as the construction trajectory change interval.

4. The method of claim 3, wherein, The step S637 comprises: S6371: determining weather satisfaction influence range based on the construction weather satisfaction degree; S6372: determining time satisfaction influence range based on the construction time satisfaction degree; S6373: determining coincident influence range and comprehensive influence range based on the weather satisfaction influence range and the time satisfaction influence range; S6374: determining an influence range proportion value based on the overlap influence range and the comprehensive influence range; S6375: determining whether the influence range proportion value is greater than a preset influence range reference proportion value; S6376: if yes, taking the overlap influence range as the construction influence range; S6377: if no, taking the comprehensive influence range as the construction influence range.

5. The event-triggered trajectory privacy protection and data sharing method according to claim 4, characterized in that, Before the S638, there are also: S6381: calling surrounding building information and road specification values based on the vehicle actual position point; S6382: determining building surrounding safety demand values based on the surrounding building information; S6383: determining residual allowable ranges based on the road specification values and the building surrounding safety demand values; S6384: determining whether the construction influence range is within the residual allowable range; S6385: if yes, continuing to execute the construction influence change interval based on the construction influence range; S6386: if no, replacing the construction influence range based on the residual allowable range.

6. The event-triggered trajectory privacy protection and data sharing method according to claim 1, characterized in that, The step S8 includes: S81: calling vehicle speed detection values based on the vehicle monitoring information; S82: determining vehicle speed change values based on the vehicle speed detection values; S83: calling surrounding detection data information based on the vehicle actual position point; S84: generating vehicle speed reference change intervals based on the surrounding detection data information; S85: generating vehicle speed adjustment information based on the vehicle speed change values and the vehicle speed reference change intervals, and taking the vehicle speed adjustment information as the event adjustment information.

7. The event-triggered trajectory privacy protection and data sharing method according to claim 6, characterized in that, The step S84 includes: S841: calling surrounding vehicle data information and surrounding monitoring data information based on the surrounding detection data information; S842: calling surrounding vehicle type information and surrounding speed values based on the surrounding vehicle data information; S843: determining vehicle type influence values based on the surrounding vehicle type information; S844: determining vehicle speed initial intervals based on the vehicle type influence values and the surrounding speed values; S845: generating surrounding monitoring adjustment values based on the surrounding monitoring data information; S846: adjusting the vehicle speed initial intervals based on the surrounding monitoring adjustment values to form the vehicle speed reference change intervals.

8. The event-triggered trajectory privacy protection and data sharing method according to claim 7, characterized in that, The step S845 includes: S8451: calling monitoring image information and monitoring speed detection values based on the surrounding monitoring data information; S8452: comparing the monitoring image information based on preset unit time to obtain image vehicle change speed values; S8453: determining whether the image speed values and the monitoring speed detection values are consistent; S8454: if yes, outputting preset monitoring reference adjustment values as the surrounding monitoring adjustment values; S8455: if no, determining vehicle speed proportion values based on the image speed values and the monitoring speed detection values; S8456: determining vehicle speed proportion adjustment values based on the vehicle speed proportion values, and taking the vehicle speed proportion adjustment values as the surrounding monitoring adjustment values.

9. The event-triggered trajectory privacy protection and data sharing method according to claim 6, characterized in that, The step S85 includes: S851: determining whether the vehicle speed change values are within the vehicle speed reference change intervals; S852: If yes, calculate the difference between the vehicle speed change value and the vehicle speed reference change interval as a vehicle speed change deviation value; S853: Determine a shift abnormality adjustment information based on the vehicle speed change deviation value, and take the shift abnormality adjustment information as the vehicle speed adjustment information; S854: If no, retrieve image abnormality information based on the surrounding detection data information; S855: Determine abnormal accident type information based on the image abnormality information; S856: Determine accident adjustment information based on the abnormal accident type information, and take the accident adjustment information as the vehicle speed adjustment information.

10. An event-triggered trajectory privacy protection and data sharing system based on, characterized in that, Comprise: A collection module for collecting vehicle actual position points and vehicle monitoring information; A memory for storing a kind of event-triggered trajectory privacy protection and data sharing method according to any one of claims 1 to 9; A processor for loading and executing programs in the memory.

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