CN110472000A - Road network route determines method, apparatus, electronic equipment and storage medium - Google Patents
Road network route determines method, apparatus, electronic equipment and storage medium Download PDFInfo
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- CN110472000A CN110472000A CN201910739440.1A CN201910739440A CN110472000A CN 110472000 A CN110472000 A CN 110472000A CN 201910739440 A CN201910739440 A CN 201910739440A CN 110472000 A CN110472000 A CN 110472000A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/28—Databases characterised by their database models, e.g. relational or object models
- G06F16/284—Relational databases
- G06F16/285—Clustering or classification
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
This application discloses a kind of road network routes to determine method, apparatus, equipment and storage medium, belongs to railway network planning technical field.This method comprises: the position data based on multiple target objects during traveling, determines the travel track of the multiple target object；In the travel track of the multiple target object, a plurality of first object travel track is obtained；The a plurality of first object travel track is clustered, using the corresponding advanced positions of target cluster result as target position, the target cluster result is the cluster result for meeting first object condition；In existing road network, in the corresponding position addition route in the target position for meeting reference conditions.It is clustered to obtain road network route by the first object travel track to target object, it avoids and is clustered to obtain road network route with the travel track that intersects that road is formed using the GPS track data of inaccuracy, the problem of leading to the erroneous judgement of road network route, improves the accuracy of road network route Result.
Description
Technical field
This application involves railway network planning technical field, in particular to a kind of road network route determines method, apparatus, electronic equipment
And storage medium.
Background technique
With the intelligent terminal of embedded GPS (Global Positioning System, global positioning system) positioning function
With popularizing for mobile Internet, the road network digging technology based on GPS track data is widely used.
In the related technology, the track data intersected is formed with road in road network by the GPS track data that will acquire to carry out
Cluster is to realize that road network route excavates.But the stability due to the accuracy of GPS track data by GPS signal is influenced.When
When GPS signal is unstable, GPS track data may float in both sides of the road, even if target object does not carry out and road at this time
Road forms the traveling campaign intersected, and GPS track data also can generate crossover phenomenon with road.And in existing road network route it is accurate
The result that property can also intersect the generation of GPS track data and road impacts.Therefore by will in GPS track data comprising with
The track data of intersection is clustered to obtain road network route, the erroneous judgement of road network route will occurs, affects the digging of road network route
Dig the accuracy of result.
Summary of the invention
The embodiment of the present application provides a kind of road network route and determines method, apparatus, electronic equipment and storage medium, to solve
The problems in the relevant technologies.The technical solution is as follows:
On the one hand, the embodiment of the present application provides a kind of road network route and determines method, which comprises is based on multiple mesh
Position data of object during traveling is marked, determines the travel track of the multiple target object；In the multiple target pair
In the travel track of elephant, a plurality of first object travel track is obtained, the first object travel track includes left-hand rotation travel track
With the travel track that turns around；The a plurality of first object travel track is clustered, by the corresponding traveling position of target cluster result
It sets as target position, the target cluster result is the cluster result for meeting first object condition；In existing road network, full
Add route in the corresponding position in the target position of sufficient reference conditions.
It is described in the travel track of the multiple target object in the possible embodiment of the application, it obtains a plurality of
First object travel track, comprising: for target object described in any one, obtain the starting of the travel track of the target object
The position data of position；Started with the position data of the initial position, in the travel track for successively determining the target object
The direction of travel of travel track between the data of every two adjacent position；When between the direction of travel of any two adjacent travel tracks
Angle change value meet turn left or turn around condition when, determine the direction of travel of the travel track after the adjacent travel track；
The direction of travel of travel track after the adjacent travel track meets object traveling direction, by the adjacent travel track
Second segment travel track in corresponding two sections of travel tracks is as the first object travel track.
It is described that a plurality of first object travel track is clustered in the possible embodiment of the application, by mesh
The corresponding advanced positions of cluster result are marked as target position, the target cluster result is the cluster for meeting first object condition
As a result, comprising: obtain the generation of the first position data and second position data that form each first object travel track
Table data, the first position data are located at before the second position data on the travel track；According to the representative
Data cluster multiple first object travel tracks；It obtains include in any cluster result described and represents data
Quantity；Using advanced positions corresponding to cluster result of the quantity for representing data greater than first object quantity as described in
Target position.
It is described in existing road network in the possible embodiment of the application, in the target position for meeting reference conditions
Set corresponding position addition route, comprising: when the acquisition frequency of the position data is less than reference frequency, obtain any described
In the travel track of each corresponding target object of target position, the first navigation distance between initial position and final position and
Linear distance；When comprising the second target travel track quantity less than the second destination number when, in the existing road network with
Route is added in the corresponding position in the target position, the second target travel track be corresponding first navigation distance with
The difference of the linear distance is greater than the travel track of target range.
It is described when the acquisition frequency of the position data is less than reference frequency in the possible embodiment of the application,
In the travel track for obtaining each corresponding target object of any target position, between initial position and final position
After one navigation distance and linear distance, the method also includes: when comprising the second target travel track quantity be greater than institute
When stating the second destination number, the corresponding travel track in the target position is clustered, the poly- of the second goal condition will be met
The corresponding travel track of class result be used as refer to travel track, it is described meet the second goal condition cluster result for comprising institute
The quantity for stating travel track meets the cluster result of third destination number；It is fitted, is intended with reference to travel track to described
Close travel track；The target position is replaced into the corresponding position of the fitting travel track, in the existing road network with institute
State the corresponding position addition route of fitting travel track.
It is described in existing road network in the possible embodiment of the application, in the target position for meeting reference conditions
Set corresponding position addition route, comprising: obtain first of the corresponding first object travel track in any target position
Set first distance between data and second position data and be located at before the first position data on travel track with
And the second distance between the position data after the second position data；Obtain the quantity for referring to travel track, institute
State the travel track for being all larger than the second navigation distance for the first distance and the second distance with reference to travel track；When described
With reference to travel track quantity less than four destination numbers when, the position corresponding with the target position in the existing road network
Add route.
It is described in existing road network in the possible embodiment of the application, in the target position for meeting reference conditions
After setting corresponding position addition route, the method also includes: the travel track of multiple identifying objects is obtained, it is the multiple to test
Card object and the multiple target object are under the jurisdiction of same type；Based on the travel track of the multiple identifying object, to current
The route added in road network is verified.
On the one hand, the embodiment of the present application provides a kind of road network route determining device, and described device comprises determining that module,
For the position data based on multiple target objects during traveling, the travel track of the multiple target object is determined；It obtains
Modulus block, in the travel track of the multiple target object, obtaining a plurality of first object travel track, first mesh
Mark travel track includes left-hand rotation travel track and the travel track that turns around；Cluster module, for advancing to a plurality of first object
Track is clustered, and using the corresponding advanced positions of target cluster result as target position, the target cluster result is to meet
The cluster result of first object condition；Adding module is used in existing road network, in the target position for meeting reference conditions
Add route in corresponding position.
In the possible embodiment of the application, the acquisition module, for obtaining for target object described in any one
The position data of the initial position of the travel track of the target object；Started with the position data of the initial position, successively
Determine the direction of travel of the travel track in the travel track of the target object between the data of every two adjacent position；When any two
Angle change value between the direction of travel of adjacent travel track meet to turn left or turn around condition when, determine the adjacent traveling rail
The direction of travel of travel track after mark；The direction of travel of travel track after the adjacent travel track meets target
Direction of travel, using the second segment travel track in the corresponding two sections of travel tracks of the adjacent travel track as first mesh
Mark travel track.
In the possible embodiment of the application, the cluster module forms each described first object for obtaining
The first position data of travel track and the representative data of second position data, the first position data are in the travel track
It is upper to be located at before the second position data；Data are represented according to described, multiple first object travel tracks are gathered
Class；Obtain the quantity for representing data for including in any cluster result；The quantity for representing data is greater than the first mesh
Advanced positions corresponding to the cluster result of quantity are marked as the target position.
In the possible embodiment of the application, the adding module is small for the acquisition frequency when the position data
When reference frequency, in the travel track that obtains each corresponding target object of any target position, initial position and
The first navigation distance and linear distance between final position；When comprising the second target travel track quantity less than the second target
When quantity, route, the second target travel track are added in position corresponding with the target position in the existing road network
It is greater than the travel track of target range for the difference of corresponding first navigation distance and the linear distance.
In the possible embodiment of the application, the adding module, be also used to when comprising the second target travel track
Quantity be greater than second destination number when, the corresponding travel track in the target position is clustered, second will be met
The corresponding travel track of the cluster result of goal condition, which is used as, refers to travel track, the cluster knot for meeting the second goal condition
Fruit be comprising the quantity of the travel track meet the cluster result of third destination number；It is carried out to described with reference to travel track
Fitting obtains fitting travel track；The target position is replaced into the corresponding position of the fitting travel track, described existing
Route is added in position corresponding with the fitting travel track in road network.
In the possible embodiment of the application, the adding module is corresponding for obtaining any target position
First distance between the first position data and second position data of first object travel track and upper in travel track
The second distance between position data before the first position data and after the second position data；It obtains
The quantity with reference to travel track is taken, it is described to be all larger than second for the first distance and the second distance with reference to travel track and lead
The travel track for distance of navigating；When the quantity with reference to travel track is less than four destination numbers, in the existing road network
Add route in position corresponding with the target position.
In the possible embodiment of the application, the adding module is also used to obtain the traveling rail of multiple identifying objects
Mark, the multiple identifying object and the multiple target object are under the jurisdiction of same type；Row based on the multiple identifying object
Into track, the route added in current road network is verified.
On the one hand, the embodiment of the present application provides a kind of electronic equipment, and the equipment includes: memory and processor, institute
It states memory and is stored at least one instruction, at least one instruction is loaded and executed by the processor, as above to realize
Any road network route determines method.
On the one hand, the embodiment of the present application provides a kind of computer readable storage medium, is stored in the storage medium
At least one instruction, described instruction are loaded by processor and are executed to realize that any road network route as above determines method.
On the one hand, the embodiment of the present application provides a kind of computer program (product), computer program (product) packet
It includes: computer program code, when the computer program code is run by computer, so that computer execution is above-mentioned each
Method in aspect.
Technical solution provided by the embodiments of the present application at least can include the following benefits:
First object travel track in travel track based on multiple target objects is clustered, and is clustered and is tied according to target
Fruit obtains needing to add the target position of route, in existing road network, in the corresponding position in target position for meeting reference conditions
Add route.It is clustered to obtain road network route by the first object travel track to target object, be avoided using inaccurate
True GPS track data are clustered to obtain road network route with the travel track that intersects that road is formed, and lead to the mistake of road network route
The problem of sentencing improves the accuracy of road network route Result.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the implementation environment schematic diagram that a kind of road network route provided by the embodiments of the present application determines method；
Fig. 2 is the flow chart that a kind of road network route provided by the embodiments of the present application determines method；
Fig. 3 is application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 4 is application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 5 is application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 6 is application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 7 is application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 8 is application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 9 is application scenarios schematic diagram provided by the embodiments of the present application；
Figure 10 is application scenarios schematic diagram provided by the embodiments of the present application；
Figure 11 is application scenarios schematic diagram provided by the embodiments of the present application；
Figure 12 is application scenarios schematic diagram provided by the embodiments of the present application；
Figure 13 is a kind of structural schematic diagram of road network route determining device provided by the embodiments of the present application；
Figure 14 is the block diagram of a kind of electronic equipment provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with attached drawing to the application embodiment party
Formula is described in further detail.
With the intelligent terminal of embedded GPS (Global Positioning System, global positioning system) positioning function
With popularizing for mobile Internet, the road network digging technology based on GPS track data is widely used.
In the related technology, the track data intersected is formed with road in road network by the GPS track data that will acquire to carry out
Cluster is to realize that road network route excavates.But the stability due to the accuracy of GPS track data by GPS signal is influenced.When
When GPS signal is unstable, GPS track data may float in both sides of the road, even if target object does not carry out and road at this time
Road forms the traveling campaign intersected, and GPS track data also can generate crossover phenomenon with road.And in existing road network route it is accurate
The result that property can also intersect the generation of GPS track data and road impacts.Therefore by will in GPS track data comprising with
The track data of intersection is clustered to obtain road network route, the erroneous judgement of road network route will occurs, affects the digging of road network route
Dig the accuracy of result.In order to solve the above-mentioned technical problem, the embodiment of the present application provides a kind of road network route and determines method.
This method can be applied in implementation environment as shown in Figure 1.In Fig. 1, including at least one terminal 101 and server
102, terminal 101 can be communicatively coupled with server 102.
Wherein, terminal 101 can be any electronic product that can acquire GPS data, for example, mobile phone, smart phone,
Wearable device, palm PC PPC (Pocket PC), tablet computer, intelligent vehicle device etc..
Server 102 can be a server, be also possible to the server cluster being made of multiple servers, either
One cloud computing service center.
Those skilled in the art will be understood that above-mentioned terminal 101 and server 102 are only for example, other are existing or from now on
The terminal or server being likely to occur such as are applicable to the application, should also be included within the application protection scope, and herein with
Way of reference is incorporated herein.
Based on above-mentioned implementation environment shown in FIG. 1, as shown in Fig. 2, to provide a kind of road network route true for the embodiment of the present application
Determine method, this method comprises:
In step 201, the position data based on multiple target objects during traveling determines multiple target objects
Travel track.
Illustratively, position data of target object during traveling can be by setting in the corresponding terminal of target object
Standby middle setting GPS data acquisition module collects, and terminal device is according to fixed frequency to server transport GPS data；Or
To be server send GPS data acquisition instruction into terminal device according to obtaining frequency, so that terminal device is according to receiving
Acquisition instruction sends collected GPS data to server.Server is according to the sequencing of the GPS data got, on road
Adjacent GPS data is connected in net, to form the travel track of target object.Target object can be pedestrian, non-motor vehicle or
Motor vehicle etc. can form any object of travel track.The embodiment of the present application can be to drive jockey's traveling rail of non-motor vehicle
It is illustrated for mark.Different according to the frequency of the GPS data of acquisition, the travel track of acquisition may include such as Fig. 3 and Fig. 4 institute
The position data shown.
In step 202, in the travel track of multiple target objects, a plurality of first object travel track is obtained, first
Target travel track includes left-hand rotation travel track and the travel track that turns around.
Illustratively, it is generally required when target object turns left or turns around during traveling by street crossing route, therefore can be with
Road network is excavated by a plurality of first object travel track in the travel track of the multiple target objects of acquisition.Such as shown in Fig. 5
The travel track corresponding first object travel track of target object be left-hand rotation travel track, target object shown in fig. 6
The corresponding first object travel track of travel track is the travel track that turns around.First object row in the travel track of target object
Acquisition modes into track can be determined according to the angle change situation of the direction of travel of travel track.
In step 203, a plurality of first object travel track is clustered, by the corresponding traveling position of target cluster result
It sets as target position, target cluster result is the cluster result for meeting first object condition.
Illustratively, the mode clustered to multiple first object travel tracks can be according to first object traveling rail
The position data that mark includes clusters first object travel track.The first object condition can be target area, will be
Cluster result in target area is as target cluster result, using the corresponding advanced positions of target cluster result as target position
It sets.
In step 204, in existing road network, in the corresponding position addition route in target position for meeting reference conditions.
Illustratively, which can be target position in the target area and either meets
The target position that target weight requires.The embodiment of the present application is not construed as limiting the reference conditions, and those skilled in the art can root
According to actual needs selection target position.After in target position, corresponding position addition route can be determining target position, pass through
Manually after corresponding target position carries out actual track exploration, corresponding route is added in existing road network；It can also root
It is fitted to a travel track according to multiple travel tracks corresponding in target position, is added to using the travel track as route
Have in road network.In order to guarantee multiple travel track packets of the travel track that will be fitted to as the accuracy of route, for fitting
The quantity of the position data contained, which is greater than, refers to quantity, this can be determined with reference to quantity according to the quantity of the acquisition of position data, obtains
The position data taken is more, and the travel track of formation is more accurate.
Road network route provided by the embodiments of the present application determines method, first in the travel track based on multiple target objects
Target travel track is clustered, and obtains needing to add the target position of route according to target cluster result, in existing road network,
Route is added to the corresponding position in the target position for meeting reference conditions.By the first object travel track to target object into
Row cluster obtains road network route, avoids and is carried out using the GPS track data of inaccuracy with the travel track that intersects that road is formed
The problem of cluster obtains road network route, leads to the erroneous judgement of road network route, improves the accuracy of road network route Result.
As the possible embodiment of the application, in step 202, comprising:
In step 2021, for any one target object, the position of the initial position of the travel track of target object is obtained
Set data.
Illustratively, the position data of the initial position of the travel track of target object is used for shape for what server was got
At first GPS data of the travel track of target object.Using first object travel track shown in fig. 5 as left-hand rotation travel track
It is for turning around travel track with first object travel track shown in fig. 6, the corresponding position data of a point is target pair in figure
The position data of the initial position of the travel track of elephant.
In step 2022, started with the position data of initial position, is successively determined every in the travel track of target object
The direction of travel of travel track between two adjacent position data.
Illustratively, the direction of travel of the travel track between the data of every two adjacent position can be according to every two positional number
According to the deflection angle in direction of travel and preset standard direction of travel track indicate.
As shown in figure 5, jockey reaches b point from a point on the basis of the direct north of the position starting point a of travel track
Direction of travel be direct north turn 90 degrees partially counterclockwise, from b point to the direction of travel of c point be direct north deflect 90 counterclockwise
Degree is that direct north deflects nearly 180 degree counterclockwise from c point to the direction of travel of d point, is due north from d point to the direction of travel of e point
Direction deflects nearly 180 degree counterclockwise, is that direct north deflects nearly 180 degree counterclockwise from e point to the direction of travel of f point.
As shown in fig. 6, the starting point a with travel track starts, using jockey from the direction of travel of a point arrival b point as standard
Direction, jockey is close with reference direction to the direction of travel of c point from b point, is that reference direction is inverse from c point to the direction of travel of d point
Hour hands are turn 90 degrees partially, are that reference direction deflects 180 degree counterclockwise from d point to the direction of travel of e point, from e point to the traveling side of f point
180 degree is deflected counterclockwise to for reference direction.
The embodiment of the present application is between the row of the travel track every two adjacent position data in the travel track of target object
Characteristic manner into direction is not construed as limiting, and those skilled in the art can select other directions as default according to actual needs
Reference direction.Traveling when the position data in the travel track of formation is more, to the travel track that adjacent position data are formed
It, can be using corresponding road width as minimum separation distances, with the spacing distance in order to improve rate when direction is determined
Select adjacent position data.
In step 2023, when between the direction of travel of any two adjacent travel tracks angle change value meet turn left or
When the condition that turns around, the direction of travel of the travel track after adjacent travel track is determined.
Illustratively, the direction of travel that left-hand rotation condition can be two adjacent travel tracks meets right angle, i.e., and two
Angle change value between adjacent travel track is 90 degree；Left-hand rotation condition is also possible to the direction of travel of two adjacent travel tracks
Angle change value in a target left-hand rotation range, such as [70,120] are spent.The condition of turning around can be two adjacent travel tracks
Direction of travel while meet above-mentioned left-hand rotation condition, travel track after two adjacent travel tracks and turn left to advance
Track formation two before track is contrary and connects subparallel travel track.The embodiment of the present application is to left-hand rotation condition or falls
Top part is not construed as limiting, two adjacent travelings that those skilled in the art can be determined or be turned around using other angles
Track.
By taking Fig. 5 as an example, left-hand rotation condition is used as in [70,120] degree range with angle change value, is obtained according to previous step
The direction of travel of travel track between two neighboring position data, between the travel track between a point and b point and b point and c point
Travel track direction of travel angle change value be 0 degree, i.e., the direction of travel of two sections adjacent travel tracks does not change
Become；The angle change value of the direction of travel of travel track between travel track between b point and c point and c point and d point is close to 90
Degree, in target angle variation range, i.e., two sections of adjacent travel tracks meet left-hand rotation condition.When wantonly one or two adjacent traveling rail
When the direction of travel of mark meets left-hand rotation condition, in order to avoid the second segment travel track in adjacent travel track is GPS data
The first object travel track that shakiness is shaped as, direction of travel that can further to the travel track after adjacent travel track
Judged.
By taking Fig. 6 as an example, left-hand rotation condition is used as in [70,120] degree range with angle change value, is obtained according to previous step
The direction of travel of travel track between two neighboring position data, between the travel track between a point and b point and b point and c point
Travel track direction of travel angle change value be 0 degree, i.e., the direction of travel of two sections adjacent travel tracks does not change
Become；The angle change value of the direction of travel of travel track between travel track between b point and c point and c point and d point is close to 90
Degree, in target angle variation range, i.e., two sections of adjacent travel tracks meet left-hand rotation condition；After meeting left-hand rotation condition
Travel track formation two between travel track between d point and e point and b point and c point is contrary and connects subparallel row
Into track, i.e., two sections adjacent travel tracks meet the condition that turns around.When the direction of travel of wantonly one or two adjacent travel track meets
When the condition that turns around, in order to avoid the second segment travel track in adjacent travel track is first that GPS data shakiness is shaped as
Target travel track, can the direction of travel further to multiple travel tracks after adjacent travel track judge.
In step 2024, the direction of travel of travel track after adjacent travel track meets object traveling direction,
Using the second segment travel track in the corresponding two sections of travel tracks of adjacent travel track as first object travel track.
Illustratively, the object traveling direction is for characterizing the row met after two adjacent travel tracks of left-hand rotation condition
Into track direction of travel still advance forward or meet the condition that turns around two adjacent travel tracks after travel track
Direction of travel is still contrary with the travel track before turning around, i.e., the object traveling direction can be for traveling rail later
The angular transformation value of the direction of travel of second segment travel track in mark and adjacent travel track between target zone, such as
It can be between [- 90 ,+90] degree.
As shown in figure 5, travel track between the direction of travel and c point and d point of the travel track between d point and e point
The angle change value of direction of travel is close to 0 degree, it can determines that target object is still advanced forward between d point and e point.
As shown in fig. 6, travel track between the direction of travel and c point and d point of the travel track between e point and f point
The angle change value of direction of travel is close to 90 degree, i.e., target object is still advanced forward between d point and e point.In order to further avoid
Influence of the unstable GPS data to the accuracy for obtaining first object travel track, may further determine that c point and d point it
The direction of travel of multistage travel track afterwards.The embodiment of the present application is to the travel track after determining first object travel track
Quantity is not construed as limiting, and those skilled in the art can be determine according to actual needs.Travel track after adjacent travel track
Direction of travel meet object traveling direction, the second segment in the corresponding two sections of travel tracks of adjacent travel track can be advanced
Track is as first object travel track.
In the possible embodiment of the application, in step 203, comprising:
In step 2031, the first position data and second position number for forming each first object travel track are obtained
According to representative data, first position data on travel track be located at second position data before.
Illustratively, for the ease of carrying out clustering, while guaranteeing the accuracy of cluster result, it is available each
The representative data of first object travel track corresponding first position data and second position data.This, which represents data, can be
The data in the middle position of one position data and second position data are used as and represent data；Be also possible to other for characterize first
The other positions data of position corresponding to position data and second position data.
In step 2032, according to data are represented, multiple first object travel tracks are clustered.
Illustratively, according to represent data carry out cluster can be using DBscan clustering method, with any data, institute is in place
It is set to the center of circle, using the data within the scope of target range as a cluster result.As shown in fig. 7, each point for each the
The corresponding result schematic diagram for representing data position of one target travel track.Position corresponding to data can be represented with any
It is set to the center of circle, acquisition is clustered to represent data in the corresponding radius of target in each center of circle, obtains multiple cluster results.This
Application embodiment is not construed as limiting clustering method, and those skilled in the art can determine according to actual needs.
In step 2033, the quantity for the representative data for including in any cluster result is obtained.
In step 2034, the quantity for representing data is greater than traveling position corresponding to the cluster result of first object quantity
It sets as target position.
Illustratively, which can be in the representative data for determining that each cluster result includes
Quantity after, the quantity for representing data is ranked up according to sequence from big to small, using centrally located quantity as
First object quantity；Either using the minimum number in the quantity that preceding 30% cluster result includes as first object number
Amount.The embodiment of the present application is not construed as limiting the first object quantity, and those skilled in the art can according to actual needs really
It is fixed.It, can be to avoid due to being formed in violation of rules and regulations to a small number of jockeys by the restriction of the quantity to the representative data for including in cluster result
Travel track clustered, and in the route of the advanced positions of corresponding cluster result addition mistake, and then influence road network line
The accuracy that road is excavated.The corresponding advanced positions of each cluster result can be position corresponding to cluster centre.The application
Embodiment is not construed as limiting the method for determination of advanced positions, and those skilled in the art can determine according to actual needs.
In the possible embodiment of the application, in step 204, comprising: when the acquisition frequency of position data is less than ginseng
When examining frequency, in the travel track of each corresponding target object of acquisition either objective position, initial position and final position
Between the first navigation distance and linear distance；When comprising the second target travel track quantity less than the second destination number when,
Route is added in position corresponding with target position in existing road network, the second target travel track be corresponding first navigation away from
From the travel track for being greater than target range with the difference of linear distance.
Illustratively, when the acquisition frequency of position data is less than reference frequency, show according to the position data shape that gets
At travel track and target object practical travel track error it is larger.Therefore it needs to the positional number got by low frequency
Accurate sex determination is carried out according to the target position that cluster obtains.It is illustrated in figure 8 the corresponding either objective object in either objective position
Travel track, obtain the first navigation distance between the initial position and final position of the travel track of the target object and straight
Linear distance indicates to get when the difference of the first navigation distance of the target object and linear distance is greater than target range
The travel track for being used to form the target object of target position is the travel track of inaccuracy.It, should i.e. according to current road network situation
Navigation distance between two places corresponding with final position of the initial position of travel track is greater than theoretical navigation distance.The mesh
Subject distance can determine that the embodiment of the present application is not construed as limiting the target range according to actual needs.When corresponding target
When the quantity for the second target travel track that position includes is less than the second destination number, indicate for obtaining the row of the target position
It is higher into track accuracy, route can be added in position corresponding with the target position in existing road network.Second number of targets
Amount can be determined according to the quantity for the target object that corresponding target position includes, for example target percentage can be arranged according to passing through
Than determining the second destination number.Such as with target percentage for 15%, the quantity for the target object that either objective position includes is
For 100, when the quantity of accurate travel track is less than 15, route can be added in the target position.
In the possible embodiment of the application, when the acquisition frequency of position data is less than reference frequency, obtain any
In the travel track of each corresponding target object of target position, the first navigation distance between initial position and final position and
After linear distance, method further include:
Firstly, when comprising the quantity of the second target travel track be greater than the second destination number when, it is corresponding to target position
Travel track clustered, the corresponding travel track of cluster result that will meet the second goal condition is used as with reference to traveling rail
Mark, the cluster result of second goal condition of satisfaction be comprising the quantity of travel track meet the cluster knot of third destination number
Fruit.
Illustratively, corresponding to the either objective position in travel track, the quantity of inaccurate travel track is greater than
When the second destination number, the target position for indicating that the travel track based on inaccuracy obtains is also inaccurate, can pass through cluster
Mode re-starts determination to the target position.The mode clustered to the corresponding travel track in target position can be mesh
The travel path of the corresponding identical direction of travel of cursor position is clustered, when the quantity for corresponding to travel path in cluster result meets
When the second goal condition, using the corresponding travel track of cluster result as with reference to travel track.Second goal condition can be
Two most travel paths of the quantity of corresponding travel path, which are used as, refers to travel path.It is also possible to corresponding traveling road
The travel path that the quantity of diameter meets destination number is used as with reference to travel path.The embodiment of the present application is by corresponding travel path
Two most travel paths of quantity, which are used as, refers to travel path, obtains two sections of reference line routes as shown in figs. 9 and 10
Diameter.The target position can be into before target position and leaving the position that any travel path after target position passes through
It sets.
Secondly, being fitted to reference travel track, fitting travel track is obtained.
Illustratively, two sections of routes can be fitted to according to target fitting algorithm with reference to travel track by obtain two sections.
The target fitting algorithm can select a curve fitting algorithm, conic section quasi- according to the bending degree of two sections of routes of acquisition
Hop algorithm or Cubic Curve Fitting algorithm.The embodiment of the present application is not construed as limiting target fitting algorithm, and those skilled in the art can
To determine according to actual needs.As shown in figure 11, it is quasi- that a curve fitting algorithm is respectively adopted in two sections of reference travel tracks
The two sections of routes obtained after conjunction
Again, travel track corresponding position replacement target position will be fitted, in existing road network with fitting travel track
Add route in corresponding position.
Illustratively, after obtaining two sections of routes, two sections of routes are connected, it can be in place by the adapter path institute of two sections of routes
Set the corresponding target position of replacement；It is also possible to be fitted, the route that will be obtained after fitting two sections of obtained routes again
Replace corresponding target position in corresponding position.As shown in figure 11, the steering obtained after two sections of routes being connected links section
Corresponding target position is replaced in the position at place, and route is added in position corresponding with fitting travel track in existing road network.
In the possible embodiment of the application, in step 204, comprising:
Firstly, obtaining between the first position data and second position data of the corresponding travel track in either objective position
First distance and on travel track be located at first position data before and the positional number after the data of the second position
Second distance between.
Secondly, obtaining the quantity for referring to travel track, this is that first distance and second distance are all larger than with reference to travel track
The travel track of second navigation distance.
Illustratively, available in order to further determine the accuracy of the target position for needing to add route of acquisition
The distance between multiple position datas.Through each distance that will acquire compared with the second navigation distance pair, when acquisition
When multiple distances are all larger than the second navigation distance between two position datas, indicate that corresponding target position is in current road network
Comprising All other routes, so just making the second navigation distance between two position datas be less than the distance in travel track, i.e.,
What the navigation that the obtained travel track for cluster is not based on current road network was advanced, so current road network is not needed in correspondence
Target position add route.Second navigation distance is navigation distance in current road network, the first distance and second away from
From for the actual range in corresponding travel track.
As shown in figure 12, the first object travel track pair that the position data of m point and the position data of n point are followed successively by
The first position data and second position data answered；Before the data of first position and after the data of the second position
Position data can be by setting m point corresponding with current first position data and second position data and n point interval target number
The position data of amount determines.As shown in figure 12, be set separately a=1 and b=5 space-number measure corresponding m-a, n+a,
M-b, n+b position data.
Again, when the quantity of reference travel track is less than four destination numbers, in existing road network with target position pair
The position addition route answered.
Illustratively, when in travel track comprising referring to the quantity of travel track less than four destination numbers, show to use
It is accurate in the travel track of cluster, therefore route is added in the corresponding position in target position.For example target position is obtained when being used to cluster
It is corresponding with the target position in existing road network when having less than five with reference to travel track when the travel track set is 10
Position add route.The embodiment of the present application is not construed as limiting the 4th destination number, and those skilled in the art can be according to reality
It needs to set.
In the possible embodiment of the application, after step 204, this method further include: obtain multiple identifying objects
Travel track, multiple identifying objects and multiple target objects are under the jurisdiction of same type；Traveling rail based on multiple identifying objects
Mark verifies the route added in current road network.
Illustratively, it since the route that different target object can advance in road network is different, therefore needs to obtain and target pair
As belonging to same type of multiple identifying objects.For example the embodiment of the present application carries out road network digging using the travelling route of non-motor vehicle
Pick, therefore the identifying object obtained is also non-motor vehicle, the travel track based on identifying object, to the route added in current road network
It is verified.To the route of any addition, when the traveling for the identifying object for meeting destination number in multiple identifying objects of acquisition
Comprising the route added in current road network in route, then it can determine that route addition is accurate.The embodiment of the present application is to number of targets
Amount is not construed as limiting, and those skilled in the art can be determine according to actual needs.
Based on same idea, the embodiment of the present application provides a kind of road network route determining device, referring to Figure 13, the device packet
It includes:
Determining module 1301 determines multiple targets for the position data based on multiple target objects during traveling
The travel track of object；
Module 1302 is obtained, in the travel track of multiple target objects, obtaining a plurality of first object travel track,
First object travel track includes left-hand rotation travel track and the travel track that turns around；
Cluster module 1303, it is for being clustered to a plurality of first object travel track, target cluster result is corresponding
For advanced positions as target position, target cluster result is the cluster result for meeting first object condition；
Adding module 1304, for being added in the corresponding position in target position for meeting reference conditions in existing road network
Route.
Road network route determining device provided by the embodiments of the present application, first in the travel track based on multiple target objects
Target travel track is clustered, and obtains needing to add the target position of route according to target cluster result, in existing road network,
Route is added to the corresponding position in the target position for meeting reference conditions.By the first object travel track to target object into
Row cluster obtains road network route, avoids and is carried out using the GPS track data of inaccuracy with the travel track that intersects that road is formed
The problem of cluster obtains road network route, leads to the erroneous judgement of road network route, improves the accuracy of road network route Result.
In the possible embodiment of the application, module 1302 is obtained, for obtaining target for any one target object
The position data of the initial position of the travel track of object；Started with the position data of initial position, successively determines target object
Travel track in travel track between the data of every two adjacent position direction of travel；When the row of any two adjacent travel tracks
When turning left or turn around condition into the angle change value satisfaction between direction, the row of the travel track after adjacent travel track is determined
Into direction；The direction of travel of travel track after adjacent travel track meets object traveling direction, by adjacent travel track
Second segment travel track in corresponding two sections of travel tracks is as first object travel track.
In the possible embodiment of the application, cluster module 1303 forms the traveling of each first object for obtaining
The first position data of track and the representative data of second position data, first position data are located at second on travel track
Before setting data；According to data are represented, multiple first object travel tracks are clustered；It obtains in any cluster result and includes
Representative data quantity；The quantity for representing data is greater than advanced positions corresponding to the cluster result of first object quantity to make
For target position.
In the possible embodiment of the application, adding module 1304 is less than ginseng for the acquisition frequency when position data
When examining frequency, in the travel track of each corresponding target object of acquisition either objective position, initial position and final position
Between the first navigation distance and linear distance；When comprising the second target travel track quantity less than the second destination number when,
Route is added in position corresponding with target position in existing road network, and the second target travel track is corresponding first navigation distance
It is greater than the travel track of target range with the difference of linear distance.
In the possible embodiment of the application, adding module 1304, be also used to when comprising the second target travel track
Quantity be greater than the second destination number when, the corresponding travel track in target position is clustered, the second goal condition will be met
The corresponding travel track of cluster result be used as refer to travel track, meet the second goal condition cluster result be comprising row
Quantity into track meets the cluster result of third destination number；Reference travel track is fitted, fitting traveling rail is obtained
Mark；Travel track corresponding position replacement target position, the position corresponding with fitting travel track in existing road network will be fitted
Add route.
In the possible embodiment of the application, adding module 1304, for obtaining either objective position corresponding first
First distance between the first position data and second position data of target travel track and it is located at the on travel track
Second distance before one position data and between the position data after the data of the second position；It obtains and refers to traveling rail
The quantity of mark is the travel track that first distance and second distance are all larger than the second navigation distance with reference to travel track；Work as reference
When the quantity of travel track is less than four destination numbers, route is added in position corresponding with target position in existing road network.
In the possible embodiment of the application, adding module 1304 is also used to obtain the traveling rail of multiple identifying objects
Mark, multiple identifying objects and multiple target objects are under the jurisdiction of same type；Based on the travel track of multiple identifying objects, to current
The route added in road network is verified.
It should be noted that device provided by the above embodiment is when realizing its function, only with above-mentioned each functional module
It divides and carries out for example, can according to need in practical application and be completed by different functional modules above-mentioned function distribution,
The internal structure of equipment is divided into different functional modules, to complete all or part of the functions described above.In addition,
Apparatus and method embodiment provided by the above embodiment belongs to same design, and specific implementation process is detailed in embodiment of the method, this
In repeat no more.
Based on same idea, the embodiment of the present application also provides a kind of electronic equipment, and as shown in figure 14, which includes: to deposit
Reservoir 1402 and processor 1401, memory 1402 are stored at least one instruction, and at least one instruction is by processor 1401
It loads and executes, to realize that road network route described in above-described embodiment determines method.Processor 1401 and memory 1402 pass through
Communication bus 1403 connects.
It should be understood that above-mentioned processor can be central processing unit (Central Processing Unit, CPU), also
It can be other general processors, digital signal processor (digital signal processing, DSP), dedicated integrated electricity
Road (application specific integrated circuit, ASIC), field programmable gate array (field-
Programmable gate array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor either any conventional processor etc..It is worth noting that
Processor can be the processor for supporting advanced reduced instruction set machine (advanced RISC machines, ARM) framework.
Further, in an alternative embodiment, above-mentioned memory may include read-only memory and arbitrary access
Memory, and instruction and data is provided to processor.Memory can also include nonvolatile RAM.For example,
Memory can be with the information of storage device type.
The memory can be volatile memory or nonvolatile memory, or may include that volatile and non-volatile is deposited
Both reservoirs.Wherein, nonvolatile memory can be read-only memory (read-only memory, ROM), may be programmed it is read-only
Memory (programmable ROM, PROM), Erasable Programmable Read Only Memory EPROM (erasable PROM, EPROM), electricity
Erasable Programmable Read Only Memory EPROM (electrically EPROM, EEPROM) or flash memory.Volatile memory can be with
Machine accesses memory (random access memory, RAM), is used as External Cache.By it is exemplary but not be limit
Property explanation processed, the RAM of many forms are available.For example, static random access memory (static RAM, SRAM), dynamic random
Access memory (dynamic random access memory, DRAM), Synchronous Dynamic Random Access Memory
(synchronous DRAM, SDRAM), double data speed synchronous dynamic RAM (double data date
SDRAM, DDR SDRAM), enhanced Synchronous Dynamic Random Access Memory (enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (synchlink DRAM, SLDRAM) and direct rambus random access memory (direct
Rambus RAM, DR RAM).
Based on same idea, this application provides a kind of computer programs can when computer program is computer-executed
So that processor or computer execute corresponding each step and/or process in above method embodiment.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program
Product includes one or more computer instructions.When loading on computers and executing the computer program instructions, all or
It partly generates according to process described herein or function.The computer can be general purpose computer, special purpose computer, meter
Calculation machine network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or
It is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction can
To pass through wired (such as coaxial cable, optical fiber, digital subscriber from a web-site, computer, server or data center
Line) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data center into
Row transmission.The computer readable storage medium can be any usable medium or include one that computer can access
Or the data storage devices such as integrated server, data center of multiple usable mediums.The usable medium can be magnetic medium,
(for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State
Disk) etc..
All the above alternatives can form the alternative embodiment of the application, herein no longer using any combination
It repeats one by one.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Above is only an example of the present application, all in spirit herein and principle not to limit the application
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this application.
Claims (10)
1. a kind of road network route determines method, which is characterized in that the described method includes:
Position data based on multiple target objects during traveling determines the travel track of the multiple target object；
In the travel track of the multiple target object, a plurality of first object travel track is obtained, the first object is advanced
Track includes left-hand rotation travel track and the travel track that turns around；
The a plurality of first object travel track is clustered, using the corresponding advanced positions of target cluster result as target position
It sets, the target cluster result is the cluster result for meeting first object condition；
In existing road network, in the corresponding position addition route in the target position for meeting reference conditions.
2. the method according to claim 1, wherein described in the travel track of the multiple target object,
Obtain a plurality of first object travel track, comprising:
For target object described in any one, the position data of the initial position of the travel track of the target object is obtained；
Started with the position data of the initial position, successively determines every two adjacent bit in the travel track of the target object
Set the direction of travel of the travel track between data；
When condition is turned left or turned around to the angle change value satisfaction between the direction of travel of any two adjacent travel tracks, institute is determined
State the direction of travel of the travel track after adjacent travel track；
The direction of travel of travel track after the adjacent travel track meets object traveling direction, by the adjacent traveling
Second segment travel track in the corresponding two sections of travel tracks in track is as the first object travel track.
3. according to the method described in claim 2, it is characterized in that, described gather a plurality of first object travel track
Class, using the corresponding advanced positions of target cluster result as target position, the target cluster result is to meet first object item
The cluster result of part, comprising:
Acquisition forms the first position data of each first object travel track and the representative data of second position data,
The first position data are located at before the second position data on the travel track；
Data are represented according to described, multiple first object travel tracks are clustered；
Obtain the quantity for representing data for including in any cluster result；
Using advanced positions corresponding to cluster result of the quantity for representing data greater than first object quantity as the mesh
Cursor position.
4. according to the method described in claim 2, it is characterized in that, described in existing road network, in the institute for meeting reference conditions
State the corresponding position addition route in target position, comprising:
When the acquisition frequency of the position data is less than reference frequency, each corresponding mesh of any target position is obtained
In the travel track for marking object, the first navigation distance and linear distance between initial position and final position；
When comprising the second target travel track quantity less than the second destination number when, in the existing road network with the mesh
Route is added in the corresponding position of cursor position, and the second target travel track is corresponding first navigation distance and described straight
The difference of linear distance is greater than the travel track of target range.
5. according to the method described in claim 4, it is characterized in that, described when the acquisition frequency of the position data is less than reference
When frequency, in the travel track that obtains each corresponding target object of any target position, initial position and terminal position
After the first navigation distance and linear distance between setting, the method also includes:
When comprising the second target travel track quantity be greater than second destination number when, it is corresponding to the target position
Travel track is clustered, and the corresponding travel track of cluster result for meeting the second goal condition is used as with reference to travel track,
The cluster result for meeting the second goal condition be comprising the quantity of the travel track meet the poly- of third destination number
Class result；
It is fitted to described with reference to travel track, obtains fitting travel track；
The target position is replaced into the corresponding position of the fitting travel track, is gone in the existing road network with the fitting
Route is added into the corresponding position in track.
6. according to the method described in claim 2, it is characterized in that, described in existing road network, in the institute for meeting reference conditions
State the corresponding position addition route in target position, comprising:
Obtain the corresponding first object travel track in any target position first position data and second position data it
Between first distance and on travel track be located at the first position data before and be located at the second position data
The second distance between position data later；
The quantity for referring to travel track is obtained, it is described to be all larger than with reference to travel track for the first distance and the second distance
The travel track of second navigation distance；
When the quantity with reference to travel track is less than four destination numbers, in the existing road network with the target position
Add route in corresponding position.
7. the method according to any one of claim 2-6, which is characterized in that it is described in existing road network, join meeting
After the corresponding position addition route in the target position for examining condition, the method also includes:
The travel track of multiple identifying objects is obtained, the multiple identifying object and the multiple target object are under the jurisdiction of same class
Type；
Based on the travel track of the multiple identifying object, the route added in current road network is verified.
8. a kind of road network route determining device, which is characterized in that described device includes:
Determining module determines the multiple target object for the position data based on multiple target objects during traveling
Travel track；
Module is obtained, in the travel track of the multiple target object, obtaining a plurality of first object travel track；
Cluster module, for being clustered to a plurality of first object travel track, by the corresponding traveling of target cluster result
Position is the cluster result for meeting first object condition as target position, the target cluster result；
Adding module, for adding route in the corresponding position in the target position for meeting reference conditions in existing road network.
9. a kind of electronic equipment, which is characterized in that the equipment includes:
Memory and processor, the memory are stored at least one instruction, and at least one instruction is by the processor
It loads and executes, any road network route determines method in claim 1-7 to realize.
10. a kind of storage medium characterized by comprising be stored at least one instruction, described instruction in the storage medium
Loaded by processor and executed that any road network route determines method in claim 1-7 to realize.
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