CN107990905A

CN107990905A - A kind of definite method and device at crossing of turning around

Info

Publication number: CN107990905A
Application number: CN201610958202.6A
Authority: CN
Inventors: 王芳
Original assignee: Autonavi Software Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2016-10-27
Filing date: 2016-10-27
Publication date: 2018-05-04
Anticipated expiration: 2036-10-27
Also published as: CN107990905B

Abstract

This application discloses a kind of definite method and device at crossing of turning around.In the technical solution that the application provides, due to compared with prior art, not by information such as on-site inspection collection image, positions, the crossing position of turning around on road is determined with reference to traffic rules, but by extracting track turning point of the user in navigation procedure, the position data at crossing of turning around is obtained by calculating, saves substantial amounts of manpower, material resources.

Description

A kind of definite method and device at crossing of turning around

Technical field

This application involves data mining technology field, more particularly to a kind of definite method and device at crossing of turning around.

Background technology

With the continuous development of traffic network and perfect, traffic network is more and more huger, depends on the at full speed of software technology Development, people the energy of overspending need not go to be familiar with traffic network again, but be based on traffic network using map navigation service The navigation way trip of offer.

Crossing of turning around in traffic network is the indispensable letter of map navigation service as the position for allowing vehicle to turn around Breath.In the prior art, determine the to turn around conventional method at crossing is：By professional equipment, crossing of turning around manually is gathered on the spot.So And the change of existing traffic network is very frequent, only not only existed by manually gathering crossing of turning around can not complete to turn around in time Crossing gather the problem of, also there are human and material resources cost it is excessive the problem of.

The content of the invention

The embodiment of the present application provides a kind of definite method and device at crossing of turning around, to solve to pass through in the prior art Manually by professional equipment collection method very waste of manpower, material resources, and crossing of turning around collecting efficiency it is low the problem of.

On the one hand, the embodiment of the present application provides a kind of definite method at crossing of turning around, including：

A yaw track record is obtained, the yaw track record have recorded two or more and in chronological sequence sequentially sort Tracing point；

Other tracing points are obtained to the air line distance to sort in the first tracing point；

The air line distance of tracing point is traveled through by the clooating sequence of tracing point, air line distance is obtained out and reaches extreme value Tracing point is as target trajectory point；

From the target trajectory point, filter out the target trajectory point for meeting to turn around crossing rule and be used as crossing position of turning around Point.

On the other hand, the embodiment of the present application provides a kind of definite method at crossing of turning around, including：

The tracing points that in chronological sequence order sorts described two above are segmented；

Following operation is performed for each segmentation：

Obtain air line distance of other tracing points into the segmentation as the tracing point for being segmented starting point in segmentation；

The air line distance of tracing point in the segmentation is traveled through, obtains out the tracing point work that air line distance reaches extreme value For target trajectory point；

From the target trajectory point, filter out the target trajectory point conduct for meeting to turn around crossing rule in the segmentation and turn around Crossing location point.

On the other hand, the embodiment of the present application provides a kind of determining device at crossing of turning around, including：

First yaw track record acquisition module, for obtaining a yaw track record, the yaw track record note The tracing point that two or more in chronological sequence sequentially sorts is recorded；

First straight line apart from acquisition module, for obtain other tracing points to sequence the first tracing point straight line away from From；

First spider module, travels through the air line distance of tracing point for the clooating sequence by tracing point, obtains out Air line distance reaches the tracing point of extreme value as target trajectory point；

First turns around crossing determining module, meets the crossing rule that turns around for from the target trajectory point, filtering out Target trajectory point is as the crossing location point that turns around.

Second yaw track record acquisition module, for obtaining a yaw track record, the yaw track record note The tracing point that two or more in chronological sequence sequentially sorts is recorded；

Segmentation module, for being segmented to the tracing points that in chronological sequence order sorts described two above；

Second straight line is apart from acquisition module, for for each segmentation, obtaining in segmentation other tracing points to the segmentation The air line distance of the middle tracing point as segmentation starting point；

Second spider module, for being segmented for each, travels through the air line distance of the tracing point in the segmentation, Obtain out air line distance and reach the tracing point of extreme value as target trajectory point；

Second turns around crossing determining module, meets road of turning around in the segmentation for from the target trajectory point, filtering out The target trajectory point of mouth rule is as the crossing location point that turns around.

The application has the beneficial effect that：In technical solution provided by the embodiments of the present application, due to obtaining a yaw rail Mark records, and the yaw track record have recorded the tracing point that two or more in chronological sequence sequentially sorts；Obtain other tracks Point arrives air line distance of the sequence in the first tracing point；By air line distance progress time of the clooating sequence of tracing point to tracing point Go through, obtain out air line distance and reach the tracing point of extreme value as target trajectory point；From the target trajectory point, satisfaction is filtered out The target trajectory point for the crossing rule that turns around is as the crossing location point that turns around.In this way, realize based on data mining technology, it is automatic true Surely turn around crossing position, without manually by professional equipment, on-site inspection collection is turned around the information of crossing position.So as to reach Save the purpose of human and material resources resources.Meanwhile automatic mining turns around crossing position, it is possible to increase turn around crossing position really Constant speed degree.

Brief description of the drawings

In order to illustrate more clearly of the technical solution in the embodiment of the present application, make required in being described below to embodiment Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the present application, for this For the those of ordinary skill in field, without creative efforts, other can also be obtained according to these attached drawings Attached drawing.

Fig. 1 show the flow diagram of the definite method at the crossing of turning around of the offer of the embodiment of the present application one；

Fig. 2 show the schematic diagram one of the yaw track record of the offer of the embodiment of the present application one；

Fig. 3 show the air line distance of the offer of the embodiment of the present application one with the variation tendency schematic diagram of tracing point；

Fig. 4 show the schematic diagram two of the yaw track record of the offer of the embodiment of the present application one；

Fig. 5 show the schematic diagram of the yaw track record of the bending road sections part of the offer of the embodiment of the present application one；

Fig. 6 show the angle schematic diagram of the offer of the embodiment of the present application one；

Fig. 7 show the embodiment of the present application one offer contain serrate air line distance schematic diagram；

Fig. 8 show the flow chart for taking average of the offer of the embodiment of the present application one；

Fig. 9 show the air line distance of the offer of the embodiment of the present application one and the schematic diagram one of trajectory distance；

Figure 10 show the air line distance of the offer of the embodiment of the present application one and the schematic diagram two of trajectory distance；

Figure 11 show the flow diagram of the definite method at the crossing of turning around of the offer of the embodiment of the present application two；

Figure 12 show the stepwise schematic views one of the offer of the embodiment of the present application two；

Figure 13 show the stepwise schematic views two of the offer of the embodiment of the present application two；

Figure 14 show the flow diagram of the definite method at the crossing of turning around of the offer of the embodiment of the present application three；

Figure 15 show the structure diagram of the crossing determining device that turns around of the offer of the embodiment of the present application four；

Figure 16 show the structure diagram of the crossing determining device that turns around of the offer of the embodiment of the present application five；

Figure 17 be the embodiment of the present application seven provide execution turn around crossing definite method electronic equipment hardware configuration Schematic diagram.

Embodiment

User navigate after navigation way is deviateed, often selects suitable position to turn around, backs within navigation way In.Navigation terminal can generate yaw track record after definite user deviates navigation way.The yaw track record have recorded two The tracing point that in chronological sequence order sorts more than a, for describing one section of user trajectory after user deviates navigation way.Example Such as, yaw track record record can be that user deviates user trajectory in the preset duration that starts of navigation way, either User deviates navigation way and starts user trajectory of the desired guiding trajectory in.And under normal conditions, user is deviateing navigation way Afterwards, custom turns around to return to navigation way, so necessarily including the position that user turns around, that is, road of turning around in yaw track record Mouth position.

Based on above-mentioned principle, the embodiment of the present application provides a kind of definite method and device at crossing of turning around.It is real in the application In the technical solution for applying example offer, due to obtaining a yaw track record, the yaw track record have recorded two or more The in chronological sequence tracing point of order sequence；Other tracing points are obtained to the air line distance to sort in the first tracing point；By rail The clooating sequence of mark point travels through the air line distance of tracing point, obtains out air line distance and reaches the tracing point of extreme value as mesh Mark tracing point；From the target trajectory point, filter out the target trajectory point for meeting to turn around crossing rule and be used as crossing position of turning around Put a little.In this way, realizing based on data mining technology, crossing position of turning around is automatically determined.So as to without manually being set by specialty Standby, on-site inspection gathers the information for crossing position of turning around, and has achieveed the purpose that to save human and material resources resource.Meanwhile automatic mining Turn around crossing position, it is possible to increase turn around crossing position constant speed degree really.

In order to make the purpose, technical scheme and advantage of the application clearer, the application is made below in conjunction with attached drawing into One step it is described in detail, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole implementation Example.Based on the embodiment in the application, what those of ordinary skill in the art were obtained without making creative work All other embodiment, shall fall in the protection scope of this application.

Embodiment one：

As described in Figure 1, for crossing provided by the embodiments of the present application of turning around definite method flow diagram, this method bag Include following steps：

Step 101：A yaw track record is obtained, the yaw track record have recorded two or more in chronological sequence The tracing point of order sequence.

Wherein, in one embodiment, it is generally the case that navigation terminal can generate partially after user deviates navigation way Boat daily record, have recorded the track point sequence for representing yaw track record in the yaw daily record.When it is implemented, can be from inclined Yaw track record is obtained in boat daily record.It is, of course, also possible to yaw track record, the embodiment of the present application are determined according to the prior art This is not limited.

It should also be noted that, it can also be navigation Service that the executive agent of the embodiment of the present application, which can be navigation terminal, Device.When it is implemented, can be determined according to being actually needed, the application does not limit this.

Step 102：Other tracing points are obtained to the air line distance to sort in the first tracing point.

As shown in Fig. 2, for the schematic diagram of a yaw track record, wherein A points are in the first tracing point, E points for sequence Sort in the tracing point of last position.B points, C points and D points are the tracing point between A points and E points in the yaw track record.L1 For the air line distance between C points and A points (i.e. tracing point C is to sequence in the first tracing point A).

Step 103：The air line distance of tracing point is traveled through by the clooating sequence of tracing point, air line distance is obtained out and reaches To extreme value tracing point as target trajectory point.

Wherein, which can be at least one of maximum and minimum extreme value.

Wherein, the crossing location point that turns around is contained in target trajectory point.Here, for ease of understanding, in the embodiment of the present application The tracing point that air line distance is reached to extreme value is illustrated as the principle of target trajectory point, including following two parts content, and one It is explanation of the tracing point as target trajectory point that air line distance is reached to maximum, second, air line distance is reached minimum Explanation of the tracing point as target trajectory point.

1st, principle explanation of the maximum point as target trajectory point：

Continue to continue to use the example shown in Fig. 2, wherein C points are the crossing location point that turns around；Before vehicle turns around, i.e., by A point rows Sail to before C points, air line distance of the tracing point to sequence in the first tracing point A gradually increases；After turning around, the air line distance It is gradually reduced, so in the crossing location point that turns around, air line distance is maximum.It is calculated by the yaw track record of Fig. 2 Air line distance can be represented with the variation tendency of tracing point with Fig. 3.Before O points (i.e. maximum point), air line distance constantly increases Greatly, after O points, air line distance constantly reduces, so O points are corresponding with the C points in Fig. 2, maximum point as O points is corresponding Tracing point is as target trajectory point.

2nd, principle explanation of the minimum point as target trajectory point：

As shown in figure 4, F points are another crossing location point that turns around, before turning around, air line distance is gradually reduced vehicle, After turning around, air line distance gradually increases.Based on it is above-mentioned similar the reasons why, can be as target using the corresponding tracing point of minimum point Tracing point.

Step 104：From the target trajectory point, filter out the target trajectory point conduct for meeting to turn around crossing rule and turn around Crossing location point.

For ease of understanding, the definite method at crossing provided by the embodiments of the present application of turning around is described further below, can Including herein below：

Wherein, in one embodiment, some roads are in itself curved, and can may include just in curved section One target trajectory point.Such target trajectory point cannot function as the crossing location point that turns around.By taking Fig. 5 as an example, track record is yawed MN is bending section (can be considered as rotary island section), and M is tracing point of the sequence in first place, and N is tracing point of the sequence in last position.Press The clooating sequence of tracing point travels through the air line distance of tracing point, and Q points reach the tracing point of extreme value, but Q for air line distance Point is unsatisfactory for the crossing rule that turns around.Therefore the target trajectory point as Q points cannot function as the crossing location point that turns around.The application is real Apply in example, in order to enable the definite crossing location point that turns around is more accurate, step 104 (filters out satisfaction to turn around crossing rule Target trajectory point as turning around crossing location point) can be directed to each target trajectory point, perform and operate as follows：

Step A1：From sequence in the tracing point before and after the target trajectory point, obtain one respectively and arrive the target The tracing point of the difference minimum of the air line distance of tracing point and default air line distance threshold value.

Step A2：Using the target trajectory point as angular vertex, two tracing points and the target trajectory point structure obtained out are calculated Into angle value.

Continue to continue to use the example of Fig. 2, as shown in Figure 6：C points are target trajectory point, and B points are that sequence arrives C points before C points The tracing point of the difference minimum of air line distance and default air line distance threshold value, D points for straight line to C point of the sequence after C points away from From and default air line distance threshold value difference minimum tracing point.∠ m are using C points as angular vertex, are collectively formed with B points, D points Angle, and the angle is less than 180 ° of angle.

Step A3：Judge whether the value of the angle meets the angle value scope at default crossing of turning around, if it is, will The target trajectory point is considered as the crossing location point that turns around.

Wherein, among reality, before and after crossing position of turning around, the direct of travel of vehicle is on the contrary, close to 180 °.So Turn around at the position of crossing according to the angle that step A2 is determined close to 0 °.So when it is implemented, folder at default crossing of turning around Angle value scope, the scope being e.g. made of less angle, such as 1 ° -10 °, when it is implemented, can be according to actual needs Setting, the embodiment of the present application are not construed as limiting this.

In this way, according at crossing position of turning around the characteristics of angle, to filter out the target trajectory for the crossing rule that meets to turn around Point is as the crossing location point that turns around so that the definite crossing location point that turns around is more accurate.

Wherein, in one embodiment, due to the tracing point of collection is not exactly accurate, driving trace of vehicle inherently It is a rough curve.In addition, road is also likely to be curved etc. many reasons in itself, it may all cause air line distance Fluctuation is had before and after crossing of turning around.As shown in fig. 7, air line distance has zigzag fluctuation.The fluctuation can cause that there are invalid Target trajectory point, so, in the embodiment of the present application, in order to make the definite crossing location point that turns around more accurate, step 103 is (i.e. The air line distance of tracing point is traveled through by the clooating sequence of tracing point) before, such as Fig. 8, perform following steps：

Step B1：Obtain i-th, i+1, the average of the air line distance of the i-th+2 tracing points, using average as i-th+ 1 tracing point is used for the air line distance traveled through.

E.g.：Wherein, f (i) is the air line distance of i-th of tracing point, with such Push away.For i-th, i+1, the average of the air line distance of the i-th+2 tracing points.

Step B2：Judge whether the i-th+2 tracing points are last tracing point in the yaw track record, if It is no, then i=i+1, return obtain i-th, i+1, the average of the air line distance of the i-th+2 tracing points the step of, i's is initial Value is any one natural number.

Method by averaging, can cause curve smoothing, filter out invalid target trajectory point, make definite road of turning around Mouth location point is more accurate.

Wherein, in one embodiment, in order to make the definite crossing location point that turns around not repeat, step 104 (filters out Meet to turn around crossing rule target trajectory point as turning around crossing location point) before, executable following steps：

Step C1：Obtain the trajectory distance between two neighboring target trajectory point in the target trajectory point.

Step C2：Judge whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then deleting the two mesh Mark any one target trajectory point among tracing point.

Wherein, in one embodiment, at curved section, the change of air line distance is slow.And tracing point to sequence Constantly increase in the trajectory distance of the first tracing point, its amplitude increased is more than the amplitude of variation of air line distance.Such as Fig. 9 Shown, for the bending section at non-crossing of turning around, the air line distance corresponding to each tracing point is not more than trajectory distance.Bending Before the target trajectory point (i.e. P points in Fig. 9) in section, the corresponding air line distance of tracing point is less than trajectory distance.And turning around At crossing, as shown in Figure 10, before R points (i.e. target trajectory point), air line distance is essentially identical with trajectory distance.Based on road of turning around With curved section there are this difference, the embodiment of the present application (it is regular to filter out satisfaction crossing of turning around in step 104 for mouthful place Target trajectory point as turning around crossing location point) before, can perform following steps：

Step D1：Obtain the trajectory distance of tracing point of the target trajectory point to the sequence in first place.

Step D2：The air line distance of target trajectory point and the difference of trajectory distance are calculated, if difference is more than default distance Difference, then delete the target trajectory point.

In this way, equivalent to the extreme point in the bending section for eliminating non-crossing of turning around so that the road of turning around finally obtained Mouth location point is more accurate.

It should be noted that when it is implemented, step A1-A3, step C1-C2 and step D1-D2, can be in step Performed before 104, and execution sequence is unrestricted；This can also not limited as three kinds of embodiments of step 104, the application It is fixed.

In conclusion in the definite method at crossing provided by the embodiments of the present application of turning around, a yaw track note is obtained Record, the yaw track record have recorded the tracing point that two or more in chronological sequence sequentially sorts；Other tracing points are obtained to arrive Sort in the air line distance of the first tracing point；The air line distance of tracing point is traveled through by the clooating sequence of tracing point, is obtained Take out air line distance and reach the tracing point of extreme value as target trajectory point；From the target trajectory point, filter out satisfaction and turn around The target trajectory point of crossing rule is as the crossing location point that turns around.In this way, realizing based on data mining technology, automatically determine Parting mouthful position, without manually gathering the information for crossing position of turning around by professional equipment, on-site inspection.So as to reach section The about purpose of human and material resources resource.Meanwhile automatic mining turns around crossing position, it is possible to increase turn around crossing position constant speed really Degree.

Embodiment two：

As described in Figure 11, for crossing provided by the embodiments of the present application of turning around definite method flow diagram, this method Comprise the following steps：

Step 1101：A yaw track record is obtained, the yaw track record have recorded two or more temporally first The tracing point of order sequence afterwards.

Step 1102：The tracing points that in chronological sequence order sorts described two above are segmented.

Due between city and city, between the difference city of incity, there is a plurality of intercommunication route, even if different points of interest Between, also there is a plurality of intercommunication route.So the quantity for yawing track record is very big, result in the need for determining crossing position of turning around Data volume it is big., can be to press more than described two in order to improve the speed for the crossing position that determines to turn around in the embodiment of the present application The tracing point of time order and function order sequence is segmented.

Step 1103：Obtain each segmentation in other tracing points into the segmentation as be segmented starting point tracing point it is straight Linear distance.

Step 1104：The air line distance of tracing point in the segmentation is traveled through, air line distance is obtained out and reaches extreme value Tracing point as target trajectory point.

Step 1105：From the target trajectory point, filter out and meet the target trajectory of crossing rule of turning around in the segmentation Point is as the crossing location point that turns around.

Wherein, in one embodiment, in order to realize equitable subsection, step 1102 is (i.e. to described two above temporally The tracing point of sequencing sequence is segmented), it can perform as following steps：

Step E1：More than described two in chronological sequence in the tracing point of order sequence, obtain as being segmented starting point Tracing point.

Step E2：Tracing point of the sequence after starting point is segmented is obtained to the trajectory distance of the segmentation starting point.

Step E3：If the trajectory distance currently obtained reach it is default segmentation track distance threshold, using it is described as divide The tracing point of Duan Qidian to the trajectory distance reach it is default segmentation track distance threshold tracing point and its between track Point is divided into one section.

When it is implemented, the tracing point of default quantity can also be divided into one group, the corresponding section of each group tracing point is one A segmentation；Alternatively, in addition to according to above-mentioned trajectory distance segmentation, can also be segmented according to air line distance.That is, sequence is obtained Tracing point after starting point is segmented is to the air line distance for being segmented starting point, if the air line distance currently obtained reaches default Segmented linear distance threshold, then reach default segmented linear using the tracing point as segmentation starting point to the air line distance The tracing point of distance threshold and its between tracing point be divided into one section.

Wherein, in one embodiment, since when carrying out segment processing to tracing point, the crossing location point that may turn around is proper Just in the joining place of two neighboring orbit segment, the crossing location point that makes to turn around during processing data is missed.By taking Figure 12 as an example, Tu12Zhong (1) it is segmented for a segmentation, (2) for another.C points are the crossing location point that turns around, and C points are in (1) and (2) two linkings being segmented Place.In this way, when carrying out step 1104 (obtain out air line distance and reach the tracing point of extreme value as target trajectory point), just make C Point is missed.

So in the embodiment of the present application, in order not to omit the crossing location point that turns around, step E1 can specifically perform following step Suddenly：

Step F1：For first segmentation, in the tracing points that described two above are in chronological sequence sequentially sorted, it is located at The first tracing point is determined as being segmented starting point.

Step F2：For the segmentation after first segmentation, calculate tracing point in the previous segmentation of current fragment and arrive this The trajectory distance of previous segmentation starting point, obtains the rail of the difference minimum of the trajectory distance and default segmentation starting point trajectory distance threshold value Segmentation starting point of the mark point as current fragment.

When it is implemented, the segmentation after can also being segmented for first, in the previous segmentation for calculating current fragment Tracing point to the trajectory distance of the previous segment endpoint, obtain the trajectory distance and default segment endpoint trajectory distance threshold value it Segmentation starting point of the poor minimum tracing point as current fragment.

In this way, it can make to partially overlap between adjacent sectional.By taking Figure 13 as an example, being segmented between (3) and segmentation (4) has part Overlap, turn around crossing location point C on (3) and (4) intersection.Because partly weighed between adjacent orbit segment when being segmented Close, in this way, when step 1104 obtains target trajectory point, C points would not be omitted, i.e., will not omit the crossing location point that turns around.

Wherein, in one embodiment, based on to performing the reasons why step B1-B2 is similar, sheet in the embodiment of the present application one Apply in embodiment, before step 1104 (being traveled through to the air line distance of the tracing point in the segmentation), perform following step Suddenly：

Step G1：Obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points, by average The air line distance for being used to travel through as i+1 tracing point.

Step G2：Judge whether the i-th+2 tracing points are last tracing point in the segmentation, if it is not, then i=i+ 1, return obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points the step of, the initial value of i It is any one natural number.

Wherein, in one embodiment, due to partially overlapping between adjacent track section, the road of turning around of coincidence part office is caused Mouth location point is repeated calculating, and the crossing location point that turns around for making to finally obtain repeats.By taking Figure 13 as an example, turn around crossing location point C Point determines once in orbit segment (3), and is determined once in orbit segment (4).In view of this, in the embodiment of the present application, in step Before rapid 1105 (filter out the target trajectory point for meeting to turn around crossing rule in the segmentation and be used as the crossing location point that turns around), also The crossing location point that turns around repeated can be excluded by following steps：

Step H1：Obtain the trajectory distance between two neighboring target trajectory point in the target trajectory point.

Step H2：Judge whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then from the target track Any one target trajectory point among the two target trajectory points is deleted in mark point.

In this way, by the target trajectory point for excluding to repeat, the crossing location point that turns around of repetition is just eliminated.

Wherein, in one embodiment, based on to performing the reasons why step D1-D2 is similar, sheet in the embodiment of the present application one Application embodiment (filters out the target trajectory point conduct that meets to turn around crossing rule in the segmentation to turn around crossing in step 1105 Location point) before, perform step N1：Obtain target trajectory point to the air line distance of the segmentation starting point of segmentation belonging to it and track away from From difference, if difference is more than default distance difference, delete the target trajectory point.

Wherein, in one embodiment, based on to performing the reasons why A1-A3 is similar, the application in the embodiment of the present application one In embodiment, step 1105 (filters out the target trajectory point for meeting to turn around crossing rule in the segmentation and is used as crossing position of turning around Put a little) each target trajectory point can be directed to, perform following operation：

Step I1：Sequence divides in the tracing point before and after the target trajectory point from the yaw track record Not Huo Qu one to the target mark point air line distance and default air line distance threshold value difference minimum tracing point.

Step I2：Using the target trajectory point as angular vertex, two tracing points and the target trajectory point structure obtained out are calculated Into angle value.

Step I3：Judge whether the value of the angle meets the angle condition at default crossing of turning around, if it is, should Target trajectory point is considered as the crossing location point that turns around.

In this way, according at the crossing location point that turns around the characteristics of angle, to filter out the target track for the crossing rule that meets to turn around Mark point is as the crossing location point that turns around so that definite crossing position of turning around is more accurate.

In this way, the crossing location point that turns around for just making to finally obtain is more accurate.

It should be noted that when it is implemented, step H1-H2, step I1-I3 and step N1, can be in step 1105 Perform before, and execution sequence is unrestricted；This can also not limited as three kinds of embodiments of step 1105, the application It is fixed.

In conclusion in technical solution provided by the embodiments of the present application, a yaw track record, the yaw are obtained The tracing point that the two or more that track record have recorded in chronological sequence sequentially sorts；To in chronological sequence order more than described two The tracing point of sequence is segmented；For each segmentation, in acquisition segmentation, other tracing points are used as into the segmentation is segmented The air line distance of the tracing point of point；The air line distance of tracing point in the segmentation is traveled through, air line distance is obtained out and reaches The tracing point of extreme value is as target trajectory point；From the target trajectory point, filter out and meet the crossing rule that turns around in the segmentation Target trajectory point as turning around crossing location point.In this way, realizing based on data mining technology, crossing position of turning around is automatically determined Put, without manually gathering the information for crossing position of turning around by professional equipment, on-site inspection.So as to reached saving manpower, The purpose of material resources.Meanwhile automatic mining turns around crossing position, it is possible to increase turn around crossing position constant speed degree really.

Embodiment three

For ease of understanding, the definite method at crossing provided by the embodiments of the present application of turning around is described further, such as Figure 14 It is shown, it is the flow diagram of this method, comprises the following steps：

Step 1401：A yaw track record is obtained, the yaw track record have recorded two or more temporally first The tracing point of order sequence afterwards.

Step 1402：The tracing points that in chronological sequence order sorts described two above are segmented.

Step 1403：For each segmentation, other tracing points are obtained in segmentation into the segmentation as being segmented starting point The air line distance of tracing point.

Step 1404：Obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points, will be equal It is worth the air line distance for being used for traversal as i+1 tracing point.

Step 1405：Judge whether the i-th+2 tracing points are last tracing point in the segmentation, if it is not, then performing Step 1406；If so, then perform step 1407.

Step 1406：I=i+1, and return to step 1404.

Step 1407：The air line distance of tracing point in the segmentation is traveled through, air line distance is obtained out and reaches extreme value Tracing point as target trajectory point.

Step 1408：Obtain the trajectory distance between two neighboring target trajectory point in the target trajectory point.

Step 1409：Judge whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then performing step 1410；If it is not, then perform step 1411.

Step 1410：Any one target trajectory among the two target trajectory points is deleted from the target trajectory point Point.

Step 1411：Obtain the air line distance of segmentation starting point and the difference of trajectory distance of segmentation belonging to target trajectory point to its Value.

Step 1412：Judge whether the difference is more than default distance difference, if so, then performing step 1413；If it is not, then Perform step 1414.

Step 1413：Delete the target trajectory point.

Step 1414：For each target trajectory point, sequence is in the target trajectory point from the yaw track record Before and after tracing point in, obtain respectively the air line distance to the target mark point and default air line distance threshold value it Poor minimum tracing point.

Step 1415：Using the target trajectory point as angular vertex, two tracing points obtained out and the target trajectory point are calculated The value of the angle of composition.

Step 1416：Judge whether the value of the angle meets the angle condition at default crossing of turning around, if so, then performing Step 1417；If it is not, then terminate.

Step 1417：The target trajectory point is considered as the crossing location point that turns around.

In conclusion in method provided by the embodiments of the present application, a yaw track record, the yaw track are obtained It has recorded the tracing point that two or more in chronological sequence sequentially sorts；To described two in chronological sequence order sequences above Tracing point be segmented；For each segmentation, other tracing points are obtained in segmentation into the segmentation as being segmented starting point The air line distance of tracing point；The air line distance of tracing point in the segmentation is traveled through, air line distance is obtained out and reaches extreme value Tracing point as target trajectory point；From the target trajectory point, filter out and meet the mesh of crossing rule of turning around in the segmentation Mark tracing point is as the crossing location point that turns around.In this way, realizing based on data mining technology, crossing position of turning around is automatically determined, Without manually gathering the information for crossing position of turning around by professional equipment, on-site inspection.So as to reach saving human and material resources The purpose of resource.Meanwhile automatic mining turns around crossing position, it is possible to increase turn around crossing position constant speed degree really.

Example IV：

Based on identical inventive concept, the embodiment of the present application also provides one kind and turns around crossing determining device, which falls The definite principle of parting mouthful is similar with the definite principle at the crossing of turning around of the definite method at crossing of turning around in embodiment one.Specifically Reference can be made to the content of the above method, does not repeat here.

As shown in figure 15, include for the structure diagram of the device, described device：

First yaw track record acquisition module 1501, for obtaining a yaw track record, yaw track note Record have recorded the tracing point that two or more in chronological sequence sequentially sorts；

First straight line is apart from acquisition module 1502, for obtaining other tracing points to the straight line to sort in the first tracing point Distance；

First spider module 1503, travels through the air line distance of tracing point for the clooating sequence by tracing point, obtains Take out air line distance and reach the tracing point of extreme value as target trajectory point；

First turns around crossing determining module 1504, turns around crossing rule for from the target trajectory point, filtering out satisfaction Target trajectory point then is as the crossing location point that turns around.

Wherein, in one embodiment, described first turn around crossing determining module, including：

First tracing point acquiring unit, for for each target trajectory point, from sequence before the target trajectory point In tracing point afterwards, one is obtained respectively to the air line distance of the target trajectory point and the difference of default air line distance threshold value Minimum tracing point；

First angle calcu-lation unit, for for each target trajectory point, using the target trajectory point as angular vertex, calculating The value for the angle that two tracing points obtained out are formed with the target trajectory point；

Whether the first angle judging unit, the value for judging the angle meet the angle value model at default crossing of turning around Enclose, if it is, the target trajectory point is considered as the crossing location point that turns around.

Wherein, in one embodiment, described device further includes：

First average acquisition module, for before the first spider module travels through the air line distance of tracing point, obtaining Take i-th, i+1, the average of the air line distance of the i-th+2 tracing points, using average as i+1 tracing point for traveling through Air line distance；

First judgment module, for judging whether the i-th+2 tracing points are last rail in the yaw track record Mark point, if it is not, then i=i+1, return obtain i-th, i+1, the step of the average of the air line distance of the i-th+2 tracing points Suddenly, the initial value of i is any one natural number.

Wherein, in one embodiment, described device further includes：

First trajectory distance acquisition module, for first turn around crossing determining module filter out satisfaction turn around crossing rule Target trajectory point before the location point of crossing, obtained as turning around in the target trajectory point between two neighboring target trajectory point Trajectory distance；

Second judgment module, for judging whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then deleting Except any one target trajectory point among the two target trajectory points.

Wherein, in one embodiment, described device further includes：

Second trajectory distance acquisition module, for turning around to meet to turn around during crossing determining module filters out the segmentation first Before the target trajectory point of crossing rule is as the crossing location point that turns around, target trajectory point is obtained to the sequence in the first rail The trajectory distance of mark point；

Difference calculating module, for calculating the air line distance of target trajectory point and the difference of trajectory distance, if difference is more than Default distance difference, then delete the target trajectory point.

In conclusion in the determining device provided by the embodiments of the present application for turning around crossing, the first yaw track record obtains Modulus block obtains a yaw track record；First straight line obtains other tracing points to sequence in the first rail apart from acquisition module The air line distance of mark point；First spider module travels through the air line distance of tracing point by the clooating sequence of tracing point, obtains Go out air line distance and reach the tracing point of extreme value as target trajectory point；First turns around crossing determining module from the target trajectory point In, filter out the target trajectory point for meeting to turn around crossing rule and be used as the crossing location point that turns around.Dug in this way, realizing based on data Pick technology, automatically determines crossing position of turning around, without manually gathering crossing position of turning around by professional equipment, on-site inspection Information.So as to achieve the purpose that to save human and material resources resource.Meanwhile automatic mining turns around crossing position, it is possible to increase turn around Crossing position constant speed degree really.

Embodiment five：

Based on identical inventive concept, the embodiment of the present application also provides a kind of determining device at crossing of turning around, the device The definite principle at crossing of turning around determines that principle is similar with the crossing of turning around of the definite method at crossing of turning around in embodiment two.Specifically Reference can be made to the content of the above method, does not repeat here.

As shown in figure 16, include for the structure diagram of the device, described device：

Second yaw track record acquisition module 1601, for obtaining a yaw track record, yaw track note Record have recorded the tracing point that two or more in chronological sequence sequentially sorts；

Segmentation module 1602, for being segmented to the tracing points that in chronological sequence order sorts described two above；

Second straight line is apart from acquisition module 1603, for for each segmentation, obtaining other tracing points in segmentation and arriving this Air line distance in segmentation as the tracing point for being segmented starting point；

Second spider module 1604, for for each segmentation, being carried out to the air line distance of the tracing point in the segmentation Traversal, obtains out air line distance and reaches the tracing point of extreme value as target trajectory point；

Second turns around crossing determining module 1605, meets to fall for from the target trajectory point, filtering out in the segmentation The target trajectory point of parting mouthful rule is as the crossing location point that turns around.

Wherein, in one embodiment, the segmentation module 1602, including：

Segmentation sequence is in the first tracing point determination unit, in chronological sequence order to sort more than described two In tracing point, the tracing point as segmentation starting point is obtained；

Trajectory distance acquiring unit, for obtaining tracing point of the sequence after starting point is segmented to the rail of the segmentation starting point Mark distance；

Orbit segment determination unit, if the trajectory distance for currently obtaining reaches default segmentation track distance threshold, Using it is described as segmentation starting point tracing point to the trajectory distance reach it is default be segmented track distance threshold tracing point and Tracing point between it is divided into one section.

Wherein, in one embodiment, the segmentation is sorted in the first tracing point determination unit, including：

First segmentation sequence is in the first tracing point determination subelement, for for first segmentation, by it is described two with On in chronological sequence in the tracing point of order sequence, be determined as being segmented starting point positioned at the first tracing point；

Second segmentation is sorted in the first tracing point determination subelement, for for the segmentation after first segmentation, meter The tracing point in the previous segmentation of current fragment is calculated to the trajectory distance of the previous segmentation starting point, obtains the trajectory distance with presetting Segmentation starting point trajectory distance threshold value difference minimum segmentation starting point of the tracing point as current fragment.

Wherein, in one embodiment, described device further includes：

Second average acquisition module, in air line distance progress time of second spider module to the tracing point in the segmentation Before going through, obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points, using average as i-th+ 1 tracing point is used for the air line distance traveled through；

3rd judgment module, for judging whether the i-th+2 tracing points are last tracing point in the segmentation, if It is no, then i=i+1, return obtain in the segmentation i-th, i+1, the step of the average of the air line distance of the i-th+2 tracing points Suddenly, the initial value of i is any one natural number.

Wherein, in one embodiment, described device further includes：

3rd trajectory distance acquisition module, for turning around to meet to turn around during crossing determining module filters out the segmentation second Before the target trajectory point of crossing rule is as the crossing location point that turns around, two neighboring target track in the target trajectory point is obtained Trajectory distance between mark point；

4th judgment module, for judge the trajectory distance whether be less than setting trajectory distance threshold value, if so, then from Any one target trajectory point among the two target trajectory points is deleted in the target trajectory point.Wherein, in an implementation In example, described device further includes：

Difference acquisition module, for turning around to meet the crossing rule that turns around during crossing determining module filters out the segmentation second Target trajectory point as turning around before the location point of crossing, obtain the straight line for the segmentation starting point being segmented belonging to target trajectory point to its The difference of distance and trajectory distance, if difference is more than default distance difference, deletes the target trajectory point.

Wherein, in one embodiment, described second turn around crossing determining module 1605, including：

Second tracing point acquiring unit, for for each target trajectory point, sorting from the yaw track record In the tracing point before and after the target trajectory point, obtain respectively the air line distance to the target mark point with it is default The tracing point of the difference minimum of air line distance threshold value；

Second angle calcu-lation unit, for using the target trajectory point as angular vertex, calculate two tracing points obtaining out with The value for the angle that the target trajectory point is formed；

Whether the second angle judging unit, the value for judging the angle meet the angle bar at default crossing of turning around Part, if it is, the target trajectory point is considered as the crossing location point that turns around.

In conclusion in the crossing determining device provided by the embodiments of the present application that turns around, the second yaw track record obtains Module obtains a yaw track record；Segmentation module is to described two in chronological sequence tracing point progress of order sequence above Segmentation；Second straight line is segmented apart from acquisition module for each, is obtained other tracing points in segmentation and is used as into the segmentation and is divided The air line distance of the tracing point of Duan Qidian；Second spider module travels through the air line distance of the tracing point in the segmentation, obtains Take out air line distance and reach the tracing point of extreme value as target trajectory point；Second turns around crossing determining module from the target trajectory In point, filter out the target trajectory point for meeting to turn around crossing rule in the segmentation and be used as the crossing location point that turns around.In this way, realize Based on data mining technology, crossing position of turning around is automatically determined, without manually turning around by professional equipment, on-site inspection collection The information of crossing position.So as to achieve the purpose that to save human and material resources resource.Meanwhile automatic mining turns around crossing position, energy It is enough to improve the crossing position constant speed degree really that turns around.

On the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method Embodiment in be described in detail, explanation will be not set forth in detail herein.

Embodiment six

The embodiment of the present application six provides a kind of nonvolatile computer storage media, the computer-readable storage medium storage There are computer executable instructions, which can perform in above-mentioned any means embodiment and turn around crossing really Determine method.

Embodiment seven

Figure 17 be the embodiment of the present application seven provide execution turn around crossing definite method electronic equipment hardware configuration Schematic diagram, as shown in figure 17, the electronic equipment include：

One or more processors 1710 and memory 1720, in Figure 17 by taking a processor 1710 as an example.Execution is fallen The electronic equipment of the definite method of parting mouthful can also include：Input unit 1730 and output device 1740.

Processor 1710, memory 1720, input unit 1730 and output device 1740 can by bus or other Mode connects, in Figure 17 exemplified by being connected by bus.

Memory 1720 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey Sequence, non-volatile computer executable program and module, as the definite method at the crossing of turning around in the embodiment of the present application corresponds to Programmed instruction/module (for example, the first yaw track record acquisition module 1501, first straight line distance shown in attached drawing 15 obtain Modulus block 1502, the first spider module 1503, first turn around crossing determining module 1504).Processor 1710 is stored by running Non-volatile software program, instruction and module in memory 1720, thus the various function application of execute server with And data processing, that is, realize that above method embodiment turns around the definite method at crossing.

Memory 1720 can include storing program area and storage data field, wherein, storing program area can store operation system System, the required application program of at least one function；Storage data field can store the use institute according to the crossing determining device that turns around Data of establishment etc..In addition, memory 1720 can include high-speed random access memory, non-volatile memories can also be included Device, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments In, memory 1720 is optional including that can pass through relative to the remotely located memory of processor 1710, these remote memories Network connection is to the crossing determining device that turns around.The example of above-mentioned network includes but not limited to internet, intranet, local Net, mobile radio communication and combinations thereof.

Input unit 1730 can receive the numeral or character information of input, and produce the use with the crossing determining device that turns around The key signals input that family is set and function control is related.Output device 1740 may include the display devices such as display screen.

One or more of modules are stored in the memory 1720, when by one or more of processors During 1710 execution, the definite method at the crossing of turning around in above-mentioned any means embodiment is performed.

The said goods can perform the method that the embodiment of the present application is provided, and possesses the corresponding function module of execution method and has Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.

The electronic equipment of the embodiment of the present application exists in a variety of forms, includes but not limited to:

(1) mobile communication equipment:The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data Communicate as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low Hold mobile phone etc..

(2) super mobile personal computer equipment:This kind equipment belongs to the category of personal computer, there is calculating and processing work( Can, generally also possess mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.

(3) portable entertainment device:This kind equipment can show and play content of multimedia.The kind equipment includes:Audio, Video player (such as iPod), handheld device, e-book, and intelligent toy and portable car-mounted navigation equipment.

(4) server:The equipment for providing the service of calculating, the composition of server are total including processor, hard disk, memory, system Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, in processing energy Power, stability, reliability, security, scalability, manageability etc. are more demanding.

(5) other have the function of the electronic device of data interaction.

It will be understood by those skilled in the art that embodiments herein can be provided as method, apparatus (equipment) or computer journey Sequence product.Therefore, in terms of the application can use complete hardware embodiment, complete software embodiment or combine software and hardware The form of embodiment.Moreover, the application can use the calculating for wherein including computer usable program code in one or more The computer program that machine usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.

The application is the flow chart with reference to method, apparatus (equipment) and computer program product according to the embodiment of the present application And/or block diagram describes.It should be understood that each flow in flowchart and/or the block diagram can be realized by computer program instructions And/or the flow in square frame and flowchart and/or the block diagram and/or the combination of square frame.These computer programs can be provided to refer to The processors of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is made to produce One machine so that the instruction performed by computer or the processor of other programmable data processing devices, which produces, to be used for realization The device for the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or The function of being specified in multiple square frames.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or The instruction performed on other programmable devices is provided and is used for realization in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a square frame or multiple square frames.

Although having been described for the preferred embodiment of the application, those skilled in the art once know basic creation Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent Select embodiment and fall into all change and modification of the application scope.

Obviously, those skilled in the art can carry out the application essence of the various modification and variations without departing from the application God and scope.In this way, if these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies Within, then the application is also intended to comprising including these modification and variations.

Claims

A kind of 1. definite method at crossing of turning around, it is characterised in that including：

A yaw track record is obtained, the yaw track record have recorded the rail that two or more in chronological sequence sequentially sorts Mark point；

Other tracing points are obtained to the air line distance to sort in the first tracing point；

The air line distance of tracing point is traveled through by the clooating sequence of tracing point, obtains out the track that air line distance reaches extreme value Point is used as target trajectory point；

From the target trajectory point, filter out the target trajectory point for meeting to turn around crossing rule and be used as the crossing location point that turns around.
2. according to the method described in claim 1, it is characterized in that, from the target trajectory point, filter out satisfaction and turn around road The target trajectory point of mouth rule is used as the crossing location point that turns around, including：

For each target trajectory point, following operation is performed：

From sequence in the tracing point before and after the target trajectory point, a straight line for arriving the target trajectory point is obtained respectively The tracing point of the difference minimum of distance and default air line distance threshold value；

Using the target trajectory point as angular vertex, the angle that two tracing points obtained out are formed with the target trajectory point is calculated Value；

Judge whether the value of the angle meets the angle value scope at default crossing of turning around, if it is, by the target trajectory Point is considered as the crossing location point that turns around.
3. method according to claim 1 or 2, it is characterised in that before being traveled through to the air line distance of tracing point, institute The method of stating further includes：

Obtain i-th, i+1, the average of the air line distance of the i-th+2 tracing points, using average as i+1 tracing point use In the air line distance of traversal；

Judge whether the i-th+2 tracing points are last tracing point in the yaw track record, if it is not, then i=i+1, Return obtain i-th, i+1, the average of the air line distance of the i-th+2 tracing points the step of, the initial value of i is any one Natural number.
4. method according to claim 1 or 2, it is characterised in that from the target trajectory point, filter out satisfaction and turn around Before the target trajectory point of crossing rule is as the crossing location point that turns around, the method further includes：

Obtain the trajectory distance between two neighboring target trajectory point in the target trajectory point；

Judge the trajectory distance whether be less than setting trajectory distance threshold value, if so, then delete the two target trajectory points it In any one target trajectory point.
5. method according to claim 1 or 2, it is characterised in that from the target trajectory point, filter out satisfaction and turn around Before the target trajectory point of crossing rule is as the crossing location point that turns around, the method further includes：

Obtain the trajectory distance of tracing point of the target trajectory point to the sequence in first place；

The air line distance of target trajectory point and the difference of trajectory distance are calculated, if difference is more than default distance difference, is deleted The target trajectory point.
A kind of 6. definite method at crossing of turning around, it is characterised in that including：

A yaw track record is obtained, the yaw track record have recorded the rail that two or more in chronological sequence sequentially sorts Mark point；

The tracing points that in chronological sequence order sorts described two above are segmented；

Following operation is performed for each segmentation：

Obtain air line distance of other tracing points into the segmentation as the tracing point for being segmented starting point in segmentation；

The air line distance of tracing point in the segmentation is traveled through, air line distance is obtained out and reaches the tracing point of extreme value as mesh Mark tracing point；

From the target trajectory point, filter out the target trajectory point for meeting to turn around crossing rule in the segmentation and be used as crossing of turning around Location point.
7. according to the method described in claim 6, it is characterized in that, to described two rails that in chronological sequence order sorts above Mark point is segmented, including：

In chronological sequence obtain as the tracing point for being segmented starting point in the tracing point of order sequence more than described two；

Tracing point of the sequence after starting point is segmented is obtained to the trajectory distance of the segmentation starting point；

If the trajectory distance currently obtained reaches default segmentation track distance threshold, using the track as segmentation starting point Point to the trajectory distance reach it is default be segmented track distance threshold tracing point and its between tracing point be divided into one section.
8. the method according to the description of claim 7 is characterized in that in chronological sequence rail of order sequence more than described two In mark point, the tracing point as segmentation starting point is obtained, including

For first segmentation, will it is described two more than in chronological sequence in the tracing points of order sequence, positioned at the first track Point is determined as being segmented starting point；

For the segmentation after first segmentation, tracing point in the previous segmentation of current fragment is calculated to the previous segmentation starting point Trajectory distance, obtain the trajectory distance and it is default segmentation starting point trajectory distance threshold value difference minimum tracing point as currently The segmentation starting point of segmentation.
9. according to the method described in any one claim in claim 6-8, it is characterised in that to the track in the segmentation Before the air line distance of point is traveled through, the method further includes：

Obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points, it is a using average as i+1 Tracing point is used for the air line distance traveled through；

Judge whether the i-th+2 tracing points are last tracing point in the segmentation, if it is not, then i=i+1, returns and obtain I-th in the segmentation, i+1, the average of the air line distance of the i-th+2 tracing points the step of, the initial value of i is any one Natural number.
10. according to the method described in any one claim in claim 6-8, it is characterised in that from the target trajectory In point, filter out the target trajectory point for meeting to turn around crossing rule in the segmentation and be used as before the crossing location point that turns around, the side Method further includes：

Obtain the trajectory distance between two neighboring target trajectory point in the target trajectory point；

Judge whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then being deleted from the target trajectory point Any one target trajectory point among the two target trajectory points.
11. the method according to claim 7 or 8, it is characterised in that from the target trajectory point, filter out the segmentation The turn around target trajectory point conduct of crossing rule of middle satisfaction is turned around before the location point of crossing, and the method further includes：

The air line distance of segmentation starting point and the difference of trajectory distance of segmentation belonging to target trajectory point to its are obtained, if difference is more than Default distance difference, then delete the target trajectory point.
12. according to the method described in any one claim in claim 6-8, it is characterised in that from the target trajectory In point, filter out the target trajectory point for meeting to turn around crossing rule in the segmentation and be used as the crossing location point that turns around, including：

For each target trajectory point, following operation is performed：

Sequence obtains one respectively and arrives in the tracing point before and after the target trajectory point from the yaw track record The tracing point of the difference minimum of the air line distance of the target mark point and default air line distance threshold value；

Using the target trajectory point as angular vertex, the angle that two tracing points obtained out are formed with the target trajectory point is calculated Value；

Judge whether the value of the angle meets the angle condition at default crossing of turning around, if it is, by the target trajectory point It is considered as the crossing location point that turns around.
The crossing determining device 13. one kind turns around, it is characterised in that including：

First yaw track record acquisition module, for obtaining a yaw track record, the yaw track record have recorded The tracing point that two or more in chronological sequence sequentially sorts；

First straight line is apart from acquisition module, for obtaining other tracing points to the air line distance to sort in the first tracing point；

First spider module, travels through the air line distance of tracing point for the clooating sequence by tracing point, obtains out straight line Distance reaches the tracing point of extreme value as target trajectory point；

First turns around crossing determining module, for from the target trajectory point, filtering out the target for the crossing rule that meets to turn around Tracing point is as the crossing location point that turns around.
14. device according to claim 13, it is characterised in that described first turns around crossing determining module, including：

First tracing point acquiring unit, for for each target trajectory point, from sequence before the target trajectory point and it In tracing point afterwards, one is obtained respectively to the air line distance of the target trajectory point and the difference minimum of default air line distance threshold value Tracing point；

First angle calcu-lation unit, for for each target trajectory point, using the target trajectory point as angular vertex, calculating and obtaining The value for the angle that two tracing points gone out are formed with the target trajectory point；

Whether the first angle judging unit, the value for judging the angle meet the angle value scope at default crossing of turning around, If it is, the target trajectory point is considered as the crossing location point that turns around.
15. the device according to claim 13 or 14, it is characterised in that described device further includes：

First average acquisition module, for before the first spider module travels through the air line distance of tracing point, obtaining i-th The average of a, i+1, the air line distance of the i-th+2 tracing points, using average as i+1 tracing point for the straight of traversal Linear distance；

First judgment module, for judging whether the i-th+2 tracing points are last tracing point in the yaw track record, If it is not, then i=i+1, return obtain i-th, i+1, the average of the air line distance of the i-th+2 tracing points the step of, i's Initial value is any one natural number.
16. the device according to claim 13 or 14, it is characterised in that described device further includes：

First trajectory distance acquisition module, for filtering out in the first crossing determining module that turns around and meeting the mesh of crossing rule of turning around Before mark tracing point is as the crossing location point that turns around, the rail between two neighboring target trajectory point in the target trajectory point is obtained Mark distance；

Second judgment module, for judging whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then deleting this Any one target trajectory point among two target trajectory points.
17. the device according to claim 13 or 14, it is characterised in that described device further includes：

Second trajectory distance acquisition module, for turning around to meet crossing of turning around during crossing determining module filters out the segmentation first Before the target trajectory point of rule is as the crossing location point that turns around, target trajectory point is obtained to the sequence in the first tracing point Trajectory distance；

Difference calculating module, for calculating the air line distance of target trajectory point and the difference of trajectory distance, presets if difference is more than Distance difference, then delete the target trajectory point.
A kind of 18. determining device at crossing of turning around, it is characterised in that including：

Second yaw track record acquisition module, for obtaining a yaw track record, the yaw track record have recorded The tracing point that two or more in chronological sequence sequentially sorts；

Segmentation module, for being segmented to the tracing points that in chronological sequence order sorts described two above；

Second straight line is apart from acquisition module, for for each segmentation, obtaining other tracing points in segmentation and making into the segmentation To be segmented the air line distance of the tracing point of starting point；

Second spider module, for for each segmentation, traveling through, obtaining to the air line distance of the tracing point in the segmentation Go out air line distance and reach the tracing point of extreme value as target trajectory point；

Second turns around crossing determining module, meets crossing rule of turning around in the segmentation for from the target trajectory point, filtering out Target trajectory point then is as the crossing location point that turns around.
19. device according to claim 18, it is characterised in that the segmentation module, including：

Segmentation sequence is in the first tracing point determination unit, for the track that in chronological sequence order sorts more than described two In point, the tracing point as segmentation starting point is obtained；

Trajectory distance acquiring unit, for obtain tracing point of the sequence after starting point be segmented to the track for being segmented starting point away from From；

Orbit segment determination unit, if the trajectory distance for currently obtaining reaches default segmentation track distance threshold, by institute State as segmentation starting point tracing point to the trajectory distance reach it is default be segmented track distance threshold tracing point and its it Between tracing point be divided into one section.
20. device according to claim 19, it is characterised in that the segmentation sequence determines list in the first tracing point Member, including

First segmentation is sorted in the first tracing point determination subelement, for for first segmentation, described two will press above In the tracing point of time order and function order sequence, it is determined as being segmented starting point positioned at the first tracing point；

Second segmentation is sorted in the first tracing point determination subelement, for for the segmentation after first segmentation, calculating and working as Tracing point in the previous segmentation of preceding segmentation obtains the trajectory distance and default point to the trajectory distance of the previous segmentation starting point Segmentation starting point of the tracing point of the difference minimum of Duan Qidian trajectory distance threshold values as current fragment.
21. according to the device described in any one claim in claim 18-20, it is characterised in that described device is also wrapped Include：

Second average acquisition module, for carrying out traveling through it to the air line distance of the tracing point in the segmentation in the second spider module Before, obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points, it is a using average as i+1 Tracing point is used for the air line distance traveled through；

3rd judgment module, for judging whether the i-th+2 tracing points are last tracing point in the segmentation, if not, Then i=i+1, return obtain in the segmentation i-th, i+1, the average of the air line distance of the i-th+2 tracing points the step of, i Initial value be any one natural number.
22. according to the device described in any one claim in claim 18-20, it is characterised in that described device is also wrapped Include：

3rd trajectory distance acquisition module, for turning around to meet crossing of turning around during crossing determining module filters out the segmentation second Before the target trajectory point of rule is as the crossing location point that turns around, two neighboring target trajectory point in the target trajectory point is obtained Between trajectory distance；

4th judgment module, for judging whether the trajectory distance is less than the trajectory distance threshold value of setting, if so, then from described Any one target trajectory point among the two target trajectory points is deleted in target trajectory point.
23. the device according to claim 19 or 20, it is characterised in that described device further includes：

Difference acquisition module, for filtering out the mesh of the crossing rule that meets in the segmentation to turn around in the second crossing determining module that turns around Before mark tracing point is as the crossing location point that turns around, the air line distance of the segmentation starting point of segmentation belonging to target trajectory point to its is obtained With the difference of trajectory distance, if difference is more than default distance difference, the target trajectory point is deleted.
24. according to the device described in any one claim in claim 18-20, it is characterised in that described second turns around Crossing determining module, including：

Second tracing point acquiring unit, for for each target trajectory point, sequence to be at this from the yaw track record In tracing point before and after target trajectory point, the air line distance to the target mark point and default straight line are obtained respectively The tracing point of the difference minimum of distance threshold；

Second angle calcu-lation unit, for using the target trajectory point as angular vertex, calculating two tracing points and the mesh that obtain out Mark the value for the angle that tracing point is formed；

Whether the second angle judging unit, the value for judging the angle meet the angle condition at default crossing of turning around, such as Fruit is that the target trajectory point then is considered as the crossing location point that turns around.