CN115762211A - A driving trajectory management and control method, system, terminal equipment and storage medium - Google Patents

Abstract

The present application relates to the technical field of traffic information, and in particular to a method, system, terminal device and storage medium for controlling a driving track. The method comprises: judging whether the current driving route of the network-hailed car matches the planned road section and the exit node corresponding to the planned road section; Combining the planned section of the online car-hailing route to generate the corresponding driving trajectory; if not, it is judged whether the current driving route of the online car-hailing vehicle enters the associated road section of the exit node; if the current driving route of the online car-hailing vehicle enters the associated section of the exit node, then Combining the associated road sections and planned road sections of the route to generate the corresponding driving trajectory. The driving trajectory management and control method, system, terminal equipment and storage medium provided by the present application have the effect of improving the management and control of the driving trajectory of online car-hailing vehicles.

Description

A driving track management and control method, system, terminal equipment and storage medium

technical field

The present application relates to the technical field of traffic information, and in particular to a method, system, terminal device and storage medium for controlling a driving track.

Background technique

With the popularization and application of online car-hailing, the safety of online car-hailing has become the focus of social attention. The driving track is of great significance to every driver. Through the driving track, you can know the specific route of the vehicle. , and can also be used as the basis for judging traffic accidents. In the field of road involvement and road traffic safety, driving trajectory can be used as the theoretical basis for route design, and the degree of deviation of driving trajectory is also closely related to road safety.

At present, some online car-hailing platforms usually use vehicle navigation data to monitor the journey trajectory of online car-hailing vehicles, which has a certain restraint effect on online car-hailing drivers, but when the GPS signal is poor, it may lead to deviations in navigation data , At this time, the online car-hailing supervision platform cannot accurately monitor the travel trajectory of the online car-hailing car, resulting in a certain error between the vehicle navigation data and the actual driving track of the online car-hailing car.

Contents of the invention

In order to improve the effect of controlling the driving trajectory of online car-hailing vehicles, the present application provides a driving trajectory management and control method, system, terminal equipment, and storage medium.

In a first aspect, the present application provides a driving track control method, comprising the following steps:

Obtain the driving starting point and driving destination of the online car-hailing;

Combining the driving departure point and the driving destination, determine the corresponding driving route;

If the number of the driving routes is multiple, then obtain the corresponding preset planned routes;

Judging whether the currently selected driving route of the online car-hailing service is consistent with the preset planned route;

If the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route, then it is judged whether the current driving position of the online car-hailing car is in the planned road section corresponding to the preset planned route;

If the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the preset planned route, then obtain the exit node corresponding to the planned road section;

judging whether the current driving route of the online car-hailing match matches the planned road section and the exit node corresponding to the planned road section;

If the current driving route of the online car-hailing matches the planned road section and the exit node corresponding to the planned road section, then determine whether the current driving route of the online car-hailing car passes through the exit node Enter the planned road section described in the next paragraph;

If the current driving route of the online car-hailing route enters the next section of the planned road section after passing through the exit node, a corresponding driving trajectory is generated in combination with the planned road section of the online car-hailing route;

If the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing through the exit node, then determine whether the current driving route of the online car-hailing car enters the associated road section of the exit node , the associated road section refers to the road section between the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle;

If the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, the corresponding driving trajectory is generated by combining the associated road section and the planned road section of the route.

By adopting the above technical solution, it is judged whether the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the selected preset planned route, so as to obtain the preliminary driving movement of the online car-hailing car, and further judge whether the current driving route of the online car-hailing car matches. The planned road section and the corresponding exit node of the planned road section can further judge whether the driving direction of the online car-hailing car is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing car. By judging that the current driving route of the online car-hailing car is in After passing through the exit node, whether to enter the next section of the planned road section, it can be concluded whether the network-hailed car deviates from the preset planned route during the trip, if the current driving route of the network-hailed car enters the next section of the planned road section after passing the exit node, It means that the online car-hailing car always drives according to the preset planned route, and then generates the corresponding driving trajectory based on the planned road section of the online car-hailing route. If the current driving route of the online car-hailing car does not enter the next planned road section after passing the exit node, but Selecting the associated road section that enters the exit node means that the driver of the online car-hailing vehicle has changed the driving route during the process of traveling according to the preset planned route, and further combines the associated road section of the route with the planned road section to generate a corresponding driving trajectory, so as to combine the traffic of the online car-hailing car. The actual movement recognizes the corresponding driving trajectory, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle.

Optionally, after the judging whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, the following steps are further included:

If the current driving route of the online car-hailing does not correspond to the planned road section and the exit node corresponding to the planned road section, then obtain the current order information of the online car-hailed car;

judging whether the driving destination has changed according to the current order information;

If the driving destination has not changed, then judging whether the current driving route of the online car-hailing vehicle corresponds to the driving route;

If the current driving route of the online car-hailing service corresponds to the driving route, then obtain the driving section corresponding to the driving route and the driving exit node corresponding to the driving section;

judging whether the current driving route of the online car-hailing vehicle corresponds to the driving exit node corresponding to the driving road section and the planning road section;

If the current driving route of the online car-hailing vehicle corresponds to the driving road section and the driving exit node corresponding to the driving road section, then it is determined that the current driving route of the online car-hailing car is passing through the driving exit node After that, whether to enter the driving section mentioned in the next paragraph;

If the current driving route of the online car-hailing route enters the next driving section after passing through the driving exit node, then the corresponding driving trajectory is generated in combination with the driving section of the online car-hailing route;

If the current driving route of the online car-hailing route does not enter the next driving section after passing through the driving exit node, the corresponding driving section will be generated in combination with the driving section and the current driving section of the online car-hailing route. Describe the driving trajectory, and send a deceleration control command to the online car-hailing car.

By adopting the above technical solution, on the premise that the current driving route does not correspond to the planned road section and the exit node corresponding to the planned road section, and the corresponding driving destination in the current order information has not changed, it is further judged whether the current driving route of the online car-hailing service corresponds to the planned road section. Set other driving routes to the driving destination other than the planned route. If they correspond, it is judged whether the current driving route of the online car-hailing car enters the next section of driving after passing through the driving exit node. If it enters, it means that the online car-hailing car is in the process of driving. The driving trajectory determined by the original preset planning route is changed, and the corresponding driving trajectory is further combined with the driving section of the online car-hailing route. Driving trajectory, and send a deceleration control command to slow down the online car-hailing car, thereby reducing the occurrence of frequent route changes of the online car-hailing car when it travels to the driving destination.

Optionally, after the said if the driving destination has not changed, the following steps are further included after judging whether the current driving route of the online car-hailing car corresponds to the driving route:

If the current driving route of the online car-hailing does not correspond to the driving route, then obtain the intersection node of the online car-hailing route;

If there are multiple intersection nodes, set the intersection numbers corresponding to the intersection nodes according to the sequence of the network-hailing car via the intersection nodes;

Calculate the driving distance corresponding to the intersection node from the driving destination according to the intersection number;

judging whether the driving distance continues to decrease according to the sequence of the intersection numbers;

If the driving distance continues to decrease, the corresponding driving trajectory is generated according to the order of the intersection numbers and the corresponding route sections between adjacent intersection nodes.

By adopting the above-mentioned technical scheme, when the current driving route of the online car-hailing car does not correspond to the driving route, it means that the online car-hailing car does not follow the prescribed driving route and changes the driving direction without permission. By judging the driving distance corresponding to the intersection node and the driving destination Whether it continues to decrease, so as to find out whether the current specific driving trajectory of the online car-hailing vehicle is the driving destination.

Optionally, if the current driving route of the online car-hailing does not enter the next section of the planned road section after passing through the exit node, it is judged whether the current driving route of the online car-hailing has entered After the associated road section of the exit node, the following steps are also included:

If the current driving route of the online car-hailing service does not enter the associated road section of the exit node, then determine whether the associated road section is a congested road section;

If the associated road section is the congested road section, then obtain the corresponding first passage road between the current entering road section of the online car-hailing car and the driving destination;

If there are multiple first passing roads, obtaining target first passing roads whose road length is less than a preset detour threshold in each of the first passing roads;

According to the target first passing road, a corresponding driving route planning prompt is generated.

By adopting the above technical solution, when the associated road section is a congested road section, the first passage road whose road length is at the preset detour threshold is selected as the target first passage road, which reduces the number of ride-hailing passengers caused by the excessive detour of the car-hailing driver. Occurrence of a fare increase.

Optionally, the generating a corresponding driving route planning prompt according to the target first passable road includes the following steps:

judging whether there are multiple target first passing roads;

If there are multiple target first through roads, selecting the target first through road with a through road between the preset planning route from among the multiple target first through roads as a preselected through road;

If there are multiple pre-selected access roads, selecting the shortest pre-selected access road from the plurality of pre-selected access roads as the predetermined access road;

Generate the corresponding driving route planning prompt according to the predetermined passing road.

By adopting the above-mentioned technical solution, select the established through-road with the shortest through-road between the preset planned routes from the multiple target first through-roads and generate a corresponding driving route planning prompt, so that the predetermined through-road When congestion occurs, the online car-hailing car can quickly return to the preset planned route, reducing additional travel time.

Optionally, after said if the associated road section is the congested road section, obtaining the corresponding first passage road between the current entry road section of the online car-hailing car and the driving destination, the following steps are further included:

If the road length of the first passing road exceeds the preset detour threshold, acquiring a return route between the current entering road segment and the preset planned route;

If there are multiple return routes, selecting the return route closest to the exit node as the preselected return route;

If there are multiple preselected regression routes, select the preselected regression route with the least number of lane changes among the plurality of preselected regression routes as the target regression route;

The online car-hailing vehicle returns to the preset planned route according to the target return route.

By adopting the above technical solution, the return route with the closest distance to the exit node and the least number of lane changes is selected as the target return route, thereby saving the time for returning to the preset planned route.

Optionally, if the first passing road does not meet the preset detour threshold, obtaining the return route between the current entry road segment and the preset planning route includes the following steps:

If the first passing road does not meet the preset detour threshold, acquiring a second passing road between the currently entered road segment and the preset planned route;

If there are multiple second passing roads, then acquiring the congestion time periods corresponding to the multiple second passing roads;

Combining the entry time of the current entry road section and the travel time corresponding to the second passage road, a corresponding passage time period is generated;

Selecting the second passing road whose passing time period is not in the congestion time period as the return route.

By adopting the above-mentioned technical solution, the current time of the online car-hailing car entering the road section and the travel time corresponding to multiple second passage roads are collected to calculate the corresponding estimated passing time period, and further compare the expected passing time period with the corresponding congestion time period , select the second traffic road that is not in the congested time period as the return route, thereby reducing the time for returning to the preset planned route.

In a second aspect, the present application provides a system for identifying driving trajectories, including:

The first obtaining module is used to obtain the driving departure point and driving destination of the online car-hailing;

A determining module, configured to determine a corresponding driving route in combination with the driving departure point and the driving destination;

A second acquisition module, if the number of the driving routes is multiple, the second acquisition module is used to acquire the corresponding preset planned routes;

The first judging module is used to judge whether the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route;

The second judging module, if the currently selected driving route of the online car-hailing vehicle is consistent with the preset planned route, the second judging module is used to judge whether the current driving position of the online car-hailing car is in the The planned road section corresponding to the preset planned route;

A third acquisition module, if the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the preset planned route, the third acquisition module is used to acquire the exit node corresponding to the planned road section;

A third judging module, configured to judge whether the current driving route of the online car-hailing match matches the planned road section and the exit node corresponding to the planned road section;

A fourth judging module, if the current driving route of the online car-hailing matches the planned section and the exit node corresponding to the planned section, the fourth judging module is used to judge the location of the online car-hailing Whether the current driving route enters the next section of the planned road section after passing through the exit node;

The first combining module, if the current driving route of the online car-hailing route enters the next section of the planned section after passing through the exit node, the combining module is used to combine the planning of the online car-hailing route The road section generates the corresponding driving trajectory;

The fifth judging module, if the current driving route of the online car-hailing does not enter the next section of the planned road section after passing through the exit node, the fifth judging module is used to judge all the routes of the online car-hailing Whether the current driving route enters the associated road section of the exit node, and the associated road section refers to the road section between the current exit node to the driving destination or the next exit node entered by the online car-hailing vehicle ;

The second combining module, if the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, the second combining module is used to combine the associated road section and the planned road section of the route to generate a corresponding the driving trajectory.

By adopting the above technical solution, according to the second judging module, it is judged whether the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the selected preset planned route, so as to obtain the preliminary driving movement of the online car-hailing car through the third acquisition module, and further Judging by the third judging module whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, it can further judge whether the driving direction of the online car-hailing car is consistent with the preset planned route, so as to facilitate the driving of the online car-hailing car The route is recorded and tracked. By judging whether the current driving route of the online car-hailing vehicle enters the planned road section in the next paragraph after passing through the exit node, it can be concluded whether the online car-hailing car deviates from the preset planned route during the itinerary. The current driving route enters the next planned road section after passing through the exit node, which means that the online car-hailing car always travels according to the preset planned route, and then the corresponding driving trajectory is generated by combining the planned road section of the online car-hailing route through the first combination module. If the current driving route of the car-hailing car does not enter the next planned road section after passing the exit node, but chooses to enter the associated road section of the exit node, it means that the online car-hailing driver has changed the driving route during the process of traveling according to the preset planned route. The second combination module combines the associated road sections and planned road sections of the route to generate corresponding driving trajectories, so as to identify the corresponding driving trajectories in combination with the actual movement of online car-hailing vehicles, thereby improving the control effect of online car-hailing driving trajectories.

In a third aspect, the present application provides a terminal device, which adopts the following technical solution:

A terminal device includes a memory and a processor, the memory stores computer instructions that can run on the processor, and when the processor loads and executes the computer instructions, the above-mentioned driving track management method is adopted.

By adopting the above technical solution, the above-mentioned driving track control method generates computer instructions and stores them in the memory to be loaded and executed by the processor, so that the terminal device is made according to the memory and the processor, which is convenient to use.

In the fourth aspect, the present application provides a computer-readable storage medium, adopting the following technical solution:

A computer-readable storage medium, wherein computer instructions are stored in the computer-readable storage medium, and when the computer instructions are loaded and executed by a processor, the above-mentioned driving trajectory management and control method is adopted.

By adopting the above technical solution, by generating a computer instruction from the above-mentioned driving track control method, and storing it in a computer-readable storage medium, so as to be loaded and executed by a processor, the computer-readable storage medium facilitates the computer instruction. read and store.

In summary, the application includes at least one of the following beneficial technical effects: judging whether the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the selected preset planned route, so as to obtain the preliminary driving movement of the online car-hailing car, and further Judging whether the current driving route of the online car-hailing vehicle matches the planned road section and the corresponding exit node of the planned road section can further determine whether the driving direction of the online car-hailing car is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing car. By judging whether the current driving route of the online car-hailing vehicle enters the next planned road section after passing through the exit node, it can be concluded whether the online car-hailing car deviates from the preset planned route during the itinerary. After passing through the exit node and entering the next section of the planned road section, it means that the online car-hailing car always travels according to the preset planned route, and then generates the corresponding driving trajectory based on the planned road section of the online car-hailing route. If the current driving route of the online car-hailing car is passing through the exit node After that, instead of entering the next planned road section, but choosing to enter the associated road section of the exit node, it means that the online car-hailing driver has changed the driving route during the process of traveling according to the preset planned route, and further combines the associated road section of the route with the planned road section to generate the corresponding Driving trajectory, in order to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing vehicle, thereby improving the control effect on the driving trajectory of the online car-hailing vehicle.

Description of drawings

FIG. 1 is a schematic flowchart of steps S101 to S111 in a method for controlling a driving track in the present application.

FIG. 2 is a schematic flowchart of steps S201 to S208 in a method for controlling a driving track in the present application.

FIG. 3 is a schematic flowchart of steps S301 to S305 in a method for controlling a driving track in the present application.

FIG. 4 is a schematic flow chart of steps S401 to S404 in a method for controlling a driving track in the present application.

FIG. 5 is a schematic flowchart of steps S501 to S504 in a method for controlling a driving track in the present application.

FIG. 6 is a schematic flow chart of steps S601 to S604 in a method for controlling a driving track in the present application.

FIG. 7 is a schematic flowchart of steps S701 to S704 in a method for controlling a driving track in the present application.

Fig. 8 is a schematic diagram of modules of a driving track management and control system of the present application.

Explanation of reference signs:

1. The first acquisition module; 2. The determination module; 3. The second acquisition module; 4. The first judgment module; 5. The second judgment module; 6. The third acquisition module; 7. The third judgment module; 8. The first judgment module Four judging modules; 9. The first combining module; 10. The fifth judging module; 11. The second combining module.

Detailed ways

The present application will be described in further detail below in conjunction with accompanying drawings 1-8.

The embodiment of the present application discloses a driving trajectory management and control method, as shown in Figure 1, including the following steps:

S101. Acquiring the driving departure point and driving destination of the online car-hailing service;

S102. Combining the driving departure point and the driving destination, determine the corresponding driving route;

S103. If there are multiple driving routes, obtain the corresponding preset planned route;

S104. Determine whether the currently selected driving route of the online car-hailing service is consistent with the preset planned route;

S105. If the currently selected driving route of the online car-hailing service is consistent with the preset planned route, then determine whether the current driving position of the online car-hailing car is in the planned road section corresponding to the preset planned route;

S106. If the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the preset planned route, obtain the exit node corresponding to the planned road section;

S107. Determine whether the current driving route of the online car-hailing vehicle matches the planned road section and the exit node corresponding to the planned road section;

S108. If the current driving route of the online car-hailing matches the planned road section and the exit node corresponding to the planned road section, then determine whether the current driving route of the online car-hailing car enters the next planned road section after passing through the exit node;

S109. If the current driving route of the online car-hailing route enters the next planned road section after passing through the exit node, a corresponding driving trajectory is generated in combination with the planned road section of the online car-hailing route;

S110. If the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing through the exit node, then determine whether the current driving route of the online car-hailing car enters the associated road section of the exit node. The associated road section refers to from the current exit node to the driving destination The road section between the next exit node entering the ground or the online car-hailing vehicle;

S111. If the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, combine the associated road section of the route with the planned road section to generate a corresponding driving trajectory.

In practical application, in order to facilitate the description of this solution, an online car-hailing vehicle driving on urban roads is taken as an example. Among them, online car-hailing is generally positioned through the GPS monitoring platform. GPS equipment is divided into two positioning modes: GPS positioning and LBS base station positioning. Among them, base station positioning is the positioning mode enabled when the GPS signal environment is not good. The principle The location information of the mobile terminal user is obtained through the network of the China Unicom mobile operator. The accuracy of the location information depends on the coverage density of the base stations around the vehicle.

The driving starting point in step S101 refers to the boarding location of the online car-hailing passengers, and the driving destination refers to the destination to be reached by the online car-hailing passengers.

In practical application, there may be multiple passable roads between the driving starting point and the driving destination, that is, the driving route in step S102. For the purpose of driving efficiency, the system will select an optimal driving route from multiple passable roads, that is, the preset planned route in step S103.

It should be noted that the passable road between the starting point of driving and the driving destination can be obtained by using map software. By inputting the driving starting point and driving purpose in the map software, the map software will match the correspondence between the starting point of driving and the driving destination. of access roads.

For example, the starting point of driving is point A, and the driving destination is point B. Three driving routes C, D and E are matched through the map software, among which driving route C has the shortest estimated travel time and the lowest degree of congestion compared with driving routes D and E , the system selects driving route C as the preset planning route.

For another example, if the driving starting point is point A and the driving destination is point B, and a driving route C is matched through the map software, then the system directly selects driving route C as the preset planning route.

Further, after the online car-hailing passengers get on the car and before the online car-hailing driver leaves, the online car-hailing driver will select the itinerary of the online car-hailing trip according to the actual road conditions and the specific needs of the online car-hailing passengers, that is, the current route in step S104. Selecting the driving route, by judging whether the currently selected driving route is consistent with the preset planning route, it is convenient to obtain the travel trend of the online car-hailing driver in advance.

It should be noted that if the currently selected driving route of the online car-hailing service is consistent with the preset planned route, it means that the driver of the online car-hailing car has initially determined the specific driving track of the online car-hailing car, that is, the preset planned route. Track the itinerary of the online car-hailing car, and judge in advance whether the current driving position of the online car-hailing car is in the planned road section corresponding to the preset planned route. The current driving position refers to the current real-time location of the online car-hailing car. The current driving position can be obtained through GPS positioning or LBS base station positioning , the planned road section refers to each road section that forms the preset planned route, for example, the preset planned route is the C driving route, and the C driving route is composed of the F, G and H road sections, and the F road section, the G road section and the H road section are the planned road sections.

Among them, if the current driving position of the online car-hailing car is on the planned road section corresponding to the preset planned route, it means that the online car-hailed car has started to drive according to the preset planned route. In order to ensure that the driving trajectory of the online car-hailed car follows the preset planned route, The exit node corresponding to the planned road section is further obtained, and the exit node refers to the vehicle road exit of the planned road section.

In practical applications, the division between planned road sections is usually separated by traffic lights at crossroads, T-junctions or straight-line intersections. For example, driving route C is a straight road, which is divided by F, G and H road sections Composition, among them, section F and section G are separated by traffic light No. 1, section G and section H are separated by traffic light No. 2, among which traffic light No. 1 and traffic light No. 2 are the exit nodes, and section F corresponds to the exit node No. 1 traffic light, the exit node corresponding to section G is traffic light No. 2, and the exit node corresponding to section H is the driving destination.

Further, it is determined whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section. The current driving route of the online car-hailing car refers to the current real-time driving track record of the online car-hailing car. GPS positioning or LBS base station positioning acquisition, whether the online car-hailing vehicle passes through the exit node can be identified and judged by the intersection image taken by the road monitoring equipment set at the exit node, and whether the current online car-hailing car appears in the intersection image captured by the road monitoring equipment The license plate number is used to determine whether the current online car-hailing vehicle passes the exit node corresponding to the road monitoring device.

Among them, even if the GPS positioning or the LBS base station positioning signal is poor, there is a certain delay, but it can still be used to obtain the current driving position of the online car-hailing car, and then the connection between the current driving position points can also be obtained. The corresponding current driving route on the map software, in which the problem of positioning signal delay can be improved by sending the online car-hailing positioning device to restart the command and adjusting the frequency of wireless device uploading information.

Furthermore, if the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, it means that the online car-hailing car continues to drive on the road corresponding to the preset planned route. Among them, whether the current driving route of the online car-hailing car The corresponding planned road section and the exit node corresponding to the planned road section are judged in a cyclic manner. When the current driving route of the online car-hailing vehicle passes through the current planned road section and the exit node corresponding to the planned road section, the current judgment ends and the next judgment is entered until the online booking The car reaches the driving destination.

For example, the current driving route of the online car-hailing car is on section F. When the online car-hailing car drives out of section F and enters section G through the No. 1 traffic light, the current judgment ends and the next judgment is entered. No. 1 traffic light enters section H, the current judgment is over, and the next judgment is entered. When the online car-hailing car drives from section H to the driving destination, the current judgment is over, and the entire cycle of judgment is over.

Combining sections F, G, and H to form a driving trajectory for online car-hailing.

For another example, the current driving route of the online car-hailing car is in section F. When the online car-hailing car drives out of section F and passes the No. 1 traffic light but does not enter section G, the road section that the online car-hailing car is currently entering is marked and recorded.

In practical application, when the online car-hailing car is driving according to the scheduled route, the driving route may be changed midway due to road congestion or sudden road accidents. In order to comply with the driving regulations of the online car-hailing car, continue to track the itinerary of the online car-hailing car. , it is further judged whether the online car-hailing car enters the associated road section of the exit node, and the associated road section refers to the road section from the current exit node to the driving destination or the next exit node that the online car-hailing car enters.

For example, when an online car-hailing car drives out of section F and enters the intersection of No. 1 traffic light, because of a vehicle accident on section G ahead, in order to reduce the travel time of the online car-hailing car, the driver of the online car-hailing car chooses to enter the No. 1 associated road section that turns right That is, the above-mentioned associated road section, through the No. 1 associated road section, the online car-hailing car can travel to the driving destination, and then further combine the F road section and the No. 1 associated road section to generate a driving trajectory corresponding to the online car-hailing car.

The driving trajectory control method provided in this implementation judges whether the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the selected preset planned route, so as to obtain the preliminary driving movement of the online car-hailing car and further judge the current driving of the online car-hailing car Whether the route corresponds to the planned road section and the exit node corresponding to the planned road section can further determine whether the driving direction of the online car-hailing car is consistent with the preset planned route, so as to record and track the driving route of the online car-hailing car. By judging the current Whether the driving route enters the next planned road section after passing through the exit node can determine whether the online car-hailing vehicle deviates from the preset planned route during the trip. If the current driving route of the online-hailing car enters the next planned road section after passing the exit node, then It shows that the online car-hailing car always drives according to the preset planned route, and then generates the corresponding driving trajectory in combination with the planned section of the online car-hailing route. If the current driving route of the online car-hailing car does not enter the next planned road section after passing the exit node, but choose Entering the associated road section of the exit node, it means that the online car-hailing driver has changed the driving route during the process of traveling according to the preset planned route, and further combines the associated road section of the route with the planned road section to generate a corresponding driving trajectory, so as to combine the actual situation of the online car-hailing car. The corresponding driving trajectory is recognized by the trend, thereby improving the control effect of the driving trajectory of the online car-hailing vehicle.

In one of the implementations of this embodiment, as shown in FIG. 2 , after step S107 is judged whether the current driving route of the online car-hailing vehicle corresponds to the planned road section and the exit node corresponding to the planned road section, the following steps are also included:

S201. If the current driving route of the online car-hailing does not correspond to the planned road section and the exit node corresponding to the planned road section, obtain the current order information of the online car-hailing car;

S202. Determine whether the driving destination has changed according to the current order information;

S203. If the driving destination has not changed, determine whether the current driving route of the online car-hailing vehicle corresponds to the driving route;

S204. If the current driving route of the online car-hailing service corresponds to the driving route, obtain the driving section corresponding to the driving route and the driving exit node corresponding to the driving section;

S205. Determine whether the current driving route of the online car-hailing vehicle corresponds to the driving road section and the driving exit node corresponding to the planned road section;

S206. If the current driving route of the online car-hailing vehicle corresponds to the driving road section and the driving exit node corresponding to the driving road section, then determine whether the current driving route of the online car-hailing car enters the next driving road section after passing through the driving exit node;

S207. If the current driving route of the online car-hailing route enters the next driving section after passing through the driving exit node, a corresponding driving trajectory is generated in combination with the driving section of the online car-hailing route;

S208. If the current driving route of the online car-hailing vehicle does not enter the next driving section after passing through the driving exit node, then generate a corresponding driving trajectory based on the driving section of the online car-hailing route and the current driving section, and send the deceleration control to the online car-hailing vehicle instruction.

In actual use, if the current driving route of the online car-hailing car does not correspond to the planned road section and the exit node corresponding to the planned road section, it means that the online car-hailing car did not drive according to the selected preset planned route after selecting the preset planned route , considering the situation that the online car-hailing passenger temporarily changes the driving destination after boarding the car, it is further judged whether the driving destination in the current order information of the online car-hailing car has changed.

Furthermore, if the driving destination has not changed, it means that the online car-hailing driver did not consider driving according to the preset planned route after selecting the preset planned route. Whether the current driving route of the car-hailing corresponds to the driving route, and the driving route is other driving routes except the preset planning route obtained after determining the driving starting point and driving destination.

It should be noted that if the current driving route of the online car-hailing car corresponds to the driving route, it means that the driver of the online car-hailing car has chosen a driving route other than the preset planned route to the driving destination. In order to further determine and identify the driving route of the online car-hailing car Whether the driving trajectory follows the driving route, then further obtain and judge whether the current driving route of the online car-hailing car corresponds to the driving section and the corresponding driving exit node of the driving section. The vehicle road exit of the road section is similar to the above-mentioned exit node, and the driving exit node is also a division point between various driving road sections in the driving route.

Among them, in order to reduce the occurrence of frequent changes of driving routes by online car-hailing drivers, it is further judged whether the current driving route of online car-hailing vehicles enters the next driving section after passing through the driving exit node.

For example, the driving route is composed of I, J and K traffic sections, the traffic exit node corresponding to the I traffic section is No. 4 traffic light, the traffic exit node corresponding to the J traffic section is No. 5 traffic light, and the traffic exit node corresponding to the K traffic section is 6 No. traffic light, if the online car-hailing car leaves section I and enters section J via traffic light No. 4, it means that the current driving route of the online car-hailing vehicle enters the next section of driving section after passing through the exit node. This judgment is over, enter In the next judgment, the online car-hailing car drives out of the J driving section and passes through the No. 5 traffic light and enters the K driving section. The car-hailing driver drives to the driving destination through the K driving section, and completes the last judgment, indicating that the online car-hailing car drives to the driving destination according to the driving route, and then combines the I, J and K driving sections to generate the corresponding driving trajectory of the online car-hailing car.

For another example, if the online car-hailing vehicle leaves section I and enters section J via the No. 4 traffic light, but enters another section, that is, the current driving section in step S208, it means that the online car-hailing service is changed on the basis of the original driving route. If the driving direction or road is determined, the driving trajectory corresponding to the online car-hailing car will be generated based on the driving section and the current driving section, and the deceleration control command will be sent to the online car-hailing car to control the deceleration of the online car-hailing car. The current driving section refers to the actual driving of the online car-hailing car. and not the planning and driving sections.

The driving trajectory control method provided in this embodiment further judges the current driving of the online car-hailing service under the premise that the current driving route does not correspond to the planned road section and the exit node corresponding to the planned road section, and the corresponding driving destination in the current order information has not changed. Whether the route corresponds to other driving routes leading to the driving destination other than the preset planned route. If so, it is judged whether the current driving route of the online car-hailing vehicle enters the next driving section after passing the driving exit node. If it enters, it means that the online car-hailing car During the driving process, the driving trajectory determined by the original preset planning route is changed, and the corresponding driving trajectory is further combined with the driving section of the online car-hailing route. On the other hand, if it is not entered, the driving section of the online car-hailing route and the current driving are combined The corresponding driving trajectory is generated on the road section, and a deceleration control command is sent to slow down the online car-hailing car, which reduces the occurrence of frequent route changes of the online car-hailing car when it travels to the driving destination, so as to facilitate reasonable management and control of the driving track of the online car-hailing car.

In one of the implementations of this embodiment, as shown in Figure 3, in step S203, that is, if the driving destination has not changed, then after determining whether the current driving route of the online car-hailing vehicle corresponds to the driving route, the following steps are further included:

S301. If the current driving route of the online car-hailing does not correspond to the driving route, obtain the intersection node of the online car-hailing route;

S302. If there are multiple intersection nodes, set the intersection numbers corresponding to the intersection nodes according to the order of the network car-hailing route through the intersection nodes;

S303. According to the intersection number, calculate the corresponding driving distance from the intersection node to the driving destination;

S304. Determine whether the driving distance continues to decrease according to the sequence of intersection numbers;

S305. If the driving distance continues to decrease, generate corresponding driving trajectories according to the sequence of intersection numbers and in combination with corresponding route sections between adjacent intersection nodes.

The intersection node in step S301 refers to the exit node corresponding to the current driving section. If there are multiple intersection nodes, in order to further predict the travel trend of the online car-hailing car, the intersection nodes are set according to the order of the intersection nodes through the online car-hailing car. The corresponding intersection number, and according to the intersection number, calculate the corresponding driving distance from the intersection node to the driving destination. The driving distance refers to the distance between the current intersection node and the driving destination.

For example, there are 3 intersection nodes in the online car-hailing route. According to the sequence of the online car-hailing route, they are L, M and N intersection nodes, then set the L intersection node as No. 1, set the M intersection node as No. 2, and set N The intersection node is No. 3. According to the map software, the No. 1, No. 2, and No. 3 intersection nodes and driving destinations are respectively positioned, and the distance between the No. 1 intersection node and the driving destination is 1 km, and the distance between the No. 2 intersection node and the driving destination The distance to the destination is 0.5 kilometers, and the distance from the No. 3 intersection node to the driving destination is 0.2 kilometers.

It should be noted that if the corresponding driving distance continues to decrease according to the order of the intersection numbers corresponding to the intersection nodes, it means that the current travel direction of the online car-hailing car is still going to the driving destination. The corresponding road sections between the intersection nodes generate the driving trajectory corresponding to the online car-hailing car, that is, combine the road section between the No. corresponding driving trajectory.

For another example, according to the map software, the intersection nodes and driving destinations of No. 1, No. 2, and No. 3 are respectively positioned, and the distance between the No. 1 intersection node and the driving destination is 1 km, and the distance between the No. 2 intersection node and the driving destination is obtained. If the distance between the No. 3 intersection node and the driving destination is 3 kilometers, it means that the current travel trend of the online car-hailing vehicle deviates from the driving purpose, and the braking control command is sent to the online car-hailing car according to the online car-hailing supervision platform. Control the online car-hailing car to stop running.

In the driving trajectory control method provided in this embodiment, when the current driving route of the online car-hailing car does not correspond to the driving route, it means that the online car-hailing car does not follow the prescribed driving route and changes the driving direction without permission. By judging the distance between the intersection node and the driving destination Whether the corresponding driving distance continues to decrease, so as to determine whether the current specific driving trajectory of the online car-hailing vehicle is the driving destination, and then reasonably manage and control the driving trajectory of the online car-hailing vehicle.

In one of the implementations of this embodiment, as shown in Figure 4, in step S110, if the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing through the exit node, then it is determined that the current driving route of the online car-hailing car is After the route enters the associated road segment of the exit node, the following steps are also included:

S401. If the current driving route of the online car-hailing service does not enter the associated road section of the exit node, then determine whether the associated road section is a congested road section;

S402. If the associated road section is a congested road section, obtain the corresponding first passage road between the current entering road section of the online car-hailing car and the driving destination;

S403. If there are multiple first passage roads, obtain the target first passage roads whose road length is smaller than the preset detour threshold in each first passage road;

S404. Generate a corresponding driving route planning prompt according to the target first passing road.

In practice, usually, if the current driving route of the online car-hailing service does not enter the associated road section of the exit node, it means that there may be traffic congestion in the associated road section, which may be caused by a vehicle accident in the associated road section. Or catch up with the rush hour, then further obtain the actual traffic conditions of the associated road section through the image taken by the road monitoring equipment of the exit node, if the associated road section is a congested road section, it means that the online car-hailing driver has chosen to take a shortcut, that is, in step S402 The current way to enter the road section to drive to the driving destination. The current road section will not be displayed in the map software under normal circumstances, and most of it is obtained from years of driving experience by online car-hailing drivers.

Furthermore, if the associated road section is not a congested road section, it means that the online car-hailing driver deliberately does not choose a reasonable driving road, and a warning prompt will be sent to the online car-hailing driver according to the online car-hailing monitoring platform.

Further, obtain the first passageway corresponding to the current entry section of the online car-hailing car and the driving destination. If there are multiple first passageways, in order to reduce the occurrence of the network-hailing car driver deliberately going far, then further judge the first Whether the road length of the passing road is within the preset detour threshold. The preset detour threshold refers to the length range within which the length of the road between the currently entered road section of the online car-hailing car and the corresponding driving destination must not exceed.

For example, an online car-hailing car drives out of road section F through exit node 1 and enters the current entry road section X. The distance from exit node 1 to the driving destination is 3 kilometers, and the corresponding preset detour threshold is 3.5 kilometers. At this time, according to the map software There are 3 first passing roads between the currently entering road section X and the driving destination, namely Y1, Y2 and Y3 passing roads. The distance between the Y1 passing road and the corresponding road to the driving destination is 3.8 kilometers, and the distance between the Y2 passing road and the driving destination The length of the road corresponding to the destination is 4.1 kilometers, and the length of the road corresponding to the road Y3 to the destination is 3.2 kilometers, then it can be determined that the length of the road Y3 is less than the corresponding preset detour threshold, and the network is generated based on the Y3 road. Driving route planning tips corresponding to car booking.

For another example, according to the map software, there are 3 first passing roads between the currently entering road section X and the driving destination, which are respectively Y1, Y2 and Y3 passing roads, and the length of the Y1 passing road to the driving destination is 3.8 kilometers. , the length of the Y2 traffic road to the corresponding road destination is 4.1 kilometers, and the length of the Y3 traffic road to the traffic destination is 3.6 kilometers. If the detour threshold is set, the online car-hailing supervision platform will send a warning message to the online car-hailing car that exceeds the preset detour threshold.

The driving trajectory control method provided in this embodiment, when the associated road section is a congested road section, selects the first passage road whose road length is at the preset detour threshold as the target first passage road, which reduces the traffic caused by excessive detours caused by online car-hailing drivers. Occurrence of an increase in fares for car-hailing passengers.

In one of the implementations of this embodiment, as shown in FIG. 5, step S403, that is, generating a corresponding driving route planning prompt according to the target first traffic road includes the following steps:

S501. Determine whether there are multiple target first passing roads;

S502. If there are multiple target first passage roads, select the target first passage road with a passage road between the preset planning route from the multiple target first passage roads as the pre-selected passage road;

S503. If there are multiple pre-selected access roads, select the shortest pre-selected access road from the multiple pre-selected access roads as the established access road;

S504. Generate a corresponding driving route planning prompt according to the established traffic road.

In practical applications, in order to reduce the congestion of the target first-passage road and increase the travel time of online car-hailing, first determine whether there are multiple target first-passage roads, and if so, further judge whether there are multiple target first-passage roads Whether there is a passageway between the road and the preset planned route, and if it exists, select the corresponding target first passageway as the preselected passageway.

Further, if there are multiple pre-selected access roads, select the pre-selected access road with the shortest access road from the multiple pre-selected access roads as the established access road, and generate corresponding driving route planning prompts. Driving route planning prompts refer to online car-hailing companies Tips for optimal route planning to the driving destination.

It should be noted that if there is only one target first passing road, it is further judged whether there is a passing road between the current target first passing road and the preset planning route, and if so, it is further judged whether the target first passing road is congested , if there is congestion, it is further judged whether there is congestion at the intersection intersection of the passing road and the preset planned route. Generally, there are road monitoring equipment at the intersection intersection of the traffic road and the intersection, through which the vehicle of the corresponding road or intersection can be obtained in real time traffic conditions.

If there is congestion at the intersection intersection of the access road and the preset planning line, the estimated congestion relief time of the target first access road and the intersection intersection of the access road and the preset planning route is obtained, if the estimated first access road of the target If the congestion relief duration is less than the expected congestion relief duration at the intersection of the traffic road and the preset planned route, the current target first traffic road is selected as the established traffic road, otherwise, the traffic road is selected as the established traffic road, and the corresponding driving route is generated Planning tips.

Furthermore, if there is no corresponding passage road between the current target first passage road and the preset planned route, the target first passage road is directly selected as the predetermined passage road, and a corresponding driving route planning prompt is generated.

The driving trajectory management and control method provided in this embodiment selects the established passing road with the shortest passing road between the preset planning route and generates a corresponding driving route planning prompt from multiple target first passing roads, so that When the traffic road is congested, the online car-hailing car can quickly return to the preset planned route, reducing additional travel time.

In one of the implementations of this embodiment, as shown in Figure 6, in step S402, that is, if the associated road section is a congested road section, then the first traffic road corresponding to the current entry road section of the online car-hailing service and the driving destination is obtained. Afterwards the following steps are also included:

S601. If the road length of the first passing road exceeds the preset detour threshold, obtain the return route between the current entering road segment and the preset planned route;

S602. If there are multiple regression routes, select the regression route closest to the exit node as the preselected regression route;

S603. If there are multiple pre-selected return routes, select the pre-selected return route with the least number of lane changes among the multiple pre-selected return routes as the target return route;

S604. The online car-hailing returns to the preset planned route according to the target return route.

In practice, if the road length of the first passable road exceeds the preset detour threshold, it means that driving along the first passable road will increase the unnecessary journey of the online car-hailing car. In order to reduce the occurrence of this situation, further in the map The software matches the return route between the current first passable road and the preset planned route.

Further, if there are multiple regression routes matched, the pre-selected regression route with the least number of lane changes among the multiple regression routes is selected as the target regression route, and the online car-hailing vehicle returns to the preset planning route according to the target regression route, wherein, The number of lane changes refers to the number of times the vehicle needs to change lanes in the return route. The more lane changes in the return route, the longer the time for the online car-hailing car to return to the preset planned route, and the greater the risk of vehicle accidents.

The driving trajectory control method provided in this embodiment selects the return route with the closest distance to the exit node and the least number of lane changes as the target return route, thereby saving the time for returning to the preset planned route.

In one of the implementations of this embodiment, as shown in FIG. 7, step S601 is to obtain the return route between the current entry road section and the preset planning route if the road length of the first passing road exceeds the preset detour threshold. Include the following steps:

S701. If the first passing road does not meet the preset detour threshold, obtain the second passing road between the current entering road segment and the preset planned route;

S702. If there are multiple second passing roads, obtain the congestion time periods corresponding to the multiple second passing roads;

S703. Combining the entry time of the current entry road section and the travel time corresponding to the second passage road, generate a corresponding estimated passage time period;

S704. Select the second passage road whose expected passage time period is not in the congestion time period as the return route.

In practical application, if the first passing road does not meet the preset detour threshold, in order to reduce the unnecessary trips of the online car-hailing car, the second passing road between the currently entered section of the online car-hailing car and the preset planned route is obtained, and the current entering A road section refers to other road sections except the planned road section and the associated road section corresponding to the exit node. If there are multiple second passage roads, the congestion time period corresponding to the multiple second passage roads is obtained. The congestion time period refers to the normal situation The traffic jam time periods corresponding to multiple second access roads, where the traffic jam is caused by the second access road being located in the downtown area of the city, and the corresponding flow of people and vehicles is relatively large, through the road monitoring on both sides of the second access road The vehicle and human flow captured by the device every day can be used to obtain the corresponding congestion time period.

Further, in order to reduce the occurrence of catching up with the congestion time period corresponding to the second passageway, the corresponding estimated passage time period is generated by combining the entry time of the online car-hailing car to the current entry road section and the travel time corresponding to the second passageway, where The entry time refers to the time when the online car-hailing vehicle enters the current entry road section. The travel time corresponding to the second passageway refers to the time it takes to complete the second passageway according to the current driving speed of the network-hailing car. The estimated passage time period refers to The online car-hailing travel time obtained by adding the entry time to the travel time corresponding to the second traffic road.

For example, the second traffic road includes Q1, Q2 and Q3 traffic roads, the congestion time period corresponding to the Q1 traffic road is from 10 am to 12 o'clock every day, and the congestion time period corresponding to the Q2 traffic road is from 10 am to 12 o'clock every day Half, the congestion time period corresponding to the Q3 traffic road is from 10:00 am to 12:40 am every day, among which, the vehicle entrances of the Q1, Q2 and Q3 traffic roads are the same as the current entry section of the online car-hailing road, and the online car-hailing road The entry time to reach the current entry section is 9:00 am, the travel time corresponding to the Q1 traffic road is 1 hour, the travel time corresponding to the Q2 traffic road is 1.5 hours, and the travel time corresponding to the Q3 traffic road is 0.5 hours. The entry time and the corresponding traffic time of the Q3 traffic road, and the corresponding estimated traffic time period is around 9:30 in the morning, then it can be determined that the estimated traffic time segment is in the congestion time period corresponding to the Q3 traffic road, and the Q3 traffic road is selected as the regression route.

For another example, the vehicle entrances of Q1, Q2, and Q3 traffic roads are the same, that is, the current entry road section of the online car-hailing car. The entry time of the online car-hailing car to the current entry road section is 9 am, and the corresponding travel time of the Q1 traffic road is 1 Hours, the travel time corresponding to the Q2 traffic road is 0.2 hours, and the travel time corresponding to the Q3 traffic road is 0.5 hours. From the above calculation, the Q2 traffic road is selected as the regression route.

For another example, the vehicle entrances of Q1, Q2, and Q3 traffic roads are the same, that is, the current entry road section of the online car-hailing car. The entry time of the online car-hailing car to the current entry road section is 9 am, and the corresponding travel time of the Q1 traffic road is 1. Hours, the travel time corresponding to the Q2 traffic road is 1.5 hours, and the travel time corresponding to the Q3 traffic road is 2 hours, then further obtain the congestion duration of the Q1, Q2 and Q3 traffic roads, and select the traffic road with the least congestion duration as the return route .

The driving trajectory management and control method provided in this embodiment collects the time when the online car-hailing car currently enters the road section and the travel time corresponding to multiple second passage roads, calculates the corresponding estimated passing time period, and further calculates the corresponding expected passing time according to the expected passing time. Compared with the time period, the second traffic road that is not in the congested time period is selected as the return route, thereby reducing the time to return to the preset planned route.

The embodiment of the present application also discloses a system for identifying driving trajectories, as shown in Figure 8, including:

The first obtaining module 1 is used to obtain the driving starting point and driving destination of the online car-hailing;

Determination module 2 is used to determine the corresponding driving route in combination with the driving starting point and the driving destination;

The second acquisition module 3, if the number of driving routes is multiple, the second acquisition module 3 is used to acquire the corresponding preset planned route;

The first judging module 4 is used to judge whether the currently selected driving route of the online car-hailing service is consistent with the preset planned route;

The second judging module 5, if the currently selected driving route of the network-hailed car is consistent with the preset planned route, the second judging module 5 is used to judge whether the current driving position of the network-hailed car is in the planned road section corresponding to the preset planned route;

The third acquisition module 6, if the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the preset planned route, the third acquisition module 6 is used to acquire the exit node corresponding to the planned road section;

The third judging module 7 is used to judge whether the current driving route of the online car-hailing matches the planned road section and the exit node corresponding to the planned road section;

The fourth judging module 8, if the current driving route of the online car-hailing matches the planned road section and the exit node corresponding to the planned road section, the fourth judging module 8 is used to judge whether the current driving route of the online car-hailing car enters the next section after passing the exit node planning section;

The first combination module 9, if the current driving route of the network-hailing car enters the next section of the planned road section after passing through the exit node, the combination module is used to generate a corresponding driving track in conjunction with the planned road section of the network-hailing car approach;

The fifth judging module 10, if the current driving route of the online car-hailing vehicle does not enter the next planned road section after passing through the exit node, the fifth judging module 10 is used to judge whether the current driving route of the online car-hailing car enters the associated road section of the exit node, The associated road section refers to the road section from the current exit node to the driving destination or the next exit node where the online car-hailing vehicle enters;

The second combination module 11, if the current driving route of the online car-hailing vehicle enters the associated road section of the exit node, the second combining module 11 is used to combine the associated road section and the planned road section of the route to generate a corresponding driving trajectory.

The system for identifying the driving trajectory provided in this embodiment judges according to the second judging module 5 whether the current driving position of the online car-hailing vehicle is in the planned road section corresponding to the selected preset planned route, so as to obtain the online car-hailing car through the third acquisition module 6 The preliminary driving trend of the network, and further judge whether the current driving route of the online car-hailing car matches the planned road section and the exit node corresponding to the planned road section through the third judging module 7, and can further judge whether the driving direction of the online car-hailing car is consistent with the preset planned route, so that To record and track the driving route of the online car-hailing, by judging whether the current driving route of the online-hailing car enters the next planned road section after passing through the exit node, it can be concluded whether the network-hailing car deviates from the preset planned route during the itinerary, if The current driving route of the online car-hailing route enters the next planned road section after passing the exit node, which means that the online car-hailing car always travels according to the preset planned route, and then the corresponding driving route is generated by combining the planned road section of the online car-hailing route through the first combining module 9 Trajectory, if the current driving route of the online car-hailing car does not enter the next planned road section after passing the exit node, but chooses to enter the associated road section of the exit node, it means that the online car-hailing driver has changed his driving during the process of traveling according to the preset planned route The route is further combined with the associated road section and the planned road section of the route by the second combination module 11 to generate a corresponding driving trajectory, so as to identify the corresponding driving trajectory in combination with the actual movement of the online car-hailing car, thereby improving the control effect of the driving trajectory of the online car-hailing car .

It should be noted that the driving trajectory recognition system provided in the embodiment of the present application also includes modules and/or corresponding submodules corresponding to the logical functions or logical steps of any of the above-mentioned driving trajectory control methods, The same effect as each logical function or logical step is achieved, and details are not repeated here.

The embodiment of the present application also discloses a terminal device, including a memory, a processor, and computer instructions stored in the memory and capable of running on the processor, wherein, when the processor executes the computer instructions, any one of the above-mentioned embodiments is adopted. A driving trajectory control method.

Wherein, the terminal device may be a computer device such as a desktop computer, a notebook computer, or a cloud server, and the terminal device includes but is not limited to a processor and a memory, for example, the terminal device may also include an input and output device, a network access device, and a bus.

Among them, the processor can use a central processing unit (CPU), of course, according to the actual use, it can also use other general processors, digital signal processors (DSP), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays ( FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., general-purpose processors can be microprocessors or any conventional processors, etc., and this application does not limit this.

Wherein, the memory may be an internal storage unit of the terminal device, for example, a hard disk or internal memory of the terminal device, or may be an external storage device of the terminal device, for example, a plug-in hard disk, a smart memory card (SMC), a Secure digital card (SD) or flash memory card (FC), etc., and the memory can also be a combination of the internal storage unit of the terminal device and an external storage device. The memory is used to store computer instructions and other instructions and data required by the terminal device. The memory can also be used to temporarily store outputted or to-be-outputted data, which is not limited in this application.

Wherein, through the terminal device, any one of the driving trajectory management and control methods in the above embodiments is stored in the memory of the terminal device, and is loaded and executed on the processor of the terminal device, which is convenient for use.

The embodiment of the present application also discloses a computer-readable storage medium, and the computer-readable storage medium stores computer instructions, wherein, when the computer instructions are executed by the processor, any driving trajectory control method in the above-mentioned embodiments is adopted .

Wherein, the computer instructions may be stored in a computer-readable medium, and the computer instructions include computer instruction codes, and the computer instruction codes may be in the form of source code, object code, executable file or some middleware, etc., and the computer-readable medium includes Any entity or device carrying computer instruction code, recording medium, USB flash drive, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random-access memory (RAM), electrical carrier signal, telecommunication signal and software It should be noted that the computer-readable medium includes but is not limited to the above components.

Wherein, through the computer-readable storage medium, any one of the driving track management and control methods in the above-mentioned embodiments is stored in the computer-readable storage medium, and is loaded and executed on the processor, so as to facilitate the storage and operation of the above-mentioned method. application.

All of the above are preferred embodiments of the application, and are not intended to limit the protection scope of the application. Therefore, all equivalent changes made according to the structure, shape, and principle of the application should be covered by the protection scope of the application. Inside.

Claims (10)

1. A driving track control method is characterized by comprising the following steps:

acquiring a driving departure point and a driving destination of the network appointment vehicle;

determining a corresponding driving route by combining the driving starting point and the driving destination;

if the number of the driving routes is multiple, acquiring a corresponding preset planning route;

judging whether the currently selected driving route of the network appointment car is consistent with the preset planning route or not;

if the currently selected driving route of the network taxi appointment is consistent with the preset planning route, judging whether the current driving position of the network taxi appointment is located in a planning section corresponding to the preset planning route;

if the current driving position of the network appointment vehicle is located in the planning road section corresponding to the preset planning line, acquiring an exit node corresponding to the planning road section;

judging whether the current driving route of the network appointment vehicle is matched with the planned road section and the exit node corresponding to the planned road section;

if the current driving route of the network car appointment is matched with the planned road section and the exit node corresponding to the planned road section, judging whether the current driving route of the network car appointment enters the next section of the planned road section after passing through the exit node;

if the current driving route of the network car appointment enters the next section of the planned road section after passing through the exit node, generating a corresponding driving track by combining the planned road section of the network car appointment route;

if the current driving route of the network appointment does not enter the next section of the planned road section after passing through the exit node, judging whether the current driving route of the network appointment enters an associated road section of the exit node or not, wherein the associated road section is a road section from the current exit node to the next exit node entered by the network appointment;

and if the current driving route of the online taxi appointment enters the associated road section of the exit node, generating the corresponding driving track by combining the associated road section of the route and the planning road section.

2. The method according to claim 1, wherein after the determining whether the current driving route of the networked car appointment corresponds to the planned road segment and the exit node corresponding to the planned road segment, the method further comprises the following steps:

if the current driving route of the network appointment vehicle does not correspond to the planned road section and the exit node corresponding to the planned road section, current order receiving information of the network appointment vehicle is obtained;

judging whether the driving destination is changed or not according to the current order receiving information;

if the driving destination is not changed, judging whether the current driving route of the online taxi appointment corresponds to the driving route;

if the current driving route of the online taxi appointment corresponds to the driving route, acquiring a driving section corresponding to the driving route and a driving exit node corresponding to the driving section;

judging whether the current driving route of the network appointment vehicle corresponds to the driving road section and the driving exit node corresponding to the planning road section;

if the current driving route of the network appointment vehicle corresponds to the driving section and the driving exit node corresponding to the driving section, judging whether the current driving route of the network appointment vehicle enters the next driving section after passing through the driving exit node;

if the current driving route of the networked car appointment enters the next section of driving road section after passing through the driving exit node, generating the corresponding driving track by combining the driving road section of the networked car appointment path;

and if the current driving route of the network appointment vehicle does not enter the next section of driving road section after passing through the driving exit node, generating the corresponding driving track by combining the driving road section and the current driving road section of the network appointment vehicle, and sending a deceleration control instruction to the network appointment vehicle.

3. The method according to claim 2, wherein after determining whether the current driving route of the networked car appointment corresponds to the driving route if the driving destination is not changed, the method further comprises:

if the current driving route of the network car appointment does not correspond to the driving route, acquiring intersection nodes of the network car appointment path;

if the number of the intersection nodes is multiple, the intersection numbers corresponding to the intersection nodes are set according to the route sequence of the network car booking route to the intersection nodes;

calculating the driving distance from the intersection node to the driving destination according to the intersection number;

judging whether the driving distance is continuously reduced or not according to the sequence of the crossing numbers;

and if the driving distance is continuously reduced, generating the corresponding driving track by combining the corresponding path road sections between the adjacent intersection nodes according to the sequence of the intersection numbers.

4. The method according to claim 1, wherein after determining whether the current driving route of the networked car appointment enters the relevant section of the exit node if the current driving route of the networked car appointment does not enter the next planned section of the road after passing the exit node, the method further comprises:

if the current driving route of the online taxi appointment does not enter the associated road section of the exit node, judging whether the associated road section is a congested road section;

if the associated road section is the congested road section, acquiring a corresponding first passing road between a current access road section of the network car appointment and the driving destination;

if the number of the first passing roads is multiple, acquiring a target first passing road of which the road length is smaller than a preset detour threshold value in each first passing road;

and generating a corresponding driving route planning prompt according to the target first passing road.

5. The method for managing and controlling the driving track according to claim 4, wherein the step of generating the corresponding driving route planning prompt according to the target first traffic road comprises the following steps:

judging whether the target first passing roads are multiple or not;

if the number of the target first passing roads is multiple, selecting the target first passing road with the passing road between the target first passing road and the preset planning line as a preselected passing road;

if the pre-selection passing roads are multiple, selecting the pre-selection passing road with the shortest passing road from the multiple pre-selection passing roads as a set passing road;

and generating the corresponding driving route planning prompt according to the established traffic road.

6. The method according to claim 4, wherein after the step of obtaining the corresponding first traffic road between the current entering road segment of the network appointment and the driving destination if the associated road segment is the congested road segment, the method further comprises the following steps:

if the road length of the first passing road exceeds the preset detour threshold value, acquiring a regression route between the current entering road section and the preset planning route;

if the number of the regression routes is multiple, selecting the regression route closest to the exit node as a preselected regression route;

if the number of the preselected regression routes is multiple, selecting the preselected regression route with the least lane changing times from the multiple preselected regression routes as a target regression route;

and the network appointment vehicle regresses to the preset planning line according to the target regression line.

7. The method according to claim 6, wherein the step of obtaining the regression route between the current entering road segment and the preset planned route if the first passing road does not meet the preset detour threshold comprises:

if the first passing road does not accord with the preset detour threshold value, acquiring a second passing road between the current entering road section and the preset planning line;

if the number of the second passing roads is multiple, acquiring congestion time periods corresponding to the multiple second passing roads;

combining the entering time of the current entering road section and the corresponding travel time length of the second passage road to generate a corresponding predicted passing time period;

and selecting the second passing road of which the predicted passing time period is not in the congestion time period as the regression route.

8. A system for identifying a driving trajectory, comprising:

the first acquisition module (1) is used for acquiring a driving departure point and a driving destination of the network car appointment;

the determining module (2) is used for determining a corresponding driving route by combining the driving starting point and the driving destination;

the second acquisition module (3) is used for acquiring a corresponding preset planning line if the number of the driving routes is multiple;

the first judgment module (4) is used for judging whether the currently selected driving route of the network taxi appointment is consistent with the preset planning route or not;

the second judgment module (5) is used for judging whether the current driving position of the network car appointment is in a planning road section corresponding to the preset planning line or not if the current selected driving line of the network car appointment is consistent with the preset planning line;

a third obtaining module (6), if the current driving position of the networked taxi appointment is in the planned road section corresponding to the preset planned route, the third obtaining module (6) is used for obtaining an exit node corresponding to the planned road section;

a third judging module (7) for judging whether the current driving route of the network taxi appointment matches the planned road section and the exit node corresponding to the planned road section;

a fourth judging module (8), if the current driving route of the network car appointment matches the planned road section and the exit node corresponding to the planned road section, the fourth judging module (8) is used for judging whether the current driving route of the network car appointment enters the next section of the planned road section after passing through the exit node;

the first combination module (9) is used for combining the planning road section of the network car booking path to generate a corresponding driving track if the current driving route of the network car booking enters the next section of the planning road section after passing through the exit node;

a fifth judging module (10), if the current driving route of the networked car appointment does not enter the next planned road section after passing through the exit node, the fifth judging module (10) is used for judging whether the current driving route of the networked car appointment enters an associated road section of the exit node, wherein the associated road section is a road section from the current exit node to the driving destination or the next exit node entered by the networked car appointment;

and the second combination module (11) is used for combining the associated road sections of the routes and the planning road sections to generate the corresponding driving tracks if the current driving routes of the networked appointment vehicles enter the associated road sections of the exit nodes.

9. A terminal device, comprising a memory and a processor, wherein the memory stores computer instructions capable of running on the processor, and when the processor loads and executes the computer instructions, a trajectory management method according to any one of claims 1 to 7 is adopted.

10. A computer readable storage medium, having stored thereon computer instructions, which when loaded and executed by a processor, implement a method of trajectory management as claimed in any one of claims 1 to 7.

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