CN116844334A - Vehicle route restoration method and system when ETC mast information is missing - Google Patents

Abstract

The invention discloses a vehicle path restoration method and system under the condition of ETC portal information loss. The method comprises the steps of utilizing the existing path identification file to store path information and summarize the position and time information of the vehicle; based on the position and time information of the vehicle, calculating ETC traffic data missing conditions; under the condition that the expressway topological graph is found to be a nonsensical path, decomposing the passing time between road sections from a missing data to-be-complemented record table, and complementing the original passing data; and under the condition that the ambiguous path is found through the highway topological graph, the vehicle passing path is screened and restored through analyzing the path characteristics and the existing ETC passing data. The invention provides a scattered point information complement algorithm based on portal road network topology, which improves the accuracy of vehicle running real path restoration under the condition of ETC portal information loss.

Description

Vehicle route restoration method and system when ETC mast information is missing

Technical field

The present invention relates generally to the field of path restoration technology. More specifically, the present invention relates to a vehicle path restoration method and system when ETC mast information is missing.

Background technique

Expressway ETC mast system data may be affected by equipment, weather, etc., and may be abnormal or missing, making it impossible to directly integrate vehicle driving data. The existing ETC networked toll collection system mainly uses the shortest path or the minimum toll amount for fitting for ambiguous paths where tolls are missed by the front gantry, which is difficult to meet the needs for accurate restoration of ETC vehicle paths. Related research on ETC system path fitting is still based on existing ETC information and fitting through the shortest path. It attempts to use time and location sorting when mast information or vehicle identification information is missing, but for previous mast transactions There is an overall lack of information, and ambiguous paths are not yet covered.

Contents of the invention

In order to at least solve the technical problems described in the background art section above, the present invention proposes a vehicle path restoration method and system when ETC mast information is missing. The solution of the present invention is used to improve the accuracy of restoring the true path of the vehicle when the ETC mast information is missing. In view of this, the present invention provides solutions in multiple aspects as follows.

The first aspect of the present invention provides a vehicle path restoration method when ETC mast information is missing, including: analyzing vehicle path characteristics steps, using existing path identification files to store path information and summarizing the location and time information of the vehicle; vehicle traffic; The highway topology map establishment step is to count the missing ETC traffic data based on the location and time information of the vehicle; the non-ambiguous path completion step is to use the highway topology map to find that the ETC mast information is missing and is non-ambiguous. In the case of ambiguous paths, the travel time between road sections is decomposed from the missing data to be completed record table, and the original traffic data is completed to restore the complete true path of the vehicle; the ambiguous path completion step is in When the ETC mast information is missing and an ambiguous path is found through the highway topology map, the vehicle path is restored by analyzing path characteristics and existing ETC traffic data.

In one embodiment, the step of establishing a highway topology map for vehicle traffic specifically includes: arranging the vehicle traffic data in the chronological order, analyzing the order of passing the gantry and toll station, and forming an effective map of the vehicle covering time and location. Information set; based on the road network topology directed graph of the highway, combined with the vehicle effective information set to mark the passing position of the vehicle in the highway network topology, the vehicle effective information set includes the location of the entrance/exit toll station, ETC mast and Time information; a road network connection table is formed based on the connectivity between each location point. When there is connectivity between the starting point and the end point, it is set to 1; otherwise it is 0; based on vehicle traffic information, parentheses are used in the table Mark the travel time between two points in the form; search whether there is missing information about the gantry in the road network connection table, and record the missing information about the gantry into the missing data to be completed record table.

In one embodiment, decomposing the traffic time between road sections from the missing data to be completed record table, and completing the original traffic data to restore the complete true path of the vehicle, specifically including: according to the vehicle's position on the mast /Recording time of toll sites n ₁ and n ₃ and/> According to the distance between points n ₁ to n ₂ , n ₃ /> Proportional estimation of missing data point n ₂ , based on time information of road network connectivity table/> Calculate using the following formula:/> Among them,/> is the distance between gantry/toll station n ₁ and n ₂ .

In one embodiment, filtering and restoring vehicle traffic paths by analyzing path characteristics and existing ETC traffic data specifically includes: during vehicle passing, based on the basic information of the road section including average speed, temporary speed limit, and including other vehicles The historical average travel time of the vehicle and the vehicle historical statistical information of the average stay time in the service area are used to estimate the maximum travel time of the vehicle on the path r. If the maximum travel time of the vehicle/> If the deviation from the vehicle's actual running time t _r is not greater than the vehicle's travel time deviation threshold α, the vehicle's actual running path is considered to be r, and the ETC traffic data will be completed after confirmation; where r represents the path,/> represents the maximum travel time of the vehicle, v _r represents the vehicle travel speed, s _r represents the distance, /> Represents the vehicle’s historical average travel time,/> Represents the average speed of the vehicle,/> Indicates the control speed, max{} indicates the maximum value, and min{} indicates the minimum value.

In one embodiment, it also includes: searching for all selectable paths according to the missing data to be completed record table; searching for the license plate image recognition data at the missing mast according to each path of the license plate information, and if so, determining that the path is Determine the route and complete the ETC traffic data.

The second aspect of the present invention provides a vehicle route restoration system in the case of missing ETC mast information, including: a vehicle route feature analysis module for using existing route identification files to store route information and summarize the location and time information of the vehicle; The vehicle traffic highway topology map establishment module is used to count the missing ETC traffic data based on the location and time information of the vehicle; the non-ambiguous path completion module is used to pass the highway when the ETC mast information is missing and the vehicle passes through the highway. When an unambiguous path is found in the topology map, the travel time between road sections is decomposed from the missing data to be completed record table, the original traffic data is completed, and the complete true path of the vehicle is restored; ambiguous path The completion module is used to filter and restore vehicle traffic paths by analyzing path characteristics and existing ETC traffic data when ETC mast information is missing and ambiguous paths are found through the highway topology map.

In one embodiment, the module for establishing a highway topology map for vehicle traffic is specifically used to: arrange the vehicle traffic data in the chronological order, analyze the sequence of passing the gantry and toll station, and form a map of vehicles covering time and location. Effective information set; based on the road network topology directed graph of the highway, combined with the vehicle effective information set to mark the passing position of the vehicle in the highway network topology, the vehicle effective information set includes the location of the entrance/exit toll station and ETC mast and time information; a road network connection table is formed based on the connectivity between each location point. When there is connectivity between the starting point and the end point, it is set to 1; otherwise it is 0; based on the vehicle traffic information, use Mark the travel time between two points in the form of brackets; search whether there is missing information about the gantry in the road network connection table, and record the missing information about the gantry into the missing data to be completed record table.

In one embodiment, decomposing the traffic time between road sections from the missing data to be completed record table, and completing the original traffic data to restore the complete true path of the vehicle, specifically including: according to the vehicle's position on the mast /Recording time of toll sites n ₁ and n ₃ and/> According to the distance between points n ₁ to n ₂ , n ₃ /> Proportional estimation of missing data point n ₂ , based on time information of road network connectivity table/> Calculate using the following formula:/> Among them,/> is the distance between gantry/toll station n ₁ and n ₂ .

In one embodiment, filtering and restoring vehicle traffic paths by analyzing path characteristics and existing ETC traffic data specifically includes: during vehicle passing, based on the basic information of the road section including average speed, temporary speed limit, and including other vehicles The historical average travel time of the vehicle and the vehicle historical statistical information of the average stay time in the service area are used to estimate the maximum travel time of the vehicle on the path r. If the maximum travel time of the vehicle/> If the deviation from the vehicle's actual running time t _r is not greater than the vehicle's travel time deviation threshold α, the vehicle's actual running path is considered to be r, and the ETC traffic data will be completed after confirmation; where r represents the path,/> represents the maximum travel time of the vehicle, v _r represents the vehicle travel speed, s _r represents the distance, /> Represents the vehicle’s historical average travel time,/> Represents the average speed of the vehicle,/> Indicates the control speed, max{} indicates the maximum value, and min{} indicates the minimum value.

In one embodiment, it is also used to: search for all optional paths according to the missing data to be completed record table; search for the license plate image recognition data at the missing mast according to each path of the license plate information, and determine the path if any In order to determine the route and complete the ETC traffic data.

Utilizing the solution provided by the present invention, the present invention establishes a highway topology map for vehicle traffic by analyzing the path characteristics of vehicles, and restores vehicle paths respectively for road sections with and without accurate vehicle identification technology. The present invention proposes a scatter point information completion algorithm based on the topology of the mast road network to improve the accuracy of restoring the true path of the vehicle when the ETC mast information is missing.

Description of the drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present invention are shown by way of illustration and not limitation, and like or corresponding reference numerals designate like or corresponding parts, wherein:

Figure 1 illustrates a vehicle route restoration method according to an embodiment of the present invention;

Figure 2 is a schematic diagram showing the topology of a highway according to an embodiment of the present invention;

Figure 3 is a flowchart illustrating the design flow of vehicle route restoration under the existence of paths with large differences and ambiguities according to an embodiment of the present invention;

Figure 4 is a flowchart showing a path restoration design flow chart for road sections that do not have accurate vehicle identification according to an embodiment of the present invention;

Figure 5 shows a vehicle route restoration system according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.

It should be understood that the terms “first”, “second”, “third” and “fourth” in the claims, description and drawings of the present invention are used to distinguish different objects, rather than to describe a specific sequence. . The terms "comprising" and "including" used in the description and claims of the present invention indicate the presence of described features, integers, steps, operations, elements and/or components but do not exclude one or more other features, integers , the presence or addition of steps, operations, elements, components and/or collections thereof.

It should also be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and claims of this invention, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should be further understood that the term "and/or" as used in the specification and claims of the present invention refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and claims, the term "if" may be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, to mean "once determined" or "in response to a determination" or "once the [described condition or event] is detected ]" or "in response to detection of [the described condition or event]".

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

A first aspect of the present invention provides a vehicle path restoration method when ETC mast information is missing. Figure 1 shows a vehicle path restoration method according to an embodiment of the present invention. The vehicle path restoration method in the case of missing ETC mast information of the present invention can be summarized as including steps S100-S400:

Step S100: Analyzing vehicle path characteristics.

Specifically, step S100 uses the existing route identification file to store route information to summarize the vehicle's location and time information.

Step S200: The step of establishing a vehicle highway topology map.

Specifically, step S200 counts the lack of ETC traffic data based on the location and time information of the vehicle.

Step S300: unambiguous path completion step.

Specifically, in step S300, when the ETC mast information is missing and an unambiguous path is found through the highway topology map, the travel time between road sections is decomposed from the missing data to be completed record table, and the original Complete the traffic data to restore the complete true path of the vehicle.

Step S400: Ambiguous path completion step.

Specifically, in step S400, when the ETC mast information is missing and an ambiguous path is found through the highway topology map, the vehicle traffic path is screened and restored by analyzing path characteristics and existing ETC traffic data.

In the present invention, by analyzing the path characteristics of vehicles, a highway topology map of vehicle traffic is established, and vehicle path restoration is carried out respectively for road sections with and without accurate vehicle identification technology.

In one embodiment of the present invention, when analyzing the vehicle path characteristics in step 100, it is necessary to summarize the path information stored in existing ETC, CPC card and other path identification files. Currently, the vehicle path mainly covers location and time information, as follows:

1) Location information: entrance/exit toll network number, entrance/exit toll station, entrance/exit toll lane number, ETC gantry number, etc.;

2) Time information: entrance/exit time, access door frame time, etc.;

3) Basic vehicle information: license plate number, etc.;

4) Transaction success information: ETC card insertion status, cumulative number of successful transactions, and cumulative number of tags without cards.

At the same time, the current toll collection system compares the pre-order gantry information in the OBU/user card with the actual road network physical topology information through the ETC gantry and exit toll station, and sorts out the missing gantry information that needs to be supplemented.

In an embodiment of the present invention, the vehicle traffic highway topology map is established in the above step 200, which specifically includes:

Step 1: Arrange the vehicle traffic data in the chronological order of generation, analyze the sequence of passing through the gantry and toll station, and form an effective information set covering the time and location of the vehicle.

Step 2: Based on the highway network topology directed graph, combined with the vehicle's effective information set, such as entry/exit toll stations, ETC masts and other location and time information, mark the vehicle's passing position in the highway network topology. By abstracting the high-speed entrance toll station, exit toll station and ETC gantry into a number of given points, according to the connection relationship between the station and the ETC gantry, all connected points are connected into directed edges; based on points and edges Constitute a highway network topology directed graph model.

Step 3: Form a road network connection table based on the connectivity between each location point. Among them, when there is connectivity between the starting point and the end point, it is set to 1; otherwise, it is set to 0. Based on the vehicle traffic information, the traffic time between two points is marked in brackets in the table.

Step 4: Find whether there is missing information about the gantry in the road network connection table, and record the missing information about the gantry into the missing data to be completed record table.

Specifically, as shown in Figure 2, "Gantry 2->Gantry 5" and "Gantry 5->Toll Station 2" in the vehicle's recorded traffic information cannot be directly connected because part of the mast is missing. Caused by missing information. All this information is recorded in the missing data to be completed record table, and will be completed in the path restoration algorithm.

After completing the above steps 100 and 200, different processes must be performed according to different road section conditions. It is divided into road sections with accurate vehicle identification technology and road sections without accurate vehicle identification technology.

In one embodiment of the present invention, in a road section equipped with accurate vehicle identification technology, in the case of missing ETC traffic data (such as missing mast information in the middle part, especially in the case of continuous missing), path restoration is mainly divided into non-ambiguous There are two situations: path and ambiguous path. Combined with the effective traffic data of vehicles, targeted vehicle traffic path information completion algorithms are proposed in different scenarios to solve the problem of path restoration in some scenes of non-ambiguous paths and ambiguous paths, and realize vehicle real path fitting and billing.

In a preferred embodiment of the present invention, unambiguous path restoration refers to the situation where ETC traffic data is missing and a non-ambiguous path is found through road network topology analysis (based on the dijkstra shortest path of the existing toll collection system Algorithm), decompose the travel time between road sections from the missing data to be completed record table, and complete the original traffic data to restore the complete true path of the vehicle.

According to the vehicle's recording time at the mast/toll station n ₁ and n ₃ and/> According to the distance between points n ₁ to n ₂ , n ₃ Proportional estimation of time information for missing data point n ₂ (based on road network connectivity table)/> The specific expression is as follows. Among them,/> is the distance between gantry/toll station n ₁ and n ₂ .

In a preferred embodiment of the present invention, when the ETC traffic data is missing and there is an ambiguous path (based on the dijkstra shortest path algorithm of the existing toll collection system), the path characteristics and the existing ETC traffic data can be analyzed to filter and restore Vehicle traffic paths. Based on vehicle ETC traffic data, including location information, time information, basic vehicle information and transaction success information, as well as basic path information in the road network, time and distance information between paths are selected as the basis for judging path characteristics.

According to the feature difference between ambiguous paths, it is mainly divided into two situations: large feature difference and small feature difference. When the differences in ambiguous path characteristics are small, the operation of vehicles on different paths is difficult to distinguish and cannot be used as a basis for charging. It is recommended that the Dijkstra shortest path algorithm based on the existing charging system be used as the basis for deductions. Therefore, the following mainly analyzes the reduction technology under ambiguous paths with large differences in characteristics. As shown in FIG. 3 , it is a design flow chart for vehicle path restoration under the existence of widely different ambiguous paths according to an embodiment of the present invention.

The time and distance information between paths are selected as the basis for feature judgment, and the maximum travel time of the vehicle under each path r∈R is estimated in different scenarios. Based on the existing location points and time information in the vehicle ETC traffic data, unambiguous paths are formed by screening.

During the passage of the vehicle, based on the basic information of the road section such as average speed and temporary speed limit, as well as the historical average travel time of other vehicles, the average stay time in the service area and other vehicle historical statistical information, the maximum travel time of the vehicle under the path r is estimated. If the deviation from the actual running time t _r of the vehicle is not greater than α, the actual running path of the vehicle is considered to be r, and the ETC traffic data will be completed after confirmation.

The maximum travel time of the vehicle on path r By vehicle travel speed v _r , distance s _r and vehicle historical average travel time/> Calculated, where the vehicle travel speed is the average speed of the vehicle on the road section/> and temporary speed limits and other controlled speeds/> the minimum value. The specific expression is as follows.

In situations such as congestion, bad weather, emergencies, etc., it is necessary to access the average operating speed, temporary speed limit and other information of the path for calculation. If there is a service area in the path involved, the vehicle's stay time in the service area needs to be calculated into the vehicle's historical average travel time. The maximum vehicle travel time estimate can still be restored by referring to the unambiguous path.

In one embodiment of the present invention, as shown in Figure 4, for road sections that do not have accurate vehicle identification, the license plate image recognition data of the high-definition bayonet can be combined to complete the missing ETC traffic data and restore the vehicle path.

The data uploaded by the ETC gantry to the upper system includes ETC transaction flow (double-chip OBU), ETC pass voucher (single-chip OBU), ETC pass record (transaction failure), image flow record, and CPC card row record. Among them, the image flow record includes ETC mast number, equipment code, lane code, capture time, driving direction, license plate number, vehicle speed and other information.

By comparing the vehicle storage route characteristics, the missing ETC traffic data is completed. Based on the listed missing data to be completed record table, search all available paths, and find the license plate image recognition data at the missing gantry for each path based on the license plate information. If so, determine the path as the selected path and complete the ETC traffic data.

Based on the vehicle path restoration method in the absence of ETC mast information described in Figures 1 to 4, the second aspect of the present invention also provides a vehicle path restoration method system; this system can implement the vehicle path restoration method described in Figure 1 Figure 1 to Figure 4 method, thereby achieving accurate restoration of the true path of the vehicle; as shown in Figure 5, the vehicle path restoration system of the present invention includes:

The vehicle route feature analysis module 100 is used to use existing route identification files to store route information and summarize the location and time information of the vehicle;

The vehicle traffic highway topology map establishment module 200 is used to count the lack of ETC traffic data based on the location and time information of the vehicle;

The non-ambiguous path completion module 300 is used to decompose the links between road segments from the missing data to be completed record table when the ETC gantry information is missing and a non-ambiguous path is found through the highway topology map. According to the traffic time, the original traffic data is completed to restore the complete true path of the vehicle;

The ambiguous path completion module 400 is used to filter and restore vehicle traffic by analyzing path characteristics and existing ETC traffic data when the ETC mast information is missing and an ambiguous path is found through the highway topology map. path.

In one embodiment, the module for establishing a highway topology map for vehicle traffic is specifically used to: arrange the vehicle traffic data in the chronological order, analyze the sequence of passing the gantry and toll station, and form a map of vehicles covering time and location. Effective information set; based on the road network topology directed graph of the highway, combined with the vehicle effective information set to mark the passing position of the vehicle in the highway network topology, the vehicle effective information set includes the location of the entrance/exit toll station and ETC mast and time information; a road network connection table is formed based on the connectivity between each location point. When there is connectivity between the starting point and the end point, it is set to 1; otherwise it is 0; based on the vehicle traffic information, use Mark the travel time between two points in the form of brackets; search whether there is missing information about the gantry in the road network connection table, and record the missing information about the gantry into the missing data to be completed record table.

In one embodiment, decomposing the traffic time between road sections from the missing data to be completed record table, and completing the original traffic data to restore the complete true path of the vehicle, specifically including: according to the vehicle's position on the mast /Recording time of toll sites n ₁ and n ₃ and/> According to the distance between points n ₁ to n ₂ , n ₃ /> Proportional estimation of missing data point n ₂ , based on time information of road network connectivity table/> Calculate using the following formula:/> Among them,/> is the distance between gantry/toll station n ₁ and n ₂ .

In one embodiment, filtering and restoring vehicle traffic paths by analyzing path characteristics and existing ETC traffic data specifically includes: during vehicle passing, based on the basic information of the road section including average speed, temporary speed limit, and including other vehicles The historical average travel time of the vehicle and the vehicle historical statistical information of the average stay time in the service area are used to estimate the maximum travel time of the vehicle on the path r. If the maximum travel time of the vehicle/> If the deviation from the vehicle's actual running time t _r is not greater than the vehicle's travel time deviation threshold α, the vehicle's actual running path is considered to be r, and the ETC traffic data will be completed after confirmation; where r represents the path,/> represents the maximum travel time of the vehicle, v _r represents the vehicle travel speed, s _r represents the distance, /> Represents the vehicle’s historical average travel time,/> Represents the average speed of the vehicle,/> Indicates the control speed, max{} indicates the maximum value, and min{} indicates the minimum value.

In one embodiment, it also includes: searching for all selectable paths according to the missing data to be completed record table; searching for the license plate image recognition data at the missing mast according to each path of the license plate information, and if so, determining that the path is Determine the route and complete the ETC traffic data.

While this specification has shown and described various embodiments of the invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, changes and substitutions will occur to those skilled in the art without departing from the idea and spirit of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be utilized in practicing the invention. It is intended that the appended claims define the scope of the invention and that modular arrangements, equivalents or alternatives within the scope of these claims are therefore covered.

Claims (10)

1. The vehicle path restoration method under the condition of ETC portal information loss is characterized by comprising the following steps of:

a step of analyzing the vehicle path characteristics, wherein the existing path identification file is used for storing path information to summarize the position and time information of the vehicle;

a vehicle passing highway topological graph establishing step, wherein ETC passing data missing conditions are counted based on the position and time information of the vehicle;

a non-ambiguous path completion step of decomposing the transit time between road sections from a missing data to-be-completed record table under the condition that ETC portal information is missing and the non-ambiguous path is found through the expressway topological graph, and completing the original transit data so as to restore the complete real path of the vehicle;

and (3) an ambiguous path complement step, namely screening and restoring the vehicle passing path by analyzing path characteristics and the existing ETC passing data under the condition that ETC portal information is lost and the existence of the ambiguous path is found through the expressway topological graph.

2. The vehicle path restoration method according to claim 1, wherein the step of creating a highway topology map of vehicle traffic specifically comprises:

according to the time sequence arrangement of the vehicle passing data generation, analyzing the sequence of the vehicle passing through the portal and the toll station to form an effective information set of the vehicle covering time and place;

marking the passing position of a vehicle in the expressway network topology by combining a vehicle effective information set based on a road network topology directed graph of the expressway, wherein the vehicle effective information set comprises the position and time information of an entrance/exit charging station and an ETC portal;

forming a road network connection table according to connectivity among the position points, wherein the road network connection table is set to be 1 when connectivity exists between the starting point and the end point; otherwise, 0; marking the passing time between two points in a bracket form in a table based on the passing information of the vehicle;

and searching whether portal missing information appears in the road network connection table, and recording the portal missing information into a record table to be complemented of missing data.

3. The vehicle path restoration method according to claim 2, wherein the decomposing the transit time between road segments from the missing data to-be-completed record table, and completing the original transit data to restore the complete real path of the vehicle, specifically comprises:

according to the position of the vehicle at the portal/toll station n ₁ and n₃ Recording time of (a) and />According to point n ₁ To n ₂ ,n ₃ Is of the pitch of (a)Proportion estimate missing data point n ₂ Time information based on road network connectivity table>Calculated using the following formula:

wherein ,for portal/toll station n ₁ To n ₂ Distance between them.

4. The vehicle path restoration method according to claim 3, wherein the screening and restoring the vehicle traffic path by analyzing the path characteristics and the existing ETC traffic data specifically comprises:

estimating the maximum travel time of the vehicle under the path r during the vehicle passing according to the road section basic information including the average speed and the temporary speed limit and the vehicle history statistical information including the historical average travel time and the service area average residence time of other vehicles

Wherein r represents a path,representing maximum travel time of vehicle, v _r Representing the travel speed of the vehicle s _r Indicate distance (I)>Representing historical average travel time of the vehicle,/->Representing the average speed of the vehicle>Represents a control speed, max { } represents a maximum value, and min { } represents a minimum value;

if the maximum travel time of the vehicleWith the actual running time t of the vehicle _r And if the deviation is not greater than the travel time deviation threshold alpha of the vehicle, the actual running path of the vehicle is considered to be r, and ETC traffic data is completed after confirmation.

5. The vehicle path restoration method according to any one of claims 2 to 4, further comprising:

searching all selectable paths according to the record table to be complemented of the missing data;

and searching license plate image identification data at the missing portal frame according to each path of the license plate information, if yes, determining the path as a determined path, and complementing ETC traffic data.

6. A vehicle path restoration system in the event of a missing ETC portal information, comprising:

the vehicle path analysis feature module is used for summarizing the position and time information of the vehicle by using the stored path information of the existing path identification file;

the vehicle passing highway topological graph establishing module is used for counting ETC passing data missing conditions based on the position and time information of the vehicle;

the non-ambiguous path complement module is used for decomposing the passing time between road sections from the missing data to-be-complemented record table under the condition that ETC portal information is missing and the non-ambiguous path is found through the expressway topological graph, and complementing the original passing data to restore the complete real path of the vehicle;

and the ambiguous path complement module is used for screening and restoring the vehicle passing path by analyzing the path characteristics and the existing ETC passing data under the condition that the ETC portal information is lost and the existence of the ambiguous path is found through the expressway topological graph.

7. The vehicle path restoration system according to claim 6, wherein the highway topology module for establishing vehicle traffic is specifically configured to:

according to the time sequence arrangement of the vehicle passing data generation, analyzing the sequence of the vehicle passing through the portal and the toll station to form an effective information set of the vehicle covering time and place;

marking the passing position of a vehicle in the expressway network topology by combining a vehicle effective information set based on a road network topology directed graph of the expressway, wherein the vehicle effective information set comprises the position and time information of an entrance/exit charging station and an ETC portal;

forming a road network connection table according to connectivity among the position points, wherein the road network connection table is set to be 1 when connectivity exists between the starting point and the end point; otherwise, 0; marking the passing time between two points in a bracket form in a table based on the passing information of the vehicle;

and searching whether portal missing information appears in the road network connection table, and recording the portal missing information into a record table to be complemented of missing data.

8. The vehicle path restoration system according to claim 7, wherein the decomposing the transit time between road segments from the missing data to-be-completed record table, and completing the original transit data to restore the complete real path of the vehicle, specifically comprises:

according to the position of the vehicle at the portal/toll station n ₁ and n₃ Recording time of (a) and />According to point n ₁ To n ₂ ,n ₃ Is of the pitch of (a)Proportion estimate missing data point n ₂ Time information based on road network connectivity table>Calculated using the following formula:

wherein ,for portal/toll station n ₁ To n ₂ Distance between them.

9. The vehicle path restoration system according to claim 8, wherein the screening and restoring the vehicle traffic path by analyzing the path characteristics and the existing ETC traffic data specifically comprises:

estimating the maximum travel time of the vehicle under the path r during the vehicle passing according to the road section basic information including the average speed and the temporary speed limit and the vehicle history statistical information including the historical average travel time and the service area average residence time of other vehicles

Wherein r represents a path,representing maximum travel time of vehicle, v _r Representing the travel speed of the vehicle s _r Indicate distance (I)>Representing historical average travel time of the vehicle,/->Representing the average speed of the vehicle>Represents a control speed, max { } represents a maximum value, and min { } represents a minimum value;

if the maximum travel time of the vehicleWith the actual running time t of the vehicle _r And if the deviation is not greater than the travel time deviation threshold alpha of the vehicle, the actual running path of the vehicle is considered to be r, and ETC traffic data is completed after confirmation.

10. The vehicle path restoration system according to any one of claims 6 to 9, further comprising:

searching all selectable paths according to the record table to be complemented of the missing data;

and searching license plate image identification data at the missing portal frame according to each path of the license plate information, if yes, determining the path as a selected path, and complementing ETC traffic data.