CN114332817A - Method, device, equipment and storage medium for determining vehicles in same-driving - Google Patents

Abstract

Embodiments of the present invention provide a method, device, device, and storage medium for determining a companion vehicle, which relate to the field of computer technology and are used to improve the accuracy of determining a companion vehicle, including a historical time period and a target vehicle identifier that the electronic device responds to user input , to obtain the peer analysis results of the target vehicle in the historical time period. The peer analysis results include multiple peering time periods between each candidate peering vehicle and the target vehicle among multiple candidate peering vehicles; the trajectory distance of each peering time period is less than the expected Set the distance; the track distance is the Freiecher distance between the trajectory of a candidate vehicle and the target vehicle within a same time period, and each candidate vehicle is determined according to the number of multiple time periods of each candidate vehicle. The target similarity between the trajectory of the target vehicle and the target vehicle's trajectory, based on the determined target similarity, from a plurality of candidate companion vehicles, determine the target companion vehicle whose similarity is greater than the preset similarity.

Description

A method, device, equipment and storage medium for determining a companion vehicle

technical field

The present invention relates to the field of computer technology, and in particular, to a method, device, device and storage medium for determining a companion vehicle.

Background technique

With the deepening of the application of informatization construction, the relevant vehicle collection systems such as bayonet and electronic monitoring built all over the country have been increasingly improved, and the passing data and driving trajectories of vehicles have been retained in the database. Using the driving trajectories in the database can help to discover the vehicles that travel with the target vehicle.

At present, the method of dividing the space grid is usually used to mine similar trajectories. However, the use of dividing the space grid is easily affected by the size of the space grid. If it is too large, it will lead to a decrease in the accuracy of the identified peer vehicles. Therefore, there is an urgent need for a method that can accurately determine the companion vehicle.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a method, device, device, and storage medium for determining a companion vehicle, which are used to improve the accuracy of determining the companion vehicle.

In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:

In a first aspect, a method for determining a peer vehicle is provided. The method includes: an electronic device, in response to a historical time period input by a user and a target vehicle identifier, obtains peer analysis results of the target vehicle in the historical time period, and the peer analysis results include multiple Among the candidate traveling vehicles, each candidate traveling vehicle has multiple traveling time periods with the target vehicle; the trajectory distance of each traveling traveling period is less than the preset distance; The Frechet distance in the travel time period. The electronic device determines the target similarity between the track of each candidate traveling vehicle and the track of the target vehicle according to the number of multiple traveling time periods of each candidate traveling vehicle. Based on the determined target similarity, the electronic device determines a target companion vehicle with a similarity greater than a preset similarity from a plurality of candidate companion vehicles.

The method for determining a traveling vehicle provided by the present invention can determine whether each time period is the traveling time period of the traveling vehicle according to whether the trajectories of the candidate traveling vehicle and the target vehicle in each time period after division are traveling traveling with the same vehicle, and then can determine whether each time period is the traveling traveling time period of the traveling traveling vehicle. The number of time periods determines the similarity of vehicle trajectories, and the vehicles that travel with the target vehicle are determined from the candidate vehicles. The invention determines the track similarity in each time segment separately by dividing the time segment, improves the accuracy of the calculation result of the track similarity in each time segment, and further improves the accuracy of determining the companion vehicle.

In a possible design, before obtaining the peer analysis result of the target vehicle in the historical time period, the above-mentioned method for determining the peer vehicle further includes: the electronic device determines the target trajectory of the target vehicle and the candidate peer trajectory of each candidate peer vehicle; According to the preset division time, the total time period is divided into multiple candidate time periods; the total time period includes the time period occupied by the target trajectory and the time period occupied by the candidate peer trajectory; A target sub-track, and the first candidate traveling sub-track of each candidate traveling vehicle within the first candidate time period, to determine whether the first candidate time period is a traveling time period; the first candidate time period is one of the multiple candidate time periods Any one of ; in the case that the first candidate time period is a peer time period, the peer time period and the candidate peer vehicle corresponding to the peer time period are stored as peer analysis results. The design realizes how to divide the time period, and analyzes whether the trajectory is a peer trajectory in each time period, which improves the accuracy of the peer vehicle.

In a possible design, the first candidate is determined according to the first target sub-trajectories of the target vehicle in the first candidate time period and the first candidate companion sub-trajectories of each candidate companion vehicle in the first candidate time period. Whether the time period is a peer time period includes: when the electronic device intercepts the first target sub-track and the first candidate sub-track in the case that the first target sub-track and the first candidate peer sub-track occupy the same time period in the first candidate time period The second target sub-track and the second candidate peer sub-track in the same time period are obtained respectively; the track distance between the second target sub-track and the second candidate peer sub-track is determined, and the second target sub-track And if the track distance between the second candidate peer tracks is less than the preset distance, the first candidate time period is determined to be the peer time period. The design realizes that before determining whether the time period is a peer time period, it is determined whether the trajectory in the time period occupies the same time period. If there is the same time period, it is further determined whether it is a peer time period. If there is no same time period, then Determining the non-peer time period makes it unnecessary for the electronic device to calculate whether the trajectory is a peer for all time periods, which saves the computing resources of the electronic device.

In a possible design, the above-mentioned interception of the first target sub-track and the first candidate peer sub-track to obtain the second target sub-track and the second candidate peer sub-track in the same time period respectively includes: determining the first target by the electronic device. The interception start point of the sub-track and the interception start point of the first candidate line sub-track, and respectively determine the remaining track of the first target sub-track and the remaining track of the first candidate line sub-track; in the remaining track of the first target sub-track and Among the remaining trajectories of the first candidate peer track, when the ratio of the remaining track with the smallest duration to the remaining track with the longest duration is greater than a preset threshold, determine the interception end point of the first target subtrack and the clipping of the first candidate peer track respectively. end point; according to the interception starting point of the first target sub-track, and the interception end point of the first target sub-track, intercept the first target sub-track to obtain the second target sub-track; according to the interception starting point of the first candidate row sub-track , and the interception end point of the first candidate peer track, intercept the first candidate peer track, and obtain the second candidate peer track. In this design, the electronic device intercepts the trajectory in the candidate time period, so that the determined distance between the two trajectories is more accurate. data, saving the computing resources of electronic devices.

In a possible design, the above-mentioned determination of the interception start point of the first target sub-track and the interception start point of the first candidate row sub-track includes: the electronic device determines the first track point, and uses the first track point as the first track. The interception starting point of ; the first trajectory point is the first trajectory point of the first target sub-trajectory and the first trajectory point of the first candidate same-line sub-trajectory that is later in time; the first trajectory is the first target sub-trajectory and The first candidate line sub-track includes the track of the first track point; the electronic device determines the second track point, and uses the second track point as the interception starting point of the second track; the second track point is located at a different location from the first track point. Among the track points on the track, the track point with the smallest time interval from the first track point; the second track is the first target sub-track and the track including the second track point in the first candidate row sub-tracks. In this design, the electronic device determines the interception starting point. After intercepting the trajectory according to the intercepting starting point, the data on the trajectory that is not used to calculate the Frechet distance is filtered out, which saves the computing resources of the electronic device and improves the subsequent Frechet distance. The computational efficiency of distance.

In a possible design, the above-mentioned determination of the interception end point of the first target sub-track and the interception end point of the first candidate row sub-track respectively includes: the electronic device determines the third track point, and uses the third track point as the third track point. The interception end point of the trajectory; the third trajectory point is the last trajectory point of the first target sub-trajectory and the trajectory point of the last trajectory point of the first candidate same-line sub-trajectory; the third trajectory is the first target sub-trajectory And the trajectory of the third trajectory point is included in the first candidate line of sub-trajectories; the electronic device determines the fourth trajectory point, and uses the fourth trajectory point as the interception end point of the fourth trajectory; the fourth trajectory point is located with the third trajectory point. The trajectory point with the smallest time interval with the third trajectory point among the trajectory points on different trajectories; the fourth trajectory is the trajectory including the fourth trajectory point in the first target sub-trajectory and the sub-trajectories in the first candidate row. In this design, the electronic device determines the interception end point. After intercepting the trajectory according to the interception end point, the part of the data on the trajectory that is not used to calculate the Frechet distance is filtered out, which saves the computing resources of the electronic device and improves the follow-up Freixer distance. The computational efficiency of distance.

In a possible design, the above-mentioned determination of the target similarity between the trajectory of each candidate accompanying vehicle and the trajectory of the target vehicle according to the number of multiple traveling time periods of each candidate traveling vehicle includes: the electronic device according to the traveling time. The ratio of the number of segments to the number of multiple candidate time segments determines the target similarity; the target similarity is positively correlated with the ratio. This design provides another method for determining the similarity of the trajectory after obtaining the number of peer time periods, so that it can be determined from multiple directions when subsequently determining whether it is a peer vehicle, thereby improving the accuracy of determining the peer vehicle.

In a possible design, after determining the target companion vehicle with a similarity greater than a preset similarity, the method further includes: the electronic device obtains target trajectory information of the target trajectory pair, and displays the target trajectory information; the target trajectory pair includes the target trajectory pair. The trajectory and the trajectory of the target companion vehicle; the target trajectory information includes the identification of the target companion vehicle and the information of the companion road of the target companion vehicle in the historical time period; the time interval between the target vehicle and the target companion vehicle entering or leaving the companion road is less than the expected time interval. Set the time interval. In this design, after the electronic device determines the companion vehicle, it can also display the companion trajectory information on the electronic device, which enables the user to better analyze the companion vehicle according to the companion trajectory information displayed by the electronic device.

In a second aspect, a method for determining a companion vehicle is provided, the method includes: an electronic device, in response to a historical time period input by a user, obtains candidate companion vehicle combination information within the historical time period, where the candidate companion vehicle combination information includes candidate companion vehicles The identification of the candidate vehicle and the multiple traveling time periods of the candidate traveling vehicle combination; the trajectory distance of each traveling time period is less than the preset distance; the track distance is the distance between the trajectory of a candidate traveling vehicle and the target vehicle’s trajectory within a traveling time period. break distance; determine the target similarity between the trajectories of the candidate companion vehicles of each candidate companion vehicle combination according to the number of multiple companion time periods of each candidate companion vehicle combination; In the vehicle combination, the target vehicle combination with the similarity greater than the preset similarity is determined. The method for determining a traveling vehicle provided by the present invention can mine all possible traveling vehicle combinations based on the full amount of trajectory information.

In a possible design, before the electronic device acquires the information of the candidate vehicle combination in the historical time period, the method further includes: the electronic device acquires a full amount of vehicle trajectories; determines the candidate peer vehicle combination; and obtains the candidate peer vehicle combination based on the full amount of vehicle trajectories. Vehicle combination information and stored.

In a third aspect, an electronic device is provided, the electronic device includes an acquisition unit and a determination unit. The obtaining unit is used to obtain the peer analysis result of the target vehicle in the historical time period in response to the historical time period and the target vehicle identification input by the user, and the peer analysis result includes the plurality of candidate peer vehicles, the relationship between each candidate peer vehicle and the target vehicle. Multiple traveling time periods; the track distance of each traveling time period is less than the preset distance; the track distance is the Frechet distance between the trajectory of a candidate traveling vehicle and the target vehicle’s track within a traveling time period; the determining unit is used for The number of multiple traveling time periods of each candidate traveling vehicle is used to determine the target similarity between the trajectory of each candidate traveling vehicle and the target vehicle; Among the candidate companion vehicles, determine the target companion vehicle whose similarity is greater than the preset similarity.

In a possible design, the electronic device further includes a processing unit, a judging unit and a storage unit. The determining unit is also used for determining the target trajectory of the target vehicle and the candidate companion trajectory of each candidate companion vehicle. The processing unit is configured to divide the total time period into a plurality of candidate time periods according to a preset division time period. The total time period includes the time period occupied by the target trajectory and the time period occupied by the candidate peer trajectory. The judging unit is used to judge whether the first candidate time period is a A peer time period; the first candidate time period is any one of multiple candidate time periods. The storage unit is configured to store the peer time period and the candidate peer vehicle corresponding to the peer time period as peer analysis results when the first candidate time period is the peer time period.

In a possible design, the processing unit is further configured to intercept the first target sub-track and the first candidate sub-track when the first target sub-track and the first candidate peer sub-track occupy the same time period in the first candidate time period. The second target sub-track and the second candidate peer-to-peer track in the same time period are obtained respectively. The determining unit is further configured to determine the track distance between the second target sub-track and the second candidate peer track, and when the track distance between the second target sub track and the second candidate peer track is less than the preset distance , and determine the first candidate time period as the peer time period.

In a possible design, the determining unit is also used to determine the interception start point of the first target sub-track and the interception start point of the first candidate row sub-track, and determine the remaining tracks of the first target sub-track and the first candidate row respectively. The remaining tracks of the subtrack. The determining unit is further configured to, among the remaining tracks of the first target sub-track and the remaining tracks of the first candidate peer sub-tracks, determine the first target respectively when the ratio of the remaining track with the smallest duration to the remaining track with the longest duration is greater than a preset threshold The clipping end point of the sub-track and the clipping end point of the first candidate row sub-track. The processing unit is further configured to intercept the first target sub-track according to the interception start point of the first target sub-track and the interception end point of the first target sub-track to obtain the second target sub-track. The processing unit is further configured to intercept the first candidate peer sub-track according to the interception start point of the first candidate peer sub-track and the interception end point of the first candidate peer sub-track to obtain the second candidate peer sub-track.

In a possible design, the determining unit is further configured to determine the first trajectory point, and use the first trajectory point as a starting point for intercepting the first trajectory. The first track point is the first track point of the first target sub-track and the track point that is later in time among the first track points of the first candidate peer track; the first track is the first target sub track and the first candidate peer track The trajectory includes the trajectory of the first trajectory point. The determining unit is further configured to determine a second trajectory point, and use the second trajectory point as a starting point for intercepting the second trajectory. The second track point is the track point with the smallest time interval from the first track point among the track points located on different tracks from the first track point; the second track is the first target sub-track and the first candidate row sub-track includes The trajectory of the two trajectory points.

In a possible design, the determining unit is further configured to determine the third trajectory point, and use the third trajectory point as the interception end point of the third trajectory. The third trajectory point is the last trajectory point of the first target sub-trajectory and the last trajectory point of the first candidate peer-to-peer sub-trajectory; the third trajectory is the first target sub-trajectory and the first candidate peer-to-peer trajectory point The trajectory includes the trajectory of the third trajectory point. The determining unit is further configured to determine the fourth track point, and use the fourth track point as the interception end point of the fourth track. The fourth trajectory point is the trajectory point with the smallest time interval with the third trajectory point among the trajectory points located on different trajectories from the third trajectory point; Trajectory of four track points.

In a possible design, the determining unit is further configured to determine the target similarity according to the ratio of the number of peer time periods to the number of multiple candidate time periods; the target similarity is positively correlated with the ratio.

In a possible design, the electronic device further includes a display unit. The acquiring unit is further configured to acquire target trajectory information of the target trajectory pair. The target trajectory pair includes the trajectory of the target vehicle and the trajectory of the target companion vehicle; the target trajectory information includes the identifier of the target companion vehicle and the information of the companion road of the target companion vehicle in the historical time period; the target vehicle and the target companion vehicle enter or leave The time interval of the same road is less than the preset time interval. The display unit is used for displaying target track information.

In a fourth aspect, an electronic device is provided, the electronic device includes an acquisition unit and a determination unit; the acquisition unit is configured to, in response to a historical time period input by a user, acquire candidate companion vehicle combination information within the historical time period, and the candidate companion vehicle combination The information includes the identifier of the candidate traveling vehicle and the multiple traveling time periods of the candidate traveling vehicle combination; the track distance of each traveling time period is less than the preset distance; the track distance is the track of a candidate traveling vehicle and the track of the target vehicle at one traveling time The Frecher distance within the segment; the determination unit is used to determine the target similarity between the trajectories of the candidate companion vehicles of each candidate companion vehicle combination according to the number of multiple companion time segments of each candidate companion vehicle combination; the determination unit It is used to determine, from the candidate vehicle combinations, the target vehicle combination whose similarity is greater than the preset similarity based on the determined target similarity.

In one possible design, the electronic device further includes a storage unit. The acquisition unit is used to obtain the full vehicle trajectory; the determination unit is used to determine the candidate companion vehicle combination; the determination unit is used to determine the candidate companion vehicle combination information based on the full vehicle trajectory; the storage unit is used to store the candidate companion vehicle combination information

A fifth aspect provides an electronic device comprising a memory and a processor; the memory and the processor are coupled, the memory is used to store computer program code, the computer program code includes computer instructions, when the processor executes the computer instructions , the electronic device executes the method for determining a companion vehicle as provided in the first aspect or any possible design thereof and the second aspect or any possible design thereof.

In a sixth aspect, a computer-readable storage medium is provided, and instructions are stored in the computer-readable storage medium, and when the instructions are executed on an electronic device, the electronic device is made to perform the first aspect or any possible design thereof. and a method for determining a companion vehicle provided by the second aspect or any of its possible designs.

Description of drawings

FIG. 1 is a schematic diagram of an implementation environment of a method for determining a companion vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic flowchart 1 of a method for determining a companion vehicle according to an embodiment of the present invention;

FIG. 3 is a second schematic flowchart of a method for determining a companion vehicle according to an embodiment of the present invention;

4 is a schematic diagram 1 of a trajectory point provided by an embodiment of the present invention;

FIG. 5 is a third schematic flowchart of a method for determining a companion vehicle according to an embodiment of the present invention;

6 is a second schematic diagram of a trajectory point provided by an embodiment of the present invention;

FIG. 7 is a fourth schematic flowchart of a method for determining a companion vehicle according to an embodiment of the present invention;

FIG. 8 is a schematic flowchart 5 of a method for determining a companion vehicle according to an embodiment of the present invention;

FIG. 9 is a sixth schematic flowchart of a method for determining a companion vehicle according to an embodiment of the present invention;

10 is a seventh schematic flowchart of a method for determining a companion vehicle according to an embodiment of the present invention;

11 is a schematic diagram 1 of a display effect of track information provided by an embodiment of the present invention;

12 is a schematic diagram 2 of a display effect of a trajectory information provided by an embodiment of the present invention;

FIG. 13 is a schematic flowchart eight of a method for determining a companion vehicle according to an embodiment of the present invention;

FIG. 14 is a schematic flow chart 9 of a method for determining a companion vehicle according to an embodiment of the present invention;

15 is a schematic structural diagram 1 of an electronic device according to an embodiment of the present invention;

16 is a second schematic structural diagram of an electronic device according to an embodiment of the present invention;

17 is a third schematic structural diagram of an electronic device according to an embodiment of the present invention;

FIG. 18 is a fourth schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

In the embodiments of the present invention, words such as "exemplary" or "for example" are used to mean serving as an example, illustration or illustration. Any embodiments or designs described as "exemplary" or "such as" in the embodiments of the present invention should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present the related concepts in a specific manner.

In the description of the present invention, unless otherwise specified, "/" means "or", for example, A/B can mean A or B. In this article, "and/or" is only an association relationship to describe the associated objects, which means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone these three situations. Further, "at least one" and "plurality" refer to two or more. The words "first" and "second" do not limit the quantity and execution order, and the words "first", "second" and the like do not limit certain differences.

The present invention provides a method, device, device and storage medium for determining a companion vehicle. The electronic device responds to the historical time period input by the user and the target vehicle identification to obtain the peer analysis result of the target vehicle in the historical time period, wherein the peer analysis The results include that among the multiple candidate traveling vehicles, each candidate traveling vehicle has multiple traveling time periods with the target vehicle; the track distance of each traveling time period is less than the preset distance; the track distance is the distance between the track of a candidate traveling vehicle and the target vehicle. The Frechet distance of a trajectory within a peer time period. Further, according to the obtained number of multiple traveling time periods of each candidate traveling vehicle, determine the similarity between the trajectory of each candidate traveling vehicle and the track of the target vehicle, and determine the similarity between the multiple candidate traveling vehicles. The target peer vehicle whose degree is greater than the preset similarity degree. The method for determining a traveling vehicle provided by the present invention determines whether each time period is a traveling time period of a traveling vehicle according to whether the trajectories of a candidate traveling vehicle and a target vehicle in each divided time period are traveling traveling paths, and then the traveling time can be determined by the traveling time period. The number of segments determines the similarity of vehicle trajectories, and the vehicles that travel with the target vehicle are determined from the candidate traveling vehicles. The invention determines the track similarity in each time segment separately by dividing the time segment, improves the accuracy of the calculation result of the track similarity in each time segment, and further improves the accuracy of determining the companion vehicle.

FIG. 1 is an architecture diagram of an implementation environment according to an exemplary embodiment. As shown in FIG. 1 , the following method for determining a companion vehicle can be applied to the implementation environment. The implementation environment includes an electronic device 11 and a server 12 . Wherein, the electronic device 11 and the server 12 can be interconnected and communicated through a network.

Wherein, the electronic device 11 may be a device with a display (or display) function, and the electronic device 11 may be used to display the information of the companion vehicle in response to the historical time period input by the user and the target vehicle identification, and display the target vehicle and Trajectory information of fellow vehicles. The electronic map may be acquired by the electronic device 11 from the server 12 , or may be pre-stored in the electronic device 11 .

The electronic device 11 can be any electronic product that can interact with the user in one or more ways such as a keyboard, a touchpad, a touchscreen, a remote control, a voice interaction or a handwriting device, such as a mobile phone, a tablet computer, a PDA , Personal Computer (PC), wearable device, smart TV, etc.

The electronic device 11 may also obtain, through the server 12, trajectory data captured by a road bayonet, vehicle global positioning system (GPS) data, and bus and subway card swiping and other data.

The server 12 may be a server, a server cluster composed of multiple servers, or a cloud computing service center. Server 12 may include a processor, memory, and network interfaces, among others.

Those skilled in the art should understand that the above-mentioned electronic devices and servers are only examples. If other existing or future electronic devices or servers are applicable to the present invention, they should also be included in the protection scope of the present invention, and hereby refer to References are included here.

Fig. 2 is a flowchart of a method for determining a companion vehicle according to an exemplary embodiment. As shown in Fig. 2 , the method for determining a companion vehicle is applied to the above electronic device, and includes the following steps S201-S203.

S201 , the electronic device acquires the peer analysis result of the target vehicle in the historical time period in response to the historical time period input by the user and the target vehicle identification.

Wherein, the peer analysis result includes multiple peering time periods between each candidate peering vehicle and the target vehicle; the trajectory distance of each peering time period is less than the preset distance; the trajectory distance is the trajectory of a candidate peering vehicle The Frechet distance from the trajectory of the target vehicle within a peer time period.

It should be noted that the above preset distance is used to determine whether each time period is a peer time period. When the track distance within the time period is less than the preset distance, the electronic device determines that the time period is a peer time period. When the track distance within the time period is greater than or equal to the preset distance, the electronic device determines that the time period is a non-peering time period.

It should be noted that the above-mentioned preset distance may be preset in the electronic device by an operation and maintenance personnel of the electronic device.

As a possible implementation manner, the electronic device acquires the historical time period input by the user and the identifier of the target vehicle. Further, the electronic device obtains the peer analysis results of the target vehicle in the historical time period from the pre-stored peer analysis results based on the identification of the target vehicle and the historical time period.

As another possible implementation manner, the electronic device divides historical time periods, obtains multiple candidate time periods, and determines the trajectory distance between the trajectory of the target vehicle and the trajectory of the candidate vehicle in each candidate time period. Further, the electronic device determines whether the candidate time period is a peer time period according to the trajectory distance and the preset distance in each candidate time period, that is, obtains the peer analysis result of the target vehicle in the historical time period.

It should be noted that, for the specific implementation manner of how the electronic device realizes pre-storing the peer analysis result, reference may be made to the subsequent description of the embodiments of the present invention, which will not be repeated here.

S202. The electronic device determines the target similarity between the trajectory of each candidate accompanying vehicle and the trajectory of the target vehicle according to the number of multiple accompanying time periods of each candidate accompanying vehicle.

As a possible implementation manner, the electronic device acquires, according to the pre-stored peer analysis result, the number of peer time periods between the target vehicle and each candidate peer vehicle. Further, the electronic device takes the acquired number of the traveling time periods as the target similarity between the trajectory of each candidate traveling vehicle and the trajectory of the target vehicle.

Exemplarily, if the number of the above-mentioned traveling time periods acquired by the electronic device is 8, the target similarity between the trajectory of the candidate traveling vehicle and the trajectory of the target vehicle is determined to be 8.

In some embodiments, the peer analysis result obtained by the electronic device in the above step S201 further includes the number of non-peer time periods, and the candidate peer time periods include peer time periods and non-peer time periods. The electronic device may also determine the target similarity according to the ratio of the number of peer time periods to the number of multiple candidate time periods; the target similarity is positively correlated with the ratio.

As a possible implementation manner, the electronic device uses the ratio of the number of peer time periods to the number of candidate time periods as the target similarity.

Exemplarily, in the above peer analysis result, the number of peer time periods is 8, the number of non-peer time periods is 2, and the number of candidate peer time periods is determined to be 10. Further, the electronic device determines that the target ratio between the number of peer time periods and the number of candidate peer time periods is 0.8, and further determines that the target similarity is 0.8.

In some embodiments, the peer analysis result obtained by the electronic device in the above step S201 further includes the trajectory distance between the trajectory of the target vehicle and the trajectory of the candidate peer vehicle in each peer time period. The electronic device may also take the mean and standard deviation of the trajectory distances as the target similarity between the trajectory of the candidate vehicle and the trajectory of the target vehicle.

In some embodiments, the electronic device may determine through a preset rule according to at least two data among the number of peer time segments, the target ratio of the number of peer time segments to the number of candidate time segments, and the mean and standard deviation of the trajectory distances The target similarity between the trajectory of the candidate peer vehicle and the trajectory of the target vehicle.

In some embodiments, the above-mentioned preset rule may be to perform weighting processing after normalizing each item of data. Exemplarily, set the weight of the number of peer time segments to 0, the weight of the target ratio of the number of peer time segments to the number of candidate time segments to be 1/2, and the trajectory between the target vehicle's trajectory and the candidate companion vehicle's trajectory. The weight of the distance mean value is 1/2, and the summation obtains the target similarity between the trajectory of the candidate vehicle and the trajectory of the target vehicle. As shown in the following formula:

Target similarity = 1/2 (target ratio) + 1/2 (track distance mean)

It should be noted that the above-mentioned mean value of the trajectory distance can be the mean value of the trajectory distance after normalization processing. For example, if the threshold value of the trajectory distance is set to 10m, and the trajectory distances in each peer time period are 5m, 7m, and 8m, the mean value is ( 0.5+0.7+0.8)/3.

It should be noted that the above-mentioned preset rules may be set in the electronic device in advance by the operation and maintenance personnel of the electronic device, and the present invention does not limit which rules are specifically set.

S203: Based on the determined similarity of the target, the electronic device determines, from the plurality of candidate vehicles in the same vehicle, a target vehicle with a similarity greater than a preset similarity.

As a possible implementation, the electronic device determines a target similarity whose similarity is greater than a preset similarity from among the determined target similarities of multiple candidate companion vehicles, and determines the candidate companion vehicle corresponding to the target similarity as the target Companion vehicle.

It should be noted that the preset similarity may be preset in the electronic device by the operation and maintenance personnel of the electronic device.

In one design, in order to store the peer analysis results in the electronic device before the electronic device obtains the historical time period input by the user and the target vehicle identifier, as shown in FIG. The method also includes S301-S304.

S301, the electronic device determines the target trajectory of the target vehicle and the candidate companion trajectory of each candidate companion vehicle.

As a possible implementation, the electronic device obtains the target vehicle and the trajectory points of each candidate companion vehicle from multiple data sources to obtain multi-source discrete trajectories of the target vehicle and each candidate companion vehicle to maximize data coverage. Further, the electronic device performs denoising and fusion processing on the acquired track points, and obtains the target track of the target vehicle and the candidate traveling track of each candidate traveling vehicle according to the track points obtained after processing.

It should be noted that the above-mentioned electronic device performs denoising and fusion processing on the acquired trajectory points in order to improve the accuracy of the trajectory points, thereby improving the accuracy of determining the companion vehicle. For example, since the electronic device obtains track points from multiple data sources, there may be multiple track points in the obtained track points at a certain moment. One of the track points is kept, and the other track points at this moment are deleted. In addition, due to network fluctuations or other conditions when the electronic device obtains the trajectory point, the trajectory point at a certain moment may be abnormal.

It should be noted that the above-mentioned multiple data sources include trajectory data captured by road bayonet, vehicle GPS data, mobile phone signaling data, and bus and subway card swiping data. The device is obtained from the network through the server.

S302. The electronic device divides the total time period into a plurality of candidate time periods according to the preset division time period.

The total time period includes the time period occupied by the target trajectory and the time period occupied by the candidate peer trajectory.

As a possible implementation manner, the electronic device divides the total time period into a plurality of candidate time periods whose duration is the preset divided time length according to the preset divided time period.

Exemplarily, FIG. 4 shows a schematic diagram of the trajectory after the candidate time period is divided. As shown in FIG. 4 , a1-a20 are the trajectory points of the target vehicle obtained by the electronic device, and b1-b20 are obtained by the electronic device. For the track points of the candidate vehicles, if the time of the track point a1 is the first time, and the track point b20 is the last time, the total time period is a1-b20. a1-a20 and b1-b20 shown in FIG. 4 are the position information of each track point. The electronic device divides the total time period according to the preset division time, and obtains the four rectangular areas of A, B, C, and D in FIG. 4 . The four candidate time periods shown, the trajectory points in the rectangular area are the trajectory points of the target vehicle and the candidate vehicle in the candidate time periods A, B, C, and D, respectively.

S303. The electronic device determines whether the first candidate time period is a peer time period.

The first candidate time period is any one of multiple candidate time periods.

As a possible implementation manner, the electronic device determines the first target sub-trajectories of the target vehicle in the first candidate time period and the first candidate companion sub-trajectories of each candidate companion vehicle. Further, the electronic device determines the track distance between the first target sub-track and the first candidate peer sub-track, and determines whether the first candidate time period is a peer time period according to the track distance.

Exemplarily, as shown in FIG. 4 , if the first candidate time period is the candidate time period A, the first target sub-trajectories are a1-a5, and the first candidate peer sub-trajectories are b1-b4. The target sub-tracks a1-a5 and the candidate peer sub-tracks b1-b4 determine whether the candidate time period A is a peer time period.

It should be noted that, for a specific implementation manner of how the electronic device determines whether the first candidate time period is a peer time period, reference may be made to subsequent descriptions of the embodiments of the present invention, which will not be repeated here.

S304: In the case that the first candidate time period is a peer time period, the electronic device stores the peer time period and the candidate peer vehicle corresponding to the peer time period as peer analysis results.

In some embodiments, when the first candidate time period is a peer time period, the electronic device also uses information such as the target vehicle identifier, the track distance between the target sub-track and the candidate peer sub-track, and the size of the candidate time period as The peer analysis result is stored in the electronic device together with the peer time period and the candidate peer vehicle corresponding to the peer time period.

In one design, in order to realize that the electronic device judges the first target sub-trajectory of the target vehicle in the first candidate time period and the first candidate companion sub-trajectory of each candidate companion vehicle in the first candidate time period Whether a candidate time period is a peer time period, as shown in FIG. 5 , S303 provided by the embodiment of the present invention specifically includes the following S3031-S3034.

S3031. The electronic device determines whether the first target sub-track and the first candidate peer sub-track occupy the same time period in the first candidate time period.

As a possible implementation manner, the electronic device obtains the time information of the first trajectory point and the time information of the last trajectory point of the first target sub-track, and determines the start time and end time of the first target sub-track; similarly, The electronic device acquires the time information of the first track point and the time information of the last track point of the first candidate peer track, and determines the start time and end time of the first candidate peer track.

Further, if the start time of the first target sub-track is located between the start time and the end time of the first candidate peer sub-track, or the start time of the first candidate peer sub-track is located in the first target sub-track Between the start time and the end time, the electronic device determines that the first target sub-track and the first candidate peer sub-track exist occupying the same time period; otherwise, the electronic device determines that the first target sub-track and the first candidate peer sub-track are not identical. Exists occupy the same time period.

Exemplarily, as shown in FIG. 4 , if the first candidate time period is the candidate time period B, the start time of the first target sub-track is T _a6 , the end time is T _a10 , and the start time of the first candidate line sub-track is T a10 . The start time is T _b5 and the end time is T _b9 . When T _b5 <T _a6 <T _b9 , or T _a6 <T _b5 <T _a10 , the electronic device determines that in the candidate time period B, the first target sub-track and the first candidate peer sub-track exist and occupy the same time period.

S3032, the electronic device intercepts the first target sub-track and the first candidate peer sub-track under the condition that the first target sub-track and the first candidate peer sub-track in the first candidate time period occupy the same time period, and obtains the same time respectively The second target sub-track within the segment and the second candidate row sub-track.

As a possible implementation manner, the electronic device determines the first target sub-track and the first candidate peer according to the start time and end time of the first target sub-track and the start time and end time of the first candidate peer sub-track The same time period occupied by the sub-tracks. Further, the electronic device discards the track points in the first candidate time period that do not belong to the same time period, the remaining track points on the first target sub-track form the second target sub-track, and the remaining tracks on the first candidate line sub-track The points constitute the second candidate peer trajectories.

Exemplarily, as shown in FIG. 4 , if the same time period determined by the electronic device is T _a6 -T _b9 , and T _b5 <T _a6 <T _b6 and T _a8 <T _b9 <T _a10 , the electronic device determines the first The two target sub-trajectories are a6-a9, and the second candidate peer sub-trajectories are determined to be b6-b9.

It should be noted that, for a specific implementation manner of how the electronic device obtains the second target sub-track and the second candidate row sub-track, reference may be made to the subsequent description of the embodiments of the present invention, which will not be repeated here.

S3033. The electronic device determines the track distance between the second target sub-track and the second candidate row sub-track.

As a possible implementation manner, the electronic device determines the Freycher distance between the second target sub-track and the second candidate peer sub-track as the track distance.

It should be noted that, since the trajectory points on the second target sub-trajectory and the second candidate row sub-trajectory in the embodiment of the present invention are discrete trajectory points, before determining the Frechet distance between the two trajectories, the electronic device will The set time interval is interpolated on the two trajectories, thereby making the determined trajectory distance more accurate.

Exemplarily, with reference to FIG. 4 and FIG. 6 , a schematic diagram of a trajectory after interpolation processing is performed on the second target sub-track in the candidate time period B and the second candidate row sub-track. As shown in Fig. 6, according to the trajectory points on the two trajectories, the Frechet distance between the two trajectories is determined.

Let the binary group (d, V) be a metric space, where d is the metric function on V, and the metric space is abbreviated as V without specifying the metric function. The function f represents the second target sub-track, and the function g represents the second candidate peer track. Let the function f and the function g be two continuous curves on V, namely:

f:[a,b]→V

g:[a′,b′]→V

Among them, [a, b] is the value range of the variable of the function f, and [a', b'] is the value range of the variable of the function g.

Let α and β be two re-parameterized functions of the unit interval, namely α: [0,1]→[0,1], β: [0,1]→[0,1], respectively used to represent the pair The description of the target vehicle's trajectory and the description of the candidate vehicle's trajectory. Then the Frechet distance F(f, g) between the second target sub-track and the second candidate peer sub-track is defined as:

F(f,g)=minfmax{d(f(α(t)),g(β(t)))}

α,βt∈[0,1]

Among them, f(α(t)) is used to indicate the position of the target vehicle in space at the moment represented by the variable t; g(β(t)) is used to indicate that at the moment represented by the variable t, the candidate vehicle is at position in space. d(f(α(t)), g(β(t))) is used to represent the distance between the target vehicle and the candidate vehicle at the moment represented by the variable t.

minfmax{d(f(α(t)),g(β(t)))} indicates that after the variable t has traversed all the values in the unit interval [0,1], the determined distance between the target vehicle and the candidate vehicle the Frechet distance.

Further, the electronic device uses the above method to determine the Frechet distance between the second target sub-track and the second candidate peer sub-track as the track distance between the second target sub-track and the second candidate peer sub-track.

S3034. The electronic device determines that the first candidate time period is a peer time period when the track distance between the second target sub-track and the second candidate peer sub-track is less than the preset distance.

As a possible implementation, the electronic device compares the track distance determined in the above step S3033 with the preset distance, and in the case that the track distance is less than the preset distance, the electronic device determines the first candidate time as the peer time period ; In the case that the track distance is greater than or equal to the preset distance, the electronic device determines the first candidate time period as a non-peering time period.

In a possible design, in order to determine the second target sub-trajectory and the second candidate row sub-trajectory, as shown in FIG. 7 , S3032 provided by the embodiment of the present invention specifically includes S401-S406.

S401. The electronic device determines the interception starting point of the first target sub-track and the intercepting starting point of the first candidate row sub-track.

As a possible implementation manner, the electronic device respectively uses the first target sub-track and the first track point on the first candidate row sub-track as the interception starting point.

It should be noted that for another specific implementation manner of how the electronic device determines the interception starting point on the track, reference may be made to the subsequent description of the embodiments of the present invention, and details are not repeated here.

S402, the electronic device determines the remaining track of the first target sub-track and the remaining track of the first candidate row sub-track, respectively.

As a possible implementation, the electronic device discards the track points before the interception start point on the first target sub-track and the first candidate peer track respectively, and the tracks composed of the remaining track points are the first target respectively. The remaining tracks of the sub-tracks and the remaining tracks of the first candidate row's sub-tracks.

S403. The electronic device determines whether the ratio of the remaining track with the smallest duration to the remaining track with the longest duration among the remaining tracks of the first target sub-track and the remaining tracks of the first candidate peer sub-track is greater than a preset threshold.

As a possible implementation manner, after acquiring the remaining tracks of the first target sub-track and the remaining tracks of the first candidate peer sub-tracks, the electronic device determines the duration of each remaining track. Further, the electronic device calculates the ratio of the shortest remaining track to the longest remaining track, and compares the determined ratio with a preset threshold to determine whether it is greater than the preset threshold.

It should be noted that, the above-mentioned preset threshold may be preset in the electronic device by the operation and maintenance personnel of the electronic device.

Exemplarily, as shown in FIG. 4 , taking the interception of the first target sub-track and the first candidate peer sub-track in the candidate time period B as an example, if a6 is the interception starting point of the first target sub-track, b6 is the first target sub-track. The interception starting point of the candidate sub-track, the electronic device determines that the remaining track of the first target sub-track is a6-a10, and the remaining track of the first candidate row sub-track is b6-b9. Further, the electronic device determines the duration T 1 of a6-a10 and the duration T ₂ of b6-b9. If the duration T ₁ of a6-a10 is greater than the duration T ₂ of b6-b9, and the preset threshold is _0.5 , the electronic device determines Whether T ₂ /T ₁ is greater than the preset threshold 0.5.

It is understandable that by judging the ratio and the preset distance, what effect can be achieved.

S404. The electronic device determines the first target sub-track respectively when the ratio of the remaining track with the smallest duration to the remaining track with the longest duration among the remaining tracks of the first target sub-track and the remaining tracks of the first candidate row sub-track is greater than a preset threshold The interception end point of the trajectory and the interception end point of the sub-trajectories of the first candidate row.

As a possible implementation manner, after determining that the ratio of the shortest remaining track and the longest remaining track is greater than a preset threshold in the above step S402, the electronic device determines the interception end point of the first target sub-track and the first candidate peer respectively. The clipping end point of the subtrack.

It should be noted that, for the specific implementation manner of how the electronic device determines the interception end point on the track, reference may be made to the subsequent description of the embodiments of the present invention, which will not be repeated here.

S405. The electronic device intercepts the first target sub-track according to the interception start point of the first target sub-track and the interception end point of the first target sub-track to obtain the second target sub-track.

As a possible implementation, after the electronic device determines the interception start point and the interception end point of the first target sub-track, on the first target sub-track, the interception point before the start point and the interception end point are The track points are discarded, and the track composed of the remaining track points is the second target sub-track.

S406, the electronic device intercepts the first candidate peer sub-track according to the interception start point of the first candidate peer sub-track and the interception end point of the first candidate peer sub-track to obtain the second candidate peer sub-track.

As a possible implementation manner, after the electronic device determines the interception start point and interception end point of the first candidate peer sub-track, on the first candidate peer sub-track, the intercept point before the start point and the intercept end point are The subsequent trajectory points are discarded, and the trajectory composed of the remaining trajectory points is the second candidate peer trajectory.

In a possible design, in order to determine the interception start point of the first target sub-track and the interception start point of the first candidate row sub-track, as shown in FIG. 8 , S401 provided by the embodiment of the present invention specifically includes S4011-S4012 .

S4011 , the electronic device determines a first trajectory point, and uses the first trajectory point as an interception starting point of the first trajectory.

Wherein, the first trajectory point is the first trajectory point of the first target sub-trajectory and the first trajectory point of the first candidate row sub-trajectories in the later time; the first trajectory is the first target sub-trajectory and the first candidate trajectory The track of the first track point is included in the same sub track.

As a possible implementation manner, the electronic device obtains time information of the first track point on the first target sub-track and time information of the first track point of the first candidate peer track, The latter track point is determined as the first track point, and the track where the first track point is located is the first track. After the electronic device determines the first track point, the first track point is used as the interception starting point of the first track.

Exemplarily, as shown in FIG. 4 , in the candidate time period B, the time information of the first track point of the first target sub-track is T _a6 , and the time information of the first track point of the first candidate peer track is T. _b5 . If T _a6 is after T _b5 , the electronic device determines that a6 is the first track point, and a6-a10 is the first track. Further, the electronic device determines that the interception starting point on the first target sub-track is a6.

Correspondingly, if T _b5 is after T _a6 , the electronic device determines that the interception starting point on the sub-track of the first candidate row is b5.

S4012 , the electronic device determines a second trajectory point, and uses the second trajectory point as an interception starting point of the second trajectory.

The second trajectory point is the trajectory point with the smallest time interval with the first trajectory point among the trajectory points located on different trajectories from the first trajectory point; the second trajectory is the first target sub-trajectory and the first candidate row sub-trajectory A trajectory that includes the second trajectory point.

As a possible implementation, the electronic device obtains time information of each track point on the second track, determines the time difference between each track point and the first track point, and determines the track point with the smallest difference as the second track point, that is, the electronic device determines the trajectory point with the smallest time interval from the first trajectory point as the second trajectory point. Further, the electronic device uses the second track point as a starting point for intercepting the second track.

Exemplarily, as shown in FIG. 4 , in the candidate time period B, if the first trajectory point is determined to be the trajectory point a6 on the first target sub-trajectory, the electronic device determines b5, b6, b7, b8, b9 and a6. If the time interval between b7 and a6 is the smallest, the electronic device determines that the second track point is the track point b7 on the first candidate peer track.

In a possible design, in order to determine the interception end point of the first target sub-track and the interception end point of the first candidate row sub-track, as shown in FIG. 9 , S404 provided by the embodiment of the present invention specifically includes S4041-S4042 .

S4041. The electronic device determines a third trajectory point, and uses the third trajectory point as an interception end point of the third trajectory.

Wherein, the third trajectory point is the last trajectory point of the first target sub-trajectory and the previous trajectory point in the last trajectory point of the first candidate same-line sub-trajectory; the third trajectory is the first target sub-trajectory and the first candidate trajectory A track that includes the third track point in the same sub track;

As a possible implementation manner, the electronic device obtains time information of the last track point on the first target sub-track and time information of the last track point of the first candidate peer track, The previous track point is determined as the third track point, and the track where the third track point is located is the third track. After the electronic device determines the third track point, the third track point is used as the interception end point of the third track.

Exemplarily, as shown in FIG. 4 , in the candidate time period B, the time information of the last track point of the first target sub-track is T _a10 , and the time information of the last track point of the first candidate peer track is T _b9 . If T _b9 is before T _a10 , the electronic device determines that b9 is the third trajectory point, and b5-b9 is the third trajectory. Further, the electronic device determines that the interception end point on the first candidate row sub-trajectory is b9.

Correspondingly, if T _a10 is before T _b9 , the electronic device determines that the interception end point on the first target sub-track is a10 .

S4042. The electronic device determines a fourth trajectory point, and uses the fourth trajectory point as an interception end point of the fourth trajectory.

Among them, the fourth trajectory point is the trajectory point with the smallest time interval with the third trajectory point among the trajectory points located on different trajectories with the third trajectory point; A trajectory that includes the fourth trajectory point.

As a possible implementation, the electronic device obtains time information of each track point on the fourth track, determines the time difference between each track point and the third track point, and determines the track point with the smallest difference as the fourth track point, that is, the electronic device determines the trajectory point with the smallest time interval from the third trajectory point as the fourth trajectory point. Further, the electronic device uses the fourth track point as a starting point for intercepting the fourth track.

Exemplarily, as shown in FIG. 4 , within the candidate time period B, if it is determined that the third track point is the track point b9 on the first candidate peer track, the electronic device determines that a6 , a7 , a8 , a9 and a10 are the same as The time interval of b9, if the time interval between a9 and b9 is the smallest, the electronic device determines that the fourth track point is the track point a9 on the first target sub-track.

In one design, after determining a target companion vehicle with a similarity greater than a preset similarity, in order to provide the user with a better display effect, as shown in FIG. 10 , the method for determining a companion vehicle provided by an embodiment of the present invention further includes: The following S501-S503.

S501. The electronic device acquires target trajectory information of a target trajectory pair.

The target trajectory pair includes the trajectory of the target vehicle and the trajectory of the target companion vehicle; the target trajectory information includes the identifier of the target companion vehicle and the information of the companion road of the target companion vehicle in the historical time period.

As a possible implementation, after the electronic device determines the target companion vehicle, the target companion vehicle's trajectory and the target vehicle's trajectory form a target trajectory pair, obtain the trajectory point information of the target trajectory pair, and perform road network matching and path calculation, etc. , traverse the two trajectories in the target trajectory pair, determine the road on the two trajectories, and the time information of entering and exiting the road.

S502 , the electronic device determines whether the time interval between the target vehicle and the target companion vehicle entering or leaving the companion road is less than a preset time interval.

As a possible implementation, the electronic device determines, based on the time information of the two trajectories entering the road and exiting the road obtained in the above step S501, the time difference of entering the road and the time of exiting the road when the two trajectories pass through the same road. Whether the time difference is less than the preset time interval. Further, if the time interval between the target vehicle and the target companion vehicle entering or exiting the same road is less than the preset time interval, the road is determined to be a companion road.

It should be noted that the above-mentioned preset time interval may be preset in the electronic device by an operation and maintenance personnel of the electronic device.

Exemplarily, if the preset time interval is 10 minutes, it is determined in the above step S501 that the trajectory to the target vehicle passes through the road segment A, and the time to enter the road segment A is 10:00 am, and the time to exit the road segment A is 10:24 am The track of the target companion vehicle passes through section A, and the time for entering section A is 10:5 a.m. and the time for exiting section A is 10:30 a.m., then the electronic device target vehicle and the target companion vehicle enter or exit If the time interval of the same road is less than the preset time interval, the road section A is determined to be a traveling section of the target vehicle and the target traveling vehicle.

S503, the electronic device displays target trajectory information.

As a possible implementation manner, the electronic device generates display content based on the target trajectory information of the target trajectory pair determined in the above step S501, and displays it on the electronic device.

Exemplarily, FIG. 11 shows a display effect of displaying target trajectory information in an electronic device. As shown in FIG. 11 , the electronic device displays the identification of the target vehicle that is in the same direction as the target vehicle, and the two trajectories are in the same direction. The number of bayonet, the mileage of the same track and the similarity of the route.

Optionally, the target trajectory information also includes the entire trajectory information of the target vehicle and the target companion vehicle and the road section information, and the electronic device displays the target trajectory information, and also includes displaying the target vehicle and the target companion vehicle. .

In some embodiments, based on the target trajectory information of the target trajectory pair determined in the above step S501, the electronic device displays the trajectory of the target vehicle and the trajectory of the target companion vehicle on the electronic map after road network matching and path calculation, and Combined with the time information of each track point, the output of the peer track display effect that can be dynamically displayed as the time axis moves.

Exemplarily, FIG. 12 shows a display effect of displaying the track of a peer in an electronic device. As shown in FIG. 12 , the track of the target vehicle and the target companion vehicle is displayed in the electronic map, with the movement of the time axis below. , dynamically display the identification of the target vehicle and the identification of the target companion vehicle to obtain a better display effect and facilitate the user to analyze the companion trajectory.

The present invention provides a method, device, device and storage medium for determining a companion vehicle. The electronic device responds to the historical time period input by the user and the target vehicle identification to obtain the peer analysis result of the target vehicle in the historical time period, wherein the peer analysis The results include that among the multiple candidate traveling vehicles, each candidate traveling vehicle has multiple traveling time periods with the target vehicle; the track distance of each traveling time period is less than the preset distance; the track distance is the distance between the track of a candidate traveling vehicle and the target vehicle. The Frechet distance of a trajectory within a peer time period. Further, according to the obtained number of multiple traveling time periods of each candidate traveling vehicle, determine the similarity between the trajectory of each candidate traveling vehicle and the track of the target vehicle, and determine the similarity between the multiple candidate traveling vehicles. The target peer vehicle whose degree is greater than the preset similarity degree. The method for determining a traveling vehicle provided by the present invention determines whether each time period is a traveling time period of a traveling vehicle according to whether the trajectories of a candidate traveling vehicle and a target vehicle in each divided time period are traveling traveling paths, and then the traveling time can be determined by the traveling time period. The number of segments determines the similarity of vehicle trajectories, and the vehicles that travel with the target vehicle are determined from the candidate traveling vehicles. The invention determines the track similarity in each time segment separately by dividing the time segment, improves the accuracy of the calculation result of the track similarity in each time segment, and further improves the accuracy of determining the companion vehicle.

In one design, the method for determining a companion vehicle provided by the present invention can also be used to determine a full number of companion vehicles. As shown in FIG. 13 , an embodiment of the present invention provides another method for determining a companion vehicle, including the following S601-S603 .

S601. The electronic device acquires the candidate vehicle combination information in the historical time period in response to the historical time period input by the user.

Wherein, the information of the candidate companion vehicle combination includes the identifier of the candidate companion vehicle and multiple companion time periods of the candidate companion vehicle combination; the trajectory distance of each companion time segment is less than the preset distance; the trajectory distance is the trajectory of a candidate companion vehicle and the target vehicle. The Frechet distance of the trajectory in a peer time period.

It should be noted that the above preset distance is used to determine whether each time period is a peer time period. When the track distance within the time period is less than the preset distance, the electronic device determines that the time period is a peer time period. When the track distance within the time period is greater than or equal to the preset distance, the electronic device determines that the time period is a non-peering time period.

It should be noted that the above-mentioned preset distance may be preset in the electronic device by an operation and maintenance personnel of the electronic device.

As a possible implementation manner, the electronic device acquires the historical time period input by the user. Further, based on the historical time period, the electronic device obtains the candidate companion vehicle combination information within the historical time period from the pre-stored candidate companion vehicle combination information.

It should be noted that, for the specific implementation manner of how the electronic device realizes pre-storing the combination information of the candidate traveling vehicles, reference may be made to the subsequent description of the embodiments of the present invention, which will not be repeated here.

S602. The electronic device determines the target similarity between the trajectories of the candidate traveling vehicles of each candidate traveling vehicle combination according to the number of multiple traveling time periods of each candidate traveling traveling vehicle combination.

It should be noted that any vehicle in the candidate companion vehicle of each candidate companion vehicle combination may be the target vehicle, and the remaining vehicles are the candidate companion vehicles of the target vehicle.

Further, for the specific implementation manner of how the electronic device realizes determining the target similarity between the trajectories of the candidate companion vehicles of each candidate companion vehicle combination, reference may be made to the implementation manner in the foregoing step S202, which will not be repeated here.

S603. Based on the determined target similarity, the electronic device determines, from the candidate companion vehicle combinations, a target companion vehicle combination with a similarity greater than a preset similarity.

As a possible implementation manner, the electronic device determines the target similarity whose similarity is greater than the preset similarity from among the determined target similarities of multiple candidate vehicle combinations, and determines the candidate vehicle combination corresponding to the target similarity. For the target peer vehicle combination.

It should be noted that the preset similarity may be preset in the electronic device by the operation and maintenance personnel of the electronic device.

Optionally, after the electronic device determines the target companion vehicle combination, it is also used to display the obtained target companion vehicle combination. For the specific implementation method of displaying the target companion vehicle combination by the electronic device, reference may be made to the above step S501 in this embodiment of the present invention. -The method described in S503 displays the target vehicle combination.

In one design, in order to store the candidate vehicle combination information in the electronic device before the electronic device acquires the historical time period input by the user, as shown in FIG. 14 , the method for determining the companion vehicle provided by the embodiment of the present invention further Including S701-S703.

S701, the electronic device acquires a full amount of vehicle trajectories.

As a possible implementation manner, the electronic device obtains the trajectory points of all vehicles from multiple data sources, so as to obtain multi-source discrete trajectories of all vehicles. Further, the electronic device performs denoising and fusion processing on the acquired trajectory points, and obtains vehicle trajectories of all vehicles according to the processed trajectory points.

S702, the electronic device determines the candidate vehicle combination.

As a possible implementation manner, the electronic device combines all the vehicles in pairs through a Cartesian product algorithm to determine a candidate vehicle combination.

S703 , the electronic device determines and stores the information of the candidate companion vehicle combination based on the full vehicle trajectory and the candidate companion vehicle combination.

It should be noted that, for the specific implementation of determining multiple traveling time periods of the candidate traveling vehicle combination in the candidate traveling vehicle combination information, reference may be made to the above steps S3031-S3034, wherein any vehicle in the candidate traveling vehicle combination can be used as the target vehicle , another vehicle can be used as a candidate vehicle, and then the method described in the above steps S3031-S3034 is used to determine multiple time periods of the candidate vehicle combination. Further, the electronic device stores the vehicle identifier of the candidate vehicle combination and multiple time periods of the candidate vehicle combination as candidate vehicle combination information and stores it in the electronic device.

Optionally, the information about the candidate traveling vehicle combination further includes the trajectory distance of the candidate traveling vehicle combination in each traveling time period.

The foregoing mainly introduces the solutions provided by the embodiments of the present invention from the perspective of methods. In order to realize the above-mentioned functions, it includes corresponding hardware structures and/or software modules for executing each function. Those skilled in the art should easily realize that, in conjunction with the units and algorithm steps of the examples described in the embodiments disclosed herein, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In this embodiment of the present invention, the user equipment may be divided into functional modules according to the foregoing method examples. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. Optionally, the division of modules in this embodiment of the present invention is schematic, and is only a logical function division. In actual implementation, there may be another division manner.

FIG. 15 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and the electronic device 80 is used to execute the above-mentioned method for determining a co-located vehicle. As shown in FIG. 15 , the electronic device 80 includes an acquisition unit 801 , a determination unit 802 , a processing unit 803 , a judgment unit 804 , a storage unit 805 and a display unit 806 .

The obtaining unit 801 is configured to obtain the peer analysis result of the target vehicle in the historical time period in response to the historical time period input by the user and the target vehicle identification. The peer analysis result includes multiple peering time periods between each candidate peering vehicle and the target vehicle; the trajectory distance of each peering time period is less than the preset distance; the trajectory distance is the trajectory and target of a candidate peering vehicle The Frechet distance of the vehicle's trajectory within a peer time period. For example, as shown in FIG. 2 , the obtaining unit 801 may be configured to perform S201.

The determining unit 802 is configured to determine the target similarity between the track of each candidate traveling vehicle and the track of the target vehicle according to the number of multiple traveling time periods of each candidate traveling vehicle. For example, as shown in FIG. 2, the determining unit 802 may be configured to perform S202.

The determining unit 802 is further configured to, based on the determined target similarity, determine a target companion vehicle with a similarity greater than a preset similarity from the multiple candidate companion vehicles. For example, as shown in FIG. 2, the determining unit 802 may be configured to perform S203.

Optionally, as shown in FIG. 15 , the electronic device 80 provided in this embodiment of the present invention further includes a processing unit 803 , a determination unit 804 , and a storage unit 805 .

The determining unit 802 is further configured to determine the target trajectory of the target vehicle and the candidate companion trajectory of each candidate companion vehicle. For example, as shown in FIG. 3 , the determining unit 802 may be configured to perform S301.

The processing unit 803 is configured to divide the total time period into a plurality of candidate time periods according to the preset division time period. The total time period includes the time period occupied by the target trajectory and the time period occupied by the candidate peer trajectory. For example, as shown in FIG. 3 , the processing unit 803 may be configured to perform S302.

The judgment unit 804 is configured to judge the first candidate time period according to the first target sub-track of the target vehicle in the first candidate time period and the first candidate companion sub-track of each candidate companion vehicle in the first candidate time period Whether it is a peer time period; the first candidate time period is any one of multiple candidate time periods. For example, as shown in FIG. 3 , the determination unit 804 may be configured to execute S303.

The storage unit 805 is configured to store, as the peer analysis result, the peer time period and the candidate peer vehicle corresponding to the peer time segment when the first candidate time period is the peer time segment. For example, as shown in FIG. 3, the storage unit 805 may be used to perform S304.

Optionally, as shown in FIG. 15 , in the electronic device 80 provided by the embodiment of the present invention, the processing unit 803 is further configured to occupy the same sub-track of the first target in the first candidate time period as the sub-track of the first candidate row. In the case of a time period, the first target sub-track and the first candidate peer sub-track are intercepted, and the second target sub-track and the second candidate peer sub-track in the same time period are respectively obtained. For example, as shown in FIG. 5 , the processing unit 803 may be configured to execute S3032.

The determining unit 802 is also used to determine the track distance between the second target sub-track and the second candidate peer track, and the track distance between the second target sub track and the second candidate peer track is less than the preset distance. In this case, the first candidate time period is determined to be the same time period. For example, as shown in FIG. 5 , the determining unit 802 may be configured to perform S3034.

Optionally, as shown in FIG. 15 , in the electronic device 80 provided by the embodiment of the present invention, the determining unit 802 is further configured to determine the interception start point of the first target sub-track and the interception start point of the first candidate row sub-track, And respectively determine the remaining track of the first target sub track and the remaining track of the first candidate row sub track. For example, as shown in FIG. 7 , the determining unit 802 may be configured to perform S401.

The determining unit 802 is further configured to, in the remaining track of the first target sub-track and the remaining track of the first candidate row sub-track, when the ratio of the remaining track with the smallest duration and the remaining track with the maximum duration is greater than a preset threshold, determine the first The clipping end point of a target sub-track and the clipping end point of the first candidate peer sub-track. For example, as shown in FIG. 7 , the determining unit 802 may be configured to perform S404.

The processing unit 803 is further configured to intercept the first target sub-track according to the interception start point of the first target sub-track and the interception end point of the first target sub-track to obtain the second target sub-track. For example, as shown in FIG. 7 , the processing unit 803 may be configured to perform S405.

The processing unit 803 is further configured to intercept the first candidate peer sub-track according to the interception start point of the first candidate peer sub-track and the interception end point of the first candidate peer sub-track to obtain the second candidate peer sub-track. For example, as shown in FIG. 7 , the processing unit 803 may be configured to perform S406.

Optionally, as shown in FIG. 15 , in the electronic device 80 provided by the embodiment of the present invention, the determining unit 802 is further configured to determine the first trajectory point, and use the first trajectory point as the interception starting point of the first trajectory. The first track point is the first track point of the first target sub-track and the track point that is later in time among the first track points of the first candidate peer track; the first track is the first target sub track and the first candidate peer track The trajectory includes the trajectory of the first trajectory point. For example, as shown in FIG. 8 , the determining unit 802 may be configured to perform S4011.

The determining unit 802 is further configured to determine the second track point, and use the second track point as the interception starting point of the second track. The second track point is the track point with the smallest time interval from the first track point among the track points located on different tracks from the first track point; the second track is the first target sub-track and the first candidate row sub-track includes The trajectory of the two trajectory points. For example, as shown in FIG. 8 , the determining unit 802 may be configured to perform S4012.

Optionally, as shown in FIG. 15 , in the electronic device 80 provided by the embodiment of the present invention, the determining unit 802 is further configured to determine a third trajectory point, and use the third trajectory point as the interception end point of the third trajectory. The third trajectory point is the last trajectory point of the first target sub-trajectory and the last trajectory point of the first candidate peer-to-peer sub-trajectory; the third trajectory is the first target sub-trajectory and the first candidate peer-to-peer trajectory point The trajectory includes the trajectory of the third trajectory point. For example, as shown in FIG. 9 , the determining unit 802 may be configured to perform S4041.

The determining unit 802 is further configured to determine the fourth track point, and use the fourth track point as the interception end point of the fourth track. The fourth trajectory point is the trajectory point with the smallest time interval with the third trajectory point among the trajectory points located on different trajectories from the third trajectory point; Trajectory of four track points. For example, as shown in FIG. 9 , the determining unit 802 may be configured to perform S4042.

Optionally, as shown in FIG. 15 , in the electronic device 80 provided by the embodiment of the present invention, the determining unit 802 is further configured to determine the target similarity according to the ratio of the number of peer time periods to the number of multiple candidate time periods; Similarity is positively correlated with ratio.

Optionally, as shown in FIG. 15 , the electronic device 80 provided in this embodiment of the present invention further includes a display unit 806 .

The obtaining unit 801 is further configured to obtain target trajectory information of the target trajectory pair. The target trajectory pair includes the trajectory of the target vehicle and the trajectory of the target companion vehicle; the target trajectory information includes the identifier of the target companion vehicle and the information of the companion road of the target companion vehicle in the historical time period; the target vehicle and the target companion vehicle enter or leave The time interval of the same road is less than the preset time interval. For example, as shown in FIG. 10 , the obtaining unit 801 may be configured to perform S501.

The display unit 806 is used for displaying target track information. For example, as shown in FIG. 10, the display unit 806 may be used to perform S503.

FIG. 16 is a schematic structural diagram of another electronic device according to an embodiment of the present invention, where the electronic device 90 is used to execute the above-mentioned method for determining a co-located vehicle. As shown in FIG. 16 , the electronic device 90 includes an acquisition unit 901 , a determination unit 902 and a storage unit 903 .

The obtaining unit 901 is configured to, in response to the historical time period input by the user, obtain the candidate vehicle combination information in the historical time period. The candidate companion vehicle combination information includes the identifier of the candidate companion vehicle and multiple companion time periods of the candidate companion vehicle combination; the trajectory distance of each companion time segment is less than the preset distance; the trajectory distance is the distance of a candidate companion vehicle. The Frechet distance between the trajectory and the trajectory of the target vehicle in a peer time period. For example, as shown in FIG. 13 , the obtaining unit 901 may be configured to perform S601.

The determining unit 902 is configured to determine the target similarity between the trajectories of the candidate companion vehicles of each candidate companion vehicle combination according to the number of the multiple companion time periods of each candidate companion vehicle combination. For example, as shown in FIG. 13 , the determining unit 902 may be configured to perform S602.

The determining unit 902 is further configured to, based on the determined target similarity, determine a target companion vehicle combination with a similarity greater than a preset similarity from the candidate companion vehicle combinations. For example, as shown in FIG. 13 , the determining unit 902 may be configured to perform S603.

Optionally, as shown in FIG. 16 , the electronic device 80 provided in this embodiment of the present invention further includes a storage unit 903 .

The obtaining unit 901 is further configured to obtain the full vehicle trajectory. For example, as shown in FIG. 14 , the obtaining unit 901 may be configured to perform S701.

The determining unit 902 is further configured to determine the candidate vehicle combination. For example, as shown in FIG. 14 , the determining unit 902 may be configured to perform S702.

The determining unit 902 is further configured to determine the candidate vehicle combination information based on the full vehicle trajectory. For example, as shown in FIG. 13 , the determining unit 902 may be configured to perform S703.

The storage unit 903 is used to store the combination information of the candidate vehicles in the same vehicle. For example, as shown in FIG. 14, the storage unit 903 may be used to perform S703.

In the case where the functions of the above-mentioned integrated modules are implemented in the form of hardware, an embodiment of the present invention provides a possible schematic structural diagram of an electronic device. The electronic device is used to execute the method for determining a companion vehicle in the above embodiment. As shown in FIG. 17 , the electronic device 100 includes a processor 1001 , a memory 1002 and a bus 1003 . The processor 1001 and the memory 1002 may be connected through a bus 1003 .

The processor 1001 is the control center of the communication device, and may be a processor or a general term for multiple processing elements. For example, the processor 1001 may be a general-purpose central processing unit (central processing unit, CPU), or may be other general-purpose processors, or the like. Wherein, the general-purpose processor may be a microprocessor or any conventional processor or the like.

As an example, the processor 1001 may include one or more CPUs, such as CPU 0 and CPU 1 shown in FIG. 17 .

Memory 1002 may be read-only memory (ROM) or other type of static storage device that can store static information and instructions, random access memory (RAM), or other type of static storage device that can store information and instructions The dynamic storage device can also be an electrically erasable programmable read-only memory (electrically erasable programmable read-only memory, EEPROM), a magnetic disk storage medium or other magnetic storage devices, or can be used to carry or store instructions or data structures in the form of desired program code and any other medium that can be accessed by a computer, but is not limited thereto.

As a possible implementation manner, the memory 1002 may exist independently of the processor 1001, and the memory 1002 may be connected to the processor 1001 through a bus 1003 for storing instructions or program codes. When the processor 1001 calls and executes the instructions or program codes stored in the memory 1002, the method for determining a companion vehicle provided by the embodiment of the present invention can be implemented.

In another possible implementation manner, the memory 1002 may also be integrated with the processor 1001 .

The bus 1003 may be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral device interconnect (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is shown in FIG. 17, but it does not mean that there is only one bus or one type of bus.

It should be noted that the structure shown in FIG. 17 does not constitute a limitation on the electronic device 100 . In addition to the components shown in FIG. 17, the electronic device 100 may include more or less components than shown, or combine certain components, or arrange different components.

As an example, with reference to FIG. 15 , the functions implemented by the acquiring unit 801 , the determining unit 802 , the processing unit 803 , the determining unit 804 , the storage unit 805 and the display unit 806 in the retrograde warning device 80 are the same as the functions of the processor 1001 in FIG. 17 . same.

Optionally, as shown in FIG. 17 , the electronic device provided in this embodiment of the present invention may further include a communication interface 1004 .

The communication interface 1004 is used to connect with other devices through a communication network. The communication network may be an Ethernet, a wireless access network, a wireless local area network (wireless local area network, WLAN), and the like. The communication interface 1004 may include a receiving unit for receiving data, and a transmitting unit for transmitting data.

In one design, in the electronic device provided by the embodiment of the present invention, the communication interface may also be integrated in the processor.

FIG. 18 shows another hardware structure of the electronic device in the embodiment of the present invention. As shown in FIG. 18 , the electronic device 110 may include a processor 1101 and a communication interface 1102 . The processor 1101 is coupled with the communication interface 1102 .

For the functions of the processor 1101, reference may be made to the description of the processor 1001 above. In addition, the processor 1101 also has a storage function, and reference may be made to the function of the memory 1002 described above.

The communication interface 1102 is used to provide data to the processor 1101 . The communication interface 1102 may be an internal interface of the communication device, or may be an external interface of the communication device (equivalent to the communication interface 1004).

It should be pointed out that the structure shown in FIG. 18 does not constitute a limitation on the electronic device. In addition to the components shown in FIG. 18 , the electronic device 110 may include more or less components than those shown in the figure, or a combination of certain components may be included. some components, or a different arrangement of components.

Meanwhile, for a schematic structural diagram of a hardware of another electronic device provided by the embodiment of the present invention, reference may also be made to the description of the electronic device in FIG. 17 or FIG. 18 , which will not be repeated here.

From the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of the description, only the division of the above functional units is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units according to requirements, that is, the internal structure of the device is divided into different functional units to complete all or part of the functions described above. For the specific working process of the system, apparatus and unit described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Embodiments of the present invention further provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium. When a computer executes the instructions, the computer executes each step in the method flow shown in the above method embodiments.

Embodiments of the present invention provide a computer program product containing instructions, when the instructions are executed on a computer, the computer executes the method for determining a companion vehicle in the above method embodiments.

The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), Register, Hard Disk, Optical Fiber, Portable Compact Disk Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any other form of computer-readable storage medium of the above in suitable combination, or valued in the art. An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium may be located in an Application Specific Integrated Circuit (ASIC). In the embodiments of the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

Since the apparatuses, equipment computer-readable storage media, and computer program products in the embodiments of the present invention can be applied to the above methods, the technical effects that can be obtained may also refer to the above method embodiments, and the embodiments of the present invention do not herein Repeat.

The above are only specific embodiments of the present invention, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application shall be covered within the protection scope of the present application. . Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (14)

1. A method of determining a co-traveling vehicle, the method comprising:

responding to a history time period and a target vehicle identification input by a user, and acquiring a co-traveling analysis result of the target vehicle in the history time period, wherein the co-traveling analysis result comprises a plurality of candidate co-traveling vehicles, and each candidate co-traveling vehicle and the target vehicle are in a plurality of co-traveling time periods; the track distance of each same-row time period is smaller than a preset distance; the track distance is the Freusch distance between the track of one candidate co-traveling vehicle and the track of the target vehicle in a co-traveling time period;

determining a target similarity between the trajectory of each candidate in-line vehicle and the trajectory of the target vehicle according to the number of the plurality of in-line time periods of each candidate in-line vehicle;

and determining a target co-traveling vehicle with the similarity larger than a preset similarity from the candidate co-traveling vehicles based on the determined target similarity.

2. The determination method according to claim 1, wherein prior to the obtaining results of the peer analysis of the target vehicle over the historical period of time, the method further comprises:

determining a target track of the target vehicle and a candidate co-traveling track of each candidate co-traveling vehicle;

dividing the total time period into a plurality of candidate time periods according to a preset dividing time length; the total time period comprises a time period occupied by the target track and a time period occupied by the candidate same-row track;

judging whether the first candidate time period is the same-row time period or not according to a first target sub-track of the target vehicle in the first candidate time period and a first candidate same-row sub-track of each candidate same-row vehicle in the first candidate time period; the first candidate time period is any one of the plurality of candidate time periods;

and under the condition that the first candidate time period is the same-row time period, storing the same-row time period and the candidate same-row vehicles corresponding to the same-row time period as the same-row analysis result.

3. The determination method according to claim 2, wherein the determining whether the first candidate time period is the same-row time period according to the first target sub-trajectory of the target vehicle within the first candidate time period and the first candidate same-row sub-trajectory of each candidate same-row vehicle within the first candidate time period comprises:

under the condition that the first target sub-track and the first candidate same-row sub-track in the first candidate time period occupy the same time period, intercepting the first target sub-track and the first candidate same-row sub-track to respectively obtain a second target sub-track and a second candidate same-row sub-track in the same time period;

determining the track distance between the second target sub-track and the second candidate in-line sub-track, and determining the first candidate time period as the in-line time period when the track distance between the second target sub-track and the second candidate in-line sub-track is smaller than the preset distance.

4. The determination method according to claim 3, wherein the intercepting the first target sub-track and the first candidate in-line sub-track to obtain a second target sub-track and a second candidate in-line sub-track in the same time period respectively comprises:

determining an interception starting point of the first target sub-track and an interception starting point of the first candidate in-line sub-track, and respectively determining a residual track of the first target sub-track and a residual track of the first candidate in-line sub-track;

when the ratio of the remaining track with the minimum duration to the remaining track with the maximum duration in the remaining tracks of the first target sub-track and the remaining tracks of the first candidate in-line sub-track is greater than a preset threshold, respectively determining an interception end point of the first target sub-track and an interception end point of the first candidate in-line sub-track;

intercepting the first target sub-track according to the interception starting point of the first target sub-track and the interception ending point of the first target sub-track to obtain a second target sub-track;

and intercepting the first candidate in-line sub-track according to the interception starting point of the first candidate in-line sub-track and the interception finishing point of the first candidate in-line sub-track to obtain a second candidate in-line sub-track.

5. The method according to claim 4, wherein the determining the interception start point of the first target sub-track and the interception start point of the first candidate in-line sub-track comprises:

determining a first track point, and taking the first track point as an intercepting starting point of a first track; the first track point is a first track point of the first target sub-track and a track point which is later in time in the first track point of the first candidate syntropy sub-track; the first track is a track comprising the first track point in the first target sub-track and the first candidate same-row sub-track;

determining a second track point, and taking the second track point as an intercepting starting point of a second track; the second track point is a track point with the minimum time interval with the first track point in the track points on different tracks with the first track point; the second track is a track including the second track point in the first target sub-track and the first candidate same-row sub-track.

6. The method according to claim 4, wherein said determining the interception end point of the first target sub-track and the interception end point of the first candidate collinear sub-track respectively comprises:

determining a third track point, and taking the third track point as an intercepting end point of a third track; the third track point is the last track point of the first target sub-track and the track point with the previous time in the last track point of the first candidate peer sub-track; the third track is a track comprising the third track point in the first target sub-track and the first candidate same-row sub-track;

determining a fourth track point, and taking the fourth track point as an intercepting end point of a fourth track; the fourth track point is a track point with the minimum time interval with the third track point in the track points on different tracks with the third track point; the fourth track is a track including the fourth track point in the first target sub-track and the first candidate same-row sub-track.

7. The method of any one of claims 2-6, wherein said determining a target similarity between the trajectory of each candidate co-traveling vehicle and the trajectory of the target vehicle based on the number of the plurality of co-traveling time periods of the each candidate co-traveling vehicle comprises:

determining the target similarity according to the ratio of the number of the same-row time periods to the number of the candidate time periods; the target similarity is positively correlated with the ratio.

8. The determination method according to any one of claims 1 to 6, characterized in that, after the determination of the target same-traveling vehicle whose similarity is larger than a preset similarity, the method further comprises:

acquiring target track information of a target track pair and displaying the target track information; the target track pair comprises a track of the target vehicle and a track of the target co-traveling vehicle; the target track information comprises an identification of the target co-traveling vehicle and information of a co-traveling road of the target co-traveling vehicle in the historical time period; and the time interval of the target vehicle and the target co-running vehicle entering or exiting the co-running road is less than the preset time interval.

9. A method of determining a co-traveling vehicle, the method comprising:

responding to a historical time period input by a user, and acquiring candidate co-traveling vehicle combination information in the historical time period, wherein the candidate co-traveling vehicle combination information comprises an identification of a candidate co-traveling vehicle and a plurality of co-traveling time periods of the candidate co-traveling vehicle combination; the track distance of each same-row time period is smaller than a preset distance; the track distance is the Freusch distance between the track of one candidate co-traveling vehicle and the track of the target vehicle in a co-traveling time period;

determining a target similarity between trajectories of candidate in-line vehicles of each candidate in-line vehicle combination according to the number of the plurality of in-line time periods of each candidate in-line vehicle combination;

and determining a target same-row vehicle combination with the similarity larger than a preset similarity from the candidate same-row vehicle combinations based on the determined target similarity.

10. The determination method according to claim 9, characterized in that before acquiring the candidate in-vehicle combination information within the history time period, the method further comprises:

acquiring a full amount of vehicle tracks;

determining the candidate combination of vehicles in the same row;

and determining and storing the candidate vehicle combination information based on the full amount of vehicle tracks.

11. An electronic device is characterized by comprising an acquisition unit and a determination unit;

the acquisition unit is used for responding to a history time period input by a user and a target vehicle identification, and acquiring the same-row analysis result of the target vehicle in the history time period, wherein the same-row analysis result comprises a plurality of candidate same-row vehicles, and each candidate same-row vehicle and the target vehicle are in the same-row time periods; the track distance of each same-row time period is smaller than a preset distance; the track distance is the Freusch distance between the track of one candidate co-traveling vehicle and the track of the target vehicle in a co-traveling time period;

the determining unit is used for determining the target similarity between the track of each candidate vehicle in the same line and the track of the target vehicle according to the number of the plurality of time periods in the same line of each candidate vehicle in the same line;

the determining unit is further configured to determine a target co-traveling vehicle with a similarity greater than a preset similarity from the plurality of candidate co-traveling vehicles based on the determined target similarity.

12. An electronic device is characterized by comprising an acquisition unit and a determination unit;

the acquisition unit is used for responding to a historical time period input by a user and acquiring candidate co-traveling vehicle combination information in the historical time period, wherein the candidate co-traveling vehicle combination information comprises an identification of a candidate co-traveling vehicle and a plurality of co-traveling time periods of the candidate co-traveling vehicle combination; the track distance of each same-row time period is smaller than a preset distance; the track distance is the Freusch distance between the track of one candidate co-traveling vehicle and the track of the target vehicle in a co-traveling time period;

the determining unit is used for determining the target similarity between the tracks of the candidate vehicles in the candidate vehicle-in-line combination according to the number of the multiple vehicle-in-line time periods of the candidate vehicle-in-line combination;

the determining unit is further configured to determine, from the candidate same-row vehicle combinations, a target same-row vehicle combination with a similarity greater than a preset similarity based on the determined target similarity.

13. An electronic device, comprising a memory and a processor;

the memory and the processor are coupled;

the memory for storing computer program code, the computer program code comprising computer instructions;

the electronic device, when executing the computer instructions, performs the method of determining a co-traveling vehicle of any of claims 1-8 or 9-10.

14. A computer-readable storage medium having instructions stored therein, which when run on an electronic device, cause the electronic device to perform the method of determining a co-traveling vehicle of any of claims 1-8 or 9-10.

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