CN110375750A - Path angle method for digging, device, equipment and storage medium - Google Patents
Path angle method for digging, device, equipment and storage medium Download PDFInfo
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- CN110375750A CN110375750A CN201910691407.6A CN201910691407A CN110375750A CN 110375750 A CN110375750 A CN 110375750A CN 201910691407 A CN201910691407 A CN 201910691407A CN 110375750 A CN110375750 A CN 110375750A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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Abstract
The embodiment of the invention discloses a kind of path angle method for digging, device, equipment and storage mediums.This method comprises: according to routing information belonging to anchor point in sample trace, the target rotation angle section between path that the sample trace is covered is determined；According to the anchor point information being located on the path in the sample trace, the track angle at the target rotation angle section between path is determined.The embodiment of the present invention is excavated by the track for crossing user's actual travel as sample trace, the determination of corner section is carried out based on track and trajectory angle calculates, instead of artificial on-site land survey on the spot, avoid the error resistance induction in road network topology, not only improve the efficiency and accuracy rate that angle is excavated between path in road network, human cost and operation complexity are reduced, and improves the accuracy of road network information and navigation induction.
Description
Technical field
The present embodiments relate to digital map navigation technical field more particularly to a kind of path angle method for digging, device, set
Standby and storage medium.
Background technique
It navigates stronger for the dependence of road network, wherein since road network production needs clearly to identify fork crossing, Ke Nengfang
Angle in larger road topology, therefore wrong induction may be brought for user based on the angle information in road network.For example,
Induction will may be travelled on the right side to turn right.
Currently, the angle between adjacent path can be acquired by staff by manual type, and transfer to professional in the industry
Producer is based on acquisition data and draws road network and logging data；Or it is tasted based on the information such as user behavior and user's travelling characteristic
The section of leaving a question open in road network is excavated in examination, or receives the section of leaving a question open of reporting of user, and transfer to staff on the spot or according to acquisition
As a result it checks to be modified.
However, the excavation mode of road network angle is stronger for artificial dependence in the prior art, the section of leaving a question open of acquisition has
Limit, it is lower for the recall rate in error section, and without directiveness as a result, there are biggish for the excavation of angle in whole network data
Careless omission property and subjectivity reduce angle is excavated between path in road network efficiency and accuracy rate.
Summary of the invention
The embodiment of the invention provides a kind of path angle method for digging, device, equipment and storage mediums, can be improved road
The efficiency and accuracy rate that angle is excavated between path in net.
In a first aspect, the embodiment of the invention provides a kind of path angle method for digging, comprising:
According to routing information belonging to anchor point in sample trace, determine between path that the sample trace is covered
Target rotation angle section；
According to the anchor point information being located on the path in the sample trace, road at the target rotation angle section is determined
Track angle between diameter.
Second aspect, the embodiment of the invention provides a kind of path angle excavating gears, comprising:
Corner section determining module, for determining the sample according to routing information belonging to anchor point in sample trace
Target rotation angle section between the path that track is covered；
Track angle determining module, for according in the sample trace be located at the path on anchor point information, really
Track angle at the fixed target rotation angle section between path.
The third aspect, the embodiment of the invention provides a kind of equipment, comprising:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes path angle method for digging described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, are stored thereon with computer journey
Sequence realizes path angle method for digging described in any embodiment of that present invention when the program is executed by processor.
The embodiment of the present invention is based on sample trace, by determining the target rotation angle section in sample trace, and from sample rail
The anchor point information that the GPS at target rotation angle point in adjacent path is got ready is extracted in mark, thus according to target rotation angle section and
Anchor point information calculates the track angle determined at target rotation angle section between adjacent path.The embodiment of the present invention will be by that will use
The track that family actual travel is crossed is excavated as sample trace, carries out the determination of corner section and trajectory angle meter based on track
Calculate, instead of artificial on-site land survey on the spot, avoid the error resistance induction in road network topology, not only improve road network in path it
Between the angle efficiency and accuracy rate excavated, reduce human cost and operation complexity, and improve road network information and navigation
The accuracy of induction.
Detailed description of the invention
Fig. 1 is a kind of flow chart for path angle method for digging that the embodiment of the present invention one provides；
Fig. 2 is the exemplary diagram in the corner section that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow chart of path angle method for digging provided by Embodiment 2 of the present invention；
Fig. 4 is sample trace anchor point exemplary diagram provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of flow chart for path angle method for digging that the embodiment of the present invention three provides；
Fig. 6 is the pretreated schematic diagram in track that the embodiment of the present invention three provides；
Fig. 7 is a kind of flow chart for path angle method for digging that the embodiment of the present invention four provides；
Fig. 8 is a kind of flow chart for path angle method for digging that the embodiment of the present invention five provides；
Fig. 9 is a kind of structural schematic diagram for path angle excavating gear that the embodiment of the present invention six provides；
Figure 10 is a kind of structural schematic diagram for equipment that the embodiment of the present invention seven provides.
Specific embodiment
The embodiment of the present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this
Locate described specific embodiment and is used only for explaining the embodiment of the present invention, rather than limitation of the invention.It further needs exist for
Bright, only parts related to embodiments of the present invention are shown for ease of description, in attached drawing rather than entire infrastructure.
It also should be noted that illustrate only part relevant to the application for ease of description, in attached drawing rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
It is that many of these operations can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be by again
It arranges.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing.
The processing can correspond to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 is a kind of flow chart for path angle method for digging that the embodiment of the present invention one provides, and the present embodiment is applicable
In carrying out the case where path angle excavates based on a large amount of user trajectory, this method can be held by a kind of path angle excavating gear
Row, which can be realized by the way of software and/or hardware, be preferably arranged in electronic equipment.This method is specifically wrapped
It includes as follows:
S110, according to routing information belonging to anchor point in sample trace, determine between path that sample trace is covered
Target rotation angle section.
In the specific embodiment of the invention, it is in advance the minimum unit of road k-path partition that path (link), which refers in map, one
May divide in a road has one or more paths.Sample trace refers to the reality for excavating the user of angle between path
Driving trace, the path sequence covered during actual travel can reflect driving trace.It is got ready in sample trace including GPS
The anchor point information of formation, at least may include the position coordinates and dotting time of each anchor point in anchor point information, and
Routing information belonging to the anchor point matched for each anchor point etc..Wherein, during GPS positioning, GPS is with certain
Frequency got ready, such as can usually be got ready with 1S, 3S or 30S constant duration, thus what record was each got ready
The information such as position, time, the route that anchor point is fitted to by foundation dotting time are the actual travel track of user.
In the present embodiment, the approach such as navigation map operator, car line and taxi company can be first passed through in advance, are obtained
To the actual travel track of a large number of users.In order to improve the accuracy that angle excavates between path, in the reality for obtaining a large number of users
It, first can be according to track source, track quality and path length etc., to actual travel track after the driving trace of border
It is screened, will have the actual travel track of path measurement standard as sample trace.Illustratively, according to candidate traveling
The user information of track owning user determines user's confidence level of candidate driving trace, to select the stronger track of trust degree
The driving trace in source, the stronger track source of the trust degree can be for the user of a certain trust map, high confidence level nets about
Vehicle and high confidence level hawkeye etc..Driving information according to candidate driving trace owning user determines the track of candidate driving trace
Confidence level, to select quality preferably driving trace.Candidate traveling rail is determined according to the anchor point information in candidate driving trace
The path length of mark, to select that there is the track of certain road length.Final foundation user's confidence level, track confidence level and rail
At least one of in mark length, sample trace is determined from candidate driving trace.
Wherein, primary navigation has corresponded to the driving trace of user to terminal from starting point traveling, attached in terminus in view of user
Closely there may be the stops of long period, such as user is when starting point is opened and navigated but there is no starting vehicle drivings, and/or
User, which travels, to be reached terminal point but is not off navigation, and then leads to the validity of the anchor point near driving trace terminus
It is lower, such as multiple anchor points are all located at same position, the measurement standard without path.It therefore, can be from sample trace
Middle removal is located at the anchor point of preset quantity at terminus, and wherein preset quantity can get frequency ready according to GPS to determine, may be used also
To be determined according to the universal navigation behavior of users.For example, being got ready by time interval of 3S, terminus can be removed
10 anchor points at place.It is worth noting that, the anchor point quantity removed at beginning and end can be identical, it can also not
Together.
In the present embodiment, corner section refers to the running section that path switching occurs in sample trace, i.e. two paths it
Between carry out path switching section.Corner section may include but be not limited to crossroad and fork crossing etc. and really turn to
Section also may include under necessary scene on the right side or by the straight trip such as left driving section.For example, Fig. 2 is showing for corner section
Example diagram.Under overhead main and side road scene as shown in Figure 2, original main road is divided into three branch roads, that is, is respectively upper overhead main road, height
Bypass and overhead right side bypass on the left of frame.When user carries out the switching of main and side road, that is, there is corner section.
Illustratively, by taking path ABC in Fig. 2 as an example, when user by path A by switch to path B in path C uplink
When sailing, user need to only be travelled on the right side in the state of straight trip.The prior art, can basis under overhead main and side road scene
Road network topology structure on the left of Fig. 2 obtains the road network angle in road network topology structure chart between Road, i.e. acquisition A path-line
The road network angle between road network angle and B path line and C path-line between B path line is carried out according to the road network angle
Navigation induction.However if road network angle is larger, the prior art will can travel on the right side induction to turn right, and then influence user
Normal driving and the navigation experience of user.
In the present embodiment, is induced in view of mistake of the road network topology structure for navigation, abandon road network topology structure chart Road
The influence at network folder angle is determined present in track from the actual travel track of user based on the actual travel track of user
The angle in corner section between path is excavated with this in corner section.Specifically, if according to belonging to anchor point in sample trace
Path detects the presence of the difference of path belonging to adjacent positioned point, it is determined that the section between the adjacent positioned point is candidate turns
Angle section；Shape is connected according to anchor point density, dotting time interval and the path in sample trace at candidate corner section
At least one of in state, target rotation angle section is determined from candidate corner section.
Illustratively, the routing information according to belonging to anchor point each in sample trace, will be two neighboring in sample trace
The routing information of anchor point is compared two-by-two, if detecting the presence of the difference of path belonging to adjacent positioned point, i.e. path exists
Switching, then be determined as candidate corner section for the section between the adjacent positioned point.For determining each candidate corner section,
If anchor point is more sparse or dotting time interval is excessive, illustrate that there may be the bad equal abnormal feelings of signal in navigation procedure
Condition filters out such candidate corner section in order to avoid the mistake that the uncertainty that abnormal conditions generate causes angle to be excavated.This
Outside, if according to real road connection, determine that two paths in candidate's corner section are disconnected off-states, such as more
The case where layer overhead overlapping, then illustrating the route matching of anchor point in sample trace, there are mistakes, also filter out such candidate turn
Angle section.Finally the candidate corner section retained after filtering is determined as to carry out the target rotation angle road of path angle excavation
Section.
S120, according to the anchor point information being located in sample trace on the path, determine at target rotation angle section path it
Between track angle.
In the specific embodiment of the invention, which refers to above-mentioned determination, using target rotation angle section as the two of intersection
A path.Track angle between path refers to the two paths based on the angle between the extended line of driving direction.This implementation
Example can preset reference direction, determine the relative angle between extended line and reference direction of each path based on driving direction
Degree, the track angle between two paths is determined according to the relative angle in each path.
Illustratively, it is assumed that it is 0 ° that reference direction, which is with direct ratio direction, and the 90 ° clockwise east that are positive are to 90 ° counterclockwise are
Due west direction, due south direction are 180 °.And assume at target rotation angle section, sample trace is by A route to B path.If the road A
Diameter and the relative angle of reference direction are 0 °, and the relative angle of B path and reference direction is 20 °, then can determine target rotation angle
Track angle at section between the path A and B path is 20 °.
In the present embodiment, determination for relative angle between path and reference direction can be extracted from sample trace
At least two anchor points on path, it is true based on driving direction according to the line that at least two anchor points on path are fitted to
Angle between fixed this trajectory line and base position, obtains the relative angle of path and reference direction.To according to each path
With the relative angle of reference direction, the track angle at target rotation angle section between path is determined.Wherein, in order to avoid track folder
The contingency that angle determines, can obtain multiple track angles in the two paths at target rotation angle section by sample trace, right
Multiple track angles can be averaged, weighted mean or take the operations such as intermediate value, obtain the two roads at target rotation angle section
Final track angle between diameter.For example, if detecting, the quantity of the sample trace in coverage goal corner section meets quantity threshold
Value then can determine that median is the rail at target rotation angle section between path from the track angle that each sample trace determines
Mark angle.
It, can be in road network topology structure according to the track angle between the path excavated based on track in the present embodiment
Path-line between angle be modified.It is also to turn for turning in road network, and based on the determining actual scene in track
The angle parameter in curved corner section is retained；And for being turning in road network, but the actual scene determined based on track is
The angle parameter in the corner section of straight trip is modified.Illustratively, the target rotation angle section determined based on sample trace is obtained
Locate the track angle between path；Determine the road network angle in road network at target rotation angle section between path；Wherein, road network angle
It is the angle in road network topology structure chart between path-line；If detecting that the error between track angle and road network angle is greater than to miss
Poor threshold value is then modified, so that navigation device is carried out according to revised road network angle according to track angle network folder angle of satisfying the need
Navigation induction.
The technical solution of the present embodiment is based on sample trace, by the target rotation angle section in determining sample trace, and from
The anchor point information that the GPS at target rotation angle point in adjacent path is got ready is extracted in sample trace, thus according to target rotation angle road
Section and anchor point information calculate the track angle determined at target rotation angle section between adjacent path.The embodiment of the present invention is logical
It crosses and excavates the track that user's actual travel is crossed as sample trace, the determination of corner section and track angle are carried out based on track
Degree calculates, and instead of artificial on-site land survey on the spot, avoids the error resistance induction in road network topology, not only improves road network Road
The efficiency and accuracy rate that angle is excavated between diameter reduce human cost and operation complexity, and improve road network information and
The accuracy of navigation induction.
Embodiment two
The present embodiment on the basis of the above embodiment 1, provides a preferred implementation side of path angle method for digging
Formula, can based on track to get information ready determining and screen target rotation angle section, and calculate the track angle between path.
Fig. 3 is a kind of flow chart of path angle method for digging provided by Embodiment 2 of the present invention, as shown in figure 3, this method is specifically wrapped
It includes as follows:
If S310, according to path belonging to anchor point in sample trace, path belonging to adjacent positioned point is detected the presence of
It is different, it is determined that the section between the adjacent positioned point is candidate corner section.
It include that GPS gets the anchor point information to be formed, anchor point information ready in the specific embodiment of the invention, in sample trace
In at least may include each anchor point position coordinates and dotting time, and the anchor point matched for each anchor point
Affiliated routing information etc..It, will be two neighboring in sample trace according to routing information belonging to anchor point each in sample trace
The routing information of anchor point is compared two-by-two, if detecting the presence of the difference of path belonging to adjacent positioned point, i.e. path exists
Switching, then be determined as candidate corner section for the section between the adjacent positioned point.
Illustratively, Fig. 4 is sample trace anchor point exemplary diagram, and straight line indicates that path-line, point indicate sample trace in Fig. 4
On anchor point.Wherein, as shown in Fig. 4 left figure, in normal crossroad scene, including the path A and B path, anchor point
1-5 is matched to the path A, and anchor point 6-9 is matched to B path, by the comparison of the adjacent said path information of anchor point two-by-two, determines
Anchor point 5 is different from the path that anchor point 6 is matched to (A- > B), then the section between anchor point 5 and anchor point 6 is candidate corner
Section.As shown in Fig. 4 right figure, in the scene of overhead main and side road and ring road, including the path C, the path D and the path E, anchor point 1-
6 are matched to the path C, and anchor point 7 is matched to the path D, and anchor point 8-9 is matched to the path E, pass through the adjacent affiliated road of anchor point two-by-two
The comparison of diameter information determines that anchor point 6 is different from the path that anchor point 7 is matched to (C- > D), and anchor point 7 is matched with anchor point 8
The path arrived is different (D- > E), then the section between anchor point 6 and anchor point 7 is candidate corner section, anchor point 7 and anchor point
Section between 8 is candidate corner section.
Anchor point density, dotting time interval and path in S320, foundation sample trace at candidate corner section
At least one of in connection status, target rotation angle section is determined from candidate corner section.
In the specific embodiment of the invention, for determining each candidate corner section, if anchor point is more sparse or beats
Point time interval is excessive, then illustrates that there may be the abnormal conditions such as signal is bad in navigation procedure, in order to avoid abnormal conditions production
The mistake that raw uncertainty causes angle to be excavated filters out such candidate corner section.In addition, if being connected according to real road
Situation determines that two paths in candidate corner section are disconnected off-states, such as the case where multilayer overhead overlapping, then says
There are mistakes for the route matching of anchor point in bright sample trace, also filter out such candidate corner section.It will finally be protected after filtering
The candidate corner section stayed is determined as that the target rotation angle section of path angle excavation can be carried out.
The anchor point information being located on each path in S330, foundation sample trace, determines the phase in each path with reference direction
To angle.
In the specific embodiment of the invention, reference direction can be preset, so that global path is all with the reference direction
The determination of angle is carried out for standard.Determination for relative angle between path and reference direction can be mentioned from sample trace
Fetch bit is based on driving direction according to the line that at least two anchor points on path are fitted at least two anchor points on path
It determines the angle between this trajectory line and base position, obtains the relative angle of path and reference direction.
Illustratively, in the example of above-mentioned Fig. 4, scheme according to direction in map-making in be straight up direct north.Assuming that
It is 0 ° that reference direction, which is with direct ratio direction, and the 90 ° clockwise east that are positive are to the 90 ° counterclockwise wests that are positive are to due south direction is
180°.In Fig. 4 left figure, for sample trace by A route to B path, the section between anchor point 5 and anchor point 6 is target
Corner section.It is located at least two anchor points on the path A from extraction in sample trace, such as extracts anchor point 4 and anchor point
5, fitting obtains the path A by calculating the angle between trajectory line and direct north by anchor point 4 to the trajectory line of anchor point 5
With the relative angle α of reference directionA, such as αAIt is 0 °.The anchor point 6 on B path can be located at from extraction in sample trace and determined
Site 7, fitting obtain B by calculating the angle between trajectory line and direct north by anchor point 6 to the trajectory line of anchor point 7
The relative angle α in path and reference directionB, such as αBIt is 90 °.
Similarly, in Fig. 4 right figure, the anchor point 5 and anchor point 6 on the path C can be extracted, the path C and benchmark side are obtained
To relative angle αC, such as αCIt is 0 °；The anchor point 8 on the anchor point 7 and the path E on the path D can be extracted, the path D is obtained
With the relative angle α of reference directionD, such as αDIt is close to 0 °；The positioning on the anchor point 6 and the path D on the path C can be extracted
Point 7, obtains another relative angle α of the path D and reference directionD', such as αD' it is close to 0 °；The positioning on the path E can be extracted
Point 8 and anchor point 9, obtain the relative angle α of the path E and reference directionE, such as αEIt is 0 °.
S340, according to the relative angle of each path and reference direction, determine the track at target rotation angle section between path
Angle.
In the specific embodiment of the invention, since each path is all based on the relatively low meter that same reference direction carries out
It calculates, therefore can be directly poor by the relative angle work in two paths of angle between path to be determined, the absolute value of difference is taken to make
For the track angle between path at target rotation angle section.
Illustratively, in the example of above-mentioned Fig. 4, in Fig. 4 left figure, the path A and B at available target rotation angle section
Track angle between path is | αA-αB|, for example, 90 °.In Fig. 4 right figure, the path C at available target rotation angle section
Track angle between the path D is | αC-αD|, for example, 0 °；At available target rotation angle section between the path D and the path E
Track angle be | αD'-αE|, for example, 0 °.
It is worth noting that, calculating target when turn track angle at part section, it is thus necessary to determine that be target rotation angle road
Section locates previous anchor point and the latter anchor point and the latter positioning again at previous anchor point and target rotation angle section again
Point.Even if previous anchor point is different from the matched path of previous anchor point again for this, and again the latter anchor point with it is latter
A matched path of anchor point is different, to prevent noise jamming.Such as when calculating the track angle of path C- > D, selective positioning point
5-6 and 7-8, when calculating the track angle of path D- > E, selective positioning point 6-7 and 8-9.
Optionally, from each sample trace determine track angle in, determine median be target rotation angle section at path it
Between track angle.
In the present embodiment, in order to avoid the contingency that track angle determines, target rotation angle can be obtained by sample trace
Multiple track angles in the two paths at section can be averaged multiple track angles, weighted mean or take intermediate value
Equal operations, obtain track angle final between the two paths at target rotation angle section.Such as selection median is more in line with
Actual path scene.Furthermore, it is possible to be defined to the sample trace quantity in coverage goal corner section, it may be selected that there is foot
In the case of enough sample traces, the track angle determined based on sample trace is just adopted.For example, at least 30 in selection 10 days
Sample trace.
The technical solution of the present embodiment is based on sample trace, if detecting the presence of the difference of path belonging to adjacent positioned point,
It then determines that the section between the adjacent positioned point is candidate corner section, and filters out target rotation angle section.From sample trace
The anchor point information that the GPS at target rotation angle point in adjacent path is got ready is extracted, reference direction is based on, determines each path and benchmark
Relative angle between direction finally determines road at target rotation angle section according to the relative angle between each path and reference direction
Track angle between diameter.The embodiment of the present invention is excavated by the track for crossing user's actual travel as sample trace,
The determination of corner section is carried out based on track and trajectory angle calculates, and instead of artificial on-site land survey on the spot, is avoided road network and is opened up
Error resistance induction in flutterring not only improves the efficiency and accuracy rate that angle is excavated between path in road network, reduce human cost and
Operation complexity, and improve the accuracy of road network information and navigation induction.
Embodiment three
The present embodiment on the basis of the above embodiment 1, provides a preferred implementation side of path angle method for digging
Formula can screen the user's driving trace excavated for angle between path.Fig. 5 is what the embodiment of the present invention three provided
A kind of flow chart of path angle method for digging, as shown in figure 5, this method specifically include it is as follows:
The user information of the candidate driving trace owning user of S510, foundation, determines user's confidence level of candidate's driving trace.
In the specific embodiment of the invention, candidate driving trace can refer to the not pretreated practical row collected
Sail track.Can using candidate driving trace owning user as track source, based on track source angle to candidate driving trace into
Row screening.User's confidence level refers to the credibility in track source, can be according to type of vehicle, vehicle institutional affiliation and vehicle
The indexs such as purposes determine user's confidence level of candidate driving trace.The stronger track of trust degree can also be preset
Source, such as user, high confidence level net about vehicle and the high confidence level hawkeye of a certain trust map etc..Wherein, the present embodiment is not
The method of determination of user's confidence level is defined, any mode that can determine user's confidence level can be applied to this implementation
In example.
In the present embodiment when track pre-processes, the track screening in track source can be preferentially carried out, track source is based on
Track screening, subsequent screening process can be further reduced, problematic candidate driving trace is fundamentally filtered out, improve
Track screening efficiency.
The driving information of the candidate driving trace owning user of S520, foundation, determines the track confidence level of candidate's driving trace.
It, can be by the quality of judge track itself, based on track quality point to time in the specific embodiment of the invention
Driving trace is selected to be screened.Track confidence level refers to the credibility of track itself, can according in track dotting time,
The indexs such as operating range, driving direction, orientation consistency determine the track confidence level of candidate driving trace.Wherein, this implementation
Example is not defined the method for determination of track confidence level, and any mode that can determine track confidence level can be applied to this
In embodiment.
Anchor point information in the candidate driving trace of S530, foundation, determines the path length of candidate's driving trace.
In the specific embodiment of the invention, the path domain covered in view of the shorter track of length is smaller, it is possible to no
There are between path the case where corner, therefore candidate driving trace can be screened based on path length angle.Wherein, may be used
To determine path length by the coordinate of anchor point；Path length can also be determined by the travel speed and time of track；Also
Frequency can be got ready by GPS, get mark of the quantity as path length ready using in track, such as to get quantity ready big for selection
In 20 candidate driving traces as sample trace.
At least one of in S540, foundation user's confidence level, track confidence level and path length, from candidate driving trace
Middle determining sample trace.
Illustratively, Fig. 6 is the pretreated schematic diagram in track.As shown in fig. 6, to the candidate driving trace collected into
Row pretreatment, is filtered based on track source, track quality and path length, and it is good to obtain trust degree height, driving habit
Well, without positioning point drift or sparse and length stabilisation sample trace.
S550, from sample trace, removal be located at terminus at preset quantity anchor point.
In the specific embodiment of the invention, primary navigation has corresponded to the driving trace of user to terminal from starting point traveling, mirror
In user, there may be the stops of long period, such as user to open when starting point is opened and navigated but not near terminus
Dynamic vehicle driving and/or user, which travel, to be reached terminal point but is not off navigation, and then is caused near driving trace terminus
Anchor point validity it is lower, such as multiple anchor points are all located at same position, the measurement standard without path.Cause
This can be located at the anchor point of preset quantity at terminus from removal in sample trace, and wherein preset quantity can be beaten according to GPS
Dot frequency determines, can also be determined according to the universal navigation behavior of users.For example, being beaten by time interval of 3S
Point can remove 10 anchor points at terminus.It is worth noting that, the anchor point quantity removed at beginning and end can
With identical, can also be different.
S560, according to routing information belonging to anchor point in sample trace, determine between path that sample trace is covered
Target rotation angle section.
S570, according to the anchor point information being located in sample trace on the path, determine at target rotation angle section path it
Between track angle.
The technical solution of the present embodiment is based on user's confidence level, track confidence for the candidate driving trace collected
The conditions such as degree and path length are filtered Screening Treatment, obtain the stable track of high quality as sample trace, Jin Ertong
Cross the target rotation angle section determined in sample trace, and from the GPS extracted from target rotation angle point in adjacent path in sample trace
The anchor point information got ready, to calculate according to target rotation angle section and anchor point information and determine phase at target rotation angle section
Track angle between adjacent path.The embodiment of the present invention by being pre-processed to a large amount of candidate driving traces collected,
Sample trace quality is improved, to carry out angle excavation based on sample trace, improves the accuracy of path angle excavation.
Example IV
The present embodiment on the basis of the above embodiment 1, provides a preferred implementation side of path angle method for digging
Formula can be modified the angle in road network topology structure based on the track angle of excavation.Fig. 7 is that the embodiment of the present invention four mentions
Supply a kind of path angle method for digging flow chart, as shown in fig. 7, this method specifically include it is as follows:
S710, according to routing information belonging to anchor point in sample trace, determine between path that sample trace is covered
Target rotation angle section.
S720, according to the anchor point information being located in sample trace on the path, determine at target rotation angle section path it
Between track angle.
S730, it obtains based on the track angle at the determining target rotation angle section of sample trace between path.
In the specific embodiment of the invention, carrying out between path after the excavation of angle, for a certain target rotation angle road
Section, at the available target rotation angle section, the trajectory angle between path determined based on sample trace, in this, as satisfying the need
The amendment foundation at net topology structure Road network folder angle.
Illustratively, in conjunction with Fig. 2 and Fig. 4 right figure, the path A in Fig. 2 is corresponding with the path C in Fig. 4 right figure, the B in Fig. 2
Path is corresponding with the path D in Fig. 4 right figure, and the path C in Fig. 2 is corresponding with the path E in Fig. 4 right figure.Then based in Fig. 4 right figure
Anchor point information on sample trace can determine that the track angle in Fig. 4 right figure between the path C and the path D is 0 °, the path D
Track angle between the path E is 0 °.
S740, road network angle in road network at target rotation angle section between path is determined；Wherein, road network angle is that road network is opened up
Flutter the angle in structure chart between path-line.
In the specific embodiment of the invention, from road network topology structure chart, using the path-line for indicating path as foundation, determine
Road network angle at target rotation angle section between path.Illustratively, in the examples described above, by Fig. 2 left figure, it is assumed that determine Fig. 2
Road network angle in left figure between the path A and B path is 60 °, and the road network angle between B path and the path C is 70 °.
If S750, detecting that the error between track angle and road network angle is greater than error threshold, according to track angle
Network folder angle of satisfying the need is modified, so that navigation device carries out navigation induction according to revised road network angle.
In the specific embodiment of the invention, no matter in which way, determine that the angle between obtained road is not exhausted
To unique and error-free, and the crank degree of different vehicle when driving is to be different.Therefore it can preset to miss
Poor threshold value, such as 10 °.To which track angle to be compared with road network angle, if the mistake between track angle and road network angle
Difference is greater than error threshold, then is modified using track angle network folder angle of satisfying the need.Wherein it is possible to which track angle is directly replaced road
Actual angle in actual scene is replaced map drawing data, and typing revised road network in map by network folder angle
Angle information, so that map datum is more in line with real roads and user trajectory.
Illustratively, in the examples described above, in conjunction with Fig. 2 and Fig. 4, in such as Fig. 4 left figure in the scene of normal crossroad,
Road network folder since the track angle obtained between the path A and B path based on trajectory calculation is 90 °, and in road network topology structure
Angle is then also that the road network angle turned right retains for this theoretically right-hand rotation reality also close to being 90 °.On the right side such as Fig. 4
In figure in the scene of overhead main and side road and ring road, due to obtaining the track in Fig. 4 between the path C and the path D based on trajectory calculation
Angle is 0 °, and the track angle between the path D and the path E is 0 °, and the path A in the Fig. 2 obtained based on road network topology structure chart
Road network angle between B path is 60 °, and the road network angle between B path and the path C is 70 °.That is, being based on track
It should be to execute under obtained overhead main and side road scene, and what is obtained based on road network is to turn right and turn left, therefore to this theory
It is modified with the road network angle under practical inconsistent scene, so that navigation device is led according to revised road network angle
Boat induction.
The technical solution of the present embodiment is based on sample trace, by the target rotation angle section in determining sample trace, and from
The anchor point information that the GPS at target rotation angle point in adjacent path is got ready is extracted in sample trace, according to target rotation angle section with
And anchor point information, the track angle determined at target rotation angle section between adjacent path is calculated, thus using track angle pair
Road network angle in road network topology structure chart is modified, and is lured so that navigation device carries out navigation according to revised road network angle
It leads.The embodiment of the present invention is excavated by the track for crossing user's actual travel as sample trace, is turned based on track
Angle section is determining and trajectory angle calculates, and instead of artificial on-site land survey on the spot, avoid in road network topology error resistance is lured
It leads, not only improves the efficiency and accuracy rate that angle is excavated between path in road network, reduce human cost and operation complexity, and
Improve the accuracy of road network information and navigation induction.
Embodiment five
The present embodiment on the basis of the above embodiment 1, provides a preferred implementation side of path angle method for digging
Formula can be realized track pretreatment, corner section is excavated and screening, the determination of track angle and the amendment of road network angle.Fig. 8 is this
Inventive embodiments five provide a kind of path angle method for digging flow chart, as shown in figure 8, this method specifically include it is as follows:
The user information of the candidate driving trace owning user of S801, foundation, determines user's confidence level of candidate's driving trace.
The driving information of the candidate driving trace owning user of S802, foundation, determines the track confidence level of candidate's driving trace.
Anchor point information in the candidate driving trace of S803, foundation, determines the path length of candidate's driving trace.
At least one of in S804, foundation user's confidence level, track confidence level and path length, from candidate driving trace
Middle determining sample trace.
S805, from sample trace, removal be located at terminus at preset quantity anchor point.
If S806, according to path belonging to anchor point in sample trace, path belonging to adjacent positioned point is detected the presence of
It is different, it is determined that the section between the adjacent positioned point is candidate corner section.
Anchor point density, dotting time interval and path in S807, foundation sample trace at candidate corner section
At least one of in connection status, target rotation angle section is determined from candidate corner section.
The anchor point information being located on each path in S808, foundation sample trace, determines the phase in each path with reference direction
To angle.
S809, according to the relative angle of each path and reference direction, determine the track at target rotation angle section between path
Angle.
S810, from the track angle that each sample trace determines, determine that median is at target rotation angle section between path
Track angle.
S811, it obtains based on the track angle at the determining target rotation angle section of sample trace between path.
S812, road network angle in road network at target rotation angle section between path is determined；Wherein, road network angle is that road network is opened up
Flutter the angle in structure chart between path-line.
If S813, detecting that the error between track angle and road network angle is greater than error threshold, according to track angle
Network folder angle of satisfying the need is modified, so that navigation device carries out navigation induction according to revised road network angle.
The technical solution of the present embodiment is based on sample trace, by the target rotation angle section in determining sample trace, and from
The anchor point information that the GPS at target rotation angle point in adjacent path is got ready is extracted in sample trace, thus according to target rotation angle road
Section and anchor point information calculate the track angle determined at target rotation angle section between adjacent path.The embodiment of the present invention is logical
It crosses and excavates the track that user's actual travel is crossed as sample trace, the determination of corner section and track angle are carried out based on track
Degree calculates, and instead of artificial on-site land survey on the spot, avoids the error resistance induction in road network topology, not only improves road network Road
The efficiency and accuracy rate that angle is excavated between diameter reduce human cost and operation complexity, and improve road network information and
The accuracy of navigation induction.
Embodiment six
Fig. 9 is a kind of structural schematic diagram for path angle excavating gear that the embodiment of the present invention six provides, and the present embodiment can
Suitable for carrying out the case where path angle excavates based on a large amount of user trajectory, which can realize any embodiment of that present invention institute
The path angle method for digging stated.The device specifically includes as follows:
Corner section determining module 910, for determining the sample according to routing information belonging to anchor point in sample trace
Target rotation angle section between the path that this track is covered；
Track angle determining module 920, for according in the sample trace be located at the path on anchor point information,
Determine the track angle at the target rotation angle section between path.
Optionally, corner section determining module 910 includes:
Corner excavates unit 9101, if detecting the presence of adjacent for according to path belonging to anchor point in sample trace
Path belonging to anchor point is different, it is determined that the section between the adjacent positioned point is candidate corner section；
Corner judgement unit 9102, for according to the anchor point density at candidate's corner section described in the sample trace
At least one of in degree, dotting time interval and path connection status, target rotation angle is determined from the candidate corner section
Section.
Optionally, the track angle determining module 920 is specifically used for:
According to the anchor point information being located on each path in the sample trace, the opposite of each path and reference direction is determined
Angle；
According to the relative angle in each path and reference direction, the track folder at the target rotation angle section between path is determined
Angle.
Optionally, the track angle determining module 920 is specifically used for:
From the track angle that each sample trace determines, determine median between path at the target rotation angle section
Track angle.
Further, described device further includes road network correction module 930, is specifically used for:
Described according to the anchor point information being located on the path in the sample trace, the target rotation angle road is determined
After track angle between the path Duan Chu, obtain at the target rotation angle section determined based on sample trace between path
Track angle；
Determine the road network angle at target rotation angle section described in road network between path；Wherein, the road network angle is road
Angle in net topology structure chart between path-line；
If detecting, the error between the track angle and the road network angle is greater than error threshold, according to the rail
Mark angle is modified the road network angle, so that navigation device carries out navigation induction according to revised road network angle.
Further, described device further includes track preprocessing module 940, is specifically used for:
Described according to routing information belonging to anchor point in sample trace, the path that the sample trace is covered is determined
Between target rotation angle section before, according to the user information of candidate driving trace owning user, determine the candidate traveling rail
User's confidence level of mark；
According to the driving information of the candidate driving trace owning user, the track confidence of the candidate driving trace is determined
Degree；
According to the anchor point information in the candidate driving trace, the path length of the candidate driving trace is determined；
According in user's confidence level, the track confidence level and the path length at least one of, from described
Sample trace is determined in candidate driving trace.
Optionally, the track preprocessing module 940 is specifically also used to:
From the sample trace, removal is located at the anchor point of preset quantity at terminus.
The technical solution of the present embodiment realizes the sieve of sample trace by the mutual cooperation between each functional module
Choosing, the identification in corner section, the screening in target rotation angle section, the calculating of path relative angle, track angle is really between path
The functions such as fixed and road network amendment.The embodiment of the present invention is carried out by the track for crossing user's actual travel as sample trace
It excavates, the determination of corner section is carried out based on track and trajectory angle calculates, instead of artificial on-site land survey on the spot, avoids road
Error resistance induction in net topology not only improves the efficiency and accuracy rate that angle is excavated between path in road network, reduce manpower at
Sheet and operation complexity, and improve the accuracy of road network information and navigation induction.
Embodiment seven
Figure 10 is a kind of structural schematic diagram for equipment that the embodiment of the present invention seven provides, and Figure 10, which is shown, to be suitable for being used to realizing
The block diagram of the example devices of embodiment of the embodiment of the present invention.The equipment that Figure 10 is shown is only an example, should not be to this
The function and use scope of inventive embodiments bring any restrictions.
The equipment 1000 that Figure 10 is shown is only an example, should not function and use scope band to the embodiment of the present invention
Carry out any restrictions.The equipment 1000 is preferably the electronic equipment for carrying block chain link point.
As shown in Figure 10, equipment 1000 is showed in the form of universal computing device.The component of equipment 1000 may include but
Be not limited to: one or more processor 1010, system storage 1020 connect different system components (including system storage
1020 and processor 1010) bus 1030.
Bus 1030 indicates one of a few class bus structures or a variety of, including memory bus or memory control
Device, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture
(MAC) bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) are total
Line.
Equipment 1000 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment
The usable medium of 1000 access, including volatile and non-volatile media, moveable and immovable medium.
System storage 1020 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 1021 and/or cache memory 1022.Equipment 1000 may further include it is other it is removable/no
Movably, volatile/non-volatile computer system storage medium.Only as an example, storage system 1023 can be used for reading
Write immovable, non-volatile magnetic media (Figure 10 do not show, commonly referred to as " hard disk drive ").Although not showing in Figure 10
Out, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, and to removable
The CD drive of anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases,
Each driver can be connected by one or more data media interfaces with bus 1030.System storage 1020 can wrap
At least one program product is included, which has one group of (for example, at least one) program module, these program modules are matched
It sets to execute the function of each embodiment of the embodiment of the present invention.
Program/utility 1025 with one group of (at least one) program module 1024, can store in such as system
In memory 1020, such program module 1024 includes but is not limited to operating system, one or more application program, other
It may include the realization of network environment in program module and program data, each of these examples or certain combination.Journey
Sequence module 1024 usually executes function and/or method in described embodiment of the embodiment of the present invention.
Equipment 1000 can also be with one or more external equipments 1040 (such as keyboard, sensing equipment, display 1041
Deng) communication, can also be enabled a user to one or more equipment interact with the equipment 1000 communicate, and/or with make this
Any equipment (such as network interface card, modem etc.) that equipment 1000 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 1050.Also, equipment 1000 can also be suitable by network
Orchestration 1060 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as because of spy
Net) communication.As shown, network adapter 1060 is communicated by bus 1030 with other modules of equipment 1000.It should be understood that
Although not shown in the drawings, other hardware and/or software module can be used with bonding apparatus 1000, including but not limited to: microcode,
Device driver, redundant processor, external disk drive array, RAID system, tape drive and data backup storage system
System etc..
Processor 1010 by the program that is stored in system storage 1020 of operation, thereby executing various function application with
And data processing, such as realize path angle method for digging provided by the embodiment of the present invention.
Embodiment eight
The embodiment of the present invention eight also provides a kind of computer readable storage medium, be stored thereon with computer program (or
For computer executable instructions), execution route angle method for digging is used for when which is executed by processor, this method comprises:
According to routing information belonging to anchor point in sample trace, determine between path that the sample trace is covered
Target rotation angle section；
According to the anchor point information being located on the path in the sample trace, road at the target rotation angle section is determined
Track angle between diameter.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with one or more programming languages or combinations thereof come write for execute the embodiment of the present invention operation
Computer program code, described program design language include object oriented program language-such as Java,
Smalltalk, C++, further include conventional procedural programming language-such as " C " language or similar program design language
Speech.Program code can be executed fully on the user computer, partly be executed on the user computer, as an independence
Software package execute, part on the user computer part execute on the remote computer or completely in remote computer or
It is executed in equipment.In situations involving remote computers, remote computer can pass through the network of any kind --- including
Local area network (LAN) or wide area network (WAN)-are connected to subscriber computer, or, it may be connected to outer computer (such as using
ISP is connected by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being implemented by above embodiments to the present invention
Example is described in further detail, but the embodiment of the present invention is not limited only to above embodiments, is not departing from structure of the present invention
It can also include more other equivalent embodiments in the case where think of, and the scope of the present invention is determined by scope of the appended claims
It is fixed.
Claims (10)
1. a kind of path angle method for digging characterized by comprising
According to routing information belonging to anchor point in sample trace, the target between path that the sample trace is covered is determined
Corner section；
According to the anchor point information being located on the path in the sample trace, determine at the target rotation angle section path it
Between track angle.
2. the method according to claim 1, wherein described according to the letter of path belonging to anchor point in sample trace
Breath determines the target rotation angle section between path that the sample trace is covered, comprising:
If detecting the presence of the difference of path belonging to adjacent positioned point, then really according to path belonging to anchor point in sample trace
Section between the fixed adjacent positioned point is candidate corner section；
Connect according to anchor point density, dotting time interval and the path at candidate's corner section described in the sample trace
At least one in state is connect, determines target rotation angle section from the candidate corner section.
3. the method according to claim 1, wherein described be located on the path according in the sample trace
Anchor point information, determine the track angle at the target rotation angle section between path, comprising:
According to the anchor point information being located on each path in the sample trace, the relative angle of each path and reference direction is determined
Degree；
According to the relative angle in each path and reference direction, the track angle at the target rotation angle section between path is determined.
4. according to the method described in claim 3, it is characterized in that, the relative angle according to each path and reference direction,
Determine the track angle at the target rotation angle section between path, comprising:
From the track angle that each sample trace determines, determine that median is the track at the target rotation angle section between path
Angle.
5. the method according to claim 1, wherein it is described according in the sample trace be located at the path
On anchor point information, after determining the track angle at the target rotation angle section between path, further includes:
Obtain the track angle at the target rotation angle section determined based on sample trace between path；
Determine the road network angle at target rotation angle section described in road network between path；Wherein, the road network angle is that road network is opened up
Flutter the angle in structure chart between path-line；
If detecting, the error between the track angle and the road network angle is greater than error threshold, presss from both sides according to the track
Angle is modified the road network angle, so that navigation device carries out navigation induction according to revised road network angle.
6. the method according to claim 1, wherein described according to path belonging to anchor point in sample trace
Information, before determining the target rotation angle section between path that the sample trace is covered, further includes:
According to the user information of candidate driving trace owning user, user's confidence level of the candidate driving trace is determined；
According to the driving information of the candidate driving trace owning user, the track confidence level of the candidate driving trace is determined；
According to the anchor point information in the candidate driving trace, the path length of the candidate driving trace is determined；
According at least one in user's confidence level, the track confidence level and the path length, from the candidate
Sample trace is determined in driving trace.
7. the method according to claim 1, wherein described according to path belonging to anchor point in sample trace
Information, before determining the target rotation angle section between path that the sample trace is covered, further includes:
From the sample trace, removal is located at the anchor point of preset quantity at terminus.
8. a kind of path angle excavating gear characterized by comprising
Corner section determining module, for determining the sample trace according to routing information belonging to anchor point in sample trace
Target rotation angle section between the path covered；
Track angle determining module, for determining institute according to the anchor point information being located on the path in the sample trace
State the track angle at target rotation angle section between path.
9. a kind of equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as angle method for digging in path of any of claims 1-7.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as angle method for digging in path of any of claims 1-7 is realized when execution.
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Application publication date: 20191025 |