A vehicle motion trajectory data processing method and related device

Abstract

The embodiment of the application discloses a kind of vehicle motion trajectory data processing method and related device, can from the road section information corresponding to multiple road sections of the first motion trajectory respectively, filter out the road section information corresponding to the part reference road section that the generation effect of trajectory is remarkable, based on this part of road section information, the first motion trajectory can be accurately generated.In storing trajectory data, the road section information corresponding to this part of reference road section can be stored as the trajectory data corresponding to the first motion trajectory, without storing the road section information corresponding to all road sections, the accurate first motion trajectory can also be restored, while ensuring the effectiveness of trajectory data, substantially reduce the amount of data required to store trajectory data storage, also facilitate subsequent need based on the first motion trajectory data processing, from the trajectory data corresponding to the first motion trajectory in stored data, the first motion trajectory is analyzed, improve the convenience of trajectory data application.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method and related apparatus for processing vehicle motion trajectory data. Background Technology

[0002] Trajectory data is an important data source in the transportation field. It is used to record the travel routes chosen by drivers every day. Based on the trajectory data, it is possible to analyze which travel routes are of higher quality, so as to realize functions such as route planning and route navigation.

[0003] In related technologies, when storing trajectory data corresponding to a trajectory, it is necessary to first determine multiple road segments constituting the trajectory in the road network system, and then store the road segment information corresponding to the multiple road segments as the trajectory data corresponding to the trajectory. When a user wants to query the route between two locations, the system can find trajectories that pass through the road segments of both locations based on the road segments where the locations are located, and push the route accordingly.

[0004] However, due to the large number of travelers, a large number of trajectories are generated every day. Therefore, the trajectory data storage methods in related technologies need to store a large amount of road segment information. Excessive data storage is not conducive to the storage and retrieval of trajectory data. Summary of the Invention

[0005] To address the aforementioned technical issues, this application provides a method for processing vehicle trajectory data, which can reduce the amount of trajectory data while ensuring the accuracy of trajectory data for trajectory identification.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, embodiments of this application disclose a method for processing vehicle trajectory data, the method comprising:

[0008] Acquire initial trajectory data corresponding to the first motion trajectory of the vehicle, wherein the first motion trajectory traverses multiple road segments, and the initial trajectory data includes road segment information corresponding to the multiple road segments respectively;

[0009] A first set of reference road segments corresponding to the first motion trajectory is determined from the plurality of road segments. The first set of reference road segments includes at least one reference road segment, which is used to identify the trajectory direction of the first motion trajectory.

[0010] Based on the road segment information corresponding to the first set of reference road segments, a second motion trajectory is generated that runs through the reference road segments in the first set of reference road segments;

[0011] Since the second motion trajectory is inconsistent with the first motion trajectory, a new reference road segment is determined from the remaining road segments excluding the first reference road segment set from the plurality of road segments, and the new reference road segment is combined with the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0012] Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is stored as the trajectory data corresponding to the first motion trajectory, and the trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

[0013] Secondly, embodiments of this application disclose a vehicle motion trajectory data processing device, the device comprising a first acquisition unit, a first determination unit, a generation unit, a second determination unit, and a storage unit:

[0014] The first acquisition unit is used to acquire initial trajectory data corresponding to the first motion trajectory of the vehicle, wherein the first motion trajectory passes through multiple road segments, and the initial trajectory data includes road segment information corresponding to the multiple road segments respectively;

[0015] The first determining unit is configured to determine a first set of reference road segments corresponding to the first motion trajectory from the plurality of road segments. The first set of reference road segments includes at least one reference road segment, which is used to identify the trajectory direction of the first motion trajectory.

[0016] The generation unit is used to generate a second motion trajectory that runs through the reference road segments in the first reference road segment set based on the road segment information corresponding to the first reference road segment set.

[0017] The second determining unit is configured to determine a new reference road segment from the remaining road segments other than the first reference road segment set from the plurality of road segments based on the inconsistency between the second motion trajectory and the first motion trajectory, and combine the new reference road segment with the first reference road segment set to form an updated first reference road segment set, and re-execute the step of generating the second motion trajectory based on the updated first reference road segment set;

[0018] The storage unit is used to store the road segment information corresponding to the first reference road segment set as trajectory data corresponding to the first motion trajectory, based on the fact that the second motion trajectory is consistent with the first motion trajectory. The trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

[0019] In one possible implementation, the first determining unit is specifically used for:

[0020] The starting road segment, the ending road segment, and the intersection road segment are determined from the plurality of road segments as the first reference road segment set corresponding to the first motion trajectory. The starting road segment is the road segment where the trajectory of the first motion trajectory begins, the ending road segment is the road segment where the trajectory of the first motion trajectory ends, and the intersection road segment is the road segment that passes through an intersection.

[0021] In one possible implementation, the intersection segment is a segment that passes through the intersection, and among multiple segments that pass through the intersection, the difference between the proportion of the trajectory corresponding to the intersection segment and the proportion of the trajectory corresponding to other segments is less than a difference threshold. The proportion of the trajectory corresponding to the intersection segment is the percentage of the number of trajectories that pass through the intersection segment among the trajectories that pass through the intersection.

[0022] In one possible implementation, the generation unit is specifically used for:

[0023] Based on the road segment information corresponding to the first set of reference road segments, a second sub-trajectory is generated between every two adjacent reference road segments in the first set of reference road segments. The second sub-trajectory between any two adjacent reference road segments is a trajectory with the two adjacent reference road segments as the starting point and the ending point. The second sub-trajectory between every two adjacent reference road segments is used to splice together to obtain the second motion trajectory.

[0024] The second determining unit is specifically used for:

[0025] Determine a first sub-track between any two adjacent reference road segments in the first motion trajectory. The first sub-track is the portion of the first motion trajectory that starts and ends at any two adjacent reference road segments.

[0026] Since the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments are inconsistent, a road segment located between any two adjacent reference road segments is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0027] In one possible implementation, the second determining unit is specifically used for:

[0028] Based on the inconsistency between the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments, a road segment located between any two adjacent reference road segments is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set.

[0029] Based on the road segment information corresponding to any two adjacent reference road segments and the new reference road segment, a second sub-trajectory between any two adjacent reference road segments is regenerated. The regenerated second sub-trajectory is a trajectory that starts and ends at any two adjacent reference road segments and runs through the new reference road segment.

[0030] In the second motion trajectory, the trajectory between any two adjacent reference road segments is replaced with the regenerated second sub-trajectory to obtain the regenerated second motion trajectory.

[0031] In one possible implementation, the second determining unit is specifically used for:

[0032] Since the first sub-trajectory and the second sub-trajectory are inconsistent between any two adjacent reference road segments, the road segment located in the middle of the first sub-trajectory is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0033] In one possible implementation, the apparatus further includes a second acquisition unit, a third determination unit, and a fourth determination unit:

[0034] The second acquisition unit is used to acquire start point information and end point information, wherein the start point information is used to identify the demand start point and the end point information is used to identify the demand end point;

[0035] The third determining unit is used to determine the road segment information corresponding to the starting point information and the ending point information respectively. The road segment information corresponding to the starting point information is used to identify the road segment where the demand starting point is located, and the road segment information corresponding to the ending point information is used to identify the road segment where the demand ending point is located.

[0036] The fourth determining unit is used to determine a third motion trajectory from the motion trajectory generated by the stored trajectory data based on the road segment information corresponding to the starting point information and the ending point information, respectively, and the stored trajectory data. The third motion trajectory is a trajectory with the demand starting point as the starting point and the demand ending point as the ending point.

[0037] In one possible implementation, the storage unit is specifically used for:

[0038] Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is used as the trajectory data corresponding to the first motion trajectory, and stored in correspondence with the trajectory information used to identify the first motion trajectory.

[0039] The fourth determining unit is specifically used for:

[0040] Based on the road segment information corresponding to the starting point information and the stored trajectory data, a first trajectory information set is obtained. The first trajectory information set is a set of trajectory information corresponding to the trajectory that passes through the required starting point in the motion trajectory generated by the stored trajectory data.

[0041] Based on the road segment information corresponding to the destination information and the stored trajectory data, a second trajectory information set is obtained. The second trajectory information set is a set of trajectory information corresponding to the trajectory that passes through the desired destination in the motion trajectory generated by the stored trajectory data.

[0042] The third motion trajectory is determined from the motion trajectories identified by the trajectory information that overlaps with the first trajectory information set and the second trajectory information set.

[0043] In one possible implementation, the fourth determining unit is specifically used for

[0044] Based on the road segment information corresponding to the starting point information included in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the starting point information is taken as the first trajectory information set.

[0045] Based on the road segment information corresponding to the destination information included in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the destination information is taken as the second trajectory information set.

[0046] In one possible implementation, the first set of reference road segments includes intersection road segments from the plurality of road segments, wherein the intersection road segments are road segments passing through intersections, and the fourth determining unit is specifically used for

[0047] Since the stored trajectory data does not include the road segment information corresponding to the starting point information, the intersection road segment corresponding to the demand starting point is obtained according to the road segment information corresponding to the starting point information. The intersection road segment corresponding to the demand starting point is an intersection road segment whose distance from the road segment where the demand starting point is located is less than a preset distance.

[0048] The set of trajectory information corresponding to the trajectory data, including the road segment information of the intersection and road segment corresponding to the starting point of the demand, is taken as the initial first trajectory information set.

[0049] Based on the trajectory data corresponding to the trajectory information in the initial first trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial first trajectory information set passes through the required starting point;

[0050] Remove the trajectory information in the initial first trajectory information set that does not pass through the required starting point to obtain the first trajectory information set.

[0051] In one possible implementation, the fourth determining unit is specifically used for:

[0052] Since the stored trajectory data does not include the road segment information corresponding to the starting point information, the road segment that can be reached from the road segment where the required starting point is located without passing through any road segments is obtained as a candidate road segment based on the road segment information corresponding to the starting point information.

[0053] Among the candidate intersection segments, the segment whose distance from the segment where the demand origin is located is less than a preset distance is selected as the intersection segment corresponding to the demand origin.

[0054] In one possible implementation, the first set of reference road segments includes intersection road segments from the plurality of road segments, wherein the intersection road segments are road segments passing through intersections, and the fourth determining unit is specifically used for:

[0055] Since the stored trajectory data does not include the road segment information corresponding to the destination information, the intersection road segment corresponding to the desired destination is obtained according to the road segment information corresponding to the destination information. The intersection road segment corresponding to the desired destination is an intersection road segment whose distance from the road segment where the desired destination is located is less than a preset distance.

[0056] The set of trajectory information corresponding to the trajectory data that includes the road segment information of the intersection and road segment corresponding to the destination of the demand is taken as the initial second trajectory information set.

[0057] Based on the trajectory data corresponding to the trajectory information in the initial second trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial second trajectory information set passes through the required endpoint;

[0058] Remove the trajectory information in the initial second trajectory information set that does not pass through the required endpoint, and obtain the second trajectory information set.

[0059] In one possible implementation, the fourth determining unit is specifically used for:

[0060] Identify multiple candidate trajectory information that overlap in the first trajectory information set and the second trajectory information set;

[0061] Based on the trajectory data corresponding to the multiple candidate trajectory information, a motion trajectory is generated that is identified by the multiple candidate trajectory information respectively;

[0062] From the motion trajectories identified by the multiple candidate trajectory information respectively, the candidate motion trajectories corresponding to the multiple candidate trajectory information are extracted to obtain a set of candidate motion trajectories. The candidate motion trajectory corresponding to any candidate trajectory information is the trajectory part from the starting point of the demand to the ending point of the demand in the motion trajectory identified by the arbitrary candidate trajectory information.

[0063] The candidate motion trajectory set is deduplicated. The candidate motion trajectories in the deduplicated candidate motion trajectory set have corresponding trajectory quantities. The trajectory quantity corresponding to any candidate motion trajectory is the number of trajectories that are the same as any candidate motion trajectory in the candidate motion trajectory set before deduplication.

[0064] The n candidate motion trajectories with the most corresponding trajectories in the deduplicated candidate motion trajectory set are taken as the third motion trajectory, where n is a positive integer.

[0065] In one possible implementation, the device further includes a fifth determining unit:

[0066] The fifth determining unit is used to determine whether the road segments where the demand start point and the demand end point are located are passable road segments based on the road segment information corresponding to the start point information and the end point information, respectively.

[0067] The fourth determining unit is specifically used for:

[0068] Based on the fact that both the starting point and the ending point of the demand are passable road segments, a third motion trajectory is determined from the motion trajectory generated by the stored trajectory data according to the road segment information corresponding to the starting point information and the ending point information respectively.

[0069] Thirdly, embodiments of this application disclose a computer device, which includes a processor and a memory:

[0070] The memory is used to store computer programs and to transfer the computer programs to the processor;

[0071] The processor is configured to execute the vehicle motion trajectory data processing method according to any one of the first aspects, based on the instructions in the computer program.

[0072] Fourthly, embodiments of this application disclose a computer-readable storage medium for storing a computer program for executing the vehicle motion trajectory data processing method described in any one of the first aspects;

[0073] Fifthly, embodiments of this application disclose a computer program product including a computer program, which, when run on a computer device, causes the computer device to execute the vehicle motion trajectory data processing method described in any one of the first aspects.

[0074] As can be seen from the above technical solution, after obtaining the initial trajectory data corresponding to the first motion trajectory, this application does not directly store the complete data. Instead, it first analyzes which data in the initial trajectory data plays a crucial role in generating the first motion trajectory and which data plays a smaller role. During the analysis, some road segments can be determined from the multiple road segments that make up the first motion trajectory as the first reference road segment set corresponding to the first motion trajectory. Then, based on the road segment information corresponding to the first reference road segment set in the initial trajectory data, the trajectory is regenerated to obtain the second motion trajectory. If the second motion trajectory is inconsistent with the first motion trajectory, it indicates that the road segment information corresponding to the first reference road segment set is insufficient to accurately generate the first motion trajectory. In this case, new reference road segments can be determined from the remaining road segments among the multiple road segments and added to the first reference road segment set. The step of generating the second motion trajectory is then re-executed based on the updated road segment information corresponding to the first reference road segment set. If the motion trajectory is consistent with the first motion trajectory, it means that the first motion trajectory can be accurately generated using the road segment information corresponding to the first reference road segment set, without the need for other trajectory data. Therefore, the road segment information corresponding to the first reference road segment set can be stored as trajectory data for generating the first motion trajectory. This reduces the amount of trajectory data while ensuring the ability of the trajectory data to generate the first motion trajectory, thereby reducing the data storage pressure. It also makes it easier to quickly call the trajectory data corresponding to the first motion trajectory from the stored data to analyze the first motion trajectory when data processing is needed based on the first motion trajectory, thus improving the convenience of trajectory data application. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 A schematic diagram illustrating a method for processing vehicle trajectory data in a practical application scenario, as provided in an embodiment of this application;

[0077] Figure 2A schematic diagram illustrating a method for processing vehicle trajectory data in a practical application scenario, as provided in an embodiment of this application;

[0078] Figure 3 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0079] Figure 4 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0080] Figure 5 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0081] Figure 6 A schematic diagram illustrating a method for processing vehicle trajectory data according to an embodiment of this application;

[0082] Figure 7 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0083] Figure 8 A schematic diagram illustrating a method for processing vehicle trajectory data according to an embodiment of this application;

[0084] Figure 9 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0085] Figure 10 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0086] Figure 11 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0087] Figure 12 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0088] Figure 13 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0089] Figure 14 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0090] Figure 15 A schematic diagram illustrating a method for processing vehicle trajectory data according to an embodiment of this application;

[0091] Figure 16A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0092] Figure 17 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0093] Figure 18 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0094] Figure 19 A flowchart illustrating a method for processing vehicle motion trajectory data provided in this application embodiment;

[0095] Figure 20 A flowchart illustrating a method for processing vehicle trajectory data in a real-world application scenario, as provided in this application embodiment;

[0096] Figure 21 A structural block diagram of a vehicle motion trajectory data processing device provided in an embodiment of this application;

[0097] Figure 22 A structural diagram of a terminal provided in an embodiment of this application;

[0098] Figure 23 This is a structural diagram of a server provided in an embodiment of this application. Detailed Implementation

[0099] The embodiments of this application will now be described with reference to the accompanying drawings.

[0100] Trajectory data has a wide range of applications in various technical fields. For example, to analyze travel habits, trajectory data corresponding to vehicle travel routes is acquired and analyzed. This analysis can identify which routes are preferred by travelers, allowing for the placement of more shopping malls and restaurants along these routes to increase customer traffic. Navigation systems can also prioritize recommending these popular routes to users. Conversely, it can also identify which routes are not frequently chosen by travelers, potentially indicating travel problems, allowing for timely investigation of road segments along these routes.

[0101] In related technologies, in order to store trajectory data for trajectory analysis, when a new trajectory appears, the computer device needs to obtain the segment information corresponding to all the road segments that make up the trajectory. The segment information can be used to identify the corresponding road segments, and then these segment information are stored as the trajectory data corresponding to the trajectory so that the trajectory can be reconstructed based on the trajectory data.

[0102] However, due to the large number of people traveling every day, the number of trajectories generated daily is also quite large. Therefore, the trajectory data storage methods in related technologies result in an excessive amount of trajectory data that needs to be stored. On the one hand, this brings great data storage pressure, and on the other hand, it makes it difficult to read the stored trajectory data, thus affecting the subsequent application of the trajectory data.

[0103] To address the aforementioned technical problems, this application provides a method for processing vehicle motion trajectory data. This method can select road segment information corresponding to a subset of baseline road segments that significantly contribute to trajectory generation from the road segment information corresponding to multiple road segments constituting the first motion trajectory. Based on this subset of road segment information, the first motion trajectory can be accurately generated. When storing trajectory data, the road segment information corresponding to these baseline road segments can be stored as the trajectory data corresponding to the first motion trajectory, thus eliminating the need to store the road segment information corresponding to all road segments. Furthermore, the accurate first motion trajectory can be reconstructed based on the trajectory data, significantly reducing the amount of data required for trajectory data storage while ensuring the validity of the trajectory data.

[0104] Understandably, this method can be applied to computer devices capable of processing trajectory data, such as terminal devices or servers. This method can be executed independently by a terminal device or server, or it can be applied to network scenarios where the terminal device and server communicate, executing in cooperation. The terminal device can be a mobile phone, tablet, laptop, desktop computer, etc. The terminal device can also include various virtual reality devices, such as augmented reality (AR) devices like AR glasses and AR screens, and virtual reality (VR) devices like VR headsets. The server can be understood as an application server or a web server. In actual deployment, the server can be a standalone server, a cluster server, or a cloud server, etc.

[0105] To facilitate understanding of the technical solution provided in this application, the method for processing vehicle motion trajectory data provided in this application will be introduced next in conjunction with a practical application scenario.

[0106] See Figure 1 , Figure 1 This is a schematic diagram of a method for processing vehicle motion trajectory data in a practical application scenario provided by an embodiment of this application. In this practical application scenario, the computer device can be a server 101 with trajectory data processing function.

[0107] The first trajectory is as follows Figure 1As shown, the first trajectory is the trajectory generated after the vehicle has traveled. Upon zooming in, it can be seen that the first trajectory traverses six road segments on the map, namely road segment 1 to road segment 6. Server 101 can first obtain the initial trajectory data corresponding to the first trajectory. This initial trajectory data includes road segment information corresponding to each of the six road segments, which is used to identify the corresponding road segment. To reduce the amount of trajectory data, server 101 can select and store a portion of the road segment information from the six road segment information that can accurately generate the first trajectory.

[0108] For example, server 101 can first select road segment 1 where the starting point of the first motion trajectory is located, road segment 2 along the route, and road segment 6 where the ending point of the first motion trajectory is located as reference road segments. In order to verify whether the road segment information corresponding to these reference road segments can accurately identify the first motion trajectory, server 101 can generate a second motion trajectory based on these road segment information and verify whether the second motion trajectory is consistent with the first motion trajectory. The second motion trajectory is a trajectory that runs through the reference road segments corresponding to the first motion trajectory. That is, the second motion trajectory starts from the first reference road segment (road segment 1), runs through road segment 2, and ends at the last reference road segment (road segment 6).

[0109] If they match, it means that the road segment information of these reference road segments can accurately generate the first motion trajectory, that is, the road segment information corresponding to these reference road segments can be used to record the first motion trajectory. Therefore, server 101 can store the road segment information corresponding to these reference road segments as the trajectory data corresponding to the first motion trajectory, without storing the road segment information corresponding to other road segments, thus reducing the amount of trajectory data. If they do not match, it means that the road segment information of these reference road segments cannot accurately generate the first motion trajectory. At this time, server 101 can obtain new reference road segments from the remaining road segments in the six road segments and add them to the reference road segments corresponding to the first motion trajectory, and regenerate the second motion trajectory to verify whether the road segment information corresponding to the updated reference road segments corresponding to the first motion trajectory can accurately generate a second motion trajectory consistent with the first motion trajectory, until the above data storage judgment conditions are met.

[0110] For example Figure 2As shown, when generating the second motion trajectory based on road segments 1, 2, and 6 as reference road segments, the server 101 cannot determine the trajectory's direction at intersection 2 due to the lack of road segment 5. Therefore, the generated second motion trajectory differs from the first motion trajectory at intersection 2, ultimately resulting in a different trajectory. However, by adding road segment 5 as a reference road segment, the server 101 can clearly determine the trajectory's direction at intersection 2. Simultaneously, road segment 2 can clarify the trajectory's direction at intersection 1. Since other road segments not only pass through intersections, only a unique trajectory can be generated on the map. Thus, a second motion trajectory identical to the first motion trajectory can be generated based on road segments 1, 2, 5, and 6. The server 101 can store the road segment information corresponding to road segments 1, 2, 5, and 6 as trajectory data corresponding to the first motion trajectory.

[0111] In this way, computer equipment can store trajectory data corresponding to the first motion trajectory without storing all the road segment information. Only the road segment information corresponding to a portion of the baseline road segments needs to be stored. While ensuring that the first motion trajectory can be accurately generated from the trajectory data, the amount of trajectory data is reduced, thereby reducing the data storage pressure. The smaller amount of data also makes it easier to call the trajectory data.

[0112] Next, the technical solution provided in this application will be described in detail with reference to the accompanying drawings.

[0113] See Figure 3 , Figure 3 A flowchart illustrating a method for processing vehicle trajectory data is provided in this application embodiment. In this embodiment, the computer device can be any of the aforementioned computer devices with trajectory data processing capabilities. The method includes:

[0114] S301: Obtain the initial trajectory data corresponding to the first motion trajectory of the vehicle.

[0115] In this context, the means of transportation can be any type, and the first trajectory can be any trajectory composed of multiple road segments. A road segment (link) refers to the smallest dividing unit in the road network. The trajectory is generated based on trips; when a new traveler takes a trip, a new trajectory is generated, which is the trajectory composed of the road segments traversed by the traveler during their trip.

[0116] The initial trajectory data is directly acquired, unprocessed trajectory data. It includes road segment information corresponding to multiple road segments that make up the first motion trajectory; these multiple road segments represent all the road segments traversed by the first motion trajectory. Road segment information is used to identify the corresponding road segment, such as a road segment number (linkid). In the road network, each road segment has a corresponding direction, which is the travel direction through that road segment. Therefore, by combining multiple road segments, the travel mode through the first motion trajectory can be determined. In related technologies, the initial trajectory data is directly stored as the trajectory data corresponding to the first motion trajectory.

[0117] S302: Determine the first set of reference road segments corresponding to the first motion trajectory from multiple road segments.

[0118] The principle for evaluating the effectiveness of trajectory data lies in whether it can generate accurate trajectories. However, among the aforementioned road segments, the effectiveness of road segment information in trajectory generation varies depending on the segment. For example, in... Figure 1 Of the six road segments shown, segments 2 and 5 pass through intersections. If the road segment information corresponding to segments 2 and 5 does not exist, it is impossible to accurately analyze the direction of the first motion trajectory at intersections 1 and 2, which may result in a trajectory different from the first motion trajectory. However, segments 3 and 4 do not pass through intersections, meaning there are no forks in the road segments. As long as the preceding and following road segments are determined, the first motion trajectory will definitely pass through segment 3 or segment 4. Therefore, whether or not the road segment information corresponding to these segments exists does not affect the accuracy of the generated trajectory. It is only necessary to obtain the road segment information of the preceding and following road segments to generate the first motion trajectory.

[0119] Therefore, in this application, in order to ensure the accuracy of trajectory generation based on trajectory data while reducing the amount of trajectory data to be stored, the computer device can determine the benchmark road segment that plays a significant role in trajectory generation from multiple road segments, and only store the road segment information corresponding to this benchmark road segment.

[0120] Computer equipment can first determine the reference road segments corresponding to the first motion trajectory from multiple road segments, forming a first reference road segment set corresponding to the first motion trajectory. The reference road segments are used to identify the trajectory direction of the first motion trajectory. Based on the reference road segments, the trajectory direction of the first motion trajectory can be analyzed more accurately, thereby reconstructing the first motion trajectory. The first reference road segment set includes a portion of the multiple road segments. The methods for selecting reference road segments can be varied; for example, a portion of the road segments can be randomly determined first, or certain selection rules can be used to improve the efficiency of reference road segment selection. These will be described in detail below and will not be elaborated upon here.

[0121] S303: Based on the road segment information corresponding to the first set of reference road segments, generate a second motion trajectory that runs through the reference road segments in the first set of reference road segments.

[0122] To verify whether the road segment information corresponding to the currently determined benchmark road segments can accurately generate the first motion trajectory, i.e., to verify that the benchmark road segments can accurately identify the trajectory direction of the first motion trajectory, the computer device can first generate a second motion trajectory based on the road segment information corresponding to the first set of benchmark road segments (i.e., the road segment information corresponding to the benchmark road segments included in the first set of benchmark road segments). The second motion trajectory runs through the benchmark road segments in the first set of benchmark road segments. The process of generating a trajectory based on road segment information involves finding a trajectory whose starting point and ending point are both on the road segments identified by the road segment information, and which passes through all the road segments identified by the road segment information. Various methods can be used to generate a trajectory based on road segment information, such as finding a trajectory based on road network topology, which will not be elaborated here. The second motion trajectory only needs to satisfy the above trajectory generation process and does not necessarily have to be a trajectory actually traveled by a vehicle; it can be a simulated trajectory that a vehicle can travel. The role of the second motion trajectory in this application is to verify the ability to generate the first motion trajectory.

[0123] S304: Based on the inconsistency between the second motion trajectory and the first motion trajectory, a new reference road segment is determined from the remaining road segments excluding the first reference road segment set from multiple road segments, and the new reference road segment is combined with the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0124] If the second motion trajectory generated in step S303 is inconsistent with the first motion trajectory, it indicates that the first motion trajectory cannot be accurately generated solely based on the existing road segment information corresponding to the baseline road segment. In other words, the computer equipment has not yet acquired the baseline road segment that plays a crucial role in generating the first motion trajectory. For example, in... Figure 2 In the process, due to the lack of road segment 5 in the baseline road segment, the second motion trajectory generated by server 101 has a different direction at intersection 2 than the first motion trajectory.

[0125] In other words, among the road segments that have not yet been selected, there are road segments that play an important role in generating the first motion trajectory. At this time, the computer device can determine new reference road segments from the remaining road segments excluding the already determined first reference road segment set, add them to the first reference road segment set, form an updated first reference road segment set, and, based on the road segment information corresponding to the updated first reference road segment set, re-execute the above steps for generating the second motion trajectory to generate the second motion trajectory, in order to verify the trajectory generation capability of the reference road segments corresponding to the first motion trajectory.

[0126] S305: Based on the fact that the second motion trajectory is consistent with the first motion trajectory, store the road segment information corresponding to the first reference road segment set as the trajectory data corresponding to the first motion trajectory.

[0127] If the second motion trajectory generated based on the road segment information corresponding to the first set of reference road segments is consistent with the first motion trajectory, it indicates that the first motion trajectory can be accurately generated using the road segment information corresponding to the first set of reference road segments. This demonstrates that the road segment information corresponding to these reference road segments can be used as the rule data for generating the first motion trajectory. Based on this, the computer device can store only the road segment information corresponding to the first set of reference road segments as the trajectory data corresponding to the first motion trajectory, instead of storing the road segment information corresponding to all road segments traversed by the first motion trajectory. This trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

[0128] As can be seen from the above technical solution, this application has the following technical effects:

[0129] After obtaining the initial trajectory data corresponding to the first motion trajectory, this application does not directly store the complete data. Instead, it first analyzes which data in the initial trajectory data plays a crucial role in generating the first motion trajectory and which data plays a lesser role. Only the road segment information corresponding to the benchmark road segment that plays a crucial role in generating the first motion trajectory is stored. This reduces the amount of trajectory data while ensuring the ability of the trajectory data to generate the first motion trajectory, thereby reducing data storage pressure. It also facilitates subsequent data processing based on the first motion trajectory, allowing for quick retrieval of the corresponding trajectory data from the stored data to generate and analyze the first motion trajectory, thus improving the convenience of trajectory data application.

[0130] The above process mainly selects the first set of reference road segments from few to many. Similarly, the processing device can also select the first set of reference road segments from many to few. For example, when it is determined that the second motion trajectory generated based on the road segment information corresponding to the first set of reference road segments is consistent with the first motion trajectory, the processing device can remove some reference road segments from the first set of reference road segments and regenerate the second motion trajectory based on the road segment information corresponding to the updated first set of reference road segments to verify whether the second motion trajectory is still consistent with the first motion trajectory. If they are still consistent, it means that the removed reference road segments have little effect on identifying the trajectory direction of the first motion trajectory, and the processing device can continue to remove other reference road segments to repeat the verification. If the second motion trajectory is inconsistent with the first motion trajectory, it means that the removed reference road segments have a strong effect on identifying the trajectory direction of the first motion trajectory, and the reference road segments can be added back to the first set of reference road segments, and other reference road segments can be removed to repeat the verification until every reference road segment in the first set of reference road segments is irremovable. This is also a technical solution that is easily conceived based on this application.

[0131] Next, the technical solution provided in this application will be described in detail with reference to the accompanying drawings.

[0132] First, in order to improve the efficiency of selecting benchmark road segments, when initially selecting benchmark road segments, the computer equipment can select road segments that play an important role in trajectory generation as benchmark road segments based on the characteristics of the road segments.

[0133] See Figure 4 When performing step S302, the computer device may perform step S3021, where step S3021 is a possible implementation of step S302, including:

[0134] S3021: Determine the starting segment, ending segment, and intersection segment from multiple road segments as the first reference road segment set corresponding to the first motion trajectory.

[0135] The starting segment is the road segment where the first motion trajectory begins, and the ending segment is the road segment where the first motion trajectory ends. By using the road segment information corresponding to the starting and ending segments, the start and end points of the first motion trajectory can be effectively identified. This allows the computer equipment to know the start and end points of the required trajectory when generating the trajectory, avoiding the generation of overly long or short trajectories. The accuracy of the generated trajectory is ensured by defining the start and end points. Figure 1 In the first trajectory, the starting segment is segment 1 and the ending segment is segment 6.

[0136] An intersection segment is a road segment that passes through an intersection, which is the junction of multiple roads. By using the road segment information corresponding to an intersection, computer equipment can determine which road the trajectory should take when facing multiple roads. This avoids the generated trajectory choosing a different road at the intersection than the initial trajectory, ensuring consistency between the generated trajectory and the initial trajectory in their intersection orientation. For example, in... Figure 2 In the diagram, road segments 2 and 5, both passing through intersection 1, are intersection road segments. Road segments that do not pass through intersections have a low probability of forming forks; therefore, only the road segment information preceding and following these segments is needed to determine the trajectory's direction within them, without requiring the specific road segment information for these segments. For example, in... Figure 2 Since road segments 3 and 4 do not pass through intersections, they do not involve forks. We only need to obtain the road segment information corresponding to road segments 2 and 5 to know that the trajectory passes through road segments 3 and 4.

[0137] Therefore, by using the starting road segment, ending road segment, and intersection road segment corresponding to the first motion trajectory, the direction of the first motion trajectory can be characterized relatively accurately. Thus, when these road segments are used as reference road segments, the first reference road segment set can have a relatively accurate trajectory direction identification capability, thereby having a relatively accurate trajectory generation capability. This can improve the efficiency of selecting effective reference road segments and further improve the efficiency of trajectory data storage.

[0138] In real-world scenarios, some intersections may have multiple forks, but travelers may only choose one. For example, an intersection might have two forks, but because the other fork has a shorter distance and fewer accessible locations, only a small number of travelers choose it. When generating trajectories based on road segment information, since these forks have fewer accessible locations, the generated trajectory is less likely to pass through them. Therefore, even without marking the road segments passing through the intersection, the generated trajectory will not pass through these forks, thus preventing trajectory deviations.

[0139] Conversely, if travelers use multiple forks in the road at an intersection with relatively even frequency, it indicates that the influence of these forks on the travel trajectory is balanced, meaning the probability of traversing multiple forks when the trajectory passes the intersection is relatively even. In this case, if the road segments passing through the intersection are not marked, there is a high probability that the trajectory will deviate at the intersection.

[0140] Based on this, in one possible implementation, when selecting intersection segments, the proportion of trajectories passing through the intersection at the intersection can be analyzed. Specifically, the selected intersection segments are those passing through the intersection, and among multiple segments passing through the intersection, the difference between the proportion of trajectories corresponding to the intersection segment and the proportion of trajectories corresponding to other segments is less than a difference threshold. The proportion of trajectories corresponding to the intersection segment is the percentage of trajectories passing through the intersection segment that pass through the intersection. The difference threshold is used to measure whether the proportions of two trajectories are relatively close. When the difference between the proportion of trajectories corresponding to the intersection segment and the proportion of trajectories corresponding to other segments is less than the difference threshold, it indicates that the proportion of trajectories passing through the intersection segment is relatively close to the proportion of trajectories passing through other segments. This suggests that when a trajectory passes through the intersection, the probability of selecting multiple segments as its trajectory direction is relatively similar. Therefore, it can be concluded that if the segment passing through the intersection is not considered an intersection segment, there is a high probability that the trajectory direction at the intersection cannot be accurately analyzed. Therefore, if the difference between the trajectory proportion corresponding to the intersection segment and the trajectory proportion corresponding to other segments is less than the difference threshold, the computer equipment can select the intersection segment as the benchmark segment.

[0141] In this way, computer equipment can further filter out the road segments that are actually more important to trajectory generation from the road segments passing through intersections, and exclude road segments that have less impact on trajectory generation. This can further reduce the amount of trajectory data and improve data storage efficiency while ensuring the accuracy of trajectory generation.

[0142] Next, we will introduce the specific process of generating trajectories based on road segment information.

[0143] First, in one possible implementation, the computer device can generate trajectories for every two adjacent reference road segments.

[0144] See Figure 5 When executing step S303, the computer device may execute step S3031, where step S3031 is a possible implementation of step S303, including:

[0145] S3031: Based on the road segment information corresponding to the first set of reference road segments, generate the second sub-trajectory between every two adjacent reference road segments in the first set of reference road segments.

[0146] Here, adjacent reference road segments refer to reference road segments that are adjacent within the first set of reference road segments, and not necessarily reference road segments that are adjacent within the first motion trajectory. For example, in Figure 1 In the first set of reference road segments, when the reference road segments in the first set of reference road segments are road segment 1, road segment 3 and road segment 5, road segment 1 and road segment 3 are not adjacent road segments on the first motion trajectory, but they are adjacent reference road segments in the first set of reference road segments.

[0147] The second sub-track between any two adjacent base road segments is a track with any two adjacent base road segments as the starting and ending points. The second sub-track between each two adjacent base road segments is used to splice together to obtain the second motion track.

[0148] For example Figure 6 As shown, when road segments 1, 2, and 6 are determined as the reference road segments in the first set of reference road segments, road segments 1 and 2 are adjacent reference road segments, and road segments 2 and 6 are adjacent reference road segments. Since there are no other road segments in road segments 1 and 2, the second sub-track between road segments 1 and 2 is the track composed of road segments 1 and 2. The second sub-track between road segments 2 and 6 is the track from road segment 2 to road segment 6, which overlaps with the second sub-track between road segments 1 and 2 by one road segment 2. The second motion trajectory can be obtained by splicing these two parts of the second sub-track (by removing the overlapping road segment 2). If the first motion trajectory can be accurately generated based on multiple reference road segments, then theoretically, the second sub-track generated based on every two adjacent reference road segments should be consistent with the corresponding trajectory portion of the first motion trajectory for the two adjacent reference road segments.

[0149] When performing step S304, the computer device may perform steps S3041-S3042 (see...). Figure 5 Steps S3041-S3042 are one possible implementation of step S304, including:

[0150] S3041: Determine the first sub-track between any two adjacent base segments in the first motion trajectory.

[0151] The first sub-track 421 is the portion of the first motion trajectory that starts and ends at any two adjacent reference road segments. Therefore, if any two adjacent reference road segments can be used to generate an accurate first motion trajectory, the second sub-track between any two adjacent reference road segments should be consistent with the first sub-track. The computer device can use the consistency between the first and second sub-tracks to determine whether any two adjacent reference road segments can be directly used to accurately generate the first motion trajectory.

[0152] S3042: Based on the inconsistency between the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments, select a road segment located between any two adjacent reference road segments from the remaining road segments as a new reference road segment and add it to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, re-execute the step of generating the second motion trajectory.

[0153] If the first and second sub-trajectories between any two adjacent reference road segments are inconsistent, it indicates that the information from the corresponding road segments cannot accurately analyze the trajectory of the first motion trajectory between these two adjacent reference road segments, and a new reference road segment is needed. Therefore, the computer device can select the road segment between these two adjacent reference road segments as a new reference road segment to help analyze the trajectory of the first motion trajectory between these two adjacent reference road segments, thereby regenerating the second motion trajectory. For example, by analyzing... Figure 6 It is evident that the second sub-track between road segment 2 and road segment 6 is not consistent with the first sub-track between road segment 2 and road segment 6. The computer equipment can select a new reference road segment from road segment 3 to 5 between road segment 2 and road segment 6 to generate the second motion trajectory.

[0154] In this way, computer equipment can quickly locate which parts of the trajectory lack reference road segments to guide the trajectory direction, thereby more efficiently screening reference road segments that help to accurately generate the trajectory, further improving the screening efficiency of reference road segments, and thus improving the efficiency of trajectory data storage.

[0155] In order to further improve data storage efficiency, in one possible implementation, when regenerating the second motion trajectory, the computer device does not need to regenerate all trajectory parts of the second motion trajectory.

[0156] See Figure 7 When executing step S3042, the computer device may execute steps S30421-S30422. Steps S30421-S30422 are one possible implementation of step S3042, including:

[0157] S30421: Based on the inconsistency between the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments, select a road segment located between any two adjacent reference road segments from the remaining road segments as a new reference road segment, add it to the first reference road segment set, and combine them to form an updated first reference road segment set. Based on the road segment information corresponding to any two adjacent reference road segments and the new reference road segment, regenerate the second sub-trajectory between any two adjacent reference road segments.

[0158] Since the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments are consistent, it can be said that these two adjacent reference road segments can be used to accurately generate the trajectory part of the first motion trajectory between the two adjacent reference road segments. Without adding new reference road segments to the two adjacent reference road segments, the motion trajectory generated based on these two adjacent reference road segments is unlikely to change. Therefore, when the computer device regenerates the second motion trajectory, it does not need to generate a trajectory for this part of the reference road segments.

[0159] When regenerating the second motion trajectory, the computer device can generate only the second sub-trajectory between any two adjacent reference road segments where the first and second sub-trajectorys are inconsistent. Since the computer device adds a new reference road segment to these two adjacent reference road segments, it effectively regenerates the second sub-trajectory between each of the two existing reference road segments and the new reference road segment. These second sub-trajectory segments are then stitched together to form a new second sub-trajectory between the two adjacent reference road segments. The regenerated second sub-trajectory is a trajectory that starts and ends at any two adjacent reference road segments and runs through the new reference road segment. For example, in... Figure 8 Since the second sub-track between road segment 1 and road segment 2 is consistent with the first sub-track between road segment 1 and road segment 2, the computer device does not regenerate this part of the second sub-track. Instead, after selecting road segment 5 as the new reference road segment, it generates the second sub-track between road segment 2 and road segment 5 and the second sub-track between road segment 5 and road segment 6 respectively, and splices them together to obtain the new second sub-track between road segment 2 and road segment 6.

[0160] S30422: Replace the trajectory between any two adjacent base road segments in the second motion trajectory with the regenerated second sub-trajectory to obtain the regenerated second motion trajectory.

[0161] Since the other second sub-trajectories do not need to change, the computer device can stitch this part of the second sub-trajectories with the regenerated second sub-trajectories to obtain the regenerated second motion trajectory, so as to analyze whether the reference road segments in the first reference road segment set can be used to accurately generate the first motion trajectory after adding new reference road segments.

[0162] In this way, computer equipment does not need to regenerate the trajectory for every part of the second motion trajectory. It only needs to generate the part of the trajectory for which new reference road segments need to be added. Without affecting the accuracy of the analysis of the role of the reference road segments, it reduces the amount of data processing required for trajectory generation and further improves the analysis efficiency of the reference road segments. This can speed up the selection of reference road segments and help improve the storage efficiency of trajectory data.

[0163] Understandably, to find the desired object within a search range, a binary search can be used to divide the search range, thereby improving the efficiency of object retrieval. Based on this, in one possible implementation, to more quickly find the required reference road segment between two adjacent reference road segments, the computer device can also select the road segment located between the two adjacent reference road segments as the new reference road segment.

[0164] See Figure 9When executing step S3042, the computer device may execute step S30423, where step S30423 is a possible implementation of step S3042, including:

[0165] S30423: Based on the inconsistency between the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments, select the road segment located in the middle of the first sub-trajectory from the remaining road segments as a new reference road segment and add it to the first reference road segment set, combining them into an updated first reference road segment set, and re-execute the step of generating the second motion trajectory based on the updated first reference road segment set.

[0166] Since the first sub-track is the track between two adjacent reference road segments, the road segment located in the middle of the first sub-track is also the road segment located between the two adjacent reference road segments. By selecting this reference road segment, the track to be analyzed can be divided into two equal parts. Thus, when one part of the track is generated more accurately, the required reference road segment can be locked in the remaining part of the track. In this way, the computer equipment can continuously and evenly divide the road segment range used to determine the reference road segment, thereby efficiently reducing the road segment range where the required reference road segment is located, and thus efficiently selecting the required reference road segment, further improving the efficiency of reference road segment selection.

[0167] For example, in Figure 6 In the process, when the second sub-trajectory between road segment 2 and road segment 6 is inaccurate, the computer equipment can first select road segment 4, located in the middle, as the new reference road segment, and generate the second sub-trajectory between road segment 2 and road segment 4, and the second sub-trajectory between road segment 4 and road segment 6 respectively. Since there is no fork between road segment 2 and road segment 4, the second sub-trajectory between road segment 2 and road segment 4 should be consistent with the first sub-trajectory, thus quickly locating the required reference road segment as road segment 5, located between road segment 4 and road segment 6.

[0168] The above content mainly introduced how to efficiently process and store trajectory data corresponding to the trajectory. Next, we will introduce how to apply the stored trajectory data.

[0169] In this application, the stored trajectory data can be used to plan trajectories for travel between two locations, for example, to provide route navigation for travelers. In one possible implementation, see [link to relevant documentation]. Figure 10 The computer device can perform the following steps to generate the trajectory:

[0170] S1001: Obtain start and end information.

[0171] The starting point information identifies the starting point of the demand, and the ending point information identifies the ending point. The starting point is the starting point corresponding to the desired motion trajectory, and the ending point is the ending point corresponding to the desired motion trajectory. For example, in a navigation scenario, the starting point and ending point information can be the location information input by the user, and the desired motion trajectory is the travel route that needs to be pushed to the user.

[0172] S1002: Determine the road segment information corresponding to the starting point information and the ending point information respectively.

[0173] Since this application stores trajectory data in units of road segment information, the computer device can determine the road segment information corresponding to the starting point information and the ending point information respectively. The road segment information corresponding to the starting point information is used to identify the road segment where the starting point of the demand is located, and the road segment information corresponding to the ending point information is used to identify the road segment where the ending point of the demand is located.

[0174] S1003: Based on the road segment information corresponding to the starting point information and the ending point information, and the stored trajectory data, determine the third motion trajectory from the motion trajectory generated by the stored trajectory data.

[0175] Computer equipment can analyze the motion trajectories generated from the stored trajectory data, based on the road segment information corresponding to the starting point and the destination, to determine which trajectories simultaneously pass through the road segments where both the starting point and the destination are located. This analysis allows the determination of which trajectories lead from the starting point to the destination. Based on this, the computer equipment can identify a third motion trajectory from the stored trajectory data. This third trajectory is the one that starts at the starting point and ends at the destination. The third trajectory can be applied to various scenarios, such as navigation for travel from the starting point to the destination, and analysis of the ease of travel between the starting and destination points.

[0176] Since this application selects a third motion trajectory from the motion trajectory generated based on travel, the feasibility of the third motion trajectory is relatively high. It is likely to be a travel trajectory that can be realized in actual travel, thus it can more accurately represent the travel mode between the starting point and the destination of the demand, and effectively meet the needs of trajectory generation.

[0177] To facilitate computer analysis of which trajectories meet the trajectory generation requirements, the computer can assign corresponding trajectory information to each trajectory when storing the trajectory data, thereby identifying the trajectory. For example, in one possible implementation, see [link to relevant documentation]. Figure 11 When executing step S305, the computer device may execute step S3051, where step S3051 is a possible implementation of step S305, including:

[0178] S3051: Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is used as the trajectory data corresponding to the first motion trajectory, and stored in correspondence with the trajectory information used to identify the first motion trajectory.

[0179] In this system, the trajectory information of the first motion trajectory pair is used to identify the first motion trajectory. This trajectory information is relatively simple identification information (e.g., the trajectory identifier can be trajid), therefore the amount of information data is low. This makes it convenient for both statistical analysis and filtering of trajectory information, and also allows the computer device to accurately identify each trajectory. After corresponding storage in this way, on the one hand, the computer device can determine the trajectory information that includes the road segment information based on the road segment information and the corresponding relationship; on the other hand, the computer device can determine the trajectory data used to generate the motion trajectory identified by the trajectory information based on the trajectory information.

[0180] See Figure 12 When executing step S1003, the computer device may execute steps S10031-S10033, where steps S10031-S10033 are one possible implementation of step S1003, including:

[0181] S10031: Obtain the first trajectory information set based on the road segment information corresponding to the starting point information and the stored trajectory data.

[0182] Since the trajectory data can accurately reconstruct the road segments traversed by the trajectory, computer equipment can analyze whether each trajectory passes through the starting point of the demand based on the trajectory data corresponding to each trajectory, thereby determining the first trajectory information set. The first trajectory information set is the collection of trajectory information corresponding to the trajectories that pass through the starting point of the demand among the motion trajectories generated from the stored trajectory data.

[0183] S10032: Obtain the second trajectory information set based on the road segment information corresponding to the destination information and the stored trajectory data.

[0184] Similar to the method of obtaining the first trajectory information set, the computer device can analyze whether each trajectory passes through the desired endpoint based on the trajectory data corresponding to each trajectory, thereby determining the second trajectory information set. The second trajectory information set is the collection of trajectory information corresponding to the trajectories that pass through the desired endpoint among the motion trajectories generated from the stored trajectory data.

[0185] S10033: Determine the third motion trajectory from the motion trajectories identified by the trajectory information that overlaps with the first trajectory information set and the second trajectory information set.

[0186] The motion trajectory identified by the overlapping trajectory information in the two trajectory information sets is the trajectory that passes through both the starting point and the ending point of the demand. Therefore, the computer device can determine a third motion trajectory that satisfies the condition of starting from the starting point and reaching the ending point. The process of acquiring the aforementioned trajectory information sets and determining the third motion trajectory can include various methods, which will be described in detail below.

[0187] In this way, computer devices can efficiently and accurately generate a third motion trajectory that meets the trajectory generation requirements based on the correspondence between trajectory information and road segment information, as well as the representation of trajectory path by trajectory data, providing efficient and accurate trajectory generation function support for various trajectory application scenarios.

[0188] Next, we will explain in detail how to analyze whether the trajectory passes through the starting point and ending point of the demand in order to obtain the above trajectory information set, which mainly falls into the following two categories:

[0189] The first scenario: The trajectory data contains road segment information indicating the origin and destination of the demand.

[0190] Computer equipment can first determine whether the stored trajectory data includes road segment information corresponding to the start and end points, and then directly determine whether the motion trajectory generated by the stored trajectory data passes through the required start and end points. See also Figure 13 In one possible implementation, when executing step S10031, the computer device can execute step S100311, where step S100311 is a possible implementation of step S10031, including:

[0191] S100311: Based on the road segment information corresponding to the starting point information in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the starting point information in the stored trajectory data is taken as the first trajectory information set.

[0192] If the trajectory data directly includes road segment information corresponding to the starting point, it means that among the motion trajectories generated based on the stored trajectory data, there must be a trajectory that runs through the road segment where the starting point is located, thus indicating that there is a high probability that a trajectory passes through the starting point. Based on this, the computer device can directly use the trajectory information corresponding to the trajectory data that includes the road segment information corresponding to the starting point as the first trajectory information set, and the motion trajectory identified by this part of the trajectory information passes through the starting point.

[0193] Similarly, when executing step S10032, the computer device can execute step S100321, where step S100321 is a possible implementation of step S10032, including:

[0194] S100321: Based on the road segment information corresponding to the destination information in the stored trajectory data, the set of trajectory information corresponding to the trajectory data that includes the road segment information corresponding to the destination information in the stored trajectory data is taken as the second trajectory information set.

[0195] When the trajectory data includes road segment information corresponding to the destination, it means that the motion trajectory generated based on this trajectory data must pass through the road segment where the desired destination is located, i.e., it is highly likely to pass through the desired destination. Therefore, the computer device can directly use the set of trajectory information corresponding to this part of the trajectory data as the second set of trajectory information, and the motion trajectory identified by this part of the trajectory information passes through the desired destination.

[0196] In this way, computer equipment can directly index the trajectory information corresponding to the required starting point and the required ending point based on the road segment information corresponding to the starting point and the ending point, as well as the correspondence between trajectory data and trajectory information, without generating the trajectory based on the trajectory data. This allows for the efficient determination of trajectories that pass through both the required starting point and the required ending point, thus improving the efficiency of trajectory analysis.

[0197] Because only a portion of the multiple road segments constituting the trajectory are selected as baseline road segments when choosing them, it is possible that some trajectories may pass through the demand start point or demand end point, but their corresponding trajectory data may not include the road segment information corresponding to the start point or end point. Therefore, in one possible implementation, to more comprehensively search for trajectories that meet the requirements, the computer device can also select road segments of a specified type as baseline road segments, thereby analyzing whether the trajectory passes through the demand start point and demand end point based on the specified type of road segments.

[0198] In one possible implementation, as mentioned above, the road segments passing through intersections have a significant impact on the trajectory. Therefore, when selecting reference road segments, the computer equipment can identify all intersection segments as reference road segments, so that the road segment information corresponding to the reference road segments can be used to accurately reconstruct the trajectory. For example, the first set of reference road segments includes intersection segments from multiple road segments, where intersection segments are road segments passing through intersections.

[0199] When the starting point of the demand is located at an intersection, the stored trajectory data will most likely include the trajectory information corresponding to the starting point, and the processing device can directly perform trajectory information analysis through step S100311 above. When the starting point of the demand is not located at an intersection, the stored trajectory data may not include the trajectory information corresponding to the starting point. In this case, see... Figure 14When executing step S10031, the computer device may execute steps S100312-S100315. Steps S100312-S100315 are a possible implementation of step S10031, including:

[0200] S100312: Based on the fact that the stored trajectory data does not include the road segment information corresponding to the starting point, obtain the intersection and road segment corresponding to the required starting point according to the road segment information corresponding to the starting point.

[0201] The intersection segment corresponding to the demand origin is defined as the intersection segment whose distance from the demand origin is less than a preset distance. This preset distance is used to measure whether two segments are relatively close; segments with a distance less than the preset distance are considered close. The preset distance can be adjusted based on actual needs. For example, to filter out more trajectories that are likely to pass through the demand origin segment, a larger preset distance can be set; to filter out more trajectories that are more likely to pass through the demand origin segment, a smaller preset distance can be set.

[0202] S100313: The set of trajectory information corresponding to the stored trajectory data, including the road segment information of the intersection and road segment corresponding to the starting point of the demand, is taken as the initial first trajectory information set.

[0203] Because this section of the road is relatively close to the starting point of the demand, the trajectory passing through this section has a high probability of also passing through the starting point. Therefore, the computer equipment can first determine the trajectory data, including the road segment information of the intersection corresponding to the starting point, based on the correspondence between road segment information and trajectory data. The motion trajectory generated from this part of the trajectory data has a high probability of passing through the starting point. The computer equipment can use the set of trajectory information corresponding to this part of the trajectory data as the initial first trajectory information set, and further verify whether the trajectory passes through the starting point.

[0204] S100314: Based on the trajectory data corresponding to the trajectory information in the initial first trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial first trajectory information set passes through the required starting point.

[0205] Since the trajectory data can accurately reconstruct the corresponding trajectory, the computer device can reconstruct the motion trajectory identified by these trajectory information based on the trajectory data corresponding to the trajectory information in the initial first trajectory information set, and analyze whether these trajectories have passed through the required starting point.

[0206] In trajectory data reconstruction, computer equipment can either generate a complete trajectory directly from all the trajectory data, or it can generate only the portion of the trajectory that may pass through the required starting point for analysis, thereby further improving the efficiency of trajectory analysis. For example, in... Figure 1 In the process, when the starting point of the demand is road segment 4, the intersection road segment corresponding to the starting point of the demand obtained by the computer device can be road segment 5, which is close to road segment 4. After determining that the first movement trajectory may pass through road segment 4 through road segment 5, since road segment 4 is not an intersection road segment, the computer device can obtain the reference road segment adjacent to road segment 5 in the first reference road segment set, namely road segment 2. If the first movement trajectory passes through road segment 4, then the trajectory part between the two road segments generated based on the trajectory information corresponding to road segment 2 and road segment 5 respectively must pass through road segment 4. Thus, the computer device can analyze whether the first movement trajectory passes through road segment 4 by generating only the trajectory between road segment 2 and road segment 5 without generating the complete trajectory corresponding to the first movement trajectory.

[0207] S100315: Remove the trajectory information in the initial first trajectory information set that does not pass through the required starting point, and obtain the first trajectory information set.

[0208] After analyzing the actual trajectory that passes through the starting point of the requirement through the above process, the computer device can remove the trajectory information that does not pass through the starting point of the requirement from the initial first trajectory information set, thereby obtaining the first trajectory information set that meets the above requirements, so that the trajectory information included in the first trajectory information set can pass through the starting point of the requirement.

[0209] In this way, on the one hand, computer devices can use the road segment information corresponding to intersections and road segments as trajectory data, which enhances the trajectory data's ability to reconstruct the trajectory while ensuring that the amount of trajectory data is relatively small, making the trajectory data more accurate; on the other hand, computer devices can still determine the trajectory passing through the required starting point even if the stored trajectory data does not include the road segment information corresponding to the starting point, which improves the versatility of trajectory retrieval capabilities, enabling it to meet more diverse trajectory search needs and thus be applicable to more application scenarios.

[0210] Understandably, not all intersections or road segments close to the starting point of the demand can connect to the starting point itself; that is, not all trajectories that pass through these nearby intersections will pass through the starting point of the demand. For example... Figure 15As shown, segment 1 is the segment where the demand originates, and segments 2 and 3 are intersection segments close to segment 1. Segment 1 can be reached by traversing segment 3, but not by traversing segment 2. Therefore, the probability of a trajectory traversing segment 2 passing through the demand origin is relatively low, while the probability of a trajectory traversing segment 3 passing through the demand origin is relatively high. Based on this, in one possible implementation, to select more effective intersection segments for analyzing trajectories passing through the demand origin, see [reference needed]. Figure 16 When executing step S100312, the computer device can execute steps S1003121-S1003122. Steps S1003121-S1003122 are one possible implementation of step S100312, including:

[0211] S1003121: Based on the fact that the stored trajectory data does not include the road segment information corresponding to the starting point information, the road segment that can be reached from the road segment where the required starting point is located without passing through any other road segments is obtained as a candidate road segment.

[0212] A candidate intersection segment is a road segment that connects to the starting point of the demand without passing through other intersection segments. In other words, a candidate intersection segment is the first intersection segment reachable from the starting point of the demand along a trajectory. For example, in Figure 15 In the middle, when starting from segment 1 and heading left, segment 3 is the first intersection segment passed, so segment 3 will be identified as a candidate intersection segment.

[0213] S1003122: Among the candidate intersection segments, the segment whose distance from the starting point of the demand is less than a preset distance is taken as the intersection segment corresponding to the starting point of the demand.

[0214] Understandably, the closer the candidate intersection segment is to the segment where the demand origin is located, the greater the probability that the trajectory passing through the candidate intersection segment will also pass through the segment where the demand origin is located. Therefore, computer equipment can use intersection segments that are less than a preset distance from the segment where the demand origin is located as the intersection segments corresponding to the demand origin. These intersection segments ensure that the trajectory passing through these intersection segments can also pass through the segment where the demand origin is located, and also give the trajectory passing through these intersection segments a high probability of passing through the segment where the demand origin is located. Therefore, analysis based on these intersection segments can more effectively and quickly determine the actual trajectory passing through the demand origin, which helps to improve the efficiency and accuracy of trajectory analysis.

[0215] Similarly, when analyzing the trajectory information set corresponding to the trajectory passing through the demand endpoint, the computer device can also adopt the above-mentioned analysis method for analyzing the trajectory information set corresponding to the trajectory passing through the demand starting point.

[0216] See Figure 17 In one possible implementation, the first set of reference road segments includes intersection road segments from multiple road segments. Intersection road segments are road segments passing through intersections. When executing step S10032, the computer device can execute steps S100322-S100325. Steps S100322-S100325 are a possible implementation of step S10032, including:

[0217] S100322: Based on the fact that the stored trajectory data does not include the road segment information corresponding to the destination information, obtain the intersection and road segment corresponding to the desired destination based on the road segment information corresponding to the destination information.

[0218] Specifically, the intersection segment corresponding to the demand endpoint is defined as the intersection segment whose distance to the demand endpoint is less than a preset distance. These intersection segments are relatively close to the demand endpoint, so the trajectory passing through these intersection segments has a high probability of passing through the demand endpoint. Similarly, when determining the intersection segment corresponding to the demand endpoint, the computer equipment can also combine the connectivity and distance between road segments to make the determination, which will not be elaborated here.

[0219] S100323: The set of trajectory information corresponding to the stored trajectory data, including the road segment information of the intersection and road segment corresponding to the destination, is used as the initial second trajectory information set.

[0220] The trajectory identified by the trajectory information in the initial second trajectory information set is the trajectory that passes through the intersection and road segment corresponding to the destination of the demand, so there is a high probability that it will pass through the road segment where the destination of the demand is located.

[0221] S100324: Based on the trajectory data corresponding to the trajectory information in the initial second trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial second trajectory information set passes through the required endpoint.

[0222] Computer equipment can reconstruct the motion trajectory identified by this portion of trajectory information based on the corresponding trajectory data, thereby accurately analyzing whether the motion trajectory identified by this portion of trajectory information actually passed through the desired endpoint. Similar to analyzing whether the trajectory passed through the desired starting point, computer equipment can generate the entire trajectory, or it can generate only the portion of the trajectory that may pass through the desired endpoint for analysis, thus improving the efficiency of trajectory analysis.

[0223] S100325: Remove the trajectory information in the initial second trajectory information set that does not pass through the required endpoint, and obtain the second trajectory information set.

[0224] In this way, on the one hand, computer devices can use the road segment information corresponding to intersections and road segments as trajectory data, which enhances the trajectory data's ability to reconstruct the trajectory while ensuring that the amount of trajectory data is relatively small, making the trajectory data more accurate; on the other hand, computer devices can still determine the trajectory that passes through the desired destination even if the stored trajectory data does not include the road segment information corresponding to the destination information, which improves the versatility of trajectory retrieval capabilities, enabling it to meet more diverse trajectory search needs and thus be applicable to more application scenarios.

[0225] The two trajectory analysis methods described above can be used individually or in combination. For example, when the road segment where the demand originates is an intersection but the road segment where the demand destination is not an intersection, for the demand origin, the computer device can directly use the trajectory information set corresponding to the trajectory data including the road segment information corresponding to the origin as the first trajectory information set. For the demand destination, the computer device can first determine the intersection segment corresponding to the demand destination, and then analyze the second trajectory information set based on this intersection segment.

[0226] Understandably, since trajectories are generated based on travel behavior, the more identical trajectories there are, the more travelers use that trajectory, which to some extent indicates that the trajectory is of high quality and convenient. Based on this, when determining the trajectory between the starting and ending points of a demand, computer equipment can measure trajectory quality based on the number of identical trajectories and identify the higher-quality trajectories as the trajectory analysis result.

[0227] For details, see Figure 18 When executing step S10033, the computer device may execute steps S100331-S100335. Steps S100331-S100335 are a possible implementation of step S10033, including:

[0228] S100331: Determine multiple candidate trajectory information that overlap in the first trajectory information set and the second trajectory information set.

[0229] Among them, the multiple candidate trajectory information identifies the trajectory that passes through both the starting point and the ending point of the demand.

[0230] S100332: Generate motion trajectories identified by multiple candidate trajectory information based on the trajectory data corresponding to each candidate trajectory information.

[0231] In order to extract the portion of the motion trajectory from the starting point to the ending point of the requirement from the motion trajectory identified by multiple candidate trajectory information, the computer device can first generate the trajectory based on the trajectory data corresponding to the multiple candidate trajectory information.

[0232] S100333: Extract the candidate motion trajectories corresponding to the candidate trajectory information from the motion trajectories identified by the candidate trajectory information respectively, and obtain the candidate motion trajectory set.

[0233] Among them, the candidate motion trajectory corresponding to any candidate trajectory information is the part of the motion trajectory identified by any candidate trajectory information, from the starting point of the demand to the ending point of the demand. The final determined third motion trajectory is the trajectory determined from the candidate motion trajectories.

[0234] S100334: Remove duplicates from the candidate motion trajectory set.

[0235] The candidate motion trajectory set determined by the above method may contain the same trajectory. For example, when the motion trajectories identified by the candidate trajectory information contain the same trajectory, the trajectory portion between the demand start point and the demand end point of these same trajectories must also be the same; when the motion trajectories identified by different candidate trajectory information are different, the trajectory portion between the demand start point and the demand end point may also be the same.

[0236] As mentioned above, the greater the number of identical trajectories, the better the travel experience and the higher the trajectory quality. Based on this, computer equipment can deduplicate the candidate motion trajectory set and count the number of identical trajectories corresponding to each candidate motion trajectory after deduplication. Each candidate motion trajectory in the deduplicated set has a corresponding trajectory quantity, and the trajectory quantity for any candidate motion trajectory is the number of identical trajectories in the original candidate motion trajectory set. In other words, the greater the number of identical trajectories in the original candidate motion trajectory set, the larger the trajectory quantity of the candidate motion trajectory, which to some extent indicates higher trajectory quality.

[0237] S100335: Select the n candidate motion trajectories with the most corresponding trajectories from the deduplicated candidate motion trajectory set as the third motion trajectory.

[0238] As mentioned above, the more candidate motion trajectories there are, the higher the quality of the trajectory, and the more favored it is by travelers. Based on this, the computer device can select the n candidate motion trajectories with the most trajectories as the third motion trajectory, where n is a positive integer. These n candidate motion trajectories are the high-quality trajectories between the starting point and the ending point of the demand, and they are more in line with the traveler's travel needs. The value of n can be adjusted based on the actual trajectory analysis needs, and is not limited here.

[0239] Through the methods described above, computer devices can further select higher-quality trajectories that better match the traveler's needs from the trajectory between the origin and destination of the demand, thereby providing higher-quality trajectories for various trajectory application scenarios. For example, in navigation scenarios, computer devices can provide better travel routes to improve the travel experience for travelers between their origin and destination.

[0240] Furthermore, it's understandable that in real-world scenarios, not all road sections are passable. For example, when road construction or landslides occur, the road section is likely to become impassable. Therefore, even if a trajectory traversing the road section is determined, its effectiveness is limited. Based on this, in one possible implementation, to further improve the quality of trajectory analysis, the computer equipment can analyze whether the road sections containing the starting and ending points of the demand are passable.

[0241] See Figure 19 The computer device can first perform the following steps:

[0242] S1901: Based on the road segment information corresponding to the starting point and ending point information, determine whether the road segments where the demand starting point and the demand ending point are located are passable road segments.

[0243] Passable road sections refer to road sections that are passable, that is, road sections that travelers can use.

[0244] When performing step S1003, the computer device may perform step S10034, where step S10034 is a possible implementation of step S1003, including:

[0245] S10034: Based on the fact that both the starting point and the ending point of the demand are passable road sections, a third motion trajectory is determined from the motion trajectory generated by the stored trajectory data according to the road section information corresponding to the starting point information and the ending point information respectively.

[0246] If both the starting and ending points of the demand are passable road segments, then the trajectory determined based on the road segment information corresponding to the starting and ending points is likely a travelable trajectory. Therefore, the computer equipment can analyze the trajectory between the starting and ending points only if both the starting and ending points are passable road segments, ensuring the effectiveness of the generated trajectory. If the starting and ending points are not passable road segments, the computer equipment can skip trajectory analysis, thereby reducing the processing resource consumption required for trajectory analysis.

[0247] In addition to analyzing the start and end points, after determining the third motion trajectory, the computer device can also measure the trajectory quality of the third motion trajectory based on whether the road segments that make up the third motion trajectory are passable road segments. All of these fall within the technical scope of this application and are not limited here.

[0248] To facilitate understanding of the technical solution provided in this application, the method for processing vehicle motion trajectory data provided in this application will be introduced next in conjunction with a practical application scenario.

[0249] See Figure 20 , Figure 20 This application provides a flowchart of a method for processing vehicle trajectory data in a practical application scenario. In this scenario, the computer device can be any computer device with trajectory data processing capabilities, such as a terminal device or a server. The method includes:

[0250] S2001: Obtain the initial trajectory data corresponding to the first motion trajectory.

[0251] The initial trajectory data includes road segment information corresponding to the multiple road segments that make up the first motion trajectory.

[0252] S2002: From the multiple road segments traversed by the first motion trajectory, the starting road segment, the ending road segment, and the intersection road segment are determined as the first set of reference road segments.

[0253] The starting segment is the segment where the first trajectory begins, the ending segment is the segment where the first trajectory ends, and the intersection segment is the segment that passes through the intersection.

[0254] S2003: Generate the second motion trajectory based on the road segment information corresponding to the first reference road segment set.

[0255] S2004: Determine whether the first motion trajectory and the second motion trajectory are consistent.

[0256] If the first motion trajectory and the second motion trajectory are consistent, it means that the first motion trajectory can be accurately generated based on the road segment information corresponding to the first reference road segment set. The computer device can execute step S2006 to store the road segment information corresponding to the first reference road segment set as the trajectory data corresponding to the first motion trajectory, and store it in correspondence with the trajectory information corresponding to the first motion trajectory. Otherwise, if they are inconsistent, it means that the first motion trajectory cannot be accurately generated based on the road segment information corresponding to the first reference road segment set. The computer device can execute step S2005.

[0257] S2005: Select new benchmark road segments from the remaining road segments and add them to the first benchmark road segment set to obtain the updated first benchmark road segment set.

[0258] When selecting a new reference road segment, the computer device can first determine the reference road segments used to generate the trajectory portion that is inconsistent with the first motion trajectory, select a new reference road segment from the road segments between these reference road segments and add it to the first reference road segment set, and re-execute step S2003 based on the updated first reference road segment set to generate the second motion trajectory.

[0259] S2006: Use the road segment information corresponding to the first reference road segment set as the trajectory data corresponding to the first motion trajectory, and store it in correspondence with the trajectory information corresponding to the first motion trajectory.

[0260] The trajectory information corresponding to the first motion trajectory is used to identify the first motion trajectory. Through corresponding storage, the computer device can, on the one hand, find the trajectory data corresponding to the first motion trajectory based on the trajectory information, and on the other hand, it can also find the trajectory data including the road segment information based on the road segment information, thereby determining the trajectory information corresponding to the trajectory data and knowing which trajectories include the road segment corresponding to the road segment information.

[0261] S2007: Obtain the starting point information and the ending point information, as well as the road segment information corresponding to the starting point information and the ending point information respectively.

[0262] The starting point information identifies the origin of the demand, and the ending point information identifies the destination. The computer equipment needs to determine the trajectory between the starting point and the ending point. The road segment information corresponding to the starting point identifies the road segment where the demand originates, and the road segment information corresponding to the ending point identifies the road segment where the demand ends. When generating the trajectory, the demander can also set the trajectory time, that is, set the computer equipment to analyze the trajectory within a specified time to ensure the timeliness of the trajectory.

[0263] S2008: Determine whether the road segments where the demand originates and the demand ends are passable.

[0264] If yes, proceed to step S2009; otherwise, end the trajectory generation process.

[0265] S2009: Determine whether the starting point and ending point of the demand are on the same road segment.

[0266] If yes, it means that the trajectory between the starting point and the ending point of the demand is the road segment where they are located, and trajectory generation can end; if no, it means that there is a trajectory consisting of multiple road segments between the starting point and the ending point of the demand, and trajectory generation can continue.

[0267] S2010: Determine whether the road segments where the demand originates and the demand ends are both intersections.

[0268] If all are intersections, steps S2011 and S2012 can be executed directly to determine the movement trajectory of the trajectory data containing the road segment information as the trajectory that passes through the demand start point / demand end point. If there are non-intersection road segments, steps S2013 and S2017 can be executed to determine whether the road segments where the demand start point and demand end point are located are intersections.

[0269] S2011: Obtain the first set of trajectory information corresponding to the trajectory data, which includes the road segment information corresponding to the starting point information.

[0270] The trajectory identified by the trajectory information in the first trajectory information set is the trajectory that passes through the starting point of the requirement.

[0271] S2012: Obtain the second set of trajectory information, which includes trajectory information corresponding to the road segment information corresponding to the destination information.

[0272] The trajectory identified by the trajectory information in the second trajectory information set is the trajectory that passes through the desired destination.

[0273] S2013: Determine whether the road segment where the starting point of the demand is located is an intersection.

[0274] If the starting point of the demand is located at an intersection, then step S2011 can be executed to obtain the first trajectory information set. If it is not at an intersection, then steps S2014-S2016 can be executed to obtain the first trajectory information set.

[0275] S2014: Identify the intersection and road segment that are connected to the road segment where the demand origin is located and the distance between them is less than the preset distance, and use them as the intersection and road segment corresponding to the demand origin.

[0276] The trajectory that runs through this section of intersections has a high probability of passing through the section where the demand originates. Therefore, we can use this section of intersections to find trajectories that may pass through the demand origin.

[0277] S2015: Obtain the initial first trajectory information set corresponding to the trajectory data, which includes the road segment information of the intersection and road segment corresponding to the starting point of the demand.

[0278] The trajectory identified by the trajectory information in the initial first trajectory information set is the trajectory that runs through this section of the intersection, so it has a high probability of running through the section where the starting point of the demand is located.

[0279] S2016: Remove the trajectory information in the initial first trajectory information set that does not pass through the required starting point, and obtain the first trajectory information set.

[0280] Computer equipment can reconstruct the motion trajectory identified by this trajectory information based on the trajectory data corresponding to each of these trajectory information sets, and then analyze whether the trajectory actually passed through the required starting point. After removing the trajectory information that indicates the motion trajectory did not pass through the required starting point, the first set of trajectory information can be obtained.

[0281] S2017: Determine whether the road segment where the destination of the demand is located is an intersection.

[0282] If the destination road segment is an intersection, step S2012 can be executed directly to obtain the second trajectory information set; if it is not an intersection, steps S2018-S2020 can be executed to obtain the second trajectory information set.

[0283] S2018: Identify the intersections and road segments that are connected to the destination of the demand and are less than the preset distance, and use them as the intersections and road segments corresponding to the destination of the demand.

[0284] The trajectory passing through this section of intersections has a high probability of passing through the section of road where the destination is located. Therefore, we can use this section of intersections to find trajectories that may pass through the destination.

[0285] S2019: Obtain the initial second trajectory information set corresponding to the trajectory data, which includes the road segment information of the intersection and road segment corresponding to the destination of the demand.

[0286] The trajectory identified by the trajectory information in the initial second trajectory information set is the trajectory that runs through this section of the intersection, so it has a high probability of running through the section where the destination is located.

[0287] S2020: Remove trajectory information in the initial second trajectory information set that does not pass through the required endpoint, and obtain the second trajectory information set.

[0288] Computer equipment can reconstruct the motion trajectory identified by this trajectory information based on the trajectory data corresponding to each of these trajectory information sets, and then analyze whether the trajectory actually passed through the desired endpoint. After removing the trajectory information that indicates the motion trajectory does not pass through the desired endpoint, a second set of trajectory information can be obtained.

[0289] S2021: Determine multiple candidate trajectory information that overlap in the first trajectory information set and the second trajectory information set.

[0290] The motion trajectory identified by this part of the candidate trajectory information is the trajectory that passes through both the starting point and the ending point of the requirement.

[0291] S2022: Generate motion trajectories identified by multiple candidate trajectory information based on the trajectory data corresponding to each candidate trajectory information.

[0292] S2023: Extract the candidate motion trajectories corresponding to the candidate trajectory information from the motion trajectories identified by the candidate trajectory information respectively, and obtain the candidate motion trajectory set.

[0293] The candidate motion trajectory is the portion of the motion trajectory from the starting point to the ending point of the demand, which is identified by the candidate trajectory information.

[0294] S2024: Remove duplicates from the candidate motion trajectory set.

[0295] For the same candidate motion trajectory, the computer device retains only one, and records the number of identical trajectories as the trajectory quantity corresponding to the candidate motion trajectory. The more trajectory quantities, the more travelers have used that candidate motion trajectory during the historical period, indicating that the trajectory has higher trajectory quality.

[0296] S2025: Select the n candidate motion trajectories with the most corresponding trajectories from the deduplicated candidate motion trajectory set as the third motion trajectory.

[0297] The n candidate motion trajectories with the most trajectories are selected as the third motion trajectory, which are then considered as the n candidate motion trajectories with higher quality.

[0298] As can be seen from the above process, this application has the following technical effects:

[0299] 1. After obtaining the initial trajectory data corresponding to the first motion trajectory, this application does not directly store the complete data. Instead, it first analyzes which data in the initial trajectory data plays a crucial role in generating the first motion trajectory and which data plays a minor role. Only the road segment information corresponding to the benchmark road segment that plays a crucial role in generating the first motion trajectory is stored. This reduces the amount of trajectory data while ensuring the ability of the trajectory data to generate the first motion trajectory, thereby reducing data storage pressure. It also facilitates subsequent data processing based on the first motion trajectory, allowing for quick retrieval of the corresponding trajectory data from the stored data to generate the first motion trajectory for analysis, thus improving the convenience of trajectory data application.

[0300] 2. By selecting the starting segment, ending segment, and intersection segment corresponding to the trajectory as the reference segment, the reference segment can have a more accurate trajectory generation capability, thereby improving the efficiency of selecting effective reference segments and further improving the efficiency of trajectory data storage.

[0301] 3. When selecting a new reference road segment, the computer equipment can select from inconsistent trajectory sections to improve the efficiency of reference road segment selection.

[0302] 4. When regenerating the second motion trajectory for verification, the computer device can generate only the inconsistent trajectory portions to improve the efficiency of trajectory verification and thus improve the efficiency of trajectory data storage.

[0303] 5. Based on the correspondence between trajectory data and trajectory information, this application can determine the trajectory between the starting point and the ending point of the requirement from the motion trajectory generated by the stored trajectory data, satisfying various trajectory generation scenarios.

[0304] 6. The trajectory generation process of this application does not require the trajectory data to include road segment information of the starting point and the ending point of the demand. The trajectory can be generated by finding intersections and road segments with similar locations, which is more versatile.

[0305] 7. When outputting the trajectory, this application analyzes the trajectory quantity corresponding to the trajectory, and then measures the trajectory quality based on the trajectory selection of multiple travelers in the historical period, and finally outputs a high-quality trajectory to further meet the trajectory generation requirements.

[0306] Based on the vehicle trajectory data processing method provided in the above embodiments, this application also provides a vehicle trajectory data processing apparatus, see [link to relevant documentation]. Figure 21 , Figure 21 This application provides a structural block diagram of a vehicle motion trajectory data processing device. The device 2100 includes a first acquisition unit 2101, a first determination unit 2102, a generation unit 2103, a second determination unit 2104, and a storage unit 2105.

[0307] The first acquisition unit 2101 is used to acquire initial trajectory data corresponding to the first motion trajectory of the vehicle, wherein the first motion trajectory passes through multiple road segments, and the initial trajectory data includes road segment information corresponding to the multiple road segments respectively;

[0308] The first determining unit 2102 is used to determine a first set of reference road segments corresponding to the first motion trajectory from the plurality of road segments. The first set of reference road segments includes at least one reference road segment, which is used to identify the trajectory direction of the first motion trajectory.

[0309] The generation unit 2103 is used to generate a second motion trajectory that runs through the reference road segments in the first reference road segment set based on the road segment information corresponding to the first reference road segment set.

[0310] The second determining unit 2104 is used to determine a new reference road segment from the remaining road segments other than the first reference road segment set from the plurality of road segments based on the inconsistency between the second motion trajectory and the first motion trajectory, and to combine the new reference road segment with the first reference road segment set to form an updated first reference road segment set, and to re-execute the step of generating the second motion trajectory based on the updated first reference road segment set;

[0311] The storage unit 2105 is used to store the road segment information corresponding to the first reference road segment set as trajectory data corresponding to the first motion trajectory based on the consistency between the second motion trajectory and the first motion trajectory. The trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

[0312] In one possible implementation, the first determining unit 2102 is specifically used for:

[0313] The starting road segment, the ending road segment, and the intersection road segment are determined from the plurality of road segments as the first reference road segment set corresponding to the first motion trajectory. The starting road segment is the road segment where the trajectory of the first motion trajectory begins, the ending road segment is the road segment where the trajectory of the first motion trajectory ends, and the intersection road segment is the road segment that passes through an intersection.

[0314] In one possible implementation, the intersection segment is a segment that passes through the intersection, and among multiple segments that pass through the intersection, the difference between the proportion of the trajectory corresponding to the intersection segment and the proportion of the trajectory corresponding to other segments is less than a difference threshold. The proportion of the trajectory corresponding to the intersection segment is the percentage of the number of trajectories that pass through the intersection segment among the trajectories that pass through the intersection.

[0315] In one possible implementation, the generation unit 2103 is specifically used for:

[0316] Based on the road segment information corresponding to the first set of reference road segments, a second sub-trajectory is generated between every two adjacent reference road segments in the first set of reference road segments. The second sub-trajectory between any two adjacent reference road segments is a trajectory with the two adjacent reference road segments as the starting point and the ending point. The second sub-trajectory between every two adjacent reference road segments is used to splice together to obtain the second motion trajectory.

[0317] The second determining unit 2104 is specifically used for:

[0318] Determine a first sub-track between any two adjacent reference road segments in the first motion trajectory. The first sub-track is the portion of the first motion trajectory that starts and ends at any two adjacent reference road segments.

[0319] Since the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments are inconsistent, a road segment located between any two adjacent reference road segments is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0320] In one possible implementation, the second determining unit 2104 is specifically used for:

[0321] Based on the inconsistency between the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments, a road segment located between any two adjacent reference road segments is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set.

[0322] Based on the road segment information corresponding to any two adjacent reference road segments and the new reference road segment, a second sub-trajectory between any two adjacent reference road segments is regenerated. The regenerated second sub-trajectory is a trajectory that starts and ends at any two adjacent reference road segments and runs through the new reference road segment.

[0323] In the second motion trajectory, the trajectory between any two adjacent reference road segments is replaced with the regenerated second sub-trajectory to obtain the regenerated second motion trajectory.

[0324] In one possible implementation, the second determining unit 2104 is specifically used for:

[0325] Since the first sub-trajectory and the second sub-trajectory are inconsistent between any two adjacent reference road segments, the road segment located in the middle of the first sub-trajectory is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0326] In one possible implementation, the apparatus further includes a second acquisition unit, a third determination unit, and a fourth determination unit:

[0327] The second acquisition unit is used to acquire start point information and end point information, wherein the start point information is used to identify the demand start point and the end point information is used to identify the demand end point;

[0328] The third determining unit is used to determine the road segment information corresponding to the starting point information and the ending point information respectively. The road segment information corresponding to the starting point information is used to identify the road segment where the demand starting point is located, and the road segment information corresponding to the ending point information is used to identify the road segment where the demand ending point is located.

[0329] The fourth determining unit is used to determine a third motion trajectory from the motion trajectory generated by the stored trajectory data based on the road segment information corresponding to the starting point information and the ending point information, respectively, and the stored trajectory data. The third motion trajectory is a trajectory with the demand starting point as the starting point and the demand ending point as the ending point.

[0330] In one possible implementation, the storage unit 2105 is specifically used for:

[0331] Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is used as the trajectory data corresponding to the first motion trajectory, and stored in correspondence with the trajectory information used to identify the first motion trajectory.

[0332] The fourth determining unit is specifically used for:

[0333] Based on the road segment information corresponding to the starting point information and the stored trajectory data, a first trajectory information set is obtained. The first trajectory information set is a set of trajectory information corresponding to the trajectory that passes through the required starting point in the motion trajectory generated by the stored trajectory data.

[0334] Based on the road segment information corresponding to the destination information and the stored trajectory data, a second trajectory information set is obtained. The second trajectory information set is a set of trajectory information corresponding to the trajectory that passes through the desired destination in the motion trajectory generated by the stored trajectory data.

[0335] The third motion trajectory is determined from the motion trajectories identified by the trajectory information that overlaps with the first trajectory information set and the second trajectory information set.

[0336] In one possible implementation, the fourth determining unit is specifically used for

[0337] Based on the road segment information corresponding to the starting point information included in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the starting point information is taken as the first trajectory information set.

[0338] Based on the road segment information corresponding to the destination information included in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the destination information is taken as the second trajectory information set.

[0339] In one possible implementation, the first set of reference road segments includes intersection road segments from the plurality of road segments, wherein the intersection road segments are road segments passing through intersections, and the fourth determining unit is specifically used for

[0340] Since the stored trajectory data does not include the road segment information corresponding to the starting point information, the intersection road segment corresponding to the demand starting point is obtained according to the road segment information corresponding to the starting point information. The intersection road segment corresponding to the demand starting point is an intersection road segment whose distance from the road segment where the demand starting point is located is less than a preset distance.

[0341] The set of trajectory information corresponding to the trajectory data, including the road segment information of the intersection and road segment corresponding to the starting point of the demand, is taken as the initial first trajectory information set.

[0342] Based on the trajectory data corresponding to the trajectory information in the initial first trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial first trajectory information set passes through the required starting point;

[0343] Remove the trajectory information in the initial first trajectory information set that does not pass through the required starting point to obtain the first trajectory information set.

[0344] In one possible implementation, the fourth determining unit is specifically used for:

[0345] Since the stored trajectory data does not include the road segment information corresponding to the starting point information, the road segment that can be reached from the road segment where the required starting point is located without passing through any road segments is obtained as a candidate road segment based on the road segment information corresponding to the starting point information.

[0346] Among the candidate intersection segments, the segment whose distance from the segment where the demand origin is located is less than a preset distance is selected as the intersection segment corresponding to the demand origin.

[0347] In one possible implementation, the first set of reference road segments includes intersection road segments from the plurality of road segments, wherein the intersection road segments are road segments passing through intersections, and the fourth determining unit is specifically used for:

[0348] Since the stored trajectory data does not include the road segment information corresponding to the destination information, the intersection road segment corresponding to the desired destination is obtained according to the road segment information corresponding to the destination information. The intersection road segment corresponding to the desired destination is an intersection road segment whose distance from the road segment where the desired destination is located is less than a preset distance.

[0349] The set of trajectory information corresponding to the trajectory data that includes the road segment information of the intersection and road segment corresponding to the destination of the demand is taken as the initial second trajectory information set.

[0350] Based on the trajectory data corresponding to the trajectory information in the initial second trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial second trajectory information set passes through the required endpoint;

[0351] Remove the trajectory information in the initial second trajectory information set that does not pass through the required endpoint, and obtain the second trajectory information set.

[0352] In one possible implementation, the fourth determining unit is specifically used for:

[0353] Identify multiple candidate trajectory information that overlap in the first trajectory information set and the second trajectory information set;

[0354] Based on the trajectory data corresponding to the multiple candidate trajectory information, a motion trajectory is generated that is identified by the multiple candidate trajectory information respectively;

[0355] From the motion trajectories identified by the multiple candidate trajectory information respectively, the candidate motion trajectories corresponding to the multiple candidate trajectory information are extracted to obtain a set of candidate motion trajectories. The candidate motion trajectory corresponding to any candidate trajectory information is the trajectory part from the starting point of the demand to the ending point of the demand in the motion trajectory identified by the arbitrary candidate trajectory information.

[0356] The candidate motion trajectory set is deduplicated. The candidate motion trajectories in the deduplicated candidate motion trajectory set have corresponding trajectory quantities. The trajectory quantity corresponding to any candidate motion trajectory is the number of trajectories that are the same as any candidate motion trajectory in the candidate motion trajectory set before deduplication.

[0357] The n candidate motion trajectories with the most corresponding trajectories in the deduplicated candidate motion trajectory set are taken as the third motion trajectory, where n is a positive integer.

[0358] In one possible implementation, the device further includes a fifth determining unit:

[0359] The fifth determining unit is used to determine whether the road segments where the demand start point and the demand end point are located are passable road segments based on the road segment information corresponding to the start point information and the end point information, respectively.

[0360] The fourth determining unit is specifically used for:

[0361] Based on the fact that both the starting point and the ending point of the demand are passable road segments, a third motion trajectory is determined from the motion trajectory generated by the stored trajectory data according to the road segment information corresponding to the starting point information and the ending point information respectively.

[0362] This application also provides a computer device; please refer to [link to relevant documentation]. Figure 22 As shown, the computer device can be a terminal device; for example, a mobile phone can be used as a terminal device.

[0363] Figure 22 This diagram illustrates a partial structure of a mobile phone related to the terminal device provided in the embodiments of this application. (Reference) Figure 22 The mobile phone includes components such as a radio frequency (RF) circuit 710, a memory 720, an input unit 730, a display unit 740, a sensor 750, an audio circuit 760, a wireless Fidelity (WiFi) module 770, a processor 780, and a power supply 790. Those skilled in the art will understand that... Figure 22 The mobile phone structure shown does not constitute a limitation on the mobile phone and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0364] The following is combined Figure 22 A detailed introduction to each component of a mobile phone:

[0365] RF circuit 710 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink information from the base station and processes it with processor 780; additionally, it transmits uplink data to the base station. Typically, RF circuit 710 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), and a duplexer. Furthermore, RF circuit 710 can also communicate wirelessly with networks and other devices. The aforementioned wireless communication can use any communication standard or protocol, including but not limited to Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, and Short Messaging Service (SMS).

[0366] The memory 720 can be used to store software programs and modules. The processor 780 executes various mobile phone functions and data processing by running the software programs and modules stored in the memory 720. The memory 720 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory 720 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0367] The input unit 730 can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of the mobile phone. Specifically, the input unit 730 may include a touch panel 731 and other input devices 732. The touch panel 731, also known as a touch screen, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel 731), and drive the corresponding connected devices according to a pre-set program. Optionally, the touch panel 731 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 780, and can also receive and execute commands sent by the processor 780. In addition, the touch panel 731 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 731, the input unit 730 may also include other input devices 732. Specifically, other input devices 732 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0368] The display unit 740 can be used to display information input by the user or information provided to the user, as well as various menus of the mobile phone. The display unit 740 may include a display panel 741, which may optionally be configured as a Liquid Crystal Display (LCD), Organic Light-Emitting Diode (OLED), or similar display panel. Further, a touch panel 731 may cover the display panel 741. When the touch panel 731 detects a touch operation on or near it, it transmits the information to the processor 780 to determine the type of touch event. Subsequently, the processor 780 provides corresponding visual output on the display panel 741 based on the type of touch event. Although in Figure 22 In this embodiment, the touch panel 731 and the display panel 741 are two separate components to realize the input and output functions of the mobile phone. However, in some embodiments, the touch panel 731 and the display panel 741 can be integrated to realize the input and output functions of the mobile phone.

[0369] The mobile phone may also include at least one sensor 750, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display panel 741 according to the ambient light level, and the proximity sensor can turn off the display panel 741 and / or backlight when the phone is moved to the ear. As a type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity and can be used for applications that recognize the phone's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition-related functions (such as pedometer, taps), etc. Other sensors that may be configured in the mobile phone, such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, will not be described in detail here.

[0370] Audio circuit 760, speaker 761, and microphone 762 provide an audio interface between the user and the mobile phone. Audio circuit 760 converts received audio data into electrical signals and transmits them to speaker 761, where speaker 761 converts them into sound signals for output. On the other hand, microphone 762 converts collected sound signals into electrical signals, which are received by audio circuit 760, converted into audio data, and then processed by processor 780 before being transmitted via RF circuit 710 to, for example, another mobile phone, or the audio data can be output to memory 720 for further processing.

[0371] WiFi is a short-range wireless transmission technology. Through the WiFi module 770, mobile phones can help users send and receive emails, browse web pages, and access streaming media, providing users with wireless broadband internet access. Although Figure 22 The WiFi module 770 is shown, but it is understood that it is not an essential component of a mobile phone and can be omitted as needed without changing the essence of the invention.

[0372] The processor 780 is the control center of the mobile phone, connecting various parts of the phone through various interfaces and lines. It executes software programs and / or modules stored in the memory 720, and calls data stored in the memory 720 to perform various functions and process data, thereby performing overall detection of the phone. Optionally, the processor 780 may include one or more processing units; preferably, the processor 780 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 780.

[0373] The mobile phone also includes a power supply 790 (such as a battery) that supplies power to various components. Preferably, the power supply can be logically connected to the processor 780 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.

[0374] Although not shown, mobile phones may also include a camera, Bluetooth module, etc., which will not be described in detail here.

[0375] In this embodiment, the processor 780 included in the terminal device also has the following functions:

[0376] Acquire initial trajectory data corresponding to the first motion trajectory of the vehicle, wherein the first motion trajectory traverses multiple road segments, and the initial trajectory data includes road segment information corresponding to the multiple road segments respectively;

[0377] A first set of reference road segments corresponding to the first motion trajectory is determined from the plurality of road segments. The first set of reference road segments includes at least one reference road segment, which is used to identify the trajectory direction of the first motion trajectory.

[0378] Based on the road segment information corresponding to the first set of reference road segments, a second motion trajectory is generated that runs through the reference road segments in the first set of reference road segments;

[0379] Since the second motion trajectory is inconsistent with the first motion trajectory, a new reference road segment is determined from the remaining road segments excluding the first reference road segment set from the plurality of road segments, and the new reference road segment is combined with the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

[0380] Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is stored as the trajectory data corresponding to the first motion trajectory, and the trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

[0381] This application also provides a server; please refer to [link / reference]. Figure 23 As shown, Figure 23This is a structural diagram of a server 800 provided in an embodiment of this application. The server 800 can vary significantly due to different configurations or performance. It may include one or more Central Processing Units (CPUs) 822 (e.g., one or more processors) and a memory 832, and one or more storage media 830 (e.g., one or more mass storage devices) for storing application programs 842 or data 844. The memory 832 and storage media 830 can be temporary or persistent storage. The program stored in the storage media 830 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the server. Furthermore, the CPU 822 may be configured to communicate with the storage media 830 and execute the series of instruction operations in the storage media 830 on the server 800.

[0382] Server 800 may also include one or more power supplies 826, one or more wired or wireless network interfaces 850, one or more input / output interfaces 858, and / or one or more operating systems 841, such as Windows Server. TM Mac OS X TM Unix TM Linux TM FreeBSD TM etc.

[0383] The steps performed by the server in the above embodiments can be based on Figure 23 The server structure shown.

[0384] This application also provides a computer-readable storage medium for storing a computer program that executes any one of the methods for processing vehicle motion trajectory data described in the foregoing embodiments.

[0385] This application also provides a computer program product including a computer program, which, when run on a computer device, causes the computer device to execute the vehicle motion trajectory data processing method described in any of the above embodiments.

[0386] It is understood that in the specific implementation of this application, user information (such as trajectory data) and other related data are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0387] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium can be at least one of the following media: read-only memory (ROM), RAM, magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0388] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0389] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for processing vehicle trajectory data, characterized in that, The method includes: Acquire initial trajectory data corresponding to the first motion trajectory of the vehicle, wherein the first motion trajectory traverses multiple road segments, and the initial trajectory data includes road segment information corresponding to the multiple road segments respectively; A first set of reference road segments corresponding to the first motion trajectory is determined from the plurality of road segments. The first set of reference road segments includes at least one reference road segment, which is used to identify the trajectory direction of the first motion trajectory. Based on the road segment information corresponding to the first set of reference road segments, a second motion trajectory is generated that runs through the reference road segments in the first set of reference road segments; Since the second motion trajectory is inconsistent with the first motion trajectory, a new reference road segment is determined from the remaining road segments excluding the first reference road segment set from the plurality of road segments, and the new reference road segment is combined with the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed. Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is stored as the trajectory data corresponding to the first motion trajectory, and the trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

2. The method according to claim 1, characterized in that, Determining the first set of reference road segments corresponding to the first motion trajectory from the plurality of road segments includes: The starting road segment, the ending road segment, and the intersection road segment are determined from the plurality of road segments as the first reference road segment set corresponding to the first motion trajectory. The starting road segment is the road segment where the trajectory of the first motion trajectory begins, the ending road segment is the road segment where the trajectory of the first motion trajectory ends, and the intersection road segment is the road segment that passes through an intersection.

3. The method according to claim 2, characterized in that, The intersection segment is a segment that passes through the intersection, and among multiple segments that pass through the intersection, the difference between the trajectory percentage corresponding to the intersection segment and the trajectory percentage corresponding to other segments is less than a difference threshold. The trajectory percentage corresponding to the intersection segment is the percentage of the number of trajectories that pass through the intersection segment that pass through the intersection among the trajectories that pass through the intersection.

4. The method according to any one of claims 1-2, characterized in that, The step of generating a second motion trajectory that traverses the reference road segments in the first reference road segment set based on the road segment information corresponding to the first reference road segment set includes: Based on the road segment information corresponding to the first set of reference road segments, a second sub-trajectory is generated between every two adjacent reference road segments in the first set of reference road segments. The second sub-trajectory between any two adjacent reference road segments is a trajectory with the two adjacent reference road segments as the starting point and the ending point. The second sub-trajectory between every two adjacent reference road segments is used to splice together to obtain the second motion trajectory. The step of determining a new reference road segment from the remaining road segments excluding the first reference road segment set, based on the inconsistency between the second motion trajectory and the first motion trajectory, and combining the new reference road segment with the first reference road segment set to form an updated first reference road segment set, and re-executing the step of generating the second motion trajectory based on the updated first reference road segment set, includes: Determine a first sub-track between any two adjacent reference road segments in the first motion trajectory. The first sub-track is the portion of the first motion trajectory that starts and ends at any two adjacent reference road segments. Since the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments are inconsistent, a road segment located between any two adjacent reference road segments is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

5. The method according to claim 4, characterized in that, The step of generating the second motion trajectory, based on the inconsistency between the first and second sub-trajectories between any two adjacent reference road segments, involves selecting a road segment located between any two adjacent reference road segments from the remaining road segments as a new reference road segment, adding it to the first reference road segment set, combining them to form an updated first reference road segment set, and re-executing the step of generating the second motion trajectory based on the updated first reference road segment set, includes: Based on the inconsistency between the first sub-trajectory and the second sub-trajectory between any two adjacent reference road segments, a road segment located between any two adjacent reference road segments is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. According to the road segment information corresponding to the two adjacent reference road segments and the new reference road segment, the second sub-trajectory between any two adjacent reference road segments is regenerated. The regenerated second sub-trajectory is a trajectory that starts and ends at any two adjacent reference road segments and runs through the new reference road segment. In the second motion trajectory, the trajectory between any two adjacent reference road segments is replaced with the regenerated second sub-trajectory to obtain the regenerated second motion trajectory.

6. The method according to claim 4, characterized in that, The step of generating the second motion trajectory, based on the inconsistency between the first and second sub-trajectories between any two adjacent reference road segments, involves selecting a road segment located between any two adjacent reference road segments from the remaining road segments as a new reference road segment, adding it to the first reference road segment set, combining them to form an updated first reference road segment set, and re-executing the step of generating the second motion trajectory based on the updated first reference road segment set, includes: Since the first sub-trajectory and the second sub-trajectory are inconsistent between any two adjacent reference road segments, the road segment located in the middle of the first sub-trajectory is selected from the remaining road segments as a new reference road segment and added to the first reference road segment set to form an updated first reference road segment set. Based on the updated first reference road segment set, the step of generating the second motion trajectory is re-executed.

7. The method according to claim 1, characterized in that, The method further includes: Obtain start-point information and end-point information, wherein the start-point information is used to identify the starting point of the demand and the end-point information is used to identify the ending point of the demand; The road segment information corresponding to the starting point information and the ending point information is determined respectively. The road segment information corresponding to the starting point information is used to identify the road segment where the demand starting point is located, and the road segment information corresponding to the ending point information is used to identify the road segment where the demand ending point is located. Based on the road segment information corresponding to the starting point information and the ending point information, and the stored trajectory data, a third motion trajectory is determined from the motion trajectory generated from the stored trajectory data. The third motion trajectory is a trajectory that starts from the demand starting point and ends at the demand ending point.

8. The method according to claim 7, characterized in that, The step of storing the road segment information corresponding to the first reference road segment set as trajectory data corresponding to the first motion trajectory based on the consistency between the second motion trajectory and the first motion trajectory includes: Based on the fact that the second motion trajectory is consistent with the first motion trajectory, the road segment information corresponding to the first reference road segment set is used as the trajectory data corresponding to the first motion trajectory, and stored in correspondence with the trajectory information used to identify the first motion trajectory. The step of determining a third motion trajectory from the motion trajectory generated by the stored trajectory data based on the road segment information corresponding to the starting point information and the ending point information, respectively, and the stored trajectory data, includes: Based on the road segment information corresponding to the starting point information and the stored trajectory data, a first trajectory information set is obtained. The first trajectory information set is a set of trajectory information corresponding to the trajectory that passes through the required starting point in the motion trajectory generated by the stored trajectory data. Based on the road segment information corresponding to the destination information and the stored trajectory data, a second trajectory information set is obtained. The second trajectory information set is a set of trajectory information corresponding to the trajectory that passes through the desired destination in the motion trajectory generated by the stored trajectory data. The third motion trajectory is determined from the motion trajectories identified by the overlapping trajectory information of the first trajectory information set and the second trajectory information set.

9. The method according to claim 8, characterized in that, The step of obtaining the first trajectory information set based on the road segment information corresponding to the starting point information and the stored trajectory data includes: Based on the road segment information corresponding to the starting point information included in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the starting point information is taken as the first trajectory information set. The step of obtaining a second trajectory information set based on the road segment information corresponding to the destination information and the stored trajectory data includes: Based on the road segment information corresponding to the destination information included in the stored trajectory data, the set of trajectory information corresponding to the trajectory data including the road segment information corresponding to the destination information is taken as the second trajectory information set.

10. The method according to claim 8, characterized in that, The first set of reference road segments includes intersection road segments from the plurality of road segments. The intersection road segments are road segments that pass through intersections. The step of obtaining the first set of motion trajectories based on the road segment information corresponding to the starting point information and the stored trajectory data includes: Since the stored trajectory data does not include the road segment information corresponding to the starting point information, the intersection road segment corresponding to the demand starting point is obtained according to the road segment information corresponding to the starting point information. The intersection road segment corresponding to the demand starting point is an intersection road segment whose distance from the road segment where the demand starting point is located is less than a preset distance. The set of trajectory information corresponding to the trajectory data, including the road segment information of the intersection and road segment corresponding to the starting point of the demand, is taken as the initial first trajectory information set. Based on the trajectory data corresponding to the trajectory information in the initial first trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial first trajectory information set passes through the required starting point; Remove the trajectory information in the initial first trajectory information set that does not pass through the required starting point to obtain the first trajectory information set.

11. The method according to claim 10, characterized in that, The stored trajectory data does not include the road segment information corresponding to the starting point information. Based on the road segment information corresponding to the starting point information, the intersection road segment corresponding to the required starting point is obtained, including: Since the stored trajectory data does not include the road segment information corresponding to the starting point information, the road segment that can be reached from the road segment where the required starting point is located without passing through any road segments is obtained as a candidate road segment based on the road segment information corresponding to the starting point information. Among the candidate intersection segments, the segment whose distance from the segment where the demand origin is located is less than a preset distance is selected as the intersection segment corresponding to the demand origin.

12. The method according to claim 8, characterized in that, The first set of reference road segments includes intersection road segments among the plurality of road segments, wherein the intersection road segment is a road segment passing through an intersection. The step of obtaining the second set of trajectory information based on the road segment information corresponding to the destination information and the stored trajectory data includes: Since the stored trajectory data does not include the road segment information corresponding to the destination information, the intersection road segment corresponding to the desired destination is obtained according to the road segment information corresponding to the destination information. The intersection road segment corresponding to the desired destination is an intersection road segment whose distance from the road segment where the desired destination is located is less than a preset distance. The set of trajectory information corresponding to the trajectory data that includes the road segment information of the intersection and road segment corresponding to the destination of the demand is taken as the initial second trajectory information set. Based on the trajectory data corresponding to the trajectory information in the initial second trajectory information set in the stored trajectory data, determine whether the motion trajectory identified by the trajectory information in the initial second trajectory information set passes through the required endpoint; Remove the trajectory information in the initial second trajectory information set that does not pass through the required endpoint, and obtain the second trajectory information set.

13. The method according to claim 8, characterized in that, Determining the third motion trajectory from the motion trajectories identified by the overlapping trajectory information of the first trajectory information set and the second trajectory information set includes: Identify multiple candidate trajectory information that overlap in the first trajectory information set and the second trajectory information set; Based on the trajectory data corresponding to the multiple candidate trajectory information, a motion trajectory is generated that is identified by the multiple candidate trajectory information respectively; From the motion trajectories identified by the multiple candidate trajectory information respectively, the candidate motion trajectories corresponding to the multiple candidate trajectory information are extracted to obtain a set of candidate motion trajectories. The candidate motion trajectory corresponding to any candidate trajectory information is the trajectory part from the starting point of the demand to the ending point of the demand in the motion trajectory identified by the arbitrary candidate trajectory information. The candidate motion trajectory set is deduplicated. The candidate motion trajectories in the deduplicated candidate motion trajectory set have corresponding trajectory quantities. The trajectory quantity corresponding to any candidate motion trajectory is the number of trajectories that are the same as any candidate motion trajectory in the candidate motion trajectory set before deduplication. The n candidate motion trajectories with the most corresponding trajectories in the deduplicated candidate motion trajectory set are taken as the third motion trajectory, where n is a positive integer.

14. The method according to claim 7, characterized in that, The method further includes: Based on the road segment information corresponding to the starting point information and the ending point information, determine whether the road segments where the demand starting point and the demand ending point are located are passable road segments; The step of determining a third motion trajectory from the motion trajectory generated by the stored trajectory data based on the road segment information corresponding to the starting point information and the ending point information, respectively, and the stored trajectory data, includes: Based on the fact that both the starting point and the ending point of the demand are passable road segments, a third motion trajectory is determined from the motion trajectory generated by the stored trajectory data according to the road segment information corresponding to the starting point information and the ending point information respectively.

15. A device for processing vehicle motion trajectory data, characterized in that, The device includes a first acquisition unit, a first determination unit, a generation unit, a second determination unit, and a storage unit: The first acquisition unit is used to acquire initial trajectory data corresponding to the first motion trajectory of the vehicle, wherein the first motion trajectory passes through multiple road segments, and the initial trajectory data includes road segment information corresponding to the multiple road segments respectively; The first determining unit is configured to determine a first set of reference road segments corresponding to the first motion trajectory from the plurality of road segments. The first set of reference road segments includes at least one reference road segment, which is used to identify the trajectory direction of the first motion trajectory. The generation unit is used to generate a second motion trajectory that runs through the reference road segments in the first reference road segment set based on the road segment information corresponding to the first reference road segment set. The second determining unit is configured to determine a new reference road segment from the remaining road segments other than the first reference road segment set from the plurality of road segments based on the inconsistency between the second motion trajectory and the first motion trajectory, and combine the new reference road segment with the first reference road segment set to form an updated first reference road segment set, and re-execute the step of generating the second motion trajectory based on the updated first reference road segment set; The storage unit is used to store the road segment information corresponding to the first reference road segment set as trajectory data corresponding to the first motion trajectory, based on the fact that the second motion trajectory is consistent with the first motion trajectory. The trajectory data corresponding to the first motion trajectory is used to generate the first motion trajectory.

16. A computer device, characterized in that, The computer device includes a processor and memory: The memory is used to store computer programs and to transfer the computer programs to the processor; The processor is configured to execute the vehicle motion trajectory data processing method according to any one of claims 1-14, based on instructions in the computer program.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for executing the vehicle motion trajectory data processing method according to any one of claims 1-14.

18. A computer program product comprising a computer program, which, when run on a computer device, causes the computer device to perform the vehicle motion trajectory data processing method according to any one of claims 1-14.

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