CN105737841B

CN105737841B - A kind of method and electronic equipment obtaining road clearance time

Info

Publication number: CN105737841B
Application number: CN201610170207.2A
Authority: CN
Inventors: 黄博; 黄鑫
Original assignee: Beijing Sogou Technology Development Co Ltd
Current assignee: Beijing Sogou Technology Development Co Ltd
Priority date: 2016-03-23
Filing date: 2016-03-23
Publication date: 2018-07-31
Anticipated expiration: 2036-03-23
Also published as: CN105737841A

Abstract

The invention discloses a kind of method and electronic equipment obtaining road clearance time, this method includes：Acquisition waits for the crossing grade by crossing when passing through target road, and by steering angle when passing through crossing and side grade is hindered, it is described to hinder side grade to pass through the grade for waiting for needing road corresponding to the traffic lights waited for by crossing with the steering angle；According to the crossing grade, the steering angle and obstruction side grade, obtains and wait for the crossing stand-by period needed by crossing by described；According to the road travel speed of the crossing stand-by period and the target road, the road clearance time by the target road is obtained.In above-mentioned technical proposal, road clearance time is obtained by according to the side grade acquisition more accurate crossing stand-by period is hindered, it solves accuracy relatively low technical problem when obtaining road clearance time in the prior art, improves the accuracy of road clearance time acquisition.

Description

A kind of method and electronic equipment obtaining road clearance time

Technical field

The present invention relates to field of navigation technology, more particularly to a kind of method and electronic equipment obtaining road clearance time.

Background technology

With the continuous development of mobile Internet, airmanship has obtained quick development, gives daily life band Carry out many facilities, such as：Self-driving navigation, walking navigation etc..

During navigation, estimating for the planning in path and navigation remaining time is all particularly significant, either path Planning or the determination for remaining time of navigating are to be calculated to obtain by the time according to each road.When passing through of road Between be to be obtained according to road travel speed and crossing cost.Road travel speed：Abbreviation road speeds, refer to it is unobstructed in the case of lead to Cross the running speed average value of certain road.Crossing cost：The stand-by period spent under normal circumstances by crossing.The prior art In, road speeds and crossing cost creation method are determined according to road association attributes, are wherein only made in the crossing classification of road With essential attributes such as steerings (turn left, turn right, keep straight on, turn around), but it also includes many to influence the factor of crossing cost in addition to turning to Other factors, inaccurate due to classification cause the acquisition accuracy of road clearance time relatively low, and then influence guidance path The calculating of planning and navigation remaining time.

There are the relatively low technical problems of accuracy when as it can be seen that obtaining road clearance time in the prior art.

Invention content

The embodiment of the present invention provides a kind of method and electronic equipment obtaining road clearance time, for solving the prior art Accuracy relatively low technical problem when middle acquisition road clearance time improves the accuracy of road clearance time acquisition.

The application implements to provide a kind of method obtaining road clearance time, including：

Acquisition waits for the crossing grade by crossing when passing through target road, and passes through steering angle when passing through crossing Degree and obstruction side grade, it is described to hinder side grade to pass through the traffic for waiting for waiting for by crossing needs with the steering angle The grade of road corresponding to lamp；

According to the crossing grade, the steering angle and obstruction side grade, obtain through the crossing to be passed through The crossing stand-by period needed；

According to the road travel speed of the crossing stand-by period and the target road, acquisition passes through the target road Road clearance time.

Optionally, the crossing grade by crossing is waited for when the acquisition passes through target road, including：

It is waited for described in acquisition described in the category of roads, prong number and discrepancy edge direction number acquisition in the direction of passing through by crossing Wait for the crossing grade by crossing；

Wherein, the discrepancy edge direction number and the category of roads in the direction of passing through are true according to number of track-lines and road attribute It is fixed.

Optionally, described according to the crossing grade, the steering angle and obstruction side grade, it obtains by described It waits for the crossing stand-by period needed by crossing, including：

According to the crossing grade, the steering angle, the navigational logs for hindering side grade and user, passed through The crossing stand-by period for waiting for needing by crossing.

Optionally, described according to the crossing grade, the steering angle, the navigation day for hindering side grade and user Will is obtained and is waited for the crossing stand-by period needed by crossing by described, including：

The daily record of improper situation is eliminated from the navigational logs, is obtained and the crossing grade, the steering angle And the identical candidate navigational logs of obstruction side grade；Wherein, the navigational logs of the improper situation include it is following at least It is a kind of：Navigational logs, the navigational logs in night/early morning at congestion moment；

The crossing stand-by period is obtained according to the candidate navigational logs.

Optionally, described to obtain the crossing stand-by period according to the candidate navigational logs, including：

When including the target navigation daily record of the target road in the candidate navigational logs, the target road is obtained All target navigation daily records described in wait for that the average latency by crossing is used as the crossing stand-by period；Or

When not including the target navigation daily record of the target road in the candidate navigational logs, all times are obtained Select the average latency at crossing in navigational logs as the crossing stand-by period.

Optionally, in the road travel speed according to the crossing stand-by period and the target road, led to It crosses before the road clearance time of the target road, the method further includes：

Anchor point in the navigational logs of user is matched to road network, obtains the corresponding traveling road of navigational logs of user Diameter；

Judge whether the driving path for including the target road；

If in the presence of according to the navigation time of target road described in navigational logs, navigation distance and the crossing to be passed through The crossing stand-by period calculate and obtain road travel speed of the driving average speed as the target road；If not depositing Obtaining road of the driving average speed of road identical with the road attribute of the target road as the target road Running speed；

Wherein, the road attribute includes road width, whether has pavement, whether has lay-by, road curvature and road Face quality.

Optionally, the anchor point in the navigational logs by user is matched to road network, obtains the navigational logs pair of user The driving path answered, including：

Using the intersection point of road in i-th of anchor point to road network in the navigational logs of user as i-th of anchor point Candidate point k_i, and obtain each the distance between the candidate point k_i and i-th of anchor point probability, i is natural number；

The maximum candidate point k_i of fiducial probability is as the candidate point k_ (i+1) between acquisition and candidate point k_ (i+1) Forerunner's point；

N candidate chains are obtained according to each candidate point k_i with forerunner's point and corresponding forerunner point, n is natural number；

The product apart from probability of all candidate points in every candidate chains is obtained, and the maximum candidate chains of the product are made For the driving path.

Optionally, each the distance between the candidate point k_i and i-th of anchor point probability of the acquisition, including：

It is described apart from probability P 1 that acquisition is calculated according to following formula：

P1=1-len/len_m

Wherein, len indicates that the distance between i-th of anchor point and the candidate point k_i, len_m indicate to determine for i-th The maximum distance allowed between site and the candidate point k_i is poor；When len is more than or equal to len_m, len takes (len_m) -1.

Optionally, it is described acquisition candidate point k_ (i+1) between the maximum candidate point k_i of fiducial probability as the time Before forerunner's point of reconnaissance k_ (i+1), the method further includes：

Obtain the fiducial probability P2 between each candidate point k_ (i+1) and each candidate point k_i：

P2=(1- | Vb-V |/Vc) * (1- | Vb-Va |/Ve)

Wherein, Vb indicates the candidate point k_ (i+1) to the speed between the candidate point k_i, the Va expressions candidate Speed between point k_i and corresponding forerunner's point, V indicate the Maximum speed limit of the corresponding roads of candidate point k_ (i+1) and preset again Several products, Vc indicate that preset reference speed, Ve indicate the maximum speed allowed between candidate point k_i and candidate point k_ (i+1) Difference；If candidate point k_i is the candidate point of first anchor point, Va=Vb；If the difference of Vb-Va is more than Ve, then P2=0.

The embodiment of the present application also provides a kind of electronic equipment, including：

First acquisition unit waits for the crossing grade by crossing, and is waited for by described when passing through target road for obtaining Steering angle when passing through crossing and hinder side grade, obstructions side grade be with the steering angle pass through described in wait passing through Crossing needs the grade of road corresponding to the traffic lights waited for；

Second acquisition unit, for according to the crossing grade, the steering angle and obstruction side grade, being led to The crossing stand-by period needed by crossing is waited for described in crossing；

Third acquiring unit is obtained for the road travel speed according to the crossing stand-by period and the target road Obtain the road clearance time by the target road.

Optionally, first acquisition unit is additionally operable to：Category of roads, the fork in the direction of passing through by crossing are waited for described in acquisition Mouth number and the crossing grade waited for described in the acquisition of edge direction number through crossing that comes in and goes out；Wherein, the discrepancy edge direction number and it is described can The category of roads in current direction is determined according to number of track-lines and road attribute.

Optionally, second acquisition unit is additionally operable to：According to the crossing grade, the steering angle, described obstruction side etc. The navigational logs of grade and user obtain and wait for the crossing stand-by period needed by crossing by described.

Optionally, second acquisition unit, including：

Subelement is screened, the daily record for eliminating improper situation from the navigational logs obtains and the crossing Grade, the steering angle and the identical candidate navigational logs of obstruction side grade；Wherein, the navigation day of the improper situation Will includes following at least one：Navigational logs, the navigational logs in night/early morning at congestion moment；

Subelement is obtained, for obtaining the crossing stand-by period according to the candidate navigational logs.

Optionally, the acquisition subelement is additionally operable to：

Optionally, the electronic equipment further includes：

Matching unit is used in the road travel speed according to the crossing stand-by period and the target road, Before obtaining the road clearance time by the target road, the anchor point in the navigational logs of user is matched to road network, Obtain the corresponding driving path of navigational logs of user；

Judging unit, the driving path for judging whether to include the target road；

Computing unit is when being, according to target track described in navigational logs for the judging result in the judging unit Navigation time, navigation distance and the crossing stand-by period calculating acquisition driving average speed work waited for through crossing on road For the road travel speed of the target road；When the judging result of the judging unit is no, obtain and the target track Road travel speed of the driving average speed of the identical road of road attribute on road as the target road；

Optionally, the matching unit is additionally operable to：

Optionally, the matching unit is additionally operable to：It is described apart from probability P 1 that acquisition is calculated according to following formula：

P1=1-len/len_m, wherein len indicates the distance between i-th of anchor point and the candidate point k_i, Len_m indicates that the maximum distance allowed between i-th of anchor point and the candidate point k_i is poor；When len is more than or equal to len_m, Len takes (len_m) -1.

Optionally, the matching unit is additionally operable to：Fiducial probability is maximum between the acquisition and candidate point k_ (i+1) Before forerunner's points of the candidate point k_i as the candidate point k_ (i+1), each candidate point k_ (i+1) and each institute are obtained State the fiducial probability P2 between candidate point k_i：

P2=(1- | Vb-V |/Vc) * (1- | Vb-Va |/Ve), wherein Vb indicates that the candidate point k_ (i+1) arrives the time Speed between reconnaissance k_i, Va indicate that the speed between the candidate point k_i and corresponding forerunner's point, V indicate candidate point k_ (i + 1) product between the Maximum speed limit and preset multiple of corresponding road, Vc indicate that preset reference speed, Ve indicate candidate point k_ The maximum speed discrepancy allowed between i and candidate point k_ (i+1)；If candidate point k_i is the candidate point of first anchor point, Va= Vb；If the difference of Vb-Va is more than Ve, then P2=0.

The embodiment of the present application also provides a kind of electronic equipment, includes memory and one or more than one journey Sequence, either more than one program is stored in memory and is configured to by one or more than one processor for one of them It includes the instruction for being operated below to execute the one or more programs：

Said one in the embodiment of the present application or multiple technical solutions, at least have the following technical effect that：

The embodiment of the present application for target road wait for by crossing, obtain its crossing grade, by the crossing to be passed through When steering angle and hinder side grade, and according to its crossing grade, steering angle and hinder side grade obtain the road to be passed through The crossing stand-by period that mouth needs, due to hindering side grade more can accurately characterize through this to wait for increasing by crossing Wait for the actual conditions by crossing, the crossing stand-by period obtained thus is more acurrate, according to the crossing stand-by period and road row Vehicle speed obtains road clearance time, solves accuracy lower technology when obtaining road clearance time in the prior art and asks Topic improves the accuracy of road clearance time acquisition.

Description of the drawings

Fig. 1 is a kind of method flow diagram obtaining road clearance time provided by the embodiments of the present application；

Fig. 2, which is crossing provided by the embodiments of the present application, can pass through the schematic diagram in direction；

Fig. 3 is a kind of matching process flow chart of the navigator fix point provided by the embodiments of the present application to road network；

Fig. 4 is the schematic diagram of a kind of electronic equipment provided by the embodiments of the present application；

Fig. 5 is a kind of schematic device for obtaining road clearance time provided by the embodiments of the present application；

Fig. 6 is a kind of structural schematic diagram of server provided by the embodiments of the present application.

Specific implementation mode

In technical solution provided by the embodiments of the present application, by obtaining the more accurate crossing stand-by period, in conjunction with road Running speed come obtain road by the time, accuracy lower skill when solving to obtain road clearance time in the prior art Art problem improves the accuracy of road clearance time acquisition.

Below in conjunction with the accompanying drawings to main realization principle, specific implementation mode and its correspondence of the embodiment of the present application technical solution The advantageous effect that can reach is explained in detail.

Embodiment one

Referring to FIG. 1, the embodiment of the present application provides a kind of method obtaining road clearance time, this method includes：

S101：Obtain the crossing grade waited for when passing through target road through crossing, and by described when passing through crossing Steering angle and obstruction side grade, obstruction side grade are to wait for needing to wait for by crossing by described with the steering angle Traffic lights corresponding to road grade；

S102：According to the crossing grade, the steering angle and obstruction side grade, obtains and wait passing through by described The crossing stand-by period that crossing needs；

S103：According to the road travel speed of the crossing stand-by period and the target road, obtains and pass through the mesh Mark the road clearance time of road.

In the embodiment of the present application, wait for that the quantity by crossing can be multiple, crossing to be passed through when passing through target road Type include two classes, first kind crossing may include the crossing that target road stage casing is intersected with another road, the second class road Mouth may include the crossing that one end of target road connects with another road.In the road clearance time for calculating target road When, calculate the stand-by period at all first kind crossings that the target road includes, target road waits for the second class road by one end The stand-by period of mouth and the road travel time of target road.

Before executing S101, the embodiment of the present application by crossing grade, pass through crossing when steering angle and obstruction More accurately crossing Cost Model is established in the confirmation of side grade, to obtain the more accurate crossing stand-by period.Wherein, it hinders Hinder side grade be with a steering angle by wait for by crossing need category of roads corresponding to the traffic lights that waits for and.Steering angle Degree can be divided into 4 kinds：It keeps straight on (- 30 to 45 degree), turn left (- 30 to -150 degree), turns right (45 to 150 degree), (- 150 arrive for u-turn 150 degree), naturally it is also possible to it divides thinner.It is different for the different corresponding obstruction side grades of steering angle, pass through crossing when institute The crossing stand-by period needed is also different, such as：When straight trip (- 30 to 45 degree), side is hindered to include the road of the right and left, then hindering It is the sum of the right and left category of roads to hinder side grade then；When right-hand rotation (45 to 150 degree), it includes left side road to hinder side, then hindering It is left side category of roads to hinder side grade then.The crossing grade of road cross can be according to the road etc. in the direction of passing through at crossing Grade, prong number enter edge direction number and the edge direction number acquisition that comes in and goes out.

Wherein, category of roads can be determined according to the number of track-lines and road attribute of road, it is specific determine method can with but not It is limited to as shown in table 1：1., number of track-lines>3, alternatively, (road attribute includes national highway or provincial highway, and number of track-lines>1) when, category of roads It is set as 3；2., number of track-lines be equal to 1 or road be it is non-up and down separation be two-way lane when, category of roads is set as 1；Except 1. and 2. with The road of outer situation, category of roads are set as 2.It should be noted that the embodiment of the present application is not intended to limit the tool of category of roads Body numerical value, the concrete numerical value are only used for distinguishing different category of roads.

Wherein, prong number refers to：The fork way amount that crossing includes, such as the prong number that crossroad has is 4, T-shaped The prong number that crossing has is 3.

Wherein, come in and go out side, refers to the road for entering crossing and the road for being driven out to crossing, correspondingly, the edge direction number that comes in and goes out is Fingering enters the sum of the direction number of passing through of the road at crossing and the road for being driven out to crossing.It refers to entering crossing to enter edge direction number The direction number that can be advanced on road, such as：For certain crossing, if can turn right, turn left, keep straight on the road for entering crossing And turn around, then the edge direction number that enters at the crossing is 4, if going out edge direction and can only keep straight on to go out edge direction number and be by the crossing 1, then the discrepancy edge direction number at the crossing is then 5.

In specific implementation process, the sum of the rank on the direction highest level road that can be passed through by calculating crossing, crossing Prong number, crossing enter edge direction number and the edge direction number that comes in and goes out determines crossing grade.Wherein when calculating crossing grade, road It when the discrepancy side of mouth is corresponding with main road, calculates by straight going on main road, is calculated by bypass straight trip without main road.Table 1 is please referred to, road is obtained The detailed process of mouth grade is as follows：

(1), calculating crossing can pass through the sum of the rank on direction highest level road.For example, the direction packet that passes through at a crossing Containing 8 directions as shown in Figure 2, if category of roads in each direction is 3, the direction highest level then the crossing can pass through The rank on road and be 24；For another example the direction of passing through at a crossing includes 8 directions, if there are one include two roads on direction Road, grade are respectively 1,2, and the category of roads in other directions is 2, then the crossing can pass through the rank on direction highest level road and It is 14.

(2), the prong number at crossing is obtained.The intersection data that can be provided by metadata provider obtains the prong at crossing Number can also obtain crossing photo by shooting, the prong number at crossing is obtained by image recognition.

(3), determine crossing grade, i.e., it is true according to the sum of the rank in eight directions in crossing, discrepancy edge direction number and prong number Crossing grade is determined, wherein the bigger expression crossing of the numerical value that can set crossing grade is bigger.Such as：If the prong number at crossing<3, It can determine that crossing grade is 1；If the prong number at crossing is equal to 3, and enters edge direction number<When 3, it may be determined that crossing grade is 2； If the prong number at crossing is equal to 3, and enters edge direction number>When=3, it may be determined that crossing grade is 3, the determination of other crossing grades Refer to table 1.

Table 1

In actual application, S101 acquisitions wait for the crossing grade by crossing when passing through target road, and are waited for by this Steering angle when passing through crossing and when hindering side grade, steering angle can wait for obtaining by the discrepancy side at crossing according to by this ；And then can be according to steering angle, first this is searched in the Cost Model of crossing waits for whether prestoring and the steering angle by crossing It spends corresponding crossing grade and hinders side grade that can directly obtain its crossing etc. from the Cost Model of crossing if prestoring Grade and obstruction side grade obtain corresponding crossing grade using the method for establishing crossing Cost Model and hinder side if not having Grade, and be saved in the Cost Model of crossing, subsequently to use.

In a preferred embodiment, the method can also include：Crossing Cost Model is established, then step S102 has Body is：Foundation waits for through the crossing grade at crossing, steering angle and hinders side grade, is led in conjunction with the crossing Cost Model Spend the crossing stand-by period for waiting for needing by crossing.

Wherein, described to establish crossing Cost Model, may include：Obtain the corresponding crossing grade in each crossing, steering angle And hinder side grade, and by the crossing stand-by period trained values needed for the crossing, using the corresponding crossing grade in each crossing, Steering angle and obstruction side grade and corresponding crossing stand-by period trained values, establish crossing Cost Model.

Wherein, when obtaining through crossing stand-by period trained values needed for each crossing, can by crossing progress on the spot It detects to obtain through the crossing stand-by period trained values needed for the crossing.Further, can for the crossing of same type, It can be detected on the spot and obtain the corresponding stand-by period detected value in multiple crossings, and calculate multiple crossings point of same type Stand-by period of the average value of not corresponding stand-by period detected value as the type crossing, and the different types of crossing etc. that prestores It grade steering angle and hinders in side grade corresponding crossing stand-by period to crossing Cost Model, it thus can be according to road to be passed through Crossing grade, steering angle and the obstruction side grade of mouth, inquiry acquisition is by waiting for needing by crossing in the Cost Model of crossing The crossing stand-by period.Wherein, the crossing of same type can refer to：Crossing grade, steering angle and obstruction having the same The crossing of side grade.

Further, in the embodiment of the present application, described in step S102 according to the crossing grade, the steering angle and Obstruction side grade obtains and waits for the crossing stand-by period needed by crossing by described, can also include：According to the road Mouth grade, the steering angle and the navigational logs for hindering side grade and user, obtain through the crossing to be passed through The crossing stand-by period needed.The embodiment of the present application can obtain logical with a certain steering angle previously according to the navigational logs of user Crossing stand-by period when crossing is spent, and is saved in the Cost Model of crossing.

In a preferred embodiment, when establishing crossing Cost Model, it is described obtain the corresponding crossing grade in each crossing, Steering angle and obstruction side grade, and may include by the crossing stand-by period trained values needed for the crossing：According to each road The navigational logs of the corresponding user of mouth obtain the parameter at each crossing and are trained by the crossing stand-by period needed for the crossing Value.

In order to further increase the accuracy of crossing stand-by period, the embodiment of the present application is obtaining crossing according to navigational logs When the stand-by period, the navigational logs of improper situation can be rejected, obtain and are waited for through the corresponding candidate navigational logs in crossing.Its In, the navigational logs of improper situation may include following at least one：The navigational logs at congestion moment, night/early morning lead Boat daily record.Certainly, the navigational logs of improper situation can also be the most short and longest one kind of navigation time.It should be noted that If certain waits for, by the way that the crossing stand-by period at the crossing is not present in the corresponding user's navigational logs in crossing, to obtain and the road Mouthful crossing grade, steering angle and hinder side grade it is same or similar the corresponding navigational logs in crossing it is corresponding as the crossing Candidate navigational logs.

It, can be by comparing the history log of road come really for the navigational logs at congestion moment in the embodiment of the present application It is fixed, such as 10 navigational logs of a certain road, the navigation dotting time difference of entrance and exit be respectively 20min, 23min, 19min ... 40min, then can determine that the corresponding navigational logs of time-consuming larger 40min are leading for congestion moment Boat daily record is simultaneously rejected, and can also be determined certainly according to the travel speed in navigational logs, such as：9 in 10 travel speeds A travel speed is in 60~80km/h, and one of them is 30km/h, then the excessively slow navigational logs of travel speed are congestion The navigational logs at moment can reject the navigational logs, remaining daily record is as candidate navigational logs.Likewise, night/early morning Navigational logs can also be screened according to navigation dotting time and/or travel speed.

Further, to Mr. Yu crossing, different time intervals are different by the time spent by the crossing.For example, Peak period on and off duty typically belongs to the congestion period, may be longer by the time that the crossing is expended in the time interval；Early morning Or morning typically belongs to the wagon flow rare period, the time interval interior time expended by the crossing is generally shorter；And other Time is the normally travel period.

The embodiment of the present application can also determine when obtaining the crossing stand-by period according to navigational logs and need to obtain crossing etc. Current slot belonging to when the time, and the candidate for obtaining the affiliated time interval of the corresponding current slot in the crossing accordingly leads Boat daily record, to further increase the accuracy for obtaining the crossing stand-by period.If correspondingly, according to the current time of target road The navigational logs of section determine that current slot belongs to the congestion period, then obtaining the navigational logs at congestion moment as candidate Navigational logs.If likewise, certain wait for by the corresponding user's navigational logs in crossing be not present the crossing the crossing stand-by period, It can then obtain and wait for through the crossing grade at crossing, steering angle and hinder that side grade is identical and navigation time section and current time The identical candidate navigational logs of section,

The stand-by period waited for through crossing is obtained according to existing candidate navigational logs.Include one in the navigational logs of user GPS (Global Positioning System, global positioning system) location information with timestamp is arranged, can be passed through thus Timestamp information obtains the crossing stand-by period in candidate navigational logs.Wherein, when there are the target navigation days of itself for target road When will road to be passed through in all target navigation daily records of target road is obtained comprising target navigation daily record in candidate navigational logs The average latency of mouth is as its crossing stand-by period；Alternatively, when the target for not including target road in candidate navigational logs When navigational logs, the average latency for obtaining crossing in all candidate navigational logs waits for waiting for by the crossing at crossing as this Time.

Further, this is being obtained after the stand-by period by crossing, execute S103：When being waited for according to the crossing of acquisition Between and target road road travel speed, obtain through road clearance time of the target road.

Specifically, road clearance time is equal to the sum of crossing stand-by period and running time, running time is equal to target track The length divided by road travel speed on road.Wherein, the road travel speed of target road can be provided by way of circuit-switched data provider The minimum speed per hour of road or 0.8 times of road F-Zero, road travel speed can also be obtained according to the navigational logs of user Degree.

According to the navigational logs of user obtain road travel speed include：

Step 1：Anchor point, that is, GPS point in the navigational logs of user is matched to road network, obtains the navigational logs of user Corresponding driving path.

Step 2：Judge whether the driving path for including target road.If in the presence of the traveling road comprising target road Diameter, i.e. target road have navigational logs, then going to step 3；Conversely, if the driving path comprising target road is not present, i.e., Navigational logs are not present in target road, then going to step 4.

Step 3：According to the navigation time of target road, navigation distance in navigational logs and wait for waiting for by the crossing at crossing Time calculates the road travel speed for obtaining driving average speed as target road.

Specifically, it is target track that the navigation time of target road in each navigational logs, which is subtracted the crossing stand-by period then, Navigation distance divided by running time can be obtained the running speed of target road in the navigational logs, so by the running time on road Driving average speed is calculated according to the running speed of target road in all navigational logs afterwards, as target road Road travel speed terminates flow.

Step 4：The driving average speed of road identical with the road attribute of target road is obtained as target road Road travel speed.

Wherein, road attribute can be, but not limited to comprising road width, whether have pavement, whether have lay-by, road Curvature (bending degree) and pavement quality.Further, road attribute can also include：Whether isolation strip is had, if there is envelope Close situation, road direction (being unidirectional or two-way), height above sea level (whether being hill path).If the attribute in two road is identical, As soon as this two road is exactly a classification, corresponding road speeds are more close or even identical, so not navigating in target road The method that cluster may be used when daily record, using the driving average speed of the road of the same category as the road travel of target road Speed.

Such as：Width is 3 meters or so, and no isolation is not closed, and unidirectional road is with no sidewalk, without lay-by, road surface matter Amount is 3, and such road belongs to a classification.As long as an attribute difference all can one classification of self-contained.Road attribute is identical There is its speed in road log matches result, speed of this kind of road in daily record is averaged, this average value is exactly this The average speed of class road, for example the roads Wang Zhuan and subtlety road above-mentioned condition are all, then they are a types, log matches Shi Faxian 2016-3-2 moment Wang Zhuan road speed is 40KM/S, and subtlety road is 42KM/S, the moment Wang Zhuan roads 2016-3-1 speed Degree is 40KM/S, and subtlety road is 38KM/S, then 4 speed are averaged the road travel speed for the road for being exactly this attribute Degree.

Correspondingly, the embodiment of the present application can also pre-establish road travel rate pattern, gather around first by all users are non- GPS point in the navigational logs at stifled moment is matched to road network；Then the time waited at crossing is calculated, the remaining time is used in combination to count Calculate the running speed of road；Further there is the road of navigational logs to calculate average speeds each, by average row speed Degree saves as the road travel speed of the road, and obtains the road attribute of each road, and calculates same link attribute The average speeds of a kind of road are to save as the road travel speed of this kind of road.Wherein, road attribute can be from road It is obtained in the road that circuit-switched data provider provides, road image can also be obtained by camera such as electronic eyes shooting, to road Image carries out image recognition to obtain road width, whether have pavement, whether have the road attributes such as lay-by, pavement quality.

Road travel rate pattern can be regularly updated according to the navigational logs of user, to improve road travel rate pattern Accuracy.It, then can be by searching target road in road travel rate pattern after establishing road travel rate pattern Road travel speed, obtain the crossing stand-by period further combined with crossing Cost Model and then be quickly obtained the road of target road Road passes through the time.

Referring to FIG. 3, in order to avoid because GPS point is matched to the matched inaccuracy of road network i.e. GPS and causes path link out-of-date Between acquisition it is also inaccurate, the embodiment of the present application also provides a kind of navigator fix point to the matching process of road network, below with primary The matching of the anchor point to the road network that include in the navigational logs of navigation stroke is illustrated, wherein primary navigation stroke Navigational logs are started with origin identification of navigating, and navigation corresponding with the navigation origin identification terminates mark and terminates, it is generally the case that The navigational logs of navigation stroke can be preserved independently every time.The matching process of navigator fix point to the road network includes：

S301：The intersection point of road is as institute in i-th of anchor point to road network for including using the navigational logs of user The candidate point k_i of i-th of anchor point is stated, and obtains each the distance between the candidate point k_i and i-th of anchor point probability, i For natural number, the timestamp of the timestamp of i-th of anchor point earlier than (i+1) a anchor point；

S302：The maximum candidate point k_i of fiducial probability is as the candidate point k_ (i between acquisition and candidate point k_ (i+1) + 1) forerunner's point；

S303：It is obtained according to each the candidate point k_i and corresponding forerunner point with forerunner's point that the navigational logs include N candidate chains are obtained, n is natural number；

S304：Obtain the product apart from probability of all candidate points in every candidate chains, and by the maximum time of the product Select chain is as the corresponding driving path of the navigational logs.

In specific implementation process, user every time completely navigation record in all include one row the anchor point with timestamp be GPS point, since these GPS points often have error, it is understood that the true driving trace of user needs each point being matched to road network Road on, thus execute S301 using the intersection point of road in i-th of anchor point to road network in navigational logs as the anchor point Candidate point k_i.Wherein, the candidate point k_i of an anchor point may include multiple, can in order to determine each candidate point k_i Reliability, S301 also further obtain the distance between each candidate point k_i and i-th of anchor point probability.It specifically can be under It states formula (one) and obtains the distance between each candidate point k_i and i-th of anchor point probability P 1：

P1=1-len/len_m formula (one)

Wherein, len indicates that the distance between i-th of anchor point and candidate point k_i, len_m indicate i-th of anchor point and institute It is poor to state the maximum distance allowed between candidate point k_i；When len is more than or equal to len_m, len takes (len_m) -1, and unit can be with For rice.

Wherein, len_m can be 100, then when len is more than or equal to 100 meters, len can take 99.Apart from the smaller table of probability Bright confidence level is lower.

In addition to the corresponding candidate point k_1 of first anchor point, each candidate point k_i is corresponding, and there are one unique forerunners Point can obtain each candidate according to velocity variations situation (velocity variations are smaller, and the probability for meeting condition of road surface is relatively high) Forerunner's point of point.

Specifically, the fiducial probability P2 between each candidate point k_ (i+1) and each candidate point k_i can be obtained respectively, Then execute S302 obtain and candidate point k_ (i+1) between the maximum candidate point k_i of fiducial probability as candidate point k_'s (i+1) Forerunner's point.For example, it is assumed that Present navigation record includes 2 candidate point k_6 and 3 candidate point k_7, then first choice is to one of them Candidate point k_7 (1) to each candidate point k_6 calculates fiducial probability, and the candidate point k_6 for taking fiducial probability value larger is as the candidate Forerunner's point of point k_7 (1), if, the fiducial probability of candidate point k_7 (1) to candidate point k_6 (1) is arrived more than candidate point k_7 (1) The fiducial probability of candidate point k_6 (2), then forerunner's point that can be by candidate point k_6 (1) as candidate point k_7 (1)；Further, The fiducial probability that second candidate point k_7 (2) arrives each candidate point k_6 is calculated, if candidate point k_7 (2) arrives candidate point k_6 (2) fiducial probability is more than the fiducial probability that candidate point k_7 (2) arrives candidate point k_6 (1), then can make candidate point k_6 (2) For forerunner's point of candidate point k_7 (2)；And so on, the confidence for calculating third candidate point k_7 (3) to each candidate point k_6 is general Rate.

Specifically, the fiducial probability P2 between two neighboring candidate point can be obtained by formula (2)：

P2=(1- | Vb-V |/Vc) * (1- | Vb-Va |/Ve) formula (two)

Wherein, Vb indicates that the speed between candidate point k_ (i+1) to candidate point k_i, Va indicate candidate point k_i and candidate point Speed between the corresponding forerunner's points of k_i, V indicate the Maximum speed limit and preset multiple of candidate point k_ (i+1) corresponding road Product, Vc indicate that preset reference speed, Ve indicate the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If Candidate point k_i is the candidate point 1, Va=Vb of first anchor point；If the difference of Vb-Va is more than Ve, then P2=0.Wherein, in advance If multiple can take 0.8, certainly, designer can also take other values, such as 0.7,0.85,0.9 according to road actual conditions. Vc can from the section where the Maximum speed limit of the corresponding roads of candidate point k_ (i+1) value, such as：Assuming that candidate point k_ (i + 1) Maximum speed limit of corresponding road is 100, and the speed restrictive block at place is 90~120, then the value of Vc can be 90, 100,120 etc..Ve can be set according to the dotting time interval of two neighboring anchor point and common locomotive peak acceleration, example Such as：Assuming that 1s is divided between the dotting time of two neighboring anchor point, the peak acceleration 27m/s of common locomotive², then Ve's takes Value can be 27m/s, it is contemplated that fluctuating error range, the value of Ve, which can suitably amplify, such as takes 40m/s.

Such as：Assuming that first GPS point has 2 candidate points 1：A1, A2, second GPS point have 3 candidate points 2：B1、B2、 B3.If first GPS point should be actually A1, the speed Vb1=S of A1 to B1_A1-B1/t_0-1, S_A1-B1Indicate the distance of A1 to B1, t_0-1Indicate the dotting time of second GPS point；Same reason：The speed Vb2=S of A1 to B2_A1-B2/t_0-1, the speed of A1 to B3 Spend Vb3=S_A1-B3/t_0-1.According to formula (two)：P2=(1- | Vb-V |/100) * (1- | Vb-Va |/40) calculating acquisition A1 and B1, Fiducial probability between A1 and B2, A1 and B2.If the fiducial probability between A1 and B2 is maximum, then using A1 as the forerunner of B2 Point, it is such as B1 to form chain an A1B2, A2 at 2 similarly to become forerunner's point of next point.Next just by B2 Next point is selected as forerunner's point with B1, B3 is not selected, because from A1, A2 to B3 will not be very credible.Class in this approach It pushes away, it is known that obtain forerunner's point of the candidate point of the last one anchor point.

After the forerunner's point for obtaining the candidate point of the last one anchor point, execute S303 includes according to bar navigation record Each candidate point k_i and corresponding forerunner point obtain n candidate chains, next proceed to execution S304 and obtain institute in every candidate chains There is a product apart from probability of candidate point, and using the maximum candidate chains of product as the corresponding driving path of the navigational logs, because Candidate chains for maximum probability are exactly the possible planning driving path of user or so.Such as：Assuming that the candidate chains obtained are：A1-B2- C2-D3 and A2-B1-C2-D3 (the subsequent point selection result possibility of B2 and B1 are identical may also be different), by A1-B2-C2-D3's The product apart from probability multiplication that product apart from probability multiplication is 0.00088%, A2-B1-C2-D3 is 0.00090%, then Using A2-B1-C2-D3 as the corresponding driving path of the navigational logs.

By the matching process of above-mentioned navigator fix point to road network, it can improve and eliminate what GPS offsets were brought as far as possible It influences, improves the matched accuracy of GPS, and then based on more accurate driving path come the road travel of the target road obtained The accuracy of speed and crossing stand-by period is correspondingly improved, corresponding target road it is also more accurate by the time.

The accurate acquisition by the time of target road is conducive to path planning and navigation remaining time meter when to navigate It calculates.Such as：Determine that the attribute of road travel speed includes：Whether there is isolation strip, whether closes, road width, whether has parking Whether band has pavement and pavement quality, has the way road running speed on pavement, lay-by and pavement quality difference slow, This kind of road can not walked when navigation as possible.What whether decision crossing was easy to pass through is steering angle and traffic lights time accounting, is determined Traffic lights time accounting is the grade and item number for hindering side.If it is determined that current driving direction waits for needing very by crossing The long crossing stand-by period then a kind of planning driving path closely located, the crossing stand-by period is few can be changed, and then is saved for user About many times.

Referring to FIG. 4, the method for acquisition road clearance time based on above-described embodiment offer a kind of, which corresponds to provide, supplies one Kind electronic equipment, including：

First acquisition unit 401 waits for the crossing grade by crossing when passing through target road for obtaining, and by described Steering angle when passing through crossing and obstruction side grade, obstruction side grade are to wait leading to by described with the steering angle Cross the grade that crossing needs road corresponding to the traffic lights waited for；

Second acquisition unit 402, for according to the crossing grade, the steering angle and obstruction side grade, obtaining It obtains and waits for the crossing stand-by period needed by crossing by described；

Third acquiring unit 403 is used for the road travel speed according to the crossing stand-by period and the target road, Obtain the road clearance time by the target road.

In specific implementation process, first acquisition unit 401 is additionally operable to：The direction of passing through by crossing is waited for described in acquisition Category of roads, prong number and the edge direction number that comes in and goes out obtain described in wait for crossing grade by crossing；Wherein, the discrepancy side side It is determined to number and the category of roads in the direction of passing through according to number of track-lines and road attribute.

Second acquisition unit 402 is additionally operable to：According to the crossing grade, the steering angle, the obstruction side grade and The navigational logs of user obtain and wait for the crossing stand-by period needed by crossing by described.

Further, second acquisition unit 102 includes：Subelement is screened, it is non-for being eliminated from the navigational logs The daily record of normal conditions obtains candidate navigation day identical with the crossing grade, the steering angle and the obstruction side grade Will, wherein the navigational logs of the improper situation include following at least one：The navigational logs at congestion moment, night/early morning Navigational logs；Subelement is obtained, for obtaining the crossing stand-by period according to the candidate navigational logs.Wherein, described Subelement is obtained to be additionally operable to：When including the target navigation daily record of the target road in the candidate navigational logs, institute is obtained It states and waits for that the average latency by crossing is used as described crossing etc. described in all target navigation daily records of target road Wait for the time；Alternatively, when not including the target navigation daily record of the target road in the candidate navigational logs, all institutes are obtained The average latency at crossing in candidate navigational logs is stated as the crossing stand-by period.

In specific implementation process, the electronic equipment further includes：Matching unit 404, judging unit 405 and computing unit 406.Matching unit is used to, in the road travel speed according to the crossing stand-by period and the target road, be led to It crosses before the road clearance time of the target road, the anchor point in the navigational logs of user is matched to road network, is used The corresponding driving path of navigational logs at family.Judging unit is used to judge whether the traveling road for including the target road Diameter.Computing unit is used for when the judging result of the judging unit is to be, according to leading for target road described in navigational logs ETS estimated time of sailing, navigation distance and it is described wait for calculating by crossing stand-by period at crossing obtain described in driving average speed is used as The road travel speed of target road；When the judging result of the judging unit is no, the road with the target road is obtained Road travel speed of the driving average speed of the identical road of road attribute as the target road；Wherein, the road category Property comprising road width, whether have pavement, whether have lay-by, road curvature and pavement quality.

Further, the matching unit 404 is additionally operable to：By i-th of anchor point in the navigational logs of user to road network Candidate point k_i of the intersection point of middle road as i-th of anchor point, and obtain each candidate point k_i and i-th of positioning The distance between point probability, i are natural number；Obtain the maximum candidate point k_i conducts of fiducial probability between candidate point k_ (i+1) Forerunner's point of the candidate point k_ (i+1)；N items are obtained according to each candidate point k_i with forerunner's point and corresponding forerunner point Candidate chains, n are natural number；The product apart from probability of all candidate points in every candidate chains is obtained, and the product is maximum Candidate chains as the driving path.

Further, the matching unit 404 is additionally operable to：It is described apart from probability P 1 that acquisition is calculated according to following formula：P1 =1-len/len_m, wherein len indicates that the distance between i-th of anchor point and the candidate point k_i, len_m indicate The maximum distance allowed between i-th of anchor point and the candidate point k_i is poor；When len is more than or equal to len_m, len takes (len_m)-1。

Further, the matching unit 404 is additionally operable to：The fiducial probability between the acquisition and candidate point k_ (i+1) Before forerunner's points of the maximum candidate point k_i as the candidate point k_ (i+1), obtain each candidate point k_ (i+1) with Fiducial probability P2 between each candidate point k_i：

P2=(1- | Vb-V |/Vc) * (1- | Vb-Va |/Ve), wherein Vb indicates that the candidate point k_ (i+1) arrives the time Speed between reconnaissance k_i, Va indicate that the speed between the candidate point k_i and corresponding forerunner's point, V indicate candidate point k_ (i + 1) product between the Maximum speed limit and preset multiple of corresponding road, Vc indicate that preset reference speed, Ve indicate candidate point k_ The maximum speed discrepancy allowed between i and candidate point k_ (i+1)；If candidate point k_i is the candidate point of first anchor point, Va= Vb；If the difference of Vb-Va is more than 40, then P2=0.

About the electronic equipment in above-described embodiment, wherein modules execute the concrete mode operated and are somebody's turn to do related It is described in detail in the embodiment of method, explanation will be not set forth in detail herein.

Fig. 5 is a kind of block diagram of the device 800 of acquisition road clearance time shown according to an exemplary embodiment.Example Such as, device 800 can be mobile phone, computer, digital broadcast terminal, messaging devices, game console, and tablet is set It is standby, Medical Devices, body-building equipment, personal digital assistant etc..

With reference to Fig. 5, device 800 may include following one or more components：Processing component 802, memory 804, power supply Component 806, multimedia component 808, audio component 810, the interface 812 of input/output (I/O), sensor module 814, and Communication component 816.

The integrated operation of 802 usual control device 800 of processing component, such as with display, call, data communication, phase Machine operates and record operates associated operation.Processing element 802 may include that one or more processors 820 refer to execute It enables, to perform all or part of the steps of the methods described above.In addition, processing component 802 may include one or more modules, just Interaction between processing component 802 and other assemblies.For example, processing component 802 may include multi-media module, it is more to facilitate Interaction between media component 808 and processing component 802.

Memory 804 is configured as storing various types of data to support the operation in equipment 800.These data are shown Example includes instruction for any application program or method that are operated on device 800, contact data, and telephone book data disappears Breath, picture, video etc..Memory 804 can be by any kind of volatibility or non-volatile memory device or their group It closes and realizes, such as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash Device, disk or CD.

Electric power assembly 806 provides electric power for the various assemblies of device 800.Electric power assembly 806 may include power management system System, one or more power supplys and other generated with for device 800, management and the associated component of distribution electric power.

Multimedia component 808 is included in the screen of one output interface of offer between described device 800 and user.One In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers Body component 808 includes a front camera and/or rear camera.When equipment 800 is in operation mode, such as screening-mode or When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.

Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike Wind (MIC), when device 800 is in operation mode, when such as call model, logging mode and speech recognition mode, microphone by with It is set to reception external audio signal.The received audio signal can be further stored in memory 804 or via communication set Part 816 is sent.In some embodiments, audio component 810 further includes a loud speaker, is used for exports audio signal.

I/O interfaces 812 provide interface between processing component 802 and peripheral interface module, and above-mentioned peripheral interface module can To be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and lock Determine button.

Sensor module 814 includes one or more sensors, and the state for providing various aspects for device 800 is commented Estimate.For example, sensor module 814 can detect the state that opens/closes of equipment 800, and the relative positioning of component, for example, it is described Component is the display and keypad of device 800, and sensor module 814 can be with 800 1 components of detection device 800 or device Position change, the existence or non-existence that user contacts with device 800,800 orientation of device or acceleration/deceleration and device 800 Temperature change.Sensor module 814 may include proximity sensor, be configured to detect without any physical contact Presence of nearby objects.Sensor module 814 can also include optical sensor, such as CMOS or ccd image sensor, at As being used in application.In some embodiments, which can also include acceleration transducer, gyro sensors Device, Magnetic Sensor, pressure sensor or temperature sensor.

Communication component 816 is configured to facilitate the communication of wired or wireless way between device 800 and other equipment.Device 800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or combination thereof.In an exemplary implementation In example, communication component 816 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel. In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, to promote short range communication.Example Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, Bluetooth (BT) technology and other technologies are realized.

In the exemplary embodiment, device 800 can be believed by one or more application application-specific integrated circuit (ASIC), number Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.

In the exemplary embodiment, it includes the non-transitorycomputer readable storage medium instructed, example to additionally provide a kind of Such as include the memory 804 of instruction, above-metioned instruction can be executed by the processor 820 of device 800 to complete the above method.For example, The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk With optical data storage devices etc..

A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of mobile terminal When device executes so that mobile terminal is able to carry out a kind of method obtaining road clearance time, the method includes：Passed through The crossing grade by crossing is waited for when target road, and by steering angle when passing through crossing and hinders side grade, It is described to hinder side grade to wait for needing road corresponding to the traffic lights waited for by crossing by described with the steering angle Grade；According to the crossing grade, the steering angle and obstruction side grade, obtains and wait for needing by crossing by described The crossing stand-by period；According to the road travel speed of the crossing stand-by period and the target road, obtain by described The road clearance time of target road.

Fig. 6 is the structural schematic diagram of server in the embodiment of the present invention.The server 1900 can be different because of configuration or performance And generate bigger difference, may include one or more central processing units (central processing units, CPU) 1922 (for example, one or more processors) and memory 1932, one or more storage application programs 1942 or data 1944 storage medium 1930 (such as one or more mass memory units).Wherein, memory 1932 Can be of short duration storage or persistent storage with storage medium 1930.The program for being stored in storage medium 1930 may include one or More than one module (diagram does not mark), each module may include to the series of instructions operation in server.Further Ground, central processing unit 1922 could be provided as communicating with storage medium 1930, and storage medium 1930 is executed on server 1900 In series of instructions operation.

Server 1900 can also include one or more power supplys 1926, one or more wired or wireless nets Network interface 1950, one or more input/output interfaces 1958, one or more keyboards 1956, and/or, one or More than one operating system 1941, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM Etc..

Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the present invention Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or Person's adaptive change follows the general principle of the present invention and includes the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following Claim is pointed out.

It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims

The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims

1. a kind of method obtaining road clearance time, which is characterized in that including：

Obtain the crossing grade waited for when passing through target road through crossing, and by steering angle when passing through crossing and Side grade is hindered, it is described to hinder side grade to wait for needing the traffic lights institute waited for by crossing by described with the steering angle The grade of corresponding road；

According to the crossing grade, the steering angle and obstruction side grade, obtains and wait for needing by crossing by described The crossing stand-by period；

According to the road travel speed of the crossing stand-by period and the target road, the road by the target road is obtained Road passes through the time.

2. the method as described in claim 1, which is characterized in that the acquisition waits for the crossing by crossing when passing through target road Grade, including：

Wait for that the category of roads, prong number and the edge direction number that comes in and goes out in the direction of passing through by crossing wait leading to described in obtaining described in acquisition Cross the crossing grade at crossing；

Wherein, the discrepancy edge direction number and the category of roads in the direction of passing through are determined according to number of track-lines and road attribute.

3. the method as described in claim 1, which is characterized in that described according to the crossing grade, the steering angle and institute It states and hinders side grade, obtain and waited for the crossing stand-by period needed by crossing by described, including：

According to the crossing grade, the steering angle, the navigational logs for hindering side grade and user, obtain by described Wait for the crossing stand-by period needed by crossing.

4. method as claimed in claim 3, which is characterized in that it is described according to the crossing grade, it is the steering angle, described Side grade and the navigational logs of user are hindered, obtains and is waited for the crossing stand-by period needed by crossing by described, including：

The daily record of improper situation is eliminated from the navigational logs, is obtained and the crossing grade, the steering angle and institute It states and hinders the identical candidate navigational logs of side grade；Wherein, the navigational logs of the improper situation include following at least one： Navigational logs, the navigational logs in night/early morning at congestion moment；

5. method as claimed in claim 4, which is characterized in that described to obtain described crossing etc. according to the candidate navigational logs It waits for the time, including：

When including the target navigation daily record of the target road in the candidate navigational logs, the institute of the target road is obtained Have and waits for that the average latency by crossing is used as the crossing stand-by period described in the target navigation daily record；Or

When not including the target navigation daily record of the target road in the candidate navigational logs, obtains all candidates and lead The average latency at crossing is as the crossing stand-by period in boat daily record.

6. the method as described in Claims 1 to 5 is any, which is characterized in that described according to the crossing stand-by period and institute The road travel speed of target road is stated, before obtaining the road clearance time by the target road, the method is also wrapped It includes：

Anchor point in the navigational logs of user is matched to road network, obtains the corresponding driving path of navigational logs of user；

Judge whether the driving path for including the target road；

If in the presence of according to the navigation time of target road described in navigational logs, navigation distance and the institute waited for through crossing It states the calculating of crossing stand-by period and obtains road travel speed of the driving average speed as the target road；If being not present, obtain Obtain road travel of the driving average speed of road identical with the road attribute of the target road as the target road Speed；

Wherein, the road attribute includes road width, whether has pavement, whether has lay-by, road curvature and road surface matter Amount.

7. method as claimed in claim 6, which is characterized in that the anchor point in the navigational logs by user is matched to road Net obtains the corresponding driving path of navigational logs of user, including：

Using the intersection point of road in i-th of anchor point to road network in the navigational logs of user as the time of i-th of anchor point Reconnaissance k_i, and each the distance between the candidate point k_i and i-th of anchor point probability is obtained, i is natural number；

Obtain forerunners of the maximum candidate point k_i of fiducial probability as the candidate point k_ (i+1) between candidate point k_ (i+1) Point；

The product apart from probability of all candidate points in every candidate chains is obtained, and using the maximum candidate chains of the product as institute State driving path.

8. the method as described in right wants 7, which is characterized in that it is described obtain each candidate point k_i and i-th anchor point it Between apart from probability, including：

P1=1-len/len_m

Wherein, len indicates that the distance between i-th of anchor point and the candidate point k_i, len_m indicate i-th of anchor point The maximum distance allowed between the candidate point k_i is poor；When len is more than or equal to len_m, len takes (len_m) -1.

9. the method for claim 7, which is characterized in that the fiducial probability between the acquisition and candidate point k_ (i+1) Before forerunner's points of the maximum candidate point k_i as the candidate point k_ (i+1), the method further includes：

P2=(1- | Vb-V |/Vc) * (1- | Vb-Va |/Ve)

Wherein, Vb indicates the candidate point k_ (i+1) to the speed between the candidate point k_i, the Va expressions candidate point k_i With the speed between corresponding forerunner's point, V indicates the Maximum speed limit of the corresponding roads of candidate point k_ (i+1) and multiplying for preset multiple Product, Vc indicate that preset reference speed, Ve indicate the maximum speed discrepancy allowed between candidate point k_i and candidate point k_ (i+1)；If waiting Reconnaissance k_i is the candidate point of first anchor point, Va=Vb；If the difference of Vb-Va is more than Ve, then P2=0.

10. a kind of electronic equipment, which is characterized in that including：

First acquisition unit waits for the crossing grade by crossing, and waits passing through by described when passing through target road for obtaining Steering angle when crossing and obstruction side grade, obstruction side grade are to pass through the crossing to be passed through with the steering angle Need the grade of road corresponding to the traffic lights waited for；

Second acquisition unit, for according to the crossing grade, the steering angle and obstruction side grade, acquisition to pass through institute State the crossing stand-by period for waiting for needing by crossing；

Third acquiring unit is led to for the road travel speed according to the crossing stand-by period and the target road Spend the road clearance time of the target road.

11. a kind of electronic equipment, which is characterized in that include memory and one or more than one program, wherein one A either more than one program is stored in memory and is configured to execute described one by one or more than one processor A or more than one program includes the instruction for being operated below：