CN112632150A - Method and device for determining steering point and electronic equipment - Google Patents
Method and device for determining steering point and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for determining a turning point, a readable storage medium and electronic equipment. The method comprises the steps of clustering historical tracks in a buffer area of a target intersection within set time by obtaining the historical tracks, and determining a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining a turning point according to the main curves of two adjacent track clusters in the same track cluster group. According to the method, firstly clustering is carried out according to historical tracks to determine track clusters, then track cluster groups are determined according to the track clusters, and finally turning points are determined according to main curves of two adjacent track clusters in the same track cluster group, so that the position of at least one turning point in each track cluster group can be flexibly and accurately determined, a user can be reminded of turning at a proper position in front of the turning points, and the use experience of the user is improved.
Description
Technical Field
The invention relates to the field of data processing, in particular to a method and a device for determining a turning point and electronic equipment.
Background
With the increasingly complex road conditions, people are increasingly using navigation in the traveling process. In a mobile navigation scene, before a user passes through a turning intersection, a mobile navigation system needs to perform turning broadcast in advance.
In the existing steering broadcast mode, steering broadcast is often performed when the distance from the intersection is fixed, for example, steering broadcast is performed when the distance from the intersection is 100 meters; however, in the actual use process, due to the complexity of the real road network, for example, the number of the road lanes is different, the length of the steering wires is different, and the appropriate steering broadcast positions are also different, and the fixed broadcast distance in advance cannot necessarily meet the requirement of driving and steering, for example, when the fixed broadcast distance in advance is used, if the distance is too small, the reaction time of a driver is insufficient, and the driver cannot enter a steering dedicated road; if the excessive distance is too large, the turning reminding is too advanced, and when a continuous intersection exists, the turning reminding which is too advanced is easy to cause the confusion of driving behaviors, the situations of turning ahead and the like occur.
Therefore, how to accurately determine the turning point and then perform turning broadcast at a proper position in front of the turning point is a problem to be solved at present.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a readable storage medium, and an electronic device for determining a turning point, which may dig a turning point in a group driving behavior through a driving behavior of a historical user, and perform turning broadcast at a suitable position in front of the turning point, so as to improve user experience.
In a first aspect, an embodiment of the present invention provides a method for determining a turning point, where the method includes: acquiring a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting.
Preferably, the determining at least one track cluster group according to the plurality of track clusters specifically includes:
determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to a forward included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line between the starting point of the historical track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin;
in response to the intersection of the angle ranges of the starting points of at least two of the track clusters, determining at least two of the track clusters with the intersection as a track cluster group.
Preferably, the determining a turning point according to the main curves of two adjacent track clusters in the same track cluster group specifically includes:
determining an included angle between an end point and a start point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the start point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line between the start point and the central point of the main curve, and the third connecting line is a connecting line between the end point and the central point of the main curve;
and arranging the included angle angles in a descending order, and determining a corresponding turning point according to the main curves of two adjacent track clusters.
Preferably, the determining a corresponding turning point according to the main curves of two adjacent track clusters specifically includes:
and determining the intersection point of the main curves of two adjacent track clusters as the turning point corresponding to the main curves of the two adjacent track clusters.
Preferably, the determining a corresponding turning point according to the main curves of two adjacent track clusters specifically includes:
and determining the point at which the slopes of the main curves of the two adjacent track clusters start to change as a turning point corresponding to the main curves of the two adjacent track clusters.
Preferably, the method further comprises: and sending a steering early warning at a position which is a set distance away from the steering point.
Preferably, the method further comprises: and determining the target intersection according to the historical road network data.
In a second aspect, an embodiment of the present invention provides an apparatus for determining a turning point, where the apparatus includes:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a historical track in a buffer area of a target intersection within set time, and the buffer area is an area obtained by expanding a central point of the target intersection;
the clustering unit is used for clustering the historical tracks and determining a plurality of track clusters;
a first determining unit, configured to determine at least one trajectory cluster group according to the plurality of trajectory clusters, where each trajectory cluster group includes at least two trajectory clusters;
and the second determining unit is used for determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting.
Preferably, the first determining unit is specifically configured to: determining the angle range of the starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to the included angle between the starting point of the historical track included in the track cluster and any one forward direction in the coordinate system; in response to the intersection of the angle ranges of the starting points of at least two of the track clusters, determining at least two of the track clusters with the intersection as a track cluster group.
Preferably, the second determining unit is specifically configured to: determining an included angle between an end point and a start point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the start point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line between the start point and the central point of the main curve, and the third connecting line is a connecting line between the end point and the central point of the main curve; and arranging the included angle angles in a descending order, and determining a corresponding turning point according to the main curves of two adjacent track clusters.
Preferably, the second determining unit is specifically configured to: and determining the intersection point of the main curves of two adjacent track clusters as the turning point corresponding to the main curves of the two adjacent track clusters.
Preferably, the second determining unit is specifically configured to: the determining a corresponding turning point according to the main curves of two adjacent track clusters specifically comprises:
and determining the point at which the slopes of the main curves of the two adjacent track clusters start to change as a turning point corresponding to the main curves of the two adjacent track clusters.
Preferably, the apparatus further comprises: and the early warning unit is used for sending a steering early warning from a position with a set distance away from the steering point.
Preferably, the apparatus further comprises: and the intersection determining unit is used for determining the target intersection according to the historical road network data.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium on which computer program instructions are stored, which when executed by a processor implement the method according to the first aspect or any one of the possibilities of the first aspect.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, the memory being configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to the first aspect or any one of the possibilities of the first aspect.
The method comprises the steps of obtaining a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting. According to the method, firstly, clustering is carried out according to historical tracks to determine track clusters, then, track cluster groups are determined according to the track clusters, finally, turning points are determined according to main curves of two adjacent track clusters in the same track cluster group, the position of at least one turning point in each track cluster group can be flexibly and accurately determined, and therefore a user can be reminded of turning at a proper position in front of the turning points, and the use experience of the user is improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of determining a turning point according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a road network according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a trajectory according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a track cluster according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of coordinates of an embodiment of the present invention;
FIG. 6 is a schematic diagram of a track cluster set according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of a main curve according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of coordinates of an embodiment of the present invention;
FIG. 9 is a schematic illustration of a main curve according to an embodiment of the present invention;
FIG. 10 is a schematic illustration of a main curve according to an embodiment of the present invention;
FIG. 11 is a schematic illustration of a main curve according to an embodiment of the present invention;
FIG. 12 is a flow chart of a method of determining a turning point in accordance with an embodiment of the present invention;
FIG. 13 is a schematic view of an apparatus for determining a turning point in accordance with an embodiment of the present invention;
fig. 14 is a schematic diagram of an electronic device of an embodiment of the invention.
Detailed Description
The present disclosure is described below based on examples, but the present disclosure is not limited to only these examples. In the following detailed description of the present disclosure, certain specific details are set forth. It will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present disclosure.
Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout this specification, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".
In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified.
In the steering broadcast mode in the prior art, usually, the steering broadcast is performed when the distance from the intersection is fixed, for example, the steering broadcast is performed when the distance from the intersection is 100 meters; however, in the actual use process, due to the complexity of the real road network, for example, the number of the road lanes is different, the length of the steering wires is different, and the appropriate steering broadcast positions are also different, and the fixed broadcast distance in advance cannot necessarily meet the requirement of driving and steering, for example, when the fixed broadcast distance in advance is used, if the distance is too small, the reaction time of a driver is insufficient, and the driver cannot enter a steering dedicated road; if the excessive distance is too large, the turning reminding is too advanced, and when a continuous intersection exists, the turning reminding which is too advanced is easy to cause the confusion of driving behaviors, the situations of turning ahead and the like occur. Therefore, how to accurately determine the turning point and further perform turning broadcast at a proper position in front of the turning point is a problem to be solved at present.
In the embodiment of the invention, aiming at each intersection, the driving behavior characteristics of a driver group when passing through the intersection can be analyzed by processing the historical track data of the intersection, and the turning positions of most drivers can be found and used as the turning points in the turning broadcast, so that the obtained turning points can reflect the turning habits of the driver group at different intersections in the real world, and the defect of uniformly broadcasting the distance at different intersections in advance is overcome.
In the embodiment of the invention, the intersection can also be called as an intersection.
In the embodiment of the present invention, fig. 1 is a flowchart of a method for determining a turning point according to the embodiment of the present invention. As shown in fig. 1, the method specifically comprises the following steps:
step S100, obtaining a history track in a buffer area of the target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection.
In a possible implementation manner, the set time may be one day, one week, or one month, and the trajectory in the buffer zone passing through the intersection within the set time is not limited by the embodiment of the present invention, and may be referred to as a historical trajectory.
Specifically, the buffer area may be a circular area with a set length as a radius, and the center point of the intersection is used as a circle center; the shape of the area may also be a square area or an area with other shapes, which is not limited in the embodiment of the present invention.
In a possible implementation manner, the target intersection is determined according to historical road network data, specifically as shown in fig. 2, the target intersection includes 5 roads in fig. 2, an intersection is an area where any two roads intersect, the cache area is a circular area with a center point of the intersection as a center and a radius of K meters as a radius, fig. 2 is only an exemplary illustration, and the specific road network is determined according to an actual situation.
In a possible implementation manner, assuming that the navigation system or the positioning system reports the position information once every set period, and each history track is composed of a plurality of positioning points, there are a plurality of history tracks in the buffer area of the target intersection within the set time, and there are a plurality of positioning points, specifically, a history track schematic diagram in the buffer area of any target intersection, as shown in fig. 3.
And S101, clustering the historical tracks and determining a plurality of track clusters.
In one possible implementation, the historical tracks may be clustered by any one of a Density-Based Clustering algorithm (DBSCAN), a Density peak Clustering algorithm, and a trace track Clustering algorithm, for example, the historical tracks in fig. 3 are clustered by DBSCAN, generating a track cluster diagram as shown in fig. 4, where different track clusters are represented by different shades of gray.
Step S102, at least one track cluster group is determined according to the plurality of track clusters, and each track cluster group comprises at least two track clusters.
Specifically, an angle range of a starting point of each track cluster is determined, wherein the angle range of the starting point of the track cluster is determined according to a forward included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line between the starting point of the historical track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin; in response to the intersection of the angle ranges of the starting points of at least two of the track clusters, determining at least two of the track clusters with the intersection as a track cluster group.
For example, each track cluster is sampled, assuming that N tracks are extracted from each track cluster as sample tracks, where N is a positive integer greater than or equal to 1, an included angle between a connection line between each estimated starting point and a center point of the intersection and the east-ward direction is calculated, where the included angle is [0 °, 360 ° ], or an included angle between the connection line and the south-ward direction, the north-ward direction, the forward direction, or another direction.
For example, 5 tracks are extracted from a track cluster as sample tracks, namely, track 1, track 2, track 3, track 4 and track 5, wherein an included angle between a connecting line between a starting point of track 1 (a starting point of track 1 in the buffer) and the origin of coordinates and the east-ward direction is 135 °, an included angle between a connecting line between a starting point of track 2 (a starting point of track 2 in the buffer) and the origin of coordinates and the east-ward direction is 155 °, an included angle between a connecting line between a starting point of track 3 (a starting point of track 3 in the buffer) and the origin of coordinates and the east-ward direction is 95 °, an included angle between a connecting line between a starting point of track 4 (a starting point of track 4 in the buffer) and the origin of coordinates and the east-ward direction is 35 °, an included angle between a connecting line between a starting point of track 5 (a starting point of track 5 in the buffer) and the origin of coordinates and the east-ward direction is 215 °, and an angle range of the track cluster is [35 °, 215 ° ].
Supposing that 12 track clusters exist, namely a track cluster 1, a track cluster 2, a track cluster 3, a track cluster 4, a track cluster 5, a track cluster 6, a track cluster 7, a track cluster 8, a track cluster 9, a track cluster 10, a track cluster 11 and a track cluster 12, determining the angle range of the starting point of each track cluster according to the method, responding to the fact that the angle ranges of the starting points of the track cluster 1, the track cluster 2 and the track cluster 4 have an intersection, and determining the track cluster 1, the track cluster 2 and the track cluster 4 with the intersection as a track cluster group; similarly, the track cluster 3, the track cluster 5 and the track cluster 6 form a track cluster group; the track cluster 7, the track cluster 8 and the track cluster 9 form a track cluster group; the track cluster 10, the track cluster 11 and the track cluster 12 form a track cluster group; in the embodiment of the present invention, different track clusters in one track cluster group are track clusters entering from the same road (which may also be referred to as the same entrance), as shown in fig. 6, the track clusters in fig. 6 are divided into 4 groups, that is, there are 4 entrances, which are Entry (Entry)1, Entry2, Entry3, and Entry4 respectively.
Step S103, determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting.
In a possible implementation manner, the main curve fitting is to abstract points of one track cluster to obtain a skeleton of the track, and specifically, a main curve of each track cluster may be determined through K-segment, for example, as shown in fig. 7, there are two track clusters, each track cluster performs main curve fitting, a determined dotted line, that is, a main curve corresponding to each track cluster, and the dotted line shown in fig. 7 may also be represented by a solid line, which is not limited in the embodiment of the present invention.
In a possible implementation manner, the determining a turning point according to the main curves of two adjacent trajectory clusters in the same trajectory cluster group specifically includes: determining an included angle between an end point and a start point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the start point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line between the start point and the central point of the main curve, and the third connecting line is a connecting line between the end point and the central point of the main curve; and arranging the included angle angles in a descending order, and determining a corresponding turning point according to the main curves of two adjacent track clusters.
In a possible implementation manner, the determining a turning point according to the main curves of two adjacent trajectory clusters in the same trajectory cluster group specifically further includes: determining an included angle between an end point of a main curve of each track cluster in the same track cluster group and a center of a starting point of the track cluster group, wherein the included angle between the end point of the main curve and the center of the starting point of the track cluster group is determined according to a clockwise included angle between a second connecting line and a third connecting line, and the second connecting line is a connecting line between the center of the starting point of the track cluster group and the central point; the third connecting line is a connecting line between the end point of the main curve and the central point; and arranging the included angle angles in a descending order, and determining a corresponding turning point according to the main curves of two adjacent track clusters.
For example, assuming that the same track cluster group includes 3 track clusters, and each track cluster corresponds to one main curve, the same track cluster group includes 3 main curves, which are respectively a main curve 1, a main curve 2, and a main curve 3, and an included angle between an end point and a start point of the main curve of each track cluster in the same track cluster group is determined, and specifically, a difference between the end point angle and the start point angle of the main curve may be solved through the auxiliary line. As shown in fig. 8, the central point of the intersection is a coordinate origin of the coordinate axis, the angle θ s is an angle between a connection line between a start point (start) of any one of the main curves and the central point of the intersection and the clockwise direction of the east-ward direction, the angle θ e is an angle between a connection line between an end point (end) of any one of the main curves and the central point of the intersection and the clockwise direction of the east-ward direction, an angle between the end point and the start point of the main curve may be represented as a rotation angle from a second connection line to a third connection line, (the second connection line is a connection line between the start point and the central point of the main curve, and the third connection line is a connection line between the end point and the central point of the main curve), which may be obtained by a difference (θ s- θ e) between the start point angle and the end point angle, and when the obtained angle is a negative number, the result should be represented as 360 ° + (θ, to ensure the consistency of the solution. In the embodiment of the present invention, an included angle between the main body and the main body may also be a south direction, a north direction, a forward direction, or another direction, which is not limited in the embodiment of the present invention. In the embodiment of the present invention, the second connection line may also be rotated counterclockwise to a rotation angle of the third connection line position, which is not limited in the embodiment of the present invention.
In a possible implementation manner, assuming that included angles between end points and start points of 3 main curve main curves 1, 2 and 3 included in the same track cluster group are 135 °, 85 ° and 65 °, respectively, arranging the three main curves according to a descending order of the difference values; for example, as shown in fig. 9, fig. 9 is a schematic diagram of three main curves in a coordinate system, and difference data of the three main curves in fig. 9 is determined according to actual situations, and the difference data is merely an exemplary illustration, and it is assumed that in fig. 9, angle values of included angles between an end point and a start point of the three main curves are arranged in order from large to small, and are respectively a main curve 1, a main curve 2, and a main curve 3; and then determining a corresponding turning point according to the main curves of two adjacent track clusters, specifically, when determining the turning point, the method comprises the following two modes:
the method comprises the following steps of firstly, determining the intersection point of the main curves of two adjacent track clusters as the turning point corresponding to the main curves of the two adjacent track clusters.
Specifically, as shown in fig. 10, it is assumed that an intersection point a exists between two adjacent main curves a and B, and the intersection point a is a turning point of the two main curves a and B.
And secondly, determining the point where the slopes of the main curves of the two adjacent track clusters start to change as the turning point corresponding to the main curves of the two adjacent track clusters.
Specifically, as shown in fig. 11, it is assumed that the slopes of two adjacent main curves C and D start to change at a point b, which is a turning point of the two main curves C and D.
In one possible implementation, after determining the turning point, the method further includes: sending a steering early warning at a position which is a set distance away from the steering point; for example, a steering early warning is sent to the user at a position 100 meters away from the steering point, and the user is reminded to steer.
A detailed description of the method for determining a turning point according to the present invention is provided below by a complete embodiment, and a specific flowchart is shown in fig. 12, and specifically includes the following steps:
step 1201, determining the target intersection according to the historical road network data.
And 1202, acquiring a history track in a buffer area of the target intersection within set time.
And 1203, clustering the historical tracks to determine a plurality of track clusters.
Step 1204, determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters.
And step 1205, determining a turning point according to the main curves of two adjacent track clusters in the same track cluster group.
And 1206, sending a steering early warning at a position which is away from the steering point by a set distance.
In a possible implementation manner, each track reports position information every set period through a navigation system or a positioning system, and each track is composed of a plurality of positioning points, so that each track can be represented as T ═ [ (X1, Y1, T1), (X2, Y2, 2), …, (Xn, tn) ], where X represents longitude, Y represents latitude, and T represents time; the set of traces may be represented by TS, specifically TS ═ { T1, T2, …, Tn }; the set of turning points may be denoted by CR, specifically, CR { (x1, y1), (x2, y2), …, (xm, ym) }, where x denotes longitude, y denotes latitude, and each group (x, y) denotes a turning point.
Fig. 13 is a schematic diagram of an apparatus for determining a turning point according to an embodiment of the present invention. As shown in fig. 13, the apparatus of the present embodiment includes an obtaining unit 1301, a clustering unit 1302, a first determining unit 1303, and a second determining unit 1304.
The acquiring unit 1301 is configured to acquire a historical track in a buffer area of a target intersection within a set time, where the buffer area is an area expanded by a central point of the target intersection; a clustering unit 1302, configured to cluster the historical tracks, and determine at least one track cluster; a first determining unit 1303, configured to determine at least one track cluster group according to the at least one track cluster, where each track cluster group includes at least two track clusters; a second determining unit 1304, configured to determine a turning point according to main curves of two adjacent trajectory clusters in the same trajectory cluster group, where the main curves are determined by fitting the main curves to the trajectory clusters.
In the embodiment of the invention, a historical track in a buffer area of a target intersection within a set time is obtained, wherein the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting. According to the method, firstly, clustering is carried out according to historical tracks to determine track clusters, then, track cluster groups are determined according to the track clusters, finally, turning points are determined according to main curves of two adjacent track clusters in the same track cluster group, the position of at least one turning point in each track cluster group can be flexibly and accurately determined, and therefore a user can be reminded of turning at a proper position in front of the turning points, and the use experience of the user is improved. Moreover, the processing can be carried out for each intersection, so that the obtained turning points can reflect the turning habits of driver groups at different intersections in the real world, and the defect of uniformly broadcasting the distance at different intersections in advance is overcome.
Further, the first determining unit is specifically configured to: determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to a forward included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line between the starting point of the historical track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin; in response to the intersection of the angle ranges of the starting points of at least two of the track clusters, determining at least two of the track clusters with the intersection as a track cluster group.
In the embodiment of the invention, a plurality of track clusters entering the same intersection can be accurately determined by the intersection of the angle ranges of the starting points of the track clusters, so that the track cluster group corresponding to the same intersection is determined.
Further, the second determining unit is specifically configured to: determining an included angle between an end point and a start point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the start point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line between the start point and the central point of the main curve, and the third connecting line is a connecting line between the end point and the central point of the main curve; and arranging the included angle angles in a descending order, and determining a corresponding turning point according to the main curves of two adjacent track clusters.
In the embodiment of the invention, the main curves of each track cluster in the same track cluster group are sequenced through the difference value of the end point angle and the starting point angle, so that two adjacent main curves can be accurately determined, and the positions of the main curves of two adjacent track clusters, which determine the corresponding turning points, can be accurately determined.
Further, the second determining unit is specifically configured to: and determining the intersection point of the main curves of two adjacent track clusters as the turning point corresponding to the main curves of the two adjacent track clusters.
In the embodiment of the invention, when the two main curves have an intersection point, the intersection point is determined as the steering point, that is, the tracks corresponding to the two main curves start to be shunted at the intersection point, that is, the vehicle starts to drive to different directions, and the part of the two main curves overlapped before the intersection point is probably because the number of lanes on the road which is driven in together is small.
Further, the second determining unit is specifically configured to: the determining a corresponding turning point according to the main curves of two adjacent track clusters specifically comprises: and determining the point at which the slopes of the main curves of the two adjacent track clusters start to change as a turning point corresponding to the main curves of the two adjacent track clusters.
In the embodiment of the invention, when the two main curves do not have an intersection point, the point at which the slope begins to change is determined as a steering point, namely, the tracks corresponding to the two main curves begin to diverge at the intersection point, namely, the vehicle begins to drive to different directions, and the two main curves do not coincide before the point at which the slope begins to change possibly because the jointly-driven road is a multi-lane, the road surface is wide, and the lane selected by the vehicle is deviated, so that the main curves in different steering modes have longer parallel parts in the extraction.
Further, the apparatus further comprises: and the early warning unit is used for sending a steering early warning from a position with a set distance away from the steering point.
In the embodiment of the invention, the early warning of different conditions of different intersections can be flexibly determined according to the predicted steering points of the intersections, so that the use experience of users is improved.
Further, the apparatus further comprises: and the intersection determining unit is used for determining the target intersection according to the historical road network data.
According to the embodiment of the invention, the accuracy and the speed of intersection determination can be improved by determining the target intersection through the historical road network data.
Fig. 14 is a schematic diagram of an electronic device of an embodiment of the invention. As shown in fig. 14, the electronic device shown in fig. 14 is an apparatus for adjusting a depth image prediction model, and includes a general computer hardware structure, which includes at least a processor 1401 and a memory 1402. The processor 1401 and the memory 1402 are connected by a bus 1403. The memory 1402 is adapted to store instructions or programs executable by the processor 1401. Processor 1401 may be a stand-alone microprocessor or a collection of one or more microprocessors. Thus, processor 1401 implements the processing of data and the control of other devices by executing instructions stored by memory 1402 to perform the method flows of embodiments of the present invention as described above. A bus 1403 connects the above components together, while connecting the above components to the display controller 1404 and the display device and an input/output (I/O) device 1405. Input/output (I/O) device 1405 may be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input/output device 1405 is connected to the system through an input/output (I/O) controller 1406.
Wherein the instructions stored by the memory 1402 are executed by the at least one processor 1401 to implement: acquiring a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting.
Specifically, the electronic device includes: one or more processors 1401, and memory 1402, fig. 14 illustrates one processor 1401. The processor 1401 and the memory 1402 may be connected by a bus or the like, and fig. 14 illustrates the case of connection by a bus. Memory 1402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 1401 implements the above-described method of determining a turning point by executing nonvolatile software programs, instructions, and modules stored in the memory 1402, thereby executing various functional applications of the device and data processing.
The memory 1402 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store a list of options, etc. Further, the memory 1402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 1402 may optionally include memory located remotely from processor 1401, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in memory 1402 and, when executed by the one or more processors 1401, perform the method of determining a turning point in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the application, has corresponding functional modules and beneficial effects of the execution method, and can refer to the method provided by the embodiment of the application without detailed technical details in the embodiment.
Embodiments of the present invention relate to a non-transitory storage medium storing a computer-readable program for causing a computer to perform some or all of the above-described method embodiments.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments for practicing the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A method of determining a turning point, the method comprising:
acquiring a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection;
clustering the historical tracks to determine a plurality of track clusters;
determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters;
and determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting.
2. The method of claim 1, wherein determining at least one track cluster group from the plurality of track clusters comprises:
determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to a forward included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line between the starting point of the historical track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin;
in response to the intersection of the angle ranges of the starting points of at least two of the track clusters, determining at least two of the track clusters with the intersection as a track cluster group.
3. The method of claim 2, wherein determining a turning point from the principal curves of two adjacent trajectory clusters in the same trajectory cluster group comprises:
determining an included angle between an end point and a start point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the start point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line between the start point and the central point of the main curve, and the third connecting line is a connecting line between the end point and the central point of the main curve;
and arranging the included angle angles in a descending order, and determining a corresponding turning point according to the main curves of two adjacent track clusters.
4. The method according to claim 3, wherein the determining the corresponding turning point according to the main curves of two adjacent track clusters specifically comprises:
and determining the intersection point of the main curves of two adjacent track clusters as the turning point corresponding to the main curves of the two adjacent track clusters.
5. The method according to claim 3, wherein the determining the corresponding turning point according to the main curves of two adjacent track clusters specifically comprises:
and determining the point at which the slopes of the main curves of the two adjacent track clusters start to change as a turning point corresponding to the main curves of the two adjacent track clusters.
6. The method of claim 1, further comprising:
and sending a steering early warning at a position which is a set distance away from the steering point.
7. The method of claim 1, further comprising:
and determining the target intersection according to the historical road network data.
8. An apparatus for determining a turning point, the apparatus comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a historical track in a buffer area of a target intersection within set time, and the buffer area is an area obtained by expanding a central point of the target intersection;
the clustering unit is used for clustering the historical tracks and determining a plurality of track clusters;
a first determining unit, configured to determine at least one trajectory cluster group according to the plurality of trajectory clusters, where each trajectory cluster group includes at least two trajectory clusters;
and the second determining unit is used for determining a turning point according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by the track clusters through main curve fitting.
9. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of any one of claims 1-7.
10. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method of any of claims 1-7.
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