Systems and methods for identifying closed road section

The present disclosure relates to systems and methods for identifying a closed road section. The systems may obtain a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period; determine a difference map between the first heat map and the second heat map; determine one or more candidate regions based on the difference map; identify one or more candidate links associated with the one or more candidate regions in a road network map; determine one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions; and identify one or more closed road sections based on the one or more confidence levels.

TECHNICAL FIELD

The present disclosure generally relates to systems and methods for identifying closed road sections, and in particular, to systems and methods for identifying closed road sections based on heat maps associated with driving track points.

BACKGROUND

With rapid development of traffic environment, map services play an important role in modern society. When a road is closed for some reason (e.g., recondition, rebuild, extreme weather condition), a system for providing map services should identify the closed road and update maps timely and accurately. Generally, the system may obtain driving trajectory information, analyze the driving trajectory information based on a statistical approach or a supervised learning approach, and identify closed road(s) based on an analysis result. However, in some situations, it may be inefficient to identify closed road(s) based on the statistical approach or the supervised learning approach. Therefore, it is desirable to provide more efficient systems and methods for identifying closed road(s).

SUMMARY

An aspect of the present disclosure relates to a system for identifying a closed road section. The system may include a storage device to store a set of instructions and a processor communicatively coupled to the storage device. When executing the set of instructions, the processor may perform one or more of the following operations. The processor may obtain a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period. The processor may determine a difference map between the first heat map and the second heat map. The processor may determine one or more candidate regions based on the difference map. The processor may identify one or more candidate links associated with the one or more candidate regions in a road network map, each of the one or more candidate links linking to at least one of the one or more candidate regions. The processor may determine one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. The processor may further identify one or more closed road sections based on the one or more confidence levels.

In some embodiments, the processor may determine the first heat map and the second heat map based on a plurality of driving track points associated with a plurality of vehicles in the target area.

In some embodiments, the plurality of driving track points may be obtained based on positioning information associated with the plurality of vehicles.

In some embodiments, the processor may perform a first filtering operation on the first heat map to obtain a first processed heat map and a second filtering operation on the second heat map to obtain a second processed heat map. The processor may further determine the difference map by subtracting the second processed heat map from the first processed heat map.

In some embodiments, the processor may determine a binary map based on the difference map and determine the one or more candidate regions by performing a level set evolution based on the binary map.

In some embodiments, the processor may determine one or more polygons corresponding to the one or more candidate regions and join the one or more polygons in the road network map using an R-Tree algorithm. The processor may further identify the one or more candidate links associated with the one or more candidate regions based on a joining result.

In some embodiments, for each of the one or more candidate links, the processor may obtain flow information of the at least one of the one or more candidate regions corresponding to the candidate link. The processor may determine a number count of intersections of the candidate link and at least one polygon corresponding to the at least one of the one or more candidate regions. The processor may further determine the confidence level of the candidate link based on the flow information and the number count of intersections.

In some embodiments, the processor may select one or more target links from the one or more candidate links based on the one or more confidence levels. The processor may further identify the one or more closed road sections based on the one or more target links.

In some embodiments, the processor may select candidate links with confidence levels larger than a threshold as the one or more target links.

In some embodiments, the processor may rank the one or more candidate links based on the one or more confidence levels and select the one or more target links from the one or more candidate links based on a ranking result.

Another aspect of the present disclosure relates to a method for identifying a closed road section. The method may be implemented on a computing device having at least one processor, at least one storage medium, and a communication platform connected to a network. The method may include obtaining a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period. The method may also include determining a difference map between the first heat map and the second heat map. The method may also include determining one or more candidate regions based on the difference map. The method may also include identifying one or more candidate links associated with the one or more candidate regions in a road network map, each of the one or more candidate links linking to at least one of the one or more candidate regions. The method may also include determining one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. The method may further include identifying one or more closed road sections based on the one or more confidence levels.

In some embodiments, the first heat map and the second heat map may be determined based on a plurality of driving track points associated with a plurality of vehicles in the target area.

In some embodiments, the plurality of driving track points may be obtained based on positioning information associated with the plurality of vehicles.

In some embodiments, the obtaining a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period may include performing a first filtering operation on the first heat map to obtain a first processed heat map and a second filtering operation on the second heat map to obtain a second processed heat map; and determining the difference map by subtracting the second processed heat map from the first processed heat map.

In some embodiments, the determining one or more candidate regions based on the difference map may include determining a binary map based on the difference map; and determining the one or more candidate regions by performing a level set evolution based on the binary map.

In some embodiments, the identifying one or more candidate links associated with the one or more candidate regions in a road network map may include determining one or more polygons corresponding to the one or more candidate regions; joining the one or more polygons in the road network map using an R-Tree algorithm; and identifying the one or more candidate links associated with the one or more candidate regions based on a joining result.

In some embodiments, the determining one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions may include for each of the one or more candidate links, obtaining flow information of the at least one of the one or more candidate regions corresponding to the candidate link; determining a number count of intersections of the candidate link and at least one polygon corresponding to the at least one of the one or more candidate regions; and determining the confidence level of the candidate link based on the flow information and the number count of intersections.

In some embodiments, the identifying one or more closed road sections based on the one or more confidence levels may include selecting, based on the one or more confidence levels, one or more target links from the one or more candidate links; and identifying the one or more closed road sections based on the one or more target links.

In some embodiments, the selecting, based on the one or more confidence levels, one or more target links from the one or more candidate links may include selecting candidate links with confidence levels larger than a threshold as the one or more target links.

In some embodiments, the selecting, based on the one or more confidence levels, one or more target links from the one or more candidate links may include ranking the one or more candidate links based on the one or more confidence levels; and selecting the one or more target links from the one or more candidate links based on a ranking result.

Yet another aspect of the present disclosure relates to a system for identifying a closed road section. The system may include an obtaining module, a difference map determination module, a candidate region determination module, a candidate link identification module, a confidence level determination module, and a closed road section identification module. The obtaining module may be configured to obtain a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period. The difference map determination module may be configured to determine a difference map between the first heat map and the second heat map. The candidate region determination module may be configured to determine one or more candidate regions based on the difference map. The candidate link identification module may be configured to identify one or more candidate links associated with the one or more candidate regions in a road network map, each of the one or more candidate links linking to at least one of the one or more candidate regions. The confidence level determination module may be configured to determine one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. The closed road section identification module may be configured to identify one or more closed road sections based on the one or more confidence levels.

In some embodiments, the obtaining module may determine the first heat map and the second heat map based on a plurality of driving track points associated with a plurality of vehicles in the target area.

In some embodiments, the plurality of driving track points may be obtained based on positioning information associated with the plurality of vehicles.

In some embodiments, the difference map determination module may perform a first filtering operation on the first heat map to obtain a first processed heat map and a second filtering operation on the second heat map to obtain a second processed heat map. The difference map determination module may further determine the difference map by subtracting the second processed heat map from the first processed heat map.

In some embodiments, the candidate region determination module may determine a binary map based on the difference map and determine the one or more candidate regions by performing a level set evolution based on the binary map.

In some embodiments, the candidate link identification module may determine one or more polygons corresponding to the one or more candidate regions and join the one or more polygons in the road network map using an R-Tree algorithm. The candidate link identification module may further identify the one or more candidate links associated with the one or more candidate regions based on a joining result.

In some embodiments, for each of the one or more candidate links, the confidence level determination module may obtain flow information of the at least one of the one or more candidate regions corresponding to the candidate link. The confidence level determination module may determine a number count of intersections of the candidate link and at least one polygon corresponding to the at least one of the one or more candidate regions. The confidence level determination module may further determine the confidence level of the candidate link based on the flow information and the number count of intersections.

In some embodiments, the closed road section identification module may select one or more target links from the one or more candidate links based on the one or more confidence levels. The closed road section identification module may further identify the one or more closed road sections based on the one or more target links.

In some embodiments, the closed road section identification module may select candidate links with confidence levels larger than a threshold as the one or more target links.

In some embodiments, the closed road section identification module may rank the one or more candidate links based on the one or more confidence levels and select the one or more target links from the one or more candidate links based on a ranking result.

Yet another aspect of the present disclosure relates to a non-transitory computer readable medium. The non-transitory computer readable medium may include a set of instructions for identifying a closed road section. When executed by at least one processor, the set of instructions may direct the at least one processor to effectuate a method. The method may include obtaining a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period. The method may also include determining a difference map between the first heat map and the second heat map. The method may also include determining one or more candidate regions based on the difference map. The method may also include identifying one or more candidate links associated with the one or more candidate regions in a road network map, each of the one or more candidate links linking to at least one of the one or more candidate regions. The method may also include determining one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. The method may further include identifying one or more closed road sections based on the one or more confidence levels.

DETAILED DESCRIPTION

Moreover, while the systems and methods disclosed in the present disclosure are described primarily regarding on-demand transportation services, it should also be understood that this is only one exemplary embodiment. The systems and methods of the present disclosure may be applied to any other kind of on-demand service. For example, the systems and methods of the present disclosure may be applied to different transportation systems including land, ocean, aerospace, or the like, or any combination thereof. The vehicle of the transportation systems may include a taxi, a private car, a hitch, a bus, a driverless vehicle, or the like, or any combination thereof. The transportation system may also include any transportation system that applies management and/or distribution, for example, a system for transmitting and/or receiving an express. The application scenarios of the systems and methods of the present disclosure may include a web page, a plug-in of a browser, a client terminal, a custom system, an internal analysis system, an artificial intelligence robot, or the like, or any combination thereof.

The terms “passenger,” “requester,” “requestor,” “service requester,” “service requestor,” and “customer” in the present disclosure are used interchangeably to refer to an individual, an entity, or a tool that may request or order a service. Also, the terms “driver,” “provider,” “service provider,” and “supplier” in the present disclosure are used interchangeably to refer to an individual, an entity, or a tool that may provide a service or facilitate the providing of the service. The term “user” in the present disclosure refers to an individual, an entity, or a tool that may request a service, order a service, provide a service, or facilitate the providing of the service. In the present disclosure, terms “requester” and “requester terminal” may be used interchangeably, and terms “provider” and “provider terminal” may be used interchangeably.

The terms “request,” “service,” “service request,” and “order” in the present disclosure are used interchangeably to refer to a request that may be initiated by a passenger, a requester, a service requester, a customer, a driver, a provider, a service provider, a supplier, or the like, or a combination thereof. The service request may be accepted by any one of a passenger, a requester, a service requester, a customer, a driver, a provider, a service provider, or a supplier. The service request may be chargeable or free.

The positioning technology used in the present disclosure may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a compass navigation system (COMPASS), a Galileo positioning system, a quasi-zenith satellite system (QZSS), a Beidou navigation satellite system, a wireless fidelity (WiFi) positioning technology, or the like, or any combination thereof. One or more of the above positioning technologies may be used interchangeably in the present disclosure. For example, the GPS-based method and the WiFi-based method may be used together as positioning technologies to locate the wireless device.

An aspect of the present disclosure relates to systems and methods for identifying closed road sections. The systems may obtain a first heat map representing a first density of tracked vehicles in a target area (e.g., a city) over a first time period (e.g., a day) and a second heat map representing a second density of tracked vehicles in the target area over a second time period (e.g., a next day). The systems may determine a difference map between the first heat map and the second heat map. The systems may determine one or more candidate regions based on the difference map. The systems may identify one or more candidate links associated with the one or more candidate regions in a road network map, each of the one or more candidate links linking to at least one of the one or more candidate regions. The systems may also determine one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. Further, the systems may identify one or more closed road sections based on the one or more confidence levels. According to the systems and methods of the present disclosure, closed road sections can be identified based on heat maps which are determined based on driving track points associated with tracked vehicles, thereby improving the efficiency and accuracy of the road identification.

It should be noted that GPS positioning, overall, is a technology deeply rooted in Internet world. Identifying one or more closed road sections based on position information associated with vehicles is not possible without the possibility of communication between terminal devices and a remote server. Therefore, the technical solution disclosed in the present disclosure is also a technology deeply rooted in Internet era.

FIG. 1is a schematic diagram illustrating an exemplary road identification system according to some embodiments of the present disclosure. The road identification system may identify closed road sections based on driving track information associated with vehicles. The road identification system may be applied in various application scenarios, such as an on-demand transportation service scenario, a navigation service scenario, a map service scenario, etc. For illustration purposes, the present disclosure takes an on-demand transportation service scenario as an example, accordingly the road identification system100may be an online transportation service platform for transportation services such as taxi hailing services, chauffeur services, express car services, carpool services, bus services, etc. In some embodiments, the road identification system100may include a server110, a network120, a requestor terminal130, a provider terminal140, and a storage150.

The server110may be a single server or a server group. The server group may be centralized or distributed (e.g., server110may be a distributed system). In some embodiments, the server110may be local or remote. For example, the server110may access information and/or data stored in the requestor terminal130, the provider terminal140, and/or the storage150via the network120. As another example, the server110may connect to the requestor terminal130, the provider terminal140, and/or the storage150to access stored information and/or data. In some embodiments, the server110may be implemented on a cloud platform. Merely by way of example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, or the like, or any combination thereof. In some embodiments, the server110may be implemented on a computing device200having one or more components illustrated inFIG. 2in the present disclosure.

In some embodiments, the server110may include a processing engine112. The processing engine112may process information and/or data to perform one or more functions described in the present disclosure. For example, the processing engine112may obtain position information (e.g., GPS information) associated with a plurality of vehicles from a plurality of provider terminals140and generate a heat map associated with a plurality of driving track points based on the position information. In some embodiments, the processing engine112may include one or more processing engines (e.g., single-core processing engine(s) or multi-core processor(s)). Merely by way of example, the processing engine112may include one or more hardware processors, such as a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction-set processor (ASIP), a graphics processing unit (GPU), a physics processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction-set computer (RISC), a microprocessor, or the like, or any combination thereof.

The network120may facilitate exchange of information and/or data. In some embodiments, one or more components (e.g., the server110, the requestor terminal130, the provider terminal140, and the storage150) of the road identification system100may transmit information and/or data to other component(s) of the road identification system100via the network120. For example, the server110may receive GPS information from the provider terminal140via the network120. In some embodiments, the network120may be any type of wired or wireless network, or combination thereof. Merely by way of example, the network120may include a cable network, a wireline network, an optical fiber network, a tele communications network, an intranet, an Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a public telephone switched network (PSTN), a Bluetooth network, a ZigBee network, a near field communication (NFC) network, or the like, or any combination thereof. In some embodiments, the network120may include one or more network access points. For example, the network120may include wired or wireless network access points such as base stations and/or internet exchange points120-1,120-2, . . . , through which one or more components of the road identification system100may be connected to the network120to exchange data and/or information between them.

In some embodiments, a requestor may be a user of the requestor terminal130. In some embodiments, the user of the requestor terminal130may be someone other than the requestor. For example, a user A of the requestor terminal130may use the requestor terminal130to transmit a service request for a user B, or receive service and/or information or instructions from the server110. In some embodiments, a provider may be a user of the provider terminal140. In some embodiments, the user of the provider terminal140may be someone other than the provider. For example, a user C of the provider terminal140may use the provider terminal140to receive a service request for a user D, and/or information or instructions from the server110. In some embodiments, “requestor” and “requestor terminal” may be used interchangeably, and “provider” and “provider terminal” may be used interchangeably.

In some embodiments, the requestor terminal130may include a mobile device130-1, a tablet computer130-2, a laptop computer130-3, a built-in device in a motor vehicle130-4, or the like, or any combination thereof. In some embodiments, the mobile device130-1may include a smart home device, a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, or the like, or any combination thereof. In some embodiments, the smart home device may include a smart lighting device, a control device of an intelligent electrical apparatus, a smart monitoring device, a smart television, a smart video camera, an interphone, or the like, or any combination thereof. In some embodiments, the wearable device may include a smart bracelet, a smart footgear, a smart glass, a smart helmet, a smart watch, a smart clothing, a smart backpack, a smart accessory, or the like, or any combination thereof. In some embodiments, the smart mobile device may include a smartphone, a personal digital assistance (PDA), a gaming device, a navigation device, a point of sale (POS) device, or the like, or any combination thereof. In some embodiments, the virtual reality device and/or the augmented reality device may include a virtual reality helmet, a virtual reality glass, a virtual reality patch, an augmented reality helmet, an augmented reality glass, an augmented reality patch, or the like, or any combination thereof. For example, the virtual reality device and/or the augmented reality device may include a Google Glass™, a RiftCon™, a Fragments™, a Gear VR™, etc. In some embodiments, the built-in device in the motor vehicle130-4may include an onboard computer, an onboard television, etc. In some embodiments, the requestor terminal130may be a device with positioning technology for locating the position of the requestor and/or the requestor terminal130.

In some embodiments, the provider terminal140may be similar to, or the same device as the requestor terminal130. In some embodiments, the provider terminal140may be a device with positioning technology for locating the position of the provider and/or the provider terminal140. In some embodiments, the provider terminal140may periodically transmit GPS information to the server110. In some embodiments, the requestor terminal130and/or the provider terminal140may communicate with another positioning device to determine the position of the requestor, the requestor terminal130, the provider, and/or the provider terminal140. In some embodiments, the requestor terminal130and/or the provider terminal140may transmit positioning information to the server110.

In some embodiments, the storage150may be connected to the network120to communicate with one or more components (e.g., the server110, the requestor terminal130, the provider terminal140) of the road identification system100. One or more components of the road identification system100may access the data or instructions stored in the storage150via the network120. In some embodiments, the storage150may be directly connected to or communicate with one or more components (e.g., the server110, the requestor terminal130, the provider terminal140) of the road identification system100. In some embodiments, the storage150may be part of the server110.

In some embodiments, one or more components (e.g., the server110, the requestor terminal130, the provider terminal140) of the road identification system100may access the storage150. In some embodiments, one or more components of the road identification system100may read and/or modify information relating to the requester, the provider, and/or the public when one or more conditions are met. For example, the server110may read and/or modify one or more users' information after a service is completed. As another example, the provider terminal140may access information relating to the requestor when receiving a service request from the requestor terminal130, but the provider terminal140can not modify the relevant information of the requestor.

In some embodiments, information exchanging of one or more components of the road identification system100may be achieved by way of requesting a service. The object of the service request may be any product. In some embodiments, the product may be a tangible product or immaterial product. The tangible product may include food, medicine, commodity, chemical product, electrical appliance, clothing, car, housing, luxury, or the like, or any combination thereof. The immaterial product may include a servicing product, a financial product, a knowledge product, an internet product, or the like, or any combination thereof. The internet product may include an individual host product, a web product, a mobile internet product, a commercial host product, an embedded product, or the like, or any combination thereof. The mobile internet product may be used in a software of a mobile terminal, a program, a system, or the like, or any combination thereof. The mobile terminal may include a tablet computer, a laptop computer, a mobile phone, a personal digital assistance (PDA), a smart watch, a point of sale (POS) device, an onboard computer, an onboard television, a wearable device, or the like, or any combination thereof. For example, the product may be any software and/or application used on the computer or mobile phone. The software and/or application may relate to socializing, shopping, transporting, entertainment, learning, investment, or the like, or any combination thereof. In some embodiments, the software and/or application relating to transporting may include a traveling software and/or application, a vehicle scheduling software and/or application, a mapping software and/or application, etc. In the vehicle scheduling software and/or application, the vehicle may include a horse, a carriage, a rickshaw (e.g., a wheelbarrow, a bike, a tricycle), a car (e.g., a taxi, a bus, a private car), or the like, or any combination thereof.

One of ordinary skill in the art would understand that when an element of the road identification system100performs, the element may perform through electrical signals and/or electromagnetic signals. For example, when a requestor terminal130processes a task, such as making a determination, identifying or selecting an object, the requestor terminal130may operate logic circuits in its processor to process such task. When the requestor terminal130sends out a service request to the server110, a processor of the service requestor terminal130may generate electrical signals encoding the service request. The processor of the requestor terminal130may then send the electrical signals to an output port. If the requestor terminal130communicates with the server110via a wired network, the output port may be physically connected to a cable, which may further transmit the electrical signals to an input port of the server110. If the requestor terminal130communicates with the server110via a wireless network, the output port of the requestor terminal130may be one or more antennas, which may convert the electrical signals to electromagnetic signals. Similarly, a provider terminal140may process a task through operation of logic circuits in its processor, and receive an instruction and/or service request from the server110via electrical signals or electromagnet signals. Within an electronic device, such as the requestor terminal130, the provider terminal140, and/or the server110, when a processor thereof processes an instruction, sends out an instruction, and/or performs an action, the instruction and/or action is conducted via electrical signals. For example, when the processor retrieves or saves data from a storage medium (e.g., the storage150), it may send out electrical signals to a read/write device of the storage medium, which may read or write structured data in the storage medium. The structured data may be transmitted to the processor in the form of electrical signals via a bus of the electronic device. Here, an electrical signal may refer to one electrical signal, a series of electrical signals, and/or a plurality of discrete electrical signals.

It should be noted that the application scenario illustrated inFIG. 1is only provided for illustration purposes, and not intended to limit the scope of the present disclosure. For example, the road identification system100may be used as a navigation system. The navigation system may include a user terminal (e.g., the provider terminal140) and a server (e.g., the server110). When a user intends to drive a vehicle to a destination, the navigation system may provide a navigation service for the user and during the navigation service, the navigation system may periodically obtain GPS information of the vehicle from a GPS device integrated in the user terminal. The navigation system may obtain GPS information associated with a plurality of vehicles within a predetermined time period (e.g., 1 month) in a region (e.g., a city) and identify one or more closed road sections based on the GPS information according to the process and/or method described in this disclosure.

FIG. 2is a schematic diagram illustrating exemplary hardware and/or software components of an exemplary computing device according to some embodiments of the present disclosure. In some embodiments, the server110, the requestor terminal130, and/or the provider terminal140may be implemented on the computing device200. For example, the processing engine112may be implemented on the computing device200and configured to perform functions of the processing engine112disclosed in this disclosure.

The computing device200may be used to implement any component of the road identification system100as described herein. For example, the processing engine112may be implemented on the computing device200, via its hardware, software program, firmware, or a combination thereof. Although only one such computer is shown, for convenience, the computer functions described herein may be implemented in a distributed fashion on a number of similar platforms, to distribute the processing load.

The computing device200, for example, may include COM ports250connected to and from a network connected thereto to facilitate data communications. The computing device200may also include a processor (e.g., the processor220), in the form of one or more processors (e.g., logic circuits), for executing program instructions. For example, the processor may include interface circuits and processing circuits therein. The interface circuits may be configured to receive electronic signals from a bus210, wherein the electronic signals encode structured data and/or instructions for the processing circuits to process. The processing circuits may conduct logic calculations, and then determine a conclusion, a result, and/or an instruction encoded as electronic signals. Then the interface circuits may send out the electronic signals from the processing circuits via the bus210.

The computing device200may also include program storage and data storage of different forms including, for example, a disk270, a read only memory (ROM)230, or a random access memory (RAM)240, for storing various data files to be processed and/or transmitted by the computing device200. The computing device200may also include program instructions stored in the ROM230, RAM240, and/or other type of non-transitory storage medium to be executed by the processor220. The methods and/or processes of the present disclosure may be implemented as the program instructions. The computing device200also includes an I/O component260, supporting input/output between the computer and other components. The computing device200may also receive programming and data via network communications.

Merely for illustration, only one CPU and/or processor is illustrated inFIG. 2. Multiple CPUs and/or processors are also contemplated; thus operations and/or method steps performed by one CPU and/or processor as described in the present disclosure may also be jointly or separately performed by the multiple CPUs and/or processors. For example, if in the present disclosure the CPU and/or processor of the computing device200executes both step A and step B, it should be understood that step A and step B may also be performed by two different CPUs and/or processors jointly or separately in the computing device200(e.g., the first processor executes step A and the second processor executes step B, or the first and second processors jointly execute steps A and B).

FIG. 3is a block diagram illustrating an exemplary processing engine according to some embodiments of the present disclosure. In some embodiments, the processing engine112may include an obtaining module310, a difference map determination module320, a candidate region determination module330, a candidate link identification module340, a confidence level determination module350, and a closed road section identification module360.

The obtaining module310may be configured to obtain a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period. In some embodiments, the target area may be a city, a district, a predetermined geographic region with a certain radius (e.g., 500 m, 1 km, 5 km, 10 km) from a predetermined center location, etc.

The difference map determination module320may be configured to determine a difference map between the first heat map and the second heat map. The difference map may indicate a difference between the first density of tracked vehicles over the first time period and the second density of tracked vehicles over the second time period.

The candidate region determination module330may be configured to determine one or more candidate regions based on the difference map. In some embodiments, the candidate region determination module330may determine a binary map based on the difference map and determine the one or more candidate regions based on the binary map. More descriptions regarding the determination of the one or more candidate regions may be found elsewhere in the present disclosure, for example,FIG. 5-B and the description thereof.

The candidate link identification module340may be configured to identify one or more candidate links associated with the one or more candidate regions in a road network map, wherein each of the one or more candidate links corresponds to (also referred to as “links to”) at least one of the one or more candidate regions. In some embodiments, the candidate link identification module340may determine one or more polygons corresponding to the one or more candidate regions and join the one or more polygons in the road network map. Further, the candidate link identification module340may further identify the one or more candidate links associated with one or more candidate regions based on a joining result. More descriptions regarding the identification of the one or more candidate links may be found elsewhere in the present disclosure, for example,FIG. 6and the description thereof.

The confidence level determination module350may be configured to determine one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. As used herein, the confidence level may be a value within a range from 0 to 1, which indicates a probability that a corresponding candidate link corresponds to a closed road section.

The closed road section identification module360may be configured to identify one or more closed road sections based on the one or more confidence levels. In some embodiments, the closed road section identification module360may select one or more target links from the one or more candidate links based on the one or more confidence levels and identify the one or more closed road sections based on the one or more target links.

The modules in the processing engine112may be connected to or communicate with each other via a wired connection or a wireless connection. The wired connection may include a metal cable, an optical cable, a hybrid cable, or the like, or a combination thereof. The wireless connection may include a Local Area Network (LAN), a Wide Area Network (WAN), a Bluetooth, a ZigBee, a Near Field Communication (NFC), or the like, or a combination thereof. Two or more of the modules may be combined into a single module, and any one of the modules may be divided into two or more units. For example, the difference map determination module320and the candidate region determination module330may be combined as a single module which may both determine a difference map between the first heat map and the second heat map and determine one or more candidate regions based on the difference map. As another example, the processing engine112may include a storage module (not shown inFIG. 3) which may be configured to store the first heat map, the second heat map, the difference map, the one or more candidate regions, the one or more candidate links, the one or more confidence levels, etc.

FIG. 4is a flowchart illustrating an exemplary process for identifying one or more closed road sections according to some embodiments of the present disclosure. The process400may be executed by the road identification system100. For example, the process400may be implemented as a set of instructions (e.g., an application) stored in the storage ROM230or RAM240. The processor220and/or the modules inFIG. 3may execute the set of instructions, and when executing the instructions, the processor220and/or the modules may be configured to perform the process400. The operations of the illustrated process presented below are intended to be illustrative. In some embodiments, the process400may be accomplished with one or more additional operations not described and/or without one or more of the operations discussed. Additionally, the order in which the operations of the process as illustrated inFIG. 4and described below is not intended to be limiting.

In402, the processing engine112(e.g., the obtaining module310) (e.g., the interface circuits or the processing circuits of the processor220) may obtain a first heat map representing a first density of tracked vehicles in a target area over a first time period and a second heat map representing a second density of tracked vehicles in the target area over a second time period. In some embodiments, the target area may be a city, a district, a predetermined geographic region with a certain radius (e.g., 500 m, 1 km, 5 km, 10 km) from a predetermined center location, etc.

As used herein, a heat map may be a graphical image (e.g., a red green blue (RGB) image, a grayscale image) including background information (e.g., buildings, road sections) and a plurality of driving track points associated with a plurality of vehicles in the target area. For example, the processing engine112may add the plurality of driving track points on a map (e.g., a Google Map, a Baidu Map) to obtain the heat map. The plurality of driving track points may be obtained based on position information (e.g., GPS information) associated with a plurality of vehicles (also referred to as “tracked vehicles”) within a time period (e.g., an hour, a day, a week, a month). The processing engine112may obtain the position information associated with the plurality of vehicles from a plurality of provider terminals140, a plurality of positioning devices integrated in the plurality of vehicles, or a storage device (e.g., the storage150) disclosed elsewhere in the present disclosure.

In some embodiments, as described above, the heat map may represent a density of tracked vehicles in the target area over the time period. Take a specific region in the target area as an example, the more the driving track points in the region are, the more tracked vehicles passing through the region over the time period may be (i.e., the larger the density of the tracked vehicles may be), and the deeper the color of the region in the heat map may be.

In some embodiments, the second time period may be a time period after the first time period, and the first time period and the second time period may correspond to a same time segment in a time cycle (e.g., a day, a week, a month). For example, the first time period may be a day and the second time period may be a next day or any subsequent day. As another example, the first time period may be 7:00 a.m.˜9:00 a.m. on a working day (e.g., Monday) and the second time period may be 7:00 a.m.˜9:00 a.m. on a next working day (e.g., Tuesday) or any subsequent working day (e.g., Thursday, Friday). As another example, the first time period may be a weekend (e.g., Sunday) and the second time period may be a next weekend or any subsequent weekend. In some embodiments, the second time period may be any time period after the first time period. For example, the first time period may 10:00 a.m.˜11:00 a.m. and the second time period may be 11:00 a.m. 12:00 a.m.

In404, the processing engine112(e.g., the difference map determination module320) (e.g., the processing circuits of the processor220) may determine a difference map between the first heat map and the second heat map. The difference map may indicate a difference between the first density of tracked vehicles over the first time period and the second density of tracked vehicles over the second time period.

In some embodiments, there may be shifts in the position information (e.g., the GPS information) associated with the plurality of vehicles, which may result in that some of the plurality of driving track points may deviate from actual positions (these points are considered as noises). Therefore, the processing engine112may perform a first filtering operation on the first heat map to obtain a first processed heat map and a second filtering operation on the second heat map to obtain a second processed heat map. The processing engine112may further determine the difference map by subtracting the second processed heat map from the first processed heat map.

In406, the processing engine112(e.g., the candidate region determination module330) (e.g., the processing circuits of the processor220) may determine one or more candidate regions based on the difference map. As used herein, a candidate region may be a region with a density of tracked vehicles larger than that of surrounding regions in the difference map.

In some embodiments, the processing engine112may determine a binary map based on the difference map and determine the one or more candidate regions based on the binary map. As used herein, the binary map refers to a map in which a pixel value of each pixel is 0 (which represents white) or 255 (which represents black). Specifically, the processing engine112may determine the binary map based on a pixel value threshold. For each of pixels in the difference map, in response to determining that a pixel value of the pixel is larger than the pixel value threshold, the processing engine112may determine a new pixel value “255” for the pixel; whereas, in response to determining that the pixel value of the pixel is lower than or equal to the pixel value threshold, the processing engine112may determine a new pixel value “0” for the pixel. Further, the processing engine112may determine the binary map based on the new pixel values of the pixels.

After determining the binary map, the processing engine112may further determine the one or more candidate regions by performing a level set evolution based on the binary map. More descriptions regarding the determination of the one or more candidate regions may be found elsewhere in the present disclosure, for example,FIG. 5-B and the description thereof.

In408, the processing engine112(e.g., the candidate link identification module340) (e.g., the processing circuits of the processor220) may identify one or more candidate links associated with the one or more candidate regions in a road network map, wherein each of the one or more candidate links corresponds to (also referred to as “links to”) at least one of the one or more candidate regions. As used herein, the term “link” refers to a line in the road network map, which corresponds to a road section.

In some embodiments, the processing engine112may determine one or more polygons corresponding to the one or more candidate regions and join the one or more polygons in the road network map. Further, the processing engine112may further identify the one or more candidate links associated with one or more candidate regions based on a joining result. More descriptions regarding the identification of the one or more candidate links may be found elsewhere in the present disclosure, for example,FIG. 6and the description thereof.

In410, the processing engine112(e.g., the confidence level determination module350) (e.g., the processing circuits of the processor220) may determine one or more confidence levels associated with the one or more candidate links based on the one or more candidate regions. As used herein, the confidence level may be a value within a range from 0 to 1, which indicates a probability that a corresponding candidate link corresponds to a closed road section.

In some embodiments, for each candidate link, the processing engine112may obtain flow information (e.g., a number count of driving track points) of at least one of the one or more candidate regions corresponding to the candidate link. The processing engine112may determine a number count of intersections of the candidate link and at least one polygon corresponding to the at least one of the one or more candidate regions. Further, the processing engine112may determine the confidence level of the candidate link based on the flow information and the number count of intersections. More descriptions regarding the determination of the one or more confidence levels may be found elsewhere in the present disclosure, for example,FIG. 8and the descriptions thereof.

In412, the processing engine112(e.g., the closed road section determination module360) (e.g., the processing circuits of the processor220) may identify one or more closed road sections based on the one or more confidence levels.

In some embodiments, the processing engine112may select one or more target links from the one or more candidate links based on the one or more confidence levels. For example, the processing engine112may determine a level threshold (e.g., 0.9, 0.8, 0.7) and select candidate link(s) with confidence level(s) larger than the level threshold as the target link(s). The level threshold may be a default setting of the road identification system100or may be adjustable under different situations. As another example, the processing engine112may rank the one more candidate links based on the one or more confidence levels (e.g., from large to small) and select at least one (e.g., top 1, top 2, top 5) of the ranked one or more candidate links as the target link(s).

After determining the one or more target links, the processing engine112may identify the one or more closed road sections based on the one or more target links. As described above, a link corresponds to a road section. The processing engine112may identify road section(s) corresponding to the one or more target links as the closed road section(s). Further, when planning recommended routes for transportation service requests or providing navigation services, the processing engine112may consider the identified closed road section(s) and make some adjustments accordingly (if necessary).

In some embodiments, since actual roads generally along four directions (including “from north to south,” “from south to north,” “from east to west,” and “from west to east”), the processing engine112may perform process400along the four directions respectively and determine a final identification result by merging four intermediate identification results.

In some embodiments, since densities of vehicles in some special road sections may change periodically due to natural causes instead of road closure, the processing engine112may identify and mark the situation, and before performing process400, the processing engine112may determine whether the target area includes the special road section(s). In response to determining that the target area includes the special road section(s), the processing engine112may pre-filter out the special road section(s).

It should be noted that the above description is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. For example, one or more optional operations (e.g., a storing operation) may be added elsewhere in the process400. In the storing operation, the processing engine112may store the first heat map, the second heat map, the difference map, the one or more candidate regions, the one or more candidate links, the one or more confidence levels, etc.

FIG. 5-A is a schematic diagram illustrating an exemplary process for determining a difference map between the first heat map and the second heat map according to some embodiments of the present disclosure. As illustrated,510refers to the first heat map,520refers to the second heat map, and530refers to the difference map. For convenience, only parts of the three maps are shown.

As illustrated, solid dots refer to driving track points along a section of a first lane501and filled triangles refer to driving track points along a section of a second lane502. It can be seen that some driving track points (e.g.,514,524) are located outside the road (i.e., drifts occurred). In order to reduce the effect of drifts (which may result in noises), as described in connection with operation404, the processing engine112may perform a first filtering operation on the first heat map to obtain a first processed heat map and a second filtering operation on the second heat map to obtain a second processed heat map. Further, the processing engine112may determine the difference map530by subtracting the second processed heat map from the first processed heat map.

Moreover, it can be seen that an amount of the driving track points along the section of the first lane501in the second heat map520is very low and significantly less than an amount of the driving track points along the section of the first lane501in the first heat map510, which indicates that the section of the first lane501may corresponds to a closed road section over the second time period (in ideal conditions, the amount of the driving track points along the section of the first lane501in the second heat map520should be zero). On the other hand, an amount of the driving track points along the section of the second lane502in the second heat map520is almost equal to an amount of the driving track points along the section of the second lane502in the first heat map510(in the present disclosure, we assume that a density of tracked vehicles along a specific road section is approximately stable). In conclusion, it can be seen that in the difference map530, almost all driving track points are located on the section of the first lane501, which may be further used to determine the one or more candidate regions as described inFIG. 5-B and the description thereof.

FIG. 5-B is a schematic diagram illustrating an exemplary process for determining one or more candidate regions based on a difference map according to some embodiments of the present disclosure.

As described in connection withFIG. 5-A and operation406, the processing engine112may determine a binary map (e.g.,540illustrated inFIG. 5-B) based on the difference map (e.g.,530illustrated inFIG. 5-A). In order to determine the one or more candidate regions, the processing engine112may perform a level set evolution based on the binary map. For example, as illustrated inFIG. 5-B, the processing engine112may determine an initial boundary541and an initial boundary542based on the binary map540. A shape of the initial boundary541and/or a shape of the initial boundary542may include a circle, a rectangle, a triangle, an irregular shape, etc. According to the level set evolution, take the initial boundary541as an example, each pixel on the initial boundary541may correspond to an evolution speed and an evolution direction (e.g., a normal direction of the initial boundary541). The evolution speed may be a default setting of the road identification system100or may be adjustable under different situations. For example, the larger the gradient of the pixel is, the lower the evolution speed may be. Further, the processing engine112may iteratively modify the initial boundary541until a gradient of each pixel on a modified boundary is larger than a gradient threshold. Accordingly, the processing engine112may determine a candidate region551based on the modified boundary. Similarly, the processing engine112may also determine a candidate region552based on a modified boundary corresponding to the initial boundary542.

In some embodiments, after determining the initial boundary based on the binary map, the processing engine112may perform a level set evolution based on the initial boundary in the difference map and determine the one or more candidate regions in the difference map.

In some embodiments, the processing engine112may further perform a filtering operation on the binary map to eliminate driving tracking points (e.g.,543) located outside of the candidate regions, to reduce the effect of noises.

As described in connection with operation408, after determining the one or more candidate regions, the processing engine112may determine one or more polygons corresponding to the one or more candidate regions. Further, the processing engine112may join the one or more polygons in the road network map and identify the one or more candidate links associated with one or more candidate regions based on a joining result. More descriptions regarding the identification of the one or more candidate links may be found elsewhere in the present disclosure, for example,FIG. 6and the description thereof.

FIG. 6is a flowchart illustrating an exemplary process for identifying one or more candidate links according to some embodiments of the present disclosure. The process600may be executed by the road identification system100. For example, the process600may be implemented as a set of instructions (e.g., an application) stored in the storage ROM230or RAM240. The processor220and/or the modules inFIG. 3may execute the set of instructions, and when executing the instructions, the processor220and/or the modules may be configured to perform the process600. The operations of the illustrated process presented below are intended to be illustrative. In some embodiments, the process600may be accomplished with one or more additional operations not described and/or without one or more of the operations discussed. Additionally, the order in which the operations of the process as illustrated inFIG. 6and described below is not intended to be limiting. In some embodiments, operation408may be performed based on process600.

In602, the processing engine112(e.g., the candidate link identification module340) (e.g., the processing circuits of the processor220) may determine one or more polygons corresponding to one or more candidate regions. Take a specific candidate region as an example, as illustrated inFIG. 5-B, a corresponding polygon refers to a geometric object (which may be a vector object) indicating a boundary (i.e., a finally modified boundary based on the level set evolution) of the specific candidate region.

In604, the processing engine112(e.g., the candidate link identification module340) (e.g., the processing circuits of the processor220) may join the one or more polygons in the road network map using an R-tree algorithm. As used herein, the road network map may be a grayscale image including one or more lines (which may be vector lines and referred to as “links”), wherein each line represents a road section. In the road network map, each link may be defined by a start point and an end point (both may be represented by geographical coordinates), and also may be labelled with a link ID.

In some embodiments, the processing engine112may establish an R-tree index associated with the road network map based on geographical coordinate information. In some embodiments, the processing engine112may obtain the R-tree index associated with the road network map from a storage device (e.g., the storage device150) disclosed elsewhere in the present disclosure. The R-tree index may include a plurality of leaf nodes representing a plurality of regions in the road network map. According to the R-tree index, the processing engine112may identify region(s) corresponding to the one or more polygons in the road network map and join the one or more polygons into the road network map.

In606, the processing engine112(e.g., the candidate link identification module340) (e.g., the processing circuits of the processor220) may identify one or more candidate links associated with the one or more candidate regions based on a joining result. For example, the processing engine112may identify link(s) which intersect with the one or more polygons as the candidate link(s). As described in connection with operation408, each of the one or more candidate links corresponds to at least one of the one or more candidate regions. For example, as illustrated inFIG. 7, link 1 intersects with polygon710(which indicates that link 1 corresponds to a candidate region corresponding to polygon710), whereas, link 2 intersects with polygon720and polygon730(which indicates that link 2 corresponds to a candidate region corresponding to polygon720and a candidate region corresponding to polygon730).

FIG. 8is a flowchart illustrating an exemplary process for determining a confidence level of a candidate link according to some embodiments of the present disclosure. The process800may be executed by the road identification system100. For example, the process800may be implemented as a set of instructions (e.g., an application) stored in the storage ROM230or RAM240. The processor220and/or the modules inFIG. 3may execute the set of instructions, and when executing the instructions, the processor220and/or the modules may be configured to perform the process800. The operations of the illustrated process presented below are intended to be illustrative. In some embodiments, the process800may be accomplished with one or more additional operations not described and/or without one or more of the operations discussed. Additionally, the order in which the operations of the process as illustrated inFIG. 8and described below is not intended to be limiting. In some embodiments, operation410may be performed based on process800. For convenience, the description below takes a specific candidate link as an example.

In802, the processing engine112(e.g., the confidence level determination module350) (e.g., the processing circuits of the processor220) may obtain flow information of at least one of the one or more candidate regions corresponding to a candidate link. As used herein, the flow information may refer to a number count of tracked vehicles passing through the at least one of the one or more candidate regions over a time period, a number count of driving track points in the at least one of the one or more candidate regions over the time period, or any parameter indicating a density of tracked vehicles in the at least one of the one or more candidate regions over the time period.

In some embodiments, the flow information may include first flow information of the at least one of the one or more candidate regions corresponding to the candidate link over the first time period and second flow information of the at least one of the one or more candidate regions corresponding to the candidate link over the second time period. The processing engine112may obtain the first flow information and the second flow information from the first heat map and the second heat map respectively.

In804, the processing engine112(e.g., the confidence level determination module350) (e.g., the processing circuits of the processor220) may determine a number count of intersections of the candidate link and at least one polygon corresponding to the at least one of the one or more candidate regions.

In806, the processing engine112(e.g., the confidence level determination module350) (e.g., the processing circuits of the processor220) may determine the confidence level of the candidate link based on the flow information and the number count of intersections. For example, the processing engine112may determine the confidence level of the candidate link according to equation (1) below:
Conf=min{1.0,exp(−ΔB/ΔA)+max(5,M)*0.05},  (1)
where Conf refers to the confidence level of the candidate link, ΔB refers to a ratio of a second flow parameter indicating the second flow information to a first flow parameter indicating the first flow information, ΔA refers to a ratio of the first flow parameter indicating the first flow information to a sum of the first flow parameter indicating the first flow information and the second flow parameter indicating the second flow information, and M refers to the number count of intersections of the candidate link and the at least one polygon corresponding to the at least one of the one or more candidate regions.

FIG. 9is a schematic diagram illustrating an exemplary process for determining a difference map between the first heat map and the second heat map associated with a target area including at least one low-flow region according to some embodiments of the present disclosure. As used herein, a low-flow region refers to a region with a density of tracked vehicles lower than a flow threshold. The flow threshold may be a default setting of the road identification system100or may be adjustable under different situations.

As illustrated,910refers to the first heat map,920refers to the second heat map, and930refers to the difference map. For convenience, only parts of the three maps are shown. It can be seen that both a total amount of driving track points in the first heat map910and a total amount of driving track points in the second heat map920are relatively low, therefore, even if an amount of driving track points along a lane901in the second heat map920is actually lower than an amount of driving track points along the lane901in the first heat map910, it is difficult to distinguish an obvious difference between an amount of driving track points along the lane901and an amount of driving track points along a lane902in the difference map930. In this situation, the processing engine112may determine candidate region(s) based on both the driving track points along the lane901and the driving track points along the lane902, further determine candidate link(s) associated with the candidate region(s), and finally identify closed road section(s) based on the candidate link(s).