CN112632150B - Method and device for determining turning point and electronic equipment - Google Patents
Method and device for determining turning point and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for determining a turning point, a readable storage medium and electronic equipment. According to the embodiment of the invention, the historical tracks in the buffer area of the target intersection within the set time are obtained, and are clustered to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining the steering point according to the main curves of two adjacent track clusters in the same track cluster group. According to the method, the track clusters are first determined by clustering according to the historical tracks, the track cluster groups are then determined according to the track clusters, and finally the steering points are determined according to the main curves of two adjacent track clusters in the same track cluster group, so that the position of at least one steering point in each track cluster group can be flexibly and accurately determined, a user can be reminded of steering at a proper position in front of the steering point, and the use experience of the user is improved.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a method, an apparatus, and an electronic device for determining a turning point.
Background
As road conditions become more and more complex, people use navigation more and more in the traveling process. In the mobile navigation scene, before a user passes through a turn intersection, the mobile navigation system needs to conduct turn broadcasting in advance.
In the existing steering broadcasting mode, steering broadcasting is often carried out when the distance from the intersection is fixed, for example, steering broadcasting is carried out when the distance from the steering intersection is 100 meters; however, in the actual use process, due to the complexity of the real road network, for example, different number of road lanes, different lengths of steering wires, and the like, the suitable steering broadcasting positions are also different, and the fixed advance broadcasting distance is not necessarily capable of meeting the requirement of driving direction change, for example, when the fixed advance broadcasting distance is used, if the distance is too small, the reaction time of a driver is insufficient, and the driver cannot enter a steering special road; if the distance is too large, the turning reminding is too advanced, and when a continuous intersection exists, the turning reminding is too advanced, so that the driving behavior is easily confused, and the situations of advanced turning and the like occur.
Therefore, how to accurately determine the steering point and further perform steering broadcasting at a proper position in front of the steering point is a problem to be solved at present.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a method, an apparatus, a readable storage medium, and an electronic device for determining a turning point, which can mine the turning point in the group driving behavior through the driving behavior of the historical user, and further perform the turning broadcasting at a suitable position in front of the turning point, thereby improving the use experience of the user.
In a first aspect, an embodiment of the present invention provides a method for determining a steering point, where the method includes: acquiring a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting for the track clusters.
Preferably, the determining at least one track cluster group according to the plurality of track clusters specifically includes:
determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to an angle of any positive included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line of the starting point of a history track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin;
in response to an intersection of angular ranges of the start points of at least two of the track clusters, determining the at least two of the track clusters having the intersection as a track cluster group.
Preferably, the determining the steering point according to the main curves of two adjacent track clusters in the same track cluster group specifically includes:
determining an included angle between an end point and a starting point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the starting point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line of the starting point and the central point of the main curve, and the third connecting line is a connecting line of the end point and the central point of the main curve;
and arranging the included angles in sequence from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
Preferably, the determining the corresponding steering point according to the main curves of the two adjacent track clusters specifically includes:
and determining the intersection point of the main curves of the two adjacent track clusters as a steering point corresponding to the main curves of the two adjacent track clusters.
Preferably, the determining the corresponding steering point according to the main curves of the two adjacent track clusters specifically includes:
and determining the point at which the slope of the main curves of the two adjacent track clusters starts to change as a steering point corresponding to the main curves of the two adjacent track clusters.
Preferably, the method further comprises: and sending out steering early warning at a position which is at a set distance from the steering point.
Preferably, the method further comprises: and determining the target intersection according to the historical road network data.
In a second aspect, an embodiment of the present invention provides an apparatus for determining a turning point, including:
the acquisition unit is used for acquiring a history track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection;
the clustering unit is used for clustering the historical tracks and determining a plurality of track clusters;
a first determining unit, configured to determine at least one track cluster group according to the plurality of track clusters, where each track cluster group includes at least two track clusters;
and the second determining unit is used for determining the steering point according to the main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting for the track clusters.
Preferably, the first determining unit is specifically configured to: determining an angle range of the starting point of each track cluster, wherein the angle range of the starting point of the track cluster is determined according to an angle of any positive included angle between the starting point of the history track included in the track cluster and a coordinate system; in response to an intersection of angular ranges of the start points of at least two of the track clusters, determining the at least two of the track clusters having the intersection as a track cluster group.
Preferably, the second determining unit is specifically configured to: determining an included angle between an end point and a starting point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the starting point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line of the starting point and the central point of the main curve, and the third connecting line is a connecting line of the end point and the central point of the main curve; and arranging the included angles in sequence from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
Preferably, the second determining unit is specifically configured to: and determining the intersection point of the main curves of the two adjacent track clusters as a steering point corresponding to the main curves of the two adjacent track clusters.
Preferably, the second determining unit is specifically configured to: the determining the corresponding turning point according to the main curves of the two adjacent track clusters specifically includes:
and determining the point at which the slope of the main curves of the two adjacent track clusters starts to change as a steering point corresponding to the main curves of the two adjacent track clusters.
Preferably, the apparatus further comprises: and the early warning unit is used for sending out steering early warning at a position which is at a set distance from the steering point.
Preferably, the apparatus further comprises: and the intersection determining unit is used for determining the target intersection according to the historical road network data.
In a third aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement a method as in the first aspect or any of the possibilities of the first aspect.
In a fourth aspect, an embodiment of the present invention provides an electronic device comprising a memory and a processor, the memory storing one or more computer program instructions, wherein the one or more computer program instructions are executable by the processor to implement the method of the first aspect or any one of the possibilities of the first aspect.
According to the embodiment of the invention, the historical track in the buffer area of the target intersection within the set time is obtained, and the buffer area is an area obtained by expanding the center point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting for the track clusters. The method is used for determining the track clusters by clustering according to the historical tracks, determining the track cluster groups according to the track clusters, and determining the steering points according to the main curves of two adjacent track clusters in the same track cluster group, so that the position of at least one steering point in each track cluster group can be flexibly and accurately determined, a user can be reminded of steering at a proper position in front of the steering point, and the use experience of the user is improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of determining a turning point in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a road network according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a trace of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a track cluster in accordance with an embodiment of the invention;
FIG. 5 is a schematic diagram of coordinates of an embodiment of the present invention;
FIG. 6 is a schematic diagram of a cluster set of tracks according to an embodiment of the invention;
FIG. 7 is a schematic diagram of a principal curve of an embodiment of the present invention;
FIG. 8 is a schematic diagram of coordinates of an embodiment of the present invention;
FIG. 9 is a schematic diagram of a principal curve of an embodiment of the present invention;
FIG. 10 is a schematic diagram of a principal curve of an embodiment of the present invention;
FIG. 11 is a schematic diagram of a principal curve of an embodiment of the present invention;
FIG. 12 is a flow chart of a method of determining a turning point in accordance with an embodiment of the present invention;
FIG. 13 is a schematic view of an apparatus for determining a turning point according to an embodiment of the present invention;
fig. 14 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
The present disclosure is described below based on examples, but the present disclosure is not limited to only these examples. In the following detailed description of the present disclosure, certain specific details are set forth in detail. The present disclosure may be fully understood by those skilled in the art without a review of these details. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the disclosure.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, the words "comprise," "comprising," and the like throughout the application are to be construed as including but not being exclusive or exhaustive; that is, it is the meaning of "including but not limited to".
In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present disclosure, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the steering broadcasting mode in the prior art, steering broadcasting is often performed when a distance from an intersection is fixed, for example, steering broadcasting is performed when the distance from the steering intersection is 100 meters; however, in the actual use process, due to the complexity of the real road network, for example, different number of road lanes, different lengths of steering wires, and the like, the suitable steering broadcasting positions are also different, and the fixed advance broadcasting distance is not necessarily capable of meeting the requirement of driving direction change, for example, when the fixed advance broadcasting distance is used, if the distance is too small, the reaction time of a driver is insufficient, and the driver cannot enter a steering special road; if the distance is too large, the turning reminding is too advanced, and when a continuous intersection exists, the turning reminding is too advanced, so that the driving behavior is easily confused, and the situations of advanced turning and the like occur. Therefore, how to accurately determine the steering point and further perform steering broadcasting at a proper position in front of the steering point is a problem to be solved at present.
In the embodiment of the invention, aiming at each intersection, the historical track data of the intersection can be processed, the driving behavior characteristics of the driver group when the intersection passes through can be analyzed, and the turning positions of most drivers are found and used as turning points in the turning broadcasting, so that the obtained turning points can reflect the turning habits of the driver group in different intersections in the real world, and the defect of unified advanced broadcasting distances for different intersections is avoided.
In the embodiment of the invention, the intersection can also be called an intersection.
In an embodiment of the present invention, fig. 1 is a flowchart of a method for determining a turning point in an embodiment of the present invention. As shown in fig. 1, the method specifically comprises the following steps:
step S100, acquiring a history track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection.
In one possible implementation, the set time may be one day, one week or one month, which is not limited by the embodiment of the present invention, and any track in the buffer area passing through the target intersection in the set time may be referred to as a history track.
Specifically, the buffer area may be a circular area with a set length as a radius, with a center point of the intersection as a center; square areas or areas of other shapes are also possible, and are not limited by the embodiments of the present invention.
In a possible implementation manner, the target intersection is determined according to historical road network data, specifically, as shown in fig. 2, the area where any two paths intersect is an intersection, the cache area is a circular area with a center point of the intersection as a center and K meters as a radius, fig. 2 is only an exemplary illustration, and the specific road network is determined according to practical situations.
In one possible implementation, assuming that the navigation system or the positioning system reports the position information once every set period, and each history track is formed by a plurality of positioning points, there are a plurality of history tracks in the buffer area of the target intersection in the set time, and a schematic diagram of the history tracks in the buffer area of any target intersection with a plurality of positioning points, as shown in fig. 3.
Step S101, clustering the historical tracks to determine a plurality of track clusters.
In one possible implementation, the historical tracks may be clustered by any of Density-based clustering algorithm (Density-Based Spatial Clustering of Applications with Noise, DBSCAN), density peak clustering algorithm, and trace track clustering algorithm, for example, the historical tracks in fig. 3 are clustered by DBSCAN, to generate a track cluster schematic as shown in fig. 4, in which different track clusters are represented by different shades of gray.
Step S102, determining at least one track cluster group according to the track clusters, wherein each track cluster group comprises at least two track clusters.
Specifically, determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to any positive included angle of a first connecting line and a coordinate system, the first connecting line is a connecting line of the starting point of a history track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin; in response to an intersection of angular ranges of the start points of at least two of the track clusters, determining the at least two of the track clusters having the intersection as a track cluster group.
For example, sampling each track cluster, and assuming that N tracks are extracted from each track cluster as sample tracks, where N is a positive integer greater than or equal to 1, calculating an included angle between a line connecting a start point of each estimation and a center point of an intersection and a forward direction, where the included angle ranges from [0 °,360 ° ], and may also be an included angle with a forward direction, a north direction, a forward direction, or other directions, where the center point of the intersection is a coordinate origin of a coordinate axis, for example, as shown in fig. 5, and an angle θ is an included angle between a line connecting a start point of any track and the center point of the intersection and a forward direction.
For example, 5 tracks are extracted from one track cluster as sample tracks, namely track 1, track 2, track 3, track 4 and track 5, wherein an angle between a line between a start point of track 1 (a start point of track 1 in a buffer) and a coordinate origin and a forward direction is 135 °, an angle between a line between a start point of track 2 (a start point of track 2 in a buffer) and a coordinate origin and a forward direction is 155 °, an angle between a line between a start point of track 3 (a start point of track 3 in a buffer) and a coordinate origin and a forward direction is 95 °, an angle between a line between a start point of track 4 (a start point of track 4 in a buffer) and a coordinate origin and a forward direction is 35 °, an angle between a line between a start point of track 5 (a start point of track 5 in a buffer) and a coordinate origin and a forward direction is 215 °, and an angle range of the track cluster is [35 °,215 ° ].
Assuming that 12 track clusters are present, namely a track cluster 1, a track cluster 2, a track cluster 3, a track cluster 4, a track cluster 5, a track cluster 6, a track cluster 7, a track cluster 8, a track cluster 9, a track cluster 10, a track cluster 11 and a track cluster 12, determining an angle range of a start point of each track cluster according to the method, and determining the track cluster 1, the track cluster 2 and the track cluster 4 with the intersection as a track cluster group in response to the intersection of the angle ranges of the start points of the track cluster 1, the track cluster 2 and the track cluster 4; similarly, the track cluster 3, the track cluster 5 and the track cluster 6 are a track cluster group; the track cluster 7, the track cluster 8 and the track cluster 9 are a track cluster group; the track cluster 10, the track cluster 11 and the track cluster 12 are a track cluster group; in the embodiment of the present invention, different track clusters in one track cluster group are track clusters driven from the same road (may also be referred to as the same entrance), as shown in fig. 6, the track clusters are divided into 4 groups in fig. 6, that is, there are 4 entrances, which are entrances (Entry) 1, entry2, entry3, and Entry4, respectively.
Step S103, determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting of the track clusters.
In one possible implementation manner, the main curve fitting is to abstract the points of one track cluster to obtain a skeleton of the track, specifically, the main curve of each track cluster may be determined through K-segment, for example, as shown in fig. 7, there are two track clusters, each track cluster performs main curve fitting, and the determined dotted line is the main curve corresponding to each track cluster, and the dotted line shown in fig. 7 may also be represented by a solid line, which is not limited by the embodiment of the present invention.
In one possible implementation manner, the determining the turning point according to the main curves of two adjacent track clusters in the same track cluster group specifically includes: determining an included angle between an end point and a starting point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the starting point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line of the starting point and the central point of the main curve, and the third connecting line is a connecting line of the end point and the central point of the main curve; and arranging the included angles in sequence from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
In one possible implementation manner, the determining the turning point according to the main curves of two adjacent track clusters in the same track cluster group specifically further includes: determining an included angle between the end point of a main curve of each track cluster in the same track cluster group and the center of a start point of the track cluster group, wherein the included angle between the end point of the main curve and the center of the start point of the track cluster group is determined according to a clockwise included angle between a second connecting line and a third connecting line, and the second connecting line is a connecting line of the center of the start point of the track cluster group and the center point; the third connecting line is a connecting line of the end point of the main curve and the central point; and arranging the included angles in sequence from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
For example, assuming that the same track cluster group includes 3 track clusters, each track cluster corresponds to one main curve, the same track cluster group includes 3 main curves, namely a main curve 1, a main curve 2 and a main curve 3, an included angle between an end point and a start point of the main curve of each track cluster in the same track cluster group is determined, and specifically, a difference value between the end point angle and the start point angle of the main curve can be solved through an auxiliary line. As shown in fig. 8, the center point of the intersection is the origin of coordinates of the coordinate axis, the angle θs is the angle between the line between the start point (start) of any main curve and the center point of the intersection and the clockwise direction of the forward direction, the angle θe is the angle between the line between the end point (end) of any main curve and the center point of the intersection and the clockwise direction of the forward direction, the angle between the end point of the main curve and the start point can be expressed as the rotation angle rotated clockwise from the second line to the third line position, (the second line is the line between the start point of the main curve and the center point, the third line is the line between the end point of the main curve and the center point), and can be obtained by the difference (θs- θe) between the start point angle and the end point angle, and when the obtained angle is a negative number, the result should be expressed as 360 ° + (θs- θe) to ensure the consistency of the solution. In the embodiment of the present invention, the included angle may be an included angle with the positive south direction, the positive north direction, the positive direction or other directions, which is not limited by the embodiment of the present invention. In the embodiment of the present invention, the rotation angle of the second connection line to the third connection line may be counterclockwise, which is not limited by the embodiment of the present invention.
In one possible implementation manner, assuming that the included angles between the end points and the start points of the 3 main curves 1, 2 and 3 included in the same track cluster group are 135 °, 85 ° and 65 °, respectively, the three main curves are arranged according to the order from large to small; for example, as shown in fig. 9, the three main curves in fig. 9 are schematic diagrams in a coordinate system, and the difference data of the three main curves in fig. 9 are determined according to practical situations, and the difference data is only illustrative, and it is assumed that in fig. 9, the included angle values of the end points and the start points of the three main curves are arranged in order from big to small and are respectively a main curve 1, a main curve 2 and a main curve 3; and then determining corresponding steering points according to the main curves of two adjacent track clusters, wherein the method comprises the following two modes when determining the steering points:
in the first mode, the intersection point of the main curves of two adjacent track clusters is determined as the steering point corresponding to the main curves of the two adjacent track clusters.
Specifically, as shown in fig. 10, it is assumed that an intersection point a exists between two adjacent main curves a and B, and the intersection point a is a turning point of the two main curves a and B.
And determining a point at which the slope of the main curves of two adjacent track clusters starts to change as a steering point corresponding to the main curves of the two adjacent track clusters.
Specifically, as shown in fig. 11, assuming that the slopes of the adjacent two main curves C and D start to change at the point b, i.e., the turning point of the two main curves C and D.
In one possible implementation, after determining the turning point, the method further includes: a steering early warning is sent out from a position which is a set distance away from the steering point; for example, a steering early warning is sent to the user at a position 100 meters away from the steering point, and the user is reminded of steering.
The following describes a method for determining a turning point according to a complete embodiment, and a specific flowchart is shown in fig. 12, and specifically includes the following steps:
step 1201, determining the target intersection according to the historical road network data.
Step 1202, obtaining a history track in a buffer area of a target intersection within a set time.
Step 1203, clustering the historical tracks to determine a plurality of track clusters.
Step 1204, determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters.
And 1205, determining a turning point according to the main curves of two adjacent track clusters in the same track cluster group.
And 1206, sending out steering early warning at a position which is at a set distance from the steering point.
In one possible implementation, each track is reported by the navigation system or the positioning system once every set period, and each track is composed of a plurality of positioning points, so each track can be represented as t= [ (X1, Y1, T1), (X2, Y2, 2), …, (Xn, tn) ], where X represents longitude, Y represents latitude, and T represents time; the set of trajectories may be represented by TS, specifically ts= { T1, T2, …, tn }; the set of turning points may be represented by CR, specifically cr= { (x 1, y 1), (x 2, y 2), …, (xm, ym) }, where x represents longitude, y represents latitude, and each group (x, y) represents a turning point.
Fig. 13 is a schematic view of an apparatus for determining a turning point according to an embodiment of the present invention. As shown in fig. 13, the apparatus of the present embodiment includes an acquisition unit 1301, a clustering unit 1302, a first determination unit 1303, and a second determination unit 1304.
The acquiring unit 1301 is configured to acquire a history track in a buffer area of a target intersection within a set time, where the buffer area is an area obtained by expanding a center point of the target intersection; a clustering unit 1302, configured to cluster the historical tracks and determine at least one track cluster; a first determining unit 1303, configured to determine at least one track cluster group according to the at least one track cluster, where each track cluster group includes at least two track clusters; a second determining unit 1304, configured to determine a steering point according to a main curve of two adjacent track clusters in the same track cluster group, where the main curve is determined by main curve fitting for the track clusters.
In the embodiment of the invention, by acquiring a history track in a buffer area of a target intersection within a set time, the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting for the track clusters. The method is used for determining the track clusters by clustering according to the historical tracks, determining the track cluster groups according to the track clusters, and determining the steering points according to the main curves of two adjacent track clusters in the same track cluster group, so that the position of at least one steering point in each track cluster group can be flexibly and accurately determined, a user can be reminded of steering at a proper position in front of the steering point, and the use experience of the user is improved. In addition, the above processing can be performed for each intersection, so that the obtained steering points can reflect the steering habit of the driver group in different roads in the real world, and the defect of unified broadcasting distance in advance for different roads is avoided.
Further, the first determining unit is specifically configured to: determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to an angle of any positive included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line of the starting point of a history track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin; in response to an intersection of angular ranges of the start points of at least two of the track clusters, determining the at least two of the track clusters having the intersection as a track cluster group.
In the embodiment of the invention, a plurality of track clusters driven into by the same intersection can be accurately determined through the intersection of the angle range of the starting point of the track cluster, so that the track cluster group corresponding to the same intersection is determined.
Further, the second determining unit is specifically configured to: determining an included angle between an end point and a starting point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the starting point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line of the starting point and the central point of the main curve, and the third connecting line is a connecting line of the end point and the central point of the main curve; and arranging the included angles in sequence from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
In the embodiment of the invention, the main curves of each track cluster in the same track cluster group are ordered by the difference value of the end point angle and the start point angle, so that two adjacent main curves can be accurately determined, and the positions of the corresponding steering points are determined by the main curves of the two adjacent track clusters.
Further, the second determining unit is specifically configured to: and determining the intersection point of the main curves of the two adjacent track clusters as a steering point corresponding to the main curves of the two adjacent track clusters.
In the embodiment of the invention, when two main curves have an intersection point, the intersection point is determined as a steering point, namely, the tracks corresponding to the two main curves start to split at the intersection point, namely, the vehicles start to drive to different directions, and the overlapping part of the two main curves before the intersection point is probably because of fewer lanes on the road where the two main curves jointly drive in.
Further, the second determining unit is specifically configured to: the determining the corresponding turning point according to the main curves of the two adjacent track clusters specifically includes: and determining the point at which the slope of the main curves of the two adjacent track clusters starts to change as a steering point corresponding to the main curves of the two adjacent track clusters.
In the embodiment of the invention, when the two main curves do not have an intersection point, the point at which the slope starts to change is determined as a steering point, namely, the tracks corresponding to the two main curves start to split at the intersection point, namely, the vehicle starts to drive to different directions, and the two main curves do not coincide before the point at which the slope starts to change may be because the jointly driven road is multi-lane, the road surface is wider, the lane selected by the vehicle is biased, and therefore, the main curves of different steering modes have longer parallel parts in extraction.
Further, the apparatus further comprises: and the early warning unit is used for sending out steering early warning at a position which is at a set distance from the steering point.
In the embodiment of the invention, the pre-warning under different conditions of different intersections can be flexibly determined according to the predicted steering points of the intersections, so that the use experience of users is improved.
Further, the apparatus further comprises: and the intersection determining unit is used for determining the target intersection according to the historical road network data.
According to the method and the device for determining the target intersection, the accuracy and the speed for determining the intersection can be improved through the historical road network data.
Fig. 14 is a schematic diagram of an electronic device according to an embodiment of the invention. As shown in fig. 14, the electronic device shown in fig. 14 is an apparatus for adjusting a depth image prediction model, and includes a general-purpose computer hardware structure including at least a processor 1401 and a memory 1402. The processor 1401 and the memory 1402 are connected through a bus 1403. The memory 1402 is adapted to store instructions or programs executable by the processor 1401. The processor 1401 may be a stand-alone microprocessor or may be a set of one or more microprocessors. Thus, the processor 1401 performs the processing of data and control of other devices by executing instructions stored by the memory 1402 to thereby perform the method flows of embodiments of the present invention as described above. Bus 1403 connects the above components together, while connecting the above components to display controller 1404 and display device and input/output (I/O) device 1405. Input/output (I/O) device 1405 may be a mouse, keyboard, modem, network interface, touch input device, somatosensory input device, printer, and other devices known in the art. Typically, the input/output device 1405 is connected to the system through an input/output (I/O) controller 1406.
Wherein the instructions stored by memory 1402 are executable by at least one processor 1401 to implement: acquiring a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection; clustering the historical tracks to determine a plurality of track clusters; determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters; and determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting for the track clusters.
Specifically, the electronic device includes: one or more processors 1401, and memory 1402, fig. 14 exemplifies one processor 1401. The processor 1401, memory 1402 may be connected by a bus or otherwise, as exemplified by a bus connection in fig. 14. Memory 1402 acts as a non-volatile computer readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The processor 1401 performs various functional applications of the device and data processing, i.e., implements the above-described method of determining a turning point, by running nonvolatile software programs, instructions, and modules stored in the memory 1402.
Memory 1402 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store a list of options, etc. Further, memory 1402 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 1402 optionally includes memory located remotely from processor 1401, which may be connected to an external device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in memory 1402 that, when executed by one or more processors 1401, perform the method of determining a turning point in any of the method embodiments described above.
The product may perform the method provided by the embodiment of the present application, and have corresponding functional modules and beneficial effects of the performing method, and technical details not described in detail in the embodiment of the present application may be referred to the method provided by the embodiment of the present application.
Embodiments of the present invention relate to a non-volatile storage medium for storing a computer-readable program for causing a computer to execute some or all of the above-described method embodiments.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. A method of determining a turning point, the method comprising:
acquiring a historical track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection;
clustering the historical tracks to determine a plurality of track clusters;
determining at least one track cluster group according to the plurality of track clusters, wherein each track cluster group comprises at least two track clusters;
determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting of the track clusters;
wherein, the determining at least one track cluster group according to the plurality of track clusters specifically includes:
determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to an angle of any positive included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line of the starting point of a history track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin; determining at least two of the track clusters having an intersection as a track cluster group in response to the intersection of the angular ranges of the start points of the at least two track clusters;
the determining the steering point according to the main curves of two adjacent track clusters in the same track cluster group specifically comprises the following steps:
determining an included angle between an end point and a starting point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the starting point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line of the starting point and the central point of the main curve, and the third connecting line is a connecting line of the end point and the central point of the main curve; and arranging the corresponding track clusters according to the sequence of the included angles from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
2. The method of claim 1, wherein determining the corresponding turning point according to the main curves of the two adjacent track clusters specifically comprises:
and determining the intersection point of the main curves of the two adjacent track clusters as a steering point corresponding to the main curves of the two adjacent track clusters.
3. The method of claim 1, wherein determining the corresponding turning point according to the main curves of the two adjacent track clusters specifically comprises:
and determining the point at which the slope of the main curves of the two adjacent track clusters starts to change as a steering point corresponding to the main curves of the two adjacent track clusters.
4. The method of claim 1, wherein the method further comprises:
and sending out steering early warning at a position which is at a set distance from the steering point.
5. The method of claim 1, wherein the method further comprises:
and determining the target intersection according to the historical road network data.
6. An apparatus for determining a turning point, the apparatus comprising:
the acquisition unit is used for acquiring a history track in a buffer area of a target intersection within a set time, wherein the buffer area is an area obtained by expanding a central point of the target intersection;
the clustering unit is used for clustering the historical tracks and determining a plurality of track clusters;
a first determining unit, configured to determine at least one track cluster group according to the plurality of track clusters, where each track cluster group includes at least two track clusters;
the second determining unit is used for determining steering points according to main curves of two adjacent track clusters in the same track cluster group, wherein the main curves are determined by main curve fitting of the track clusters;
the first determining unit is specifically configured to:
determining an angle range of a starting point of each track cluster, wherein the angle range of the starting point of each track cluster is determined according to an angle of any positive included angle between a first connecting line and a coordinate system, the first connecting line is a connecting line of the starting point of a history track included in the track cluster and the central point, and the coordinate system takes the central point as a coordinate origin; determining at least two of the track clusters having an intersection as a track cluster group in response to the intersection of the angular ranges of the start points of the at least two track clusters;
the second determining unit is specifically configured to:
determining an included angle between an end point and a starting point of a main curve of each track cluster in the same track cluster group, wherein the included angle between the end point and the starting point of the main curve is determined according to a clockwise included angle between a second connecting line and a third connecting line, the second connecting line is a connecting line of the starting point and the central point of the main curve, and the third connecting line is a connecting line of the end point and the central point of the main curve; and arranging the corresponding track clusters according to the sequence of the included angles from large to small, and determining corresponding steering points according to the main curves of two adjacent track clusters.
7. A computer readable storage medium, on which computer program instructions are stored, which computer program instructions, when executed by a processor, implement the method of any of claims 1-5.
8. An electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method of any of claims 1-5.
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