Trajectory point matching method and apparatus, route matching degree determination method and apparatus, medium, and product

Abstract

A trajectory point matching method and apparatus, a route matching degree determination method and apparatus, a medium, and a product. The trajectory point matching method comprises: on the basis of a planned travel route from an initial position to a target position, determining matching ranges of a plurality of paths to be matched which are located in the planned travel route (101); and on the basis of a trajectory point position of a moving target and the matching ranges of the plurality of paths to be matched, determining a trajectory point matching result of the moving target (102). The route matching degree determination method comprises: determining a plurality of trajectory point matching results comprised in an actual travel route of the moving target from the initial position to the target position (501); and on the basis of the plurality of trajectory point matching results comprised in the actual travel route of the moving target from the initial position to the target position, determining a route matching degree between the actual travel route and the planned travel route (502). The trajectory point matching accuracy of the moving target is improved, and the matching degree accuracy between the actual travel route and the planned travel route is improved.

Description

Trajectory point matching method, route matching degree determination method and device, medium and product

[0001] Cross-reference to Related Applications

[0002] The present disclosure is based on and claims priority from Chinese Patent Application No. 202410416217.4 filed on April 8, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of computer, and particularly relates to a trajectory point matching method, a route matching degree determination method, a device, a medium and a product. BACKGROUND

[0004] In the related art, the matching degree of an actual travel trajectory and a planned path can be compared to determine the similarity or difference between the two, and such a path matching method is widely applied to scenarios such as path navigation, motion tracking and personnel positioning, for judging whether a moving target travels according to a planned travel path, thereby achieving the purposes of trajectory monitoring, navigation guidance optimization, etc.

[0005] In a patrol scene, a patrol personnel usually carries a mobile terminal with a position reporting capability, and the mobile terminal intermittently reports the position coordinates of the patrol personnel to a server during the patrol process, and the server can match the position coordinates of the patrol personnel with a planned path, but such a matching method has a relatively large matching error. SUMMARY

[0006] According to an aspect of the present disclosure, a trajectory point matching method is provided, comprising:

[0007] Based on a planned travel route from an initial position to a target position, determining a matching range of a plurality of to-be-matched paths located in the planned travel route;

[0008] Based on the trajectory point position of the moving target and the matching range of the plurality of to-be-matched paths, determining a trajectory point matching result of the moving target.

[0009] According to an aspect of the present disclosure, a route matching degree determination method is provided, comprising:

[0010] Based on the method described in the exemplary embodiments of the present disclosure, determining a plurality of trajectory point matching results of a moving target included in an actual travel route from an initial position to a target position;

[0011] Based on the plurality of trajectory point matching results of the moving target, determining a route matching degree between the actual travel route and the planned travel route.

[0012] According to another aspect of the present disclosure, there is provided a route matching device, comprising:

[0013] a determining module configured to determine matching ranges of a plurality of to-be-matched paths located within a planned travel route from an initial position to a target position based on the planned travel route;

[0014] a judging module configured to determine a trajectory point matching result of a moving target based on a trajectory point position of the moving target and the matching ranges of the plurality of to-be-matched paths.

[0015] According to another aspect of the present disclosure, there is provided a route matching degree determining device, comprising:

[0016] a matching module configured to determine a plurality of trajectory point matching results of a moving target from an initial position to a target position based on the method according to the exemplary embodiments of the present disclosure;

[0017] a determining module configured to determine a route matching degree between an actual travel route and a planned travel route based on the plurality of trajectory point matching results of the moving target from the initial position to the target position.

[0018] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0019] a processor; and

[0020] a memory storing a program;

[0021] wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to the exemplary embodiments of the present disclosure.

[0022] According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method according to the exemplary embodiments of the present disclosure.

[0023] According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method according to the exemplary embodiments of the present disclosure.

[0024] One or more technical solutions provided in the embodiments of the present disclosure can determine the matching range of the plurality of to-be-matched paths located in the planned travel route based on the planned travel route from the initial position to the target position, and then determine the trajectory point matching result of the moving target based on the trajectory point position of the moving target and the matching range of the plurality of to-be-matched paths. This process is essentially to differentiate the planned travel route by using the differential idea, to obtain the matching range of the to-be-matched path, and then to determine the trajectory point matching result of the moving target by using the trajectory point position of the moving target and the matching range of each to-be-matched path.

[0025] It can be seen that the exemplary embodiments of the present disclosure can match the planned travel route with the trajectory point position of the moving target, thereby improving the matching result accuracy of the moving target. When determining the route matching degree between the actual travel route and the planned travel route, each trajectory point matching result of the moving target included in the actual travel route of the moving target from the initial position to the target position is also determined according to this method, and then the route matching degree between the actual travel route and the planned travel route is determined based on the plurality of trajectory point matching results included in the actual travel route of the moving target from the initial position to the target position. This not only can improve the accuracy of the route matching degree, so as to provide better travel route monitoring and route navigation services for users, but also can determine the route matching degree between the actual travel route and the planned travel route from the perspective of breaking down the whole into parts, and can be suitable for matching various planned travel routes and actual travel routes, thereby improving the application range of the method of the exemplary embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0026] In the following description of the exemplary embodiments in conjunction with the accompanying drawings, more details, features and advantages of the present disclosure are disclosed in the accompanying drawings in which:

[0027] FIG. 1 shows a flowchart of a trajectory point matching method according to an exemplary embodiment of the present disclosure;

[0028] FIG. 2 shows a flowchart of determining the matching range of a to-be-matched path according to an exemplary embodiment of the present disclosure;

[0029] FIG. 3 shows a schematic diagram of the matching range of a to-be-matched path according to an exemplary embodiment of the present disclosure;

[0030] FIG. 4 shows a flowchart of a method for obtaining the trajectory point position of a moving target according to an exemplary embodiment of the present disclosure;

[0031] FIG. 5 shows a flowchart of a method for determining the route matching degree according to an exemplary embodiment of the present disclosure;

[0032] FIG. 6 shows a schematic diagram of the trajectory point matching result of a moving target determined in different ways according to an exemplary embodiment of the present disclosure;

[0033] FIG. 7 shows a functional module schematic block diagram of a trajectory point matching apparatus according to an exemplary embodiment of the present disclosure;

[0034] FIG. 8 shows a functional module schematic block diagram of a route matching degree determination apparatus according to an exemplary embodiment of the present disclosure;

[0035] FIG. 9 shows a schematic block diagram of a chip according to an exemplary embodiment of the present disclosure;

[0036] FIG. 10 shows a structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0037] Embodiments of the present disclosure will be described in more detail with reference to the drawings. Although certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0038] It should be understood that each of the steps recited in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0039] The term “comprising” and variations thereof as used herein are open-ended, that is, “including but not limited to”. The term “based on” is “based, at least in part, on”. The term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment”; the term “some embodiments” means “at least some embodiments”. Related definitions are given throughout the description. It should be noted that the concepts mentioned in the present disclosure are merely used for distinguishing different apparatuses, modules or units, and are not intended to limit the functions of these apparatuses, modules or units.

[0040] It should be noted that the modification of “one”, “multiple” mentioned in the present disclosure is illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as “one or more”.

[0041] In the related art, the travel path matching can help determine whether the user determines the movement target to travel according to the planned travel path, which can use trajectory alignment, similarity measurement, error estimation and path correction techniques to ensure that the matching degree between the actual travel route and the planned travel route reaches the expected accuracy requirement.

[0042] In the security patrol scene, the manager usually draws a patrol route on the map in advance, which can be called a patrol planning route, which may pass through roads, parks, building perimeters, and even forests, lakes, etc.

[0043] When the patrol personnel patrol, they can patrol according to the patrol planning route by walking, riding or driving, etc., and the patrol personnel usually carry a mobile terminal with a positioning reporting function, which can report the positioning information of the patrol personnel to the server at intervals, and the server directly matches the positioning information of the patrol personnel with the patrol planning route to determine whether the position of the patrol personnel is on the patrol planning route or within the allowed deviation range of the patrol planning route.

[0044] However, the patrol planning route has various trends, such as straight-line planning route, polyline planning route, curved planning route, and even circular planning route, etc., and directly using the hard matching method to match the patrol planning route and the position of the patrol personnel has a large matching error.

[0045] To solve the above problems, the exemplary embodiments of the present disclosure provide a trajectory point matching method and a route matching degree determination method, which can accurately determine the matching of trajectory points of various mobile targets and planning travel routes through the trajectory point matching method, and can accurately obtain the route matching degree of the actual travel route and the planning travel route on the basis of the trajectory point matching method, thereby improving the accuracy of trajectory monitoring and navigation guidance.

[0046] In actual application, the mobile target of the exemplary embodiments of the present disclosure can include various living beings and non-living beings, the living beings can include humans and animals, and the non-living beings can include various movable non-living beings, such as land vehicles including but not limited to bicycles, motorcycles, cars, trucks, etc., aircraft, drones, and even ships, underwater vehicles, etc.

[0047] The exemplary embodiments of the present disclosure can be applied to various electronic devices, including terminal devices or servers, which can be equipped with various mature or self-developed positioning systems for detecting the trajectory point positions of mobile targets during movement, and the terminal devices can also have a positioning reporting function, which can upload the collected trajectory point positions to the server, and the server can execute the method of the exemplary embodiments of the present disclosure.

[0048] The terminal device of the exemplary embodiments of the present disclosure can include a notebook or laptop computer, a netbook, a tablet computer, an e-book reader, a Global Positioning System (GPS) device, a camera, a Personal Digital Assistant (PDA), a handheld electronic device, a cellular phone, a smart phone, other suitable electronic device, or any suitable combination thereof.

[0049] FIG. 1 shows a flowchart of a trajectory point matching method according to an exemplary embodiment of the present disclosure. As shown in FIG. 1, the trajectory point matching method according to an exemplary embodiment of the present disclosure can include:

[0050] Step 101: determining a matching range of a plurality of to-be-matched paths located in a planned travel route from an initial position to a target position.

[0051] The initial position and the target position according to an exemplary embodiment of the present disclosure can be the same position or different positions. When the initial position and the target position are the same position, the planned travel route can be a closed route with the position as a starting point and the position as a terminal point, and the trajectory shape of the closed route can include, for example, a circle, a polygon, a curve, or a special shape formed by splicing a line segment and a curve.

[0052] Step 102: determining a trajectory point matching result of the moving target based on the trajectory point position of the moving target and the matching range of the plurality of to-be-matched paths.

[0053] According to an exemplary embodiment of the present disclosure, the planned travel route can be divided into a plurality of to-be-matched paths based on a differential idea, and the matching range of each to-be-matched path can be considered as a tolerance range of the trajectory point located on the to-be-matched path. It can be seen that the planned travel route can be divided into a plurality of to-be-matched paths according to an exemplary embodiment of the present disclosure, and the trajectory point of the moving target is matched, thereby improving the matching result accuracy of the moving target.

[0054] When the trajectory point of the moving target is located in the matching range of a certain to-be-matched path, it can be considered that the moving target travels according to the planned travel route, and when the trajectory point of the moving target is located outside the matching range of a certain to-be-matched path, it can be considered that the moving target does not travel according to the planned travel route.

[0055] Taking the patrol and guard scene as an example, the terminal device is held by the patrol and guard personnel. If the method is executed by the terminal device, the terminal device can directly pop up an alarm message to notify the patrol and guard personnel of the deviation. Of course, the alarm message can also be reported to the server to notify the administrator, so that the administrator can know the deviation of the patrol and guard personnel in the first time, and the administrator can perform relevant disposal. If the method is executed by the server, the server can issue an alarm message to the terminal device to notify the patrol and guard personnel of the deviation. Of course, the alarm message can also be displayed on the front end of the server, so that the administrator can know the deviation of the patrol and guard personnel in the first time, and the administrator can perform relevant disposal.

[0056] In an optional manner, FIG. 2 shows a matching range determination flowchart of the to-be-matched paths according to an exemplary embodiment of the present disclosure. As shown in FIG. 2, the exemplary embodiment of the present disclosure determines the matching range of the plurality of to-be-matched paths located in the planned travel route from the initial position to the target position, including:

[0057] Step 201: The planned travel route is segmented to obtain a plurality of to-be-matched paths. Here, the planned travel route can be segmented based on the differential principle, and considering the diversity of the travel direction of the planned travel route, the planned travel route can be segmented with the path extension direction of the planned travel route as the prior condition to obtain a plurality of to-be-segmented paths, so that the included angle formed by the path extension directions of two adjacent to-be-segmented paths is greater than a preset included angle, and then each to-be-segmented path is segmented to obtain a plurality of to-be-matched paths corresponding to each to-be-segmented path.

[0058] When the planned travel route is segmented in the above manner, the extension direction of the travel planning route is essentially taken as the prior condition and constraint condition to segment the travel extension route, so that the extension direction of each to-be-segmented path does not change greatly, and the extension directions of two adjacent to-be-segmented paths are greatly different.

[0059] Step 202: Each to-be-segmented path is segmented to obtain a plurality of to-be-matched paths corresponding to each to-be-segmented path. When the planned travel route is a polyline route, each straight line segment in the polyline route can be defined as a to-be-segmented path, and the to-be-segmented path is further segmented. Thus, each to-be-segmented path can be divided into a plurality of to-be-matched paths.

[0060] Suppose the polyline route includes L straight line segments, if the length of the kth straight line segment is L k , the number N of to-be-matched paths corresponding to the kth straight line segment can be determined according to the following formula one. k : N k = L k / τ Formula one

[0061] wherein, τ represents the length of the path to be matched. The moving speed of the moving target and the trajectory point collection frequency of the moving target affect the number of trajectory points collected from the initial position to the target position. If the number of collected trajectory points is relatively large, the planned travel route needs to be finely divided to more accurately determine whether the trajectory point is within the range of the path to be matched. If the number of collected trajectory points is relatively small, the planned travel route does not need to be finely divided, and the trajectory point of the moving target can be more accurately determined whether it is within the range of the path to be matched. Based on this, the length of at least one path to be matched can be positively correlated with the trajectory point collection frequency of the moving target, or positively correlated with the moving speed of the moving target.

[0062] For example, the positioning device of the exemplary embodiment of the present disclosure can set the trajectory point collection frequency of the moving target according to the matching accuracy requirement. For example, in a patrol scenario, if the manager does not require a high matching degree between the actual patrol route of the patrol personnel and the planned patrol route, the trajectory point collection frequency of the moving target can be set to be relatively low. If the manager requires a high matching degree between the actual patrol route of the patrol personnel and the planned patrol route, the trajectory point collection frequency of the moving target can be set to be relatively high.

[0063] For example, the moving speed of the moving target can be determined by various possible factors, which can include but are not limited to the road conditions of the planned travel path, the properties of the moving target, and the like. The following is an example.

[0064] In a complex road condition scenario, the complexity of the road conditions can affect the moving speed of the moving target. When the road conditions of the planned travel route are relatively stable, the lengths of different straight line segments can be the same. If the road width of the planned travel route is relatively complex, the lengths of the paths to be matched divided by the same path to be divided can be set to be equal.

[0065] For example, in a patrol scenario, the planned travel route can pass through highways, forests, densely populated areas, sparsely populated areas, and the like. The degree of people flow density and the degree of road flatness in these areas can affect the travel speed of the patrol personnel. For areas with low degree of people flow density and low degree of road flatness, the area can be defined as a good road condition area. For areas with high degree of people flow density and / or high degree of road flatness, the area can be defined as a poor road condition area.

[0066] For a road section with good road conditions, the patrol speed can be relatively fast, and for a road section with poor road conditions, the patrol speed can be relatively slow. If the positioning device collects the trajectory point positions at a fixed frequency, for a road section with good road conditions, the number of trajectory points of the patrol personnel obtained is relatively small, and therefore, the length of the to-be-matched road section in the road section can be set to be relatively long. For a road section with poor road conditions, the number of trajectory points of the patrol personnel obtained is relatively large, and therefore, the length of the to-be-matched road section in the road section can be set to be relatively short.

[0067] For a patrol personnel, the patrol personnel can walk or use various possible vehicles to patrol, and the walking speed and the driving speed of the vehicles are greatly different, and the driving speeds of different vehicles are also greatly different. For example, the patrol personnel can use walking, bicycle riding, and driving to patrol, and the walking speed is less than the bicycle riding speed, and the bicycle riding speed is less than the driving speed. If the to-be-split paths are split according to the same length of the to-be-matched paths, the problem that the probabilities of the trajectory points corresponding to the driving patrol, the bicycle patrol, and the walking patrol being matched to the to-be-matched paths decrease. Based on this, referring to the foregoing, the number of trajectory points of the patrol personnel collected by the positioning device when the patrol personnel walks is the largest, the number of trajectory points of the patrol personnel collected by the positioning device when the patrol personnel rides a bicycle is the second, and the number of trajectory points of the patrol personnel collected by the positioning device when the patrol personnel drives is the smallest. Correspondingly, the length of the to-be-matched road section when the patrol personnel drives is the largest, the length of the to-be-matched road section when the patrol personnel rides a bicycle is the second, and the length of the to-be-matched road section when the patrol personnel walks is the smallest.

[0068] It can be seen that, by setting the length of the to-be-matched path to be positively correlated with the moving speed of the moving target, the example embodiments of the present disclosure can reduce unnecessary trajectory point collection operations under the condition of ensuring matching accuracy, thereby effectively reducing the power consumption of the positioning device and being beneficial to improving the endurance time of the positioning device.

[0069] For example, the example embodiments of the present disclosure can introduce different elastic factors a according to the moving speed of the moving target, and configure the number of to-be-matched paths included in the same to-be-split path according to Formula Two to adjust the number of to-be-matched paths. k = aL k / τ Formula Two

[0070] Taking the patrol scenario as an example, when the patrol personnel adopts the walking patrol, the elasticity factor a = 0.6, when the patrol personnel adopts the bicycle riding patrol, the elasticity factor a = 0.3, and when the patrol personnel adopts the driving patrol, the elasticity factor a = 0.1. It can be seen that the faster the moving speed of the patrol personnel is, the smaller the corresponding elasticity factor is, and accordingly, the smaller the number of the to-be-matched paths is and the larger the length of the to-be-matched path is, thereby reducing the influence of different patrol modes on the matching accuracy.

[0071] In an optional manner, in order to reduce the trajectory point matching error problem, the parameters (such as the radius of the circle) of the matching range can be configured so that the matching range parts of the adjacent two to-be-matched paths intersect. In this case, when the trajectory point of the moving target appears in the boundary area of the matching range of the adjacent two to-be-matched paths, but the distance feature is close to the adjacent two to-be-matched paths, the matching error problem will not occur. It should be understood that the outer boundary of the matching range of the to-be-matched path of the example embodiment of the present disclosure can be set as a circle, or can be set as a polygon, a broken line, a curve, etc., and the following will be described taking the circle as an example.

[0072] FIG. 3 shows a matching range diagram of the to-be-matched path according to an example embodiment of the present disclosure. As shown in FIG. 3, the extension path shape of the planned travel route 301 according to an example embodiment of the present disclosure is a quadrilateral, which can be divided into four to-be-split paths with large differences in extension direction, and then the four to-be-split paths are split to obtain 14 to-be-matched paths, and the matching range 302 of the adjacent two to-be-matched paths partially overlaps. In this case, if the trajectory point of the moving target appears at the junction position of the adjacent two to-be-matched paths, it will not be mistakenly considered as not matching the to-be-matched path.

[0073] For example, the matching range of the to-be-matched path can be the area covered by the circle with a certain point on the to-be-matched path as the center and a certain length as the radius. Here, the matching range of each to-be-matched path is determined by the midpoint position of the to-be-matched path and the length of the to-be-matched path. Assuming that the length of the to-be-matched path is L, the matching range of the to-be-matched path can be the area covered by the circle with the midpoint position of the to-be-matched path as the center and greater than L / 2 and less than or equal to 2L / 3 as the radius, so as to ensure that all the trajectory points of the moving target matched with the to-be-matched path can be correctly matched.

[0074] As a possible implementation manner, the spatial position judgment manner can be used to judge the spatial relationship between the matching range of each to-be-matched path and the trajectory point of the moving target, so as to determine the trajectory point matching result of the moving target by using the spatial relationship.

[0075] In actual application, the trajectory point matching result of the moving target is determined based on the trajectory point position of the moving target and the matching range of each of the plurality of paths to be matched, including: determining the spatial relationship between the matching range of each of the plurality of paths to be matched and the trajectory point position of the moving target, and then determining the trajectory point matching result of the moving target based on the spatial relationship between the matching range of each of the plurality of paths to be matched and the trajectory point position of the moving target.

[0076] In actual application, the matching range of each of the plurality of paths to be matched can be regarded as a matching range set, and then the matching range of any one of the plurality of paths to be matched is obtained from the matching range set, and then the spatial relationship between the matching range of the path to be matched and the trajectory point position of the moving target is determined based on the matching range of the path to be matched and the trajectory point position of the moving target.

[0077] When the spatial relationship between the matching range of the path to be matched and the trajectory point position of the moving target includes that the trajectory point position of the moving target is located outside the matching range of the path to be matched, it indicates that the trajectory point matching result of the moving target includes that the moving target does not match the path to be matched. At this time, the trajectory point of the moving target has not been matched to the path to be matched, and the matching range of another path to be matched can be obtained from the matching range set to determine the spatial relationship between the matching range of the path to be matched and the trajectory point position of the moving target.

[0078] When the spatial relationship between the matching range of the path to be matched and the trajectory point position of the moving target includes that the trajectory point position of the moving target is located inside the matching range of the path to be matched, it indicates that the trajectory point matching result of the moving target includes that the moving target matches the path to be matched. In this case, it is considered that the moving target has been matched to the path to be matched, and it is not necessary to continue to match with other paths to be matched, and therefore, the matching range of other paths to be matched can be stopped from being obtained from the matching range set, thereby reducing unnecessary calculation amount.

[0079] In an optional manner, considering that the positioning device is carried and the battery power is limited, resulting in limited endurance, the positioning system collects or reports the trajectory point position of the moving target every certain period of time (such as 10s), and the positioning device is easily affected by the geographical environment and is difficult to accurately estimate the trajectory point position of the moving target.

[0080] In order to normally perform the trajectory point matching, the trajectory point positioning data of the moving target can be preprocessed to correct the trajectory point positioning data of the moving target, so as to obtain the trajectory point position of the moving target with higher accuracy. FIG. 4 shows a flowchart of an exemplary method for obtaining the trajectory point position of the moving target. As shown in FIG. 4, the method for obtaining the trajectory point position of the moving target according to the exemplary embodiment of the present disclosure includes:

[0081] Step 401: Obtain the trajectory point measurement position of the mobile target from the initial position to the target position.

[0082] When the method is executed by the terminal device, the terminal device can obtain the trajectory point measurement data packet of the mobile target from the initial position to the target position from the positioning system; when the method is executed by the server, the positioning device can send the trajectory point measurement data packet of the mobile target from the initial position to the target position to the terminal device, and the terminal device forwards the trajectory point measurement data packet to the server.

[0083] Step 402: Determine the travel parameter of the mobile target based on the trajectory point measurement position of the mobile target from the initial position to the target position.

[0084] The travel parameter of the mobile target in the exemplary embodiments of the present disclosure can be determined by the trajectory point measurement position of the mobile target from the initial position to the target position, or can be determined by the trajectory point measurement position of the mobile target from the initial position to the target position and at least one historical trajectory point position of the mobile target.

[0085] For example, after obtaining the trajectory point measurement position of the mobile target from the initial position to the target position, the travel parameter of the mobile target can be determined based on the current trajectory point measurement position of the mobile target from the initial position to the target position and the last trajectory point position of the mobile target.

[0086] Step 403: Determine whether the travel parameter of the mobile target matches the preset travel parameter. When the travel parameter of the mobile target does not match the preset travel parameter, it indicates that the trajectory point positioning data of the mobile target is abnormal, and the trajectory point positioning data cannot be used. Step 404 can be executed, and when the travel parameter of the mobile target matches the preset travel parameter, it indicates that the trajectory point positioning data of the mobile target is normal, and the trajectory point positioning data can be used. Step 405 can be executed.

[0087] Step 404: Determine the trajectory point position of the mobile target based on the trajectory point measurement position of the mobile target from the initial position to the target position and the historical trajectory point position of the mobile target.

[0088] In practical applications, exemplary embodiments of the present disclosure can employ various methods to determine the trajectory point positions of a mobile target. For example, a Kalman filter can be used to determine the trajectory point positions of a mobile target, using the historical trajectory point positions of the mobile target as a reference, combined with the trajectory point positioning data of the mobile target during its journey from an initial position to the target position. Of course, other parameters related to the movement of the mobile target, such as speed and acceleration, can also be predicted.

[0089] Step 405: Determine the trajectory point positions of the moving target based on the trajectory point measurement positions of the moving target during its movement from the initial position to the target position. For example, the trajectory point positions of the moving target may be the trajectory point measurement positions of the moving target during its movement from the initial position to the target position.

[0090] When the exemplary embodiment of the present disclosure uses a Kalman filter to predict the trajectory point position of a mobile target, the historical trajectory point position of the mobile target may be determined by the trajectory point measurement position of the mobile target from the initial position to the target position collected by the positioning device, or may be predicted by the Kalman filter.

[0091] When the kth trajectory point measurement position Z of the moving target from the initial position to the target position is obtained k If the moving target's travel parameters do not match the preset travel parameters, the state equation shown in Formula 3 can be used to obtain the predicted position of the kth trajectory point of the moving target. And the prior variance P of the predicted position of the kth trajectory point is determined by the prior difference equation shown in Formula 4. k .

[0092] On this basis, the predicted position of the kth trajectory point of the moving target obtained in formula 3 can be Based on the measurement position of the kth trajectory point of the moving target from the initial position to the target position, the kth trajectory point position x of the moving target is determined by referring to the state update method shown in Formula 5. k , and then determine the posterior variance P′4 of the kth trajectory point position of the moving target through the posterior variance equation shown in Formula 6.

[0093] Among them, x k-1 The k-1th trajectory point position of the moving target. k-1 According to the actual situation, it can be predicted by the Kalman filter or determined by measuring the position of the k-1th trajectory point during the moving target’s journey from the initial position to the target position. k represents the state transfer matrix from the k-1th trajectory point to the kth trajectory point, B krepresents a control matrix, e.g., a walking decision of a pedestrian, u k represents a control vector, e.g., a moving acceleration of a moving target, P k-1 represents a prior variance of a k-1th track point predicted position, Q k represents a system noise, H k represents a state observation matrix of a kth track point, K represents a Kalman gain, which can be represented as equation seven:

[0094] wherein, R k represents a measurement noise variance of a kth track point position.

[0095] In some embodiments, the positioning device described above can fail to receive a positioning signal due to a geographical environment problem, resulting in data missing of a track point of a moving target. In order to ensure the position of each track point of the moving target, the method for acquiring the track point position of the moving target according to an example embodiment of the present disclosure can further include:

[0096] Step 406: If the measurement position of the track point of the moving target during the process of moving from the initial position to the target position is not acquired, determining the track point position of the moving target based on the historical track point position of the moving target.

[0097] When the measurement position of the track point of the moving target during the process of moving from the initial position to the target position is not acquired, it means that the positioning device fails to collect the track point positioning parameter of the moving target, and the data missing needs to be repaired. The track point position of the moving target can be directly determined based on the historical track point position of the moving target.

[0098] In actual applications, the track point position of the moving target can be determined in various ways according to an example embodiment of the present disclosure. For example, a Kalman filter can be used to predict the track point position of the moving target with reference to the historical track point data of the moving target.

[0099] For example, in order to predict the track point position of the moving target, the current track point predicted position of the moving target can be determined with reference to equation three. Since the measurement position of the track point of the moving target during the process of moving from the initial position to the target position is not acquired, the current track point predicted position of the moving target can be taken as the final current track point position of the moving target.

[0100] In some embodiments, the moving parameter of the moving target according to an example embodiment of the present disclosure can reflect the actual situation of the moving target during the moving process. For example, the moving parameter of the moving target can include a speed parameter of the moving target, or a moving direction of the moving target.

[0101] Exemplarily, when the travel parameter of the mobile target comprises a speed parameter of the mobile target, the preset travel parameter comprises a preset travel speed parameter. If the speed parameter of the mobile target is greater than the preset travel speed parameter, the travel parameter of the mobile target does not match the preset travel parameter, otherwise, the travel parameter of the mobile target matches the preset travel parameter.

[0102] Exemplarily, the speed parameter of the mobile target can be a speed of the mobile target or an acceleration of the mobile target, and the preset travel speed parameter can comprise a preset travel speed or a preset travel acceleration. When the speed of the mobile target is greater than the preset travel speed or the acceleration of the mobile target is greater than the preset travel acceleration, it indicates that the mobile target moves abnormally, which is likely to be caused by the deviation of the trajectory point positioning data, and thus the trajectory point positioning data of the mobile target is abnormal and needs to be corrected.

[0103] When the travel parameter of the mobile target comprises a travel direction of the mobile target, the preset travel direction can also be obtained from the planned travel route based on the trajectory point position of the mobile target. If the travel direction of the trajectory point of the mobile target does not match the preset travel direction, it is determined that the travel parameter of the mobile target does not match the preset travel parameter.

[0104] For example, the travel direction of the section of the preset travel route closest to the trajectory point of the mobile target can be found from the planned travel route based on the trajectory point positioning data of the mobile target in the process of moving from the initial position to the target position of the mobile target, and the travel direction is defined as the preset travel route. Then, it is determined whether the preset travel route is consistent with the travel direction of the mobile target. Here, the consistency can be relative consistency, that is, as long as the included angle between the two directions is less than a certain angle, it is considered that the two directions belong to the same direction.

[0105] Exemplarily, the current trajectory point position x k of the mobile target and the last trajectory point positioning data x k-1 of the mobile target can be used to determine the speed of the mobile target and the travel direction of the mobile target. Of course, the current trajectory point position of the mobile target and the last several historical trajectory point positions of the mobile target can also be used to determine the acceleration of the mobile target.

[0106] For example, the terminal device reports the trajectory point positioning data of the mobile target in the process of moving from the initial position to the target position at a period of T. When the patrol personnel patrol in a walking manner, the preset travel speed can be defined as the maximum walking speed V m of the pedestrian. The speed v k of the mobile target can be obtained by formula eight. k = (x k -x k-1) / T type eight

[0107] When the speed of the moving target v k Greater than the maximum walking speed V m , the speed of the moving target matches the preset travel speed, otherwise it means that the two do not match. It is necessary to determine the trajectory point position of the moving target based on the trajectory point positioning data of the moving target during the process of moving from the initial position to the target position.

[0108] The exemplary embodiments of the present disclosure may also provide a route matching degree determination method, which may compare the matching degree of the actual travel route with the planned travel route based on the trajectory point matching method of the exemplary embodiments of the present disclosure, so as to accurately determine whether the mobile target travels from the initial position to the target position according to the planned travel route.

[0109] FIG5 shows a schematic flow chart of a method for determining a route matching degree according to an exemplary embodiment of the present disclosure. As shown in FIG5 , the method for determining a route matching degree according to an exemplary embodiment of the present disclosure may include:

[0110] Step 501: Determine a plurality of trajectory point matching results included in an actual travel route of a moving target from an initial position to a target position based on the trajectory point matching method of an exemplary embodiment of the present disclosure.

[0111] In some embodiments, the exemplary embodiment of the present disclosure can first obtain the measurement positions of each trajectory point included in the actual travel route of the mobile target from the initial position to the target position at one time, and then use the trajectory point matching method of the exemplary embodiment of the present disclosure to determine the matching result of each trajectory point.

[0112] In other embodiments, the exemplary embodiments of the present disclosure may obtain the measured position of the trajectory point of the moving target from the initial position to the target position from the positioning device, and then determine the position of the trajectory point according to the trajectory point matching method of the exemplary embodiments of the present disclosure, and then obtain the measured position of the trajectory point of the moving target from the initial position to the target position from the positioning device again, and continue to determine the position of the next trajectory point.

[0113] Assuming that the positioning device reports the measured position of the moving target's trajectory points through the mobile terminal every 10s, theoretically the terminal device can report the measured positions of 14 trajectory points of the moving target within a certain period of time. According to the reporting order of the trajectory point measurement positions, the 14 trajectory point measurement positions are the first trajectory point P1, the second trajectory point P2, the third trajectory point P3, the fourth trajectory point P4, the fifth trajectory point P5, the sixth trajectory point P6, the seventh trajectory point P7, the eighth trajectory point P8, the ninth trajectory point P9, the tenth trajectory point P10. 10 , the eleventh trajectory point P 11twelfth trajectory point P 12 thirteenth trajectory point P 13 and fourteenth trajectory point P 14 .

[0114] FIG. 6 shows a schematic diagram of matching principle of actual travel route planning travel route according to an example embodiment of the present disclosure. As shown in FIG. 6, the shape of the planning travel route according to an example embodiment of the present disclosure is a solid quadrilateral, and the to-be-matched path is divided in the manner shown in FIG. 3.

[0115] In FIG. 6, 13 black solid circles are shown, representing 13 trajectory point measurement positions of the mobile target reported by the positioning device through the terminal device in a certain time period. The 13 trajectory points are first trajectory point P1, second trajectory point P2, third trajectory point P3, fourth trajectory point P4, fifth trajectory point P5, sixth trajectory point P6, seventh trajectory point P7, eighth trajectory point P8, ninth trajectory point P9, eleventh trajectory point P 11 twelfth trajectory point P 12 thirteenth trajectory point P 13 and fourteenth trajectory point P 14 , and the tenth trajectory point P 10 measurement position is missing.

[0116] The measurement positions of the 13 trajectory points represented by the 13 black solid circles are processed by steps 401-405. It can be found that the measurement positions of the first trajectory point P1, second trajectory point P2, third trajectory point P3, fourth trajectory point P4, fifth trajectory point P5, sixth trajectory point P6, seventh trajectory point P7, eighth trajectory point P8, ninth trajectory point P9, eleventh trajectory point P 11 twelfth trajectory point P 12 and fourteenth trajectory point P 14 are relatively accurate.

[0117] In FIG. 6, two hollow circles are shown, representing the positions of the trajectory points predicted by the Kalman filter. For example, the measurement position of the thirteenth trajectory point P 13 is inaccurate, and this position is an outlier position. The measurement position of the thirteenth trajectory point P 13 and the measurement position of the twelfth trajectory point P 12 are processed by using the Kalman filter (refer to formulas three to six), so as to achieve processing of the thirteenth trajectory point P 13For the purpose of correcting the measured position, the predicted position of the correction point P1'3 of the third trajectory point is obtained. For another example, for the missing test position of the tenth trajectory point, the measured position of the ninth trajectory point P9 can be directly processed based on the Kalman filter to obtain the predicted position of the prediction point P1'0 of the tenth trajectory point. Then, based on the predicted position of the prediction point P1'0 of the tenth trajectory point, steps 101 and 102 are executed to obtain the matching result of the correction point of the tenth trajectory point.

[0118] By the above method, the first track point P1, the second track point P2, the third track point P3, the fourth track point P4, the fifth track point P5, the sixth track point P6, the seventh track point P7, the eighth track point P8, the ninth track point P9, and the predicted point P1 of the tenth track point can be determined. ‘ 0. Eleventh trajectory point P 11 , the twelfth trajectory point P 12 And the predicted point P′ of the thirteenth trajectory point 13 and the fourteenth trajectory point P 14 Then, according to the trajectory point matching method of the exemplary embodiment of the present disclosure, the predicted points P′ of the first trajectory point P1, the second trajectory point P2, the third trajectory point P3, the fourth trajectory point P4, the fifth trajectory point P5, the sixth trajectory point P6, the seventh trajectory point P7, the eighth trajectory point P8, the ninth trajectory point P9, and the tenth trajectory point are determined. 10 , the eleventh trajectory point P 11 , the twelfth trajectory point P 12 And the predicted point P′ of the thirteenth trajectory point 13 and the fourteenth trajectory point P 14 The matching results.

[0119] As shown in FIG6 , the first track point P1, the second track point P2, the third track point P3, the fourth track point P4 and the fourteenth track point P 14 The predicted points P' of the fifth track point P5, the sixth track point P6, the seventh track point P7, the eighth track point P8, the ninth track point P9 and the tenth track point are all outside the matching range of the corresponding path to be matched. 10 , the eleventh trajectory point P 11 , the twelfth trajectory point P 12 And the predicted point P′ of the thirteenth trajectory point 13 They are all located within the matching range of the corresponding path to be matched (ie, the area covered by the dotted circle on the solid quadrilateral).

[0120] Step 502: Based on the matching results of multiple trajectory points included in the actual travel route of the mobile target from the initial position to the target position, determine the route matching degree between the actual travel route and the planned travel route.

[0121] In actual applications, the quantity of target paths to be matched can be determined based on the matching results of the plurality of trajectory points of the moving target, and the route matching degree between the actual travel route and the planned travel route can be determined based on the quantity of target paths to be matched and the total quantity of paths to be matched.

[0122] For example, the target path to be matched of the exemplary embodiments of the present disclosure includes a path to be matched that has the same spatial relationship with the trajectory point of the moving target. Here, the spatial relationship between the path to be matched and the trajectory point of the moving target can include that the trajectory point of the moving target is located within the path to be matched, and can also include that the trajectory point of the moving target is located outside the path to be matched.

[0123] For example, when the same spatial relationship is that the trajectory point of the moving target is located within the path to be matched, the route matching degree S between the actual travel route and the planned travel route can be determined by Formula Nine:

[0124] wherein C i represents the matching range of the i th path to be matched of the k th path to be split, N k represents the quantity of paths to be matched included in the i th path to be split. I(·) represents an indication function, P j represents the j th trajectory point, and when the j th trajectory point P j is located within the matching range of the i th path to be matched of the k th path to be split, takes a value of 1, otherwise takes a value of 0.

[0125] One or more technical solutions provided in the embodiments of the present disclosure can determine the matching range of a plurality of paths to be matched located within the planned travel route from the initial position to the target position, and then determine the matching result of the trajectory point of the moving target based on the position of the trajectory point of the moving target and the matching range of the plurality of paths to be matched. This process is essentially to differentiate the planned travel route by using the differential idea, to obtain the matching range of the path to be matched, and then to determine the matching result of the trajectory point of the moving target by using the position of the trajectory point of the moving target and the matching range of each path to be matched.

[0126] It can be seen that the example embodiments of the present disclosure can match the planned travel route with the trajectory point position of the moving target, thereby improving the matching result accuracy of the moving target. When determining the route matching degree between the actual travel route and the planned travel route, the trajectory point matching result of each trajectory point included in the actual travel route of the moving target from the initial position to the target position is matched according to the method, and then the route matching degree between the actual travel route and the planned travel route is determined based on the trajectory point matching results of the plurality of trajectory points included in the actual travel route of the moving target from the initial position to the target position. This not only can improve the accuracy of the route matching degree, so as to provide better travel route monitoring and route navigation services for users, but also can determine the route matching degree between the actual travel route and the planned travel route from the perspective of rounding off, which can be suitable for matching various planned travel routes and actual travel routes, thereby improving the application range of the example embodiments of the present disclosure.

[0127] Further, the example embodiments of the present disclosure correct the measured positions of the trajectory points included in the actual travel route by the Kalman filter, thereby reducing the influence of the environment on the trajectory point matching and the accuracy of the route matching degree. At the same time, the non-straight shape of the planned travel route, such as the polyline case, the polygon case, and the like, can be considered, the planned travel route can be divided infinitely to form a plurality of to-be-matched routes, and the matching degree between the planned travel route and the actual travel route is determined from the perspective of rounding off.

[0128] The example embodiments of the present disclosure can also adjust the number of to-be-matched paths included in the planned travel route in combination with the difference in the moving speed of the moving target (such as the use of different vehicles by the patrol personnel), so that the trajectory point matching method and the determination of the route matching degree are closer to the actual situation.

[0129] The above mainly introduces the scheme provided by the embodiments of the present disclosure from the perspective of the electronic device. It can be understood that the electronic device contains the hardware structure and / or software module corresponding to the execution of each function in order to realize the above functions. Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0130] The embodiments of the present disclosure can divide the functional units of the electronic device according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of the modules in the embodiments of the present disclosure is illustrative, and is only a logical functional division. When actually implemented, there can be another division manner.

[0131] In the case of dividing each functional module according to each function, the exemplary embodiments of the present disclosure provide a trajectory point matching device. The trajectory point matching device can be an electronic device or a chip applied to an electronic device. FIG. 7 shows a functional module schematic block diagram of the trajectory point matching device according to the exemplary embodiments of the present disclosure. As shown in FIG. 7, the trajectory point matching device 700 includes:

[0132] A determination module 701 configured to determine a matching range of a plurality of to-be-matched paths located in a planned travel route from an initial position to a target position based on the planned travel route.

[0133] A judgment module 702 configured to determine a trajectory point matching result of a moving target based on a trajectory point position of the moving target and the matching range of the plurality of to-be-matched paths.

[0134] In a possible implementation, the matching range of each of the to-be-matched paths is determined by a midpoint position of the to-be-matched path and a length of the to-be-matched path.

[0135] In a possible implementation, the matching range of each of the to-be-matched paths is determined by a midpoint position of the to-be-matched path and a length of the to-be-matched path.

[0136] In a possible implementation, the determination module 701 is configured to split the planned travel route to obtain a plurality of to-be-matched paths, and determine the matching range of each of the to-be-matched paths based on a size configuration of the to-be-matched path.

[0137] In a possible implementation, the determination module 701 is configured to split the planned travel route to obtain a plurality of to-be-split paths, and the included angle formed by the path extension directions of two adjacent to-be-split paths is greater than a preset included angle. Each of the to-be-split paths is split to obtain a plurality of to-be-matched paths corresponding to each of the to-be-split paths.

[0138] In a possible implementation, the length of at least one of the to-be-matched paths is positively correlated with the moving speed of the moving target and / or the trajectory point collection frequency of the moving target.

[0139] In a possible implementation, the determining module 702 is configured to determine a spatial relationship between the matching range of each of the to-be-matched path and the trajectory point of the moving target based on the matching range of each of the to-be-matched path and the position of the trajectory point of the moving target; and determine the trajectory point matching result of the moving target based on the spatial relationship between the matching range of each of the to-be-matched path and the trajectory point of the moving target.

[0140] In a possible implementation, when the spatial relationship between the matching range of the to-be-matched path and the trajectory point of the moving target includes that the trajectory point of the moving target is located within the matching range of the to-be-matched path, the trajectory point matching result of the moving target includes that the moving target matches the to-be-matched path corresponding to the to-be-matched path.

[0141] When the spatial relationship between the matching range of the to-be-matched path and the trajectory point of the moving target includes that the trajectory point of the moving target is located outside the matching range of the to-be-matched path, the trajectory point matching result of the moving target includes that the moving target does not match the to-be-matched path.

[0142] In a possible implementation, the apparatus further includes a preprocessing module 703 configured to acquire a measured position of a trajectory point of the moving target during a process of the moving target traveling from an initial position to a target position, determine a traveling parameter of the moving target based on the measured position of the trajectory point of the moving target during the process of the moving target traveling from the initial position to the target position, determine the position of the trajectory point of the moving target based on the measured position of the trajectory point of the moving target during the process of the moving target traveling from the initial position to the target position and a historical position of the trajectory point of the moving target if the traveling parameter of the moving target does not match a preset traveling parameter, and determine the position of the trajectory point of the moving target based on the measured position of the trajectory point of the moving target during the process of the moving target traveling from the initial position to the target position if the traveling parameter of the moving target matches the preset traveling parameter.

[0143] In a possible implementation, the preprocessing module 703 is further configured to determine the position of the trajectory point of the moving target based on the historical position of the trajectory point of the moving target if the measured position of the trajectory point of the moving target during the process of the moving target traveling from the initial position to the target position is not acquired.

[0144] In a possible implementation, the preprocessing module 703 is configured to determine the traveling parameter of the moving target based on the position of the trajectory point of the moving target and at least one historical position of the trajectory point of the moving target.

[0145] In a possible implementation, the traveling parameter of the moving target includes a speed parameter of the moving target, and the preset traveling parameter includes a preset traveling speed parameter.

[0146] When the speed parameter of the moving target is greater than the preset traveling speed parameter, the traveling parameter of the moving target does not match the preset traveling parameter.

[0147] In a possible implementation, the traveling parameter of the moving target includes a traveling direction of the moving target, and the preprocessing module 703 is further configured to acquire a preset traveling direction from the planned traveling route based on the trajectory point positioning data of the moving target during the process of traveling from the initial position to the target position; and determine that the traveling parameter of the moving target does not match the preset traveling parameter if the trajectory point traveling direction of the moving target does not match the preset traveling direction.

[0148] In the case of dividing each functional module according to each function, the example embodiments of the present disclosure provide a route matching degree determination apparatus, which can be an electronic device or a chip applied to an electronic device. FIG. 8 shows a schematic block diagram of functional modules of the route matching degree determination apparatus according to the example embodiments of the present disclosure. As shown in FIG. 8, the trajectory point matching apparatus 800 includes:

[0149] The matching module 801 is configured to determine a plurality of trajectory point matching results of the actual traveling route of the moving target from the initial position to the target position based on the method of the example embodiments of the present disclosure.

[0150] The determination module 802 is configured to determine the route matching degree between the actual traveling route and the planned traveling route based on the plurality of trajectory point matching results of the actual traveling route of the moving target from the initial position to the target position.

[0151] In a possible implementation, the determination module 802 is configured to determine the number of target matching paths based on the plurality of trajectory point matching results of the moving target, the target matching path including a matching path having the same spatial relationship with the trajectory point of the moving target; and determine the route matching degree between the actual traveling route and the planned traveling route based on the number of target matching paths and the total number of matching paths included in the planned traveling route.

[0152] FIG. 9 shows a schematic block diagram of a chip according to the example embodiments of the present disclosure. As shown in FIG. 9, the chip 900 includes one or more (including two) processors 901 and a communication interface 902. The communication interface 902 can support the electronic device to perform the data transceiving steps in the above method, and the processor 901 can support the electronic device to perform the data processing steps in the above method.

[0153] Optionally, as shown in FIG. 9, the chip 900 further includes a memory 903, which can include read-only memory and random access memory, and provides the processor with operation instructions and data. Part of the memory can also include non-volatile random access memory (NVRAM).

[0154] In some embodiments, as shown in FIG. 9, the processor 901 executes corresponding operations by calling operation instructions stored in the memory (which can be stored in an operating system). The processor 901 controls the processing operation of any one of the terminal devices, and the processor can also be referred to as a central processing unit (CPU). The memory 903 can include read-only memory and random access memory, and provides the processor 901 with instructions and data. Part of the memory 903 can also include NVRAM. For example, the memory, the communication interface, and the memory are coupled together through a bus system, which can include a data bus, a power supply bus, a control bus, and a state signal bus, etc. in addition to the data bus. However, for the purpose of clear illustration, all kinds of buses are marked as a bus system 904 in FIG. 9.

[0155] The method disclosed in the above embodiments of the present disclosure can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip having a signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit or an instruction in the form of software in the processor. The processor mentioned above can be a general processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logic block diagram disclosed in the embodiments of the present disclosure can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0156] The exemplary embodiments of the present disclosure further provide an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication. The memory stores a computer program capable of being executed by the at least one processor, and the computer program, when executed by the at least one processor, is configured to cause the electronic device to perform the method according to the embodiments of the present disclosure.

[0157] The exemplary embodiments of the present disclosure further provide a non-transitory computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform the method according to the embodiments of the present disclosure.

[0158] The exemplary embodiments of the present disclosure further provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform the method according to the embodiments of the present disclosure.

[0159] Referring to FIG. 10, a block diagram of the structure of an electronic device 1000 that can be a server or a client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent a wide variety of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent a wide variety of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components, their connections, and their functions, as shown in the figures and described herein, are meant only to be examples and are not intended to limit the implementations of the present disclosure described and / or claimed herein.

[0160] As shown in FIG. 10, the electronic device 1000 includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the device 1000 can also be stored. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0161] As shown in FIG. 10, a plurality of components in the electronic device 1000 are connected to the I / O interface 1005, including an input unit 1006, an output unit 1007, a storage unit 1008, and a communication unit 1009. The input unit 1006 can be any type of device that can input information to the electronic device 1000, and can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device. The output unit 1007 can be any type of device that can present information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 1008 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 1009 allows the electronic device 1000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0162] As shown in FIG. 10, the computing unit 1001 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1001 performs various methods and processes described above. For example, in some embodiments, the methods of the example embodiments of the present disclosure can be implemented as a computer software program tangibly embodied in a machine readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. In some embodiments, the computing unit 1001 can be configured to perform the methods of the example embodiments of the present disclosure by any other appropriate means, such as by means of firmware.

[0163] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / operations specified in the flowchart and / or block diagram. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0164] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0165] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0166] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0167] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0168] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are performed. The computer can be a general purpose computer, a special purpose computer, a computer network, a terminal, user equipment or other programmable apparatus. The computer programs or instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs or instructions can be transferred from one website site, computer, server or data center to another website site, computer, server or data center through wired or wireless manner. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium, for example, a floppy disk, a hard disk, a magnetic tape; or an optical medium, for example, a digital video disc (digital video disc, DVD); or a semiconductor medium, for example, a solid state drive (solid state drive, SSD).

[0169] Although the present disclosure is described in conjunction with specific features and embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all alternatives, modifications and variations that fall within the scope of the present disclosure. Obviously, various modifications and changes are possible in the present disclosure without departing from the spirit and scope of the present disclosure. Accordingly, the present disclosure intends to include all such modifications and changes in the scope of the present disclosure.

Claims

1. A trajectory point matching method, comprising: Based on a planned travel route from an initial position to a target position, determining a matching range of a plurality of to-be-matched paths within the planned travel route; Based on the trajectory point position of the moving target and the matching ranges of the plurality of paths to be matched, a trajectory point matching result of the moving target is determined.

2. The method according to claim 1, wherein The matching ranges of two adjacent paths to be matched partially intersect; and / or, The matching range of each of the to-be-matched paths is determined by the midpoint position of the to-be-matched path and the length of the to-be-matched path.

3. The method according to claim 1 or 2, wherein: The determining, based on the planned route from the initial position to the target position, a matching range of a plurality of paths to be matched within the planned route includes: Segmenting the planned route to obtain multiple paths to be matched; A matching range corresponding to each of the paths to be matched is configured based on the size of each of the paths to be matched.

4. The method according to claim 3, wherein: The step of dividing the planned route to obtain multiple paths to be matched includes: The planned route is divided into multiple paths to be divided, and the angle formed by the path extension directions of two adjacent paths to be divided is greater than a preset angle; Each of the paths to be split is split to obtain a plurality of paths to be matched corresponding to each of the paths to be split.

5. The method according to claim 3 or 4, wherein: The length of at least one of the to-be-matched paths is positively correlated with the moving speed of the moving target and / or the frequency of collecting trajectory points of the moving target.

6. The method according to any one of claims 1 to 5, wherein: The determining of a trajectory point matching result of the moving target based on the trajectory point position of the moving target and the matching ranges of the plurality of paths to be matched includes: Determining a spatial relationship between the matching range of each of the to-be-matched paths and the trajectory point of the mobile target based on the matching range of each of the to-be-matched paths and the trajectory point position of the mobile target; Based on the spatial relationship between the matching ranges of the plurality of paths to be matched and the trajectory points of the moving object, a matching result of the trajectory points of the moving object is determined.

7. The method according to claim 6, wherein: When the spatial relationship between the matching range of the path to be matched and the trajectory point of the mobile target includes that the trajectory point of the mobile target is located within the matching range of the path to be matched, the trajectory point matching result of the mobile target includes that the mobile target matches the corresponding path to be matched; When the spatial relationship between the matching range of the path to be matched and the trajectory point of the mobile target includes that the trajectory point of the mobile target is outside the matching range of the path to be matched, the trajectory point matching result of the mobile target includes that the mobile target does not match the path to be matched.

8. The method according to any one of claims 1 to 7, wherein: The method for obtaining the trajectory point position of the mobile target includes: Obtaining the measured positions of the trajectory points of the moving target during its journey from the initial position to the target position; Determining a travel parameter of the mobile target based on the measured positions of the trajectory points of the mobile target during its travel from the initial position to the target position; If the travel parameters of the mobile target do not match the preset travel parameters, determining the track point positions of the mobile target based on the measured track point positions of the mobile target during its travel from the initial position to the target position and the historical track point positions of the mobile target; If the travel parameters of the mobile target match the preset travel parameters, the track point positions of the mobile target are determined based on the measured positions of the track points during the travel of the mobile target from the initial position to the target position.

9. The method according to claim 8, wherein The method for obtaining the trajectory point position of the mobile target further includes: If the measured positions of the trajectory points of the moving target during its travel from the initial position to the target position are not obtained, the trajectory point positions of the moving target are determined based on the historical trajectory point positions of the moving target.

10. The method according to claim 8, wherein The determining of the movement parameters of the moving target based on the measured positions of the trajectory points of the moving target during the moving process from the initial position to the target position includes: A travel parameter of the mobile object is determined based on the track point position of the mobile object and at least one historical track point position of the mobile object.

11. The method according to claim 8, wherein The moving target's travel parameters include a speed parameter of the moving target, and the preset travel parameters include a preset travel speed parameter; When the speed parameter of the moving object is greater than the preset traveling speed parameter, the traveling parameter of the moving object does not match the preset traveling parameter.

12. The method according to claim 8, wherein The moving target's travel parameters include the moving target's travel direction. The method for acquiring the position of the trajectory point of the moving target further includes: Acquiring a preset travel direction from the planned travel route based on the trajectory point positioning data of the mobile target during its travel from the initial position to the target position; If the moving direction of the trajectory point of the moving object does not match the preset moving direction, it is determined that the moving parameter of the moving object does not match the preset moving parameter.

13. A method for determining a route matching degree, comprising: Determining a plurality of trajectory point matching results included in an actual travel route of the mobile target from the initial position to the target position; Based on the matching results of multiple track points included in the actual travel route of the mobile target from the initial position to the target position, a route matching degree between the actual travel route and the planned travel route is determined.

14. The method according to claim 13, wherein The determining of a route matching degree between an actual route and a planned route based on a plurality of trajectory point matching results of the mobile target includes: Determining the number of target paths to be matched based on the matching results of the plurality of trajectory points of the mobile target, wherein the target paths to be matched include paths to be matched that have the same spatial relationship with the trajectory points of the mobile target; Based on the number of target to-be-matched paths and the total number of to-be-matched paths included in the planned traveling route, a route matching degree between the actual traveling route and the planned traveling route is determined.

15. A trajectory point matching device, comprising: a determination module, configured to determine, based on a planned travel route from an initial position to a target position, a matching range of a plurality of to-be-matched paths within the planned travel route; The judgment module is used to determine the trajectory point matching result of the moving target based on the trajectory point position of the moving target and the matching range of the multiple paths to be matched.

16. A route matching degree determination device, comprising: A matching module, configured to determine a plurality of matching results of trajectory points included in an actual travel route of the moving target from an initial position to a target position; The determining module is used to determine the route matching degree between the actual route and the planned route based on the matching results of multiple track points included in the actual route of the mobile target from the initial position to the target position.

17. An electronic device comprising: processor; as well as, Memory for storing programs; The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 14.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 14.

19. A computer program product comprising a computer program, wherein When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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