CN115984358A - Method, system, medium, and apparatus for detecting turning area based on skeleton line - Google Patents
Method, system, medium, and apparatus for detecting turning area based on skeleton line Download PDFInfo
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Abstract
The invention discloses a method, a system, a medium and equipment for detecting turning areas based on skeleton lines, wherein the method comprises the following steps: acquiring an original track, and generating a road skeleton line according to the original track; acquiring a plurality of initial skeleton line segments which accord with a preset initial angle change condition according to the road skeleton line; obtaining a plurality of corresponding final skeleton line segments of which each initial skeleton line segment meets a preset final angle change condition according to each initial skeleton line segment; limiting the range of the original track corresponding to each final skeleton line segment to obtain a corresponding track segment to be detected; calculating the curvature radius of each track section to be detected, and judging whether the track section to be detected exists in a turning area or not; the turning area is judged based on the original track and the skeleton line, so that the detection efficiency and the detection precision can be improved.
Description
Technical Field
The invention relates to the technical field of high-precision maps, in particular to a method, a system, a medium and equipment for detecting turning areas based on skeleton lines.
Background
In a real scene, the possibility that the area where the track turns and turns around is an intersection is high, and when the acquisition track at the position does not cover all road topologies, such as straight going, right turning, left turning, turning around and the like at one intersection, the acquired track only turns right or turns around, so that the skeleton line generated based on the original track cannot see the forms of divergence and confluence; when no road right selection is seen from the skeleton line, no intersection is generated at the position, so that two roads in reality are regarded as the same road vector, and for turning round, even the upper and lower roads are regarded as the same road vector, which is very disordered for the generation of a road network, so that the detection of the region of turning round and turning round is a more key step for generating the intersection and correct road level topology.
Disclosure of Invention
The invention provides a method, a system, a medium and equipment for detecting a turning area based on a skeleton line, which are used for judging the turning area based on an original track and the skeleton line and can improve the detection efficiency and the detection precision.
In a first aspect, a method for detecting a turning area based on a bone line is provided, which includes the following steps:
acquiring an original track, and generating a road skeleton line according to the original track;
acquiring a plurality of initial skeleton line segments meeting a preset initial angle change condition according to the road skeleton line;
obtaining a plurality of corresponding final skeleton line segments of which each initial skeleton line segment meets a preset final angle change condition according to each initial skeleton line segment;
limiting the range of the original track corresponding to each final skeleton line segment to obtain a corresponding track segment to be detected;
and calculating the curvature radius of each track section to be detected, and judging whether the track section to be detected exists in the turning area.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of "obtaining, according to the road skeleton line, a plurality of initial skeleton line segments that meet a preset initial angle change condition" includes the following steps:
obtaining angle difference values between all points on a road skeleton line and a first head point, and selecting a preset distance line segment containing one point as an initial skeleton line segment when the angle difference value of one point is greater than a preset initial angle threshold value;
and taking the next point of one point as a second head point, acquiring the angle difference between the remaining points on the road skeleton line and the second head point, and selecting all initial skeleton line segments based on the preset initial angle threshold value.
According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of "obtaining, according to each initial skeleton line segment, a plurality of corresponding final skeleton line segments, each initial skeleton line segment of which meets a preset final angle change condition", specifically includes the following steps:
in each initial skeleton line segment, acquiring angle difference values between all points on the initial skeleton line segment and a first head point, and selecting a preset distance line segment containing one point as a final skeleton line segment when the angle difference value of one point is greater than a preset final angle threshold value;
and taking the next point of one point as a second head point, acquiring the angle difference between the remaining point on the initial skeleton line segment and the second head point, and selecting all final skeleton line segments based on the preset final angle threshold.
According to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of "performing range limitation on the original trajectory corresponding to each final bone line segment, and acquiring a corresponding trajectory segment to be detected" includes the following steps:
and setting a range buffer area, and intercepting the original track corresponding to each final skeleton line segment through the range buffer area to obtain a track segment to be detected.
According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of "calculating a curvature radius of each to-be-detected track segment, and determining whether the to-be-detected track segment exists in a turning area" specifically includes the following steps:
selecting three adjacent points on each track segment to be measured to calculate the curvature radius in each track segment to be measured, and acquiring a plurality of curvature radii;
and when any one of the curvature radii is larger than a preset curvature radius threshold value, judging that the track section to be detected exists in the turning area.
According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of "selecting three adjacent points on the to-be-measured trajectory segment for curvature radius calculation to obtain a plurality of curvature radii" includes the following steps:
the curvature radius calculation formula of adjacent three points is as follows:
r＝abs(0.5*a/sin(theta*π/180))；
in the formula, adjacent three points are set as p0, p1 and p2 in sequence; a is the distance between p0 and p2; theta is an included angle between the vector from the p1 direction to the p0 direction and the vector from the p1 direction to the p2 direction; abs is the absolute value.
In a second aspect, a system for detecting a turning area based on a bone line is provided, including:
the data acquisition module is used for acquiring an original track and generating a road skeleton line according to the original track;
the initial skeleton line segment module is in communication connection with the data acquisition module and is used for acquiring a plurality of initial skeleton line segments which accord with a preset initial angle change condition according to the road skeleton line;
the final skeleton line segment module is in communication connection with the initial skeleton line segment module and is used for acquiring a plurality of corresponding final skeleton line segments, wherein each initial skeleton line segment meets a preset final angle change condition;
the to-be-detected track segment module is in communication connection with the data acquisition module and the final skeleton segment module and is used for limiting the range of the original track corresponding to each final skeleton segment to acquire a corresponding to-be-detected track segment;
and the judging module is in communication connection with the track section to be detected and is used for calculating the curvature radius of each track section to be detected and judging whether the track section to be detected exists in the turning area.
In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method of detecting a turning around region based on a bone line as defined in any one of the above.
In a fourth aspect, an electronic device is provided, which includes a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the processor implements the method for detecting a u-turn region based on skeleton lines as described above when executing the computer program.
Compared with the prior art, the invention has the following advantages: firstly, acquiring an original track, and generating a road skeleton line according to the original track; then, acquiring a plurality of initial skeleton line segments which accord with a preset initial angle change condition according to the road skeleton line; then, according to each initial skeleton line segment, obtaining a plurality of corresponding final skeleton line segments of which each initial skeleton line segment meets a preset final angle change condition; limiting the range of the original track corresponding to each final skeleton line segment to obtain a corresponding track segment to be detected; calculating the curvature radius of each track segment to be detected, and judging whether the track segment to be detected exists in a turning area; therefore, after the road skeleton line generated by the original track is obtained, the section with large angle change of the skeleton line, namely the initial skeleton line section and the final skeleton line section, is detected firstly, because the skeleton line has poor effect in some places or is detected in a roundabout or other annular places because of large angle change, the original track and the track section to be detected corresponding to the position near the final skeleton line section need to be obtained at this time, and whether the track section to be detected exists in the turning area is judged by calculating the curvature radius of the track section to be detected.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for detecting a turning area based on a bone line according to the present invention;
FIG. 2 is a schematic illustration of the invention with range definition of the final bone line segments;
fig. 3 is a schematic structural diagram of a system for detecting a turning region based on a bone line according to the present invention.
Description of the drawings:
100. a system for detecting a turn around region based on a bone line; 110. a data acquisition module; 120. an initial bone line segment module; 130. a final bone line segment module; 140. a module of a track section to be tested; 150. and a judging module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention by the following specific steps, values, conditions, data, order, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a method for detecting a turning area based on a bone line, including the following steps:
s100, acquiring an original track, and generating a road skeleton line according to the original track;
s200, acquiring a plurality of initial skeleton line segments meeting a preset initial angle change condition according to the road skeleton line;
s300, acquiring a plurality of corresponding final skeleton line segments of which each initial skeleton line segment meets a preset final angle change condition according to each initial skeleton line segment;
s400, limiting the range of the original track corresponding to each final skeleton line segment to obtain a corresponding track segment to be detected;
s500, calculating the curvature radius of each track section to be detected, and judging whether the track section to be detected exists in a turning area.
Specifically, in this embodiment, after obtaining the road skeleton line generated by the original trajectory, the initial skeleton line segment and the final skeleton line segment, which are the segments having large angle changes of the skeleton line, are detected, because the skeleton line has a poor effect in some places or is detected in a roundabout or other annular places because of large angle changes, at this time, the original trajectory-to-be-detected trajectory segment corresponding to the vicinity of the final skeleton line segment needs to be obtained, and whether the to-be-detected trajectory segment exists in the turning area is determined by calculating the radius of curvature of the to-be-detected trajectory segment.
The invention has the following beneficial effects:
1. the track data of multiple passes can be collected on one road, and the detection is carried out through the road skeleton line, so that the method is more efficient and saves calculation power compared with the original track detection;
2. the range of the original track corresponding to each final skeleton line segment is limited to obtain the corresponding track segment to be detected, so that the curvature radius of each track segment to be detected is calculated, whether the track segment to be detected exists in a turning area or not is judged, and the influence of detection errors such as an annular area and other annular shapes can be greatly filtered.
Preferably, in another embodiment of the present application, the step of "S200, obtaining a plurality of initial skeleton line segments meeting a preset initial angle change condition according to the road skeleton line" specifically includes the following steps:
s210, obtaining angle difference values between all points on a road skeleton line and a first head point, and selecting a preset distance line segment containing one point as an initial skeleton line segment when the angle difference value of one point is greater than a preset initial angle threshold value;
and S220, taking the next point of one point as a second head point, acquiring the angle difference between the remaining point on the road skeleton line and the second head point, and selecting all initial skeleton line segments based on the preset initial angle threshold value.
Specifically, in this embodiment, the angular differences between all points on the skeleton line and the initial point are calculated, when a certain preset initial angular threshold (e.g., 50 °) is exceeded, the first point is taken, a preset distance line segment (a line segment at a distance from the previous point to the next point may be selected) including one of the points is taken as the initial skeleton line segment, then the next point of the point is taken as the initial point, the angular differences between all points at the next point and the new initial point are continuously calculated, and the process is circulated until an area where the angular change cannot be found, at this time, all the initial skeleton line segments may be selected.
Preferably, in another embodiment of the present application, the step of "S300, obtaining, according to each initial skeleton line segment, a plurality of corresponding final skeleton line segments, where each initial skeleton line segment meets a preset final angle change condition", specifically includes the following steps:
s310, in each initial skeleton line segment, obtaining angle difference values between all points on the initial skeleton line segment and a first head point, and when the angle difference value of one point is larger than a preset final angle threshold value, selecting a preset distance line segment containing one point as the final skeleton line segment;
and S320, taking the next point of one point as a second head point, acquiring the angle difference between the remaining point on the initial skeleton line segment and the second head point, and selecting all final skeleton line segments based on the preset final angle threshold.
Specifically, in this embodiment, for the initial bone line segments obtained preliminarily above, because the initial bone line segments are line segments taken at a distance from the front and back of the angle change point, there are some initial bone line segments obtained without obvious change from the head to the tail, or because the angle of the previous step is prevented from being overlooked and wider, there are some initial bone line segments whose angle change does not reach the preset final angle threshold-turning requirement (for example, 70 ° change), further judgment is needed here to judge whether the change angle of the initial bone line segment exceeds a certain final angle threshold, and if the change angle reaches the threshold, all final bone line segments can be selected.
Preferably, in another embodiment of the present application, the step of "S400 performing range limitation on the original trajectory corresponding to each final bone line segment, and acquiring a corresponding to-be-detected trajectory segment" specifically includes the following steps:
and setting a range buffer area, and intercepting the original track corresponding to each final skeleton line segment through the range buffer area to obtain a track segment to be detected.
Specifically, in this embodiment, referring to fig. 2, a line segment with an arrow in the middle is a final skeleton line segment, an outer frame is a set range buffer area, the width of the buffer area can be adjusted through parameters, the range buffer area is constructed to limit a range, and a track segment to be detected in the range of the buffer area is a required result, so that the range is narrowed, a large-range search is avoided, the efficiency can be improved, and the accuracy of the result is also improved.
Preferably, in another embodiment of the present application, the step of "S500 performing curvature radius calculation on each to-be-detected track segment, and determining whether the to-be-detected track segment exists in a turning area", specifically includes the following steps:
s510, selecting three adjacent points on each track segment to be measured to calculate the curvature radius in each track segment to be measured, and obtaining a plurality of curvature radii;
s520, when any one curvature radius is larger than a preset curvature radius threshold value, judging that the track section to be detected exists in the turning area.
Preferably, in another embodiment of the present application, the step of "S510 selecting three adjacent points on the track segment to be measured to calculate a curvature radius, and obtaining a plurality of curvature radii" includes the following steps:
the calculation formula of the curvature radius of the adjacent three points is as follows:
r＝abs(0.5*a/sin(theta*π/180))；
in the formula, adjacent three points are set as p0, p1 and p2 in sequence; a is the distance between p0 and p2; theta is an included angle between the vector from the p1 direction to the p0 direction and the vector from the p1 direction to the p2 direction; abs is the absolute value.
Specifically, in this embodiment, the angular radius of each to-be-measured track segment is calculated, because the three points are concentric, the curvature radius of each adjacent three point or three points p0, p1, and p2 at a certain interval is calculated:
a = d (p 0, p 2): distance p0, p2;
theta = angle (p 1 → p0, p1 → p 2): the included angle between the p1-p0 vector and the p1-p2 vector;
r = abs (0.5 a/sin (theta π/180)): calculating radius of curvature
Thus, each track segment to be measured has a plurality of curvature radiuses, and a curvature radius set is formed; in a track section to be detected, if only one curvature radius in the curvature radius set is larger than a preset curvature radius threshold value, the track section to be detected is judged to be in the turning area.
Referring to fig. 3, an embodiment of the present invention further provides a system 100 for detecting a turning area based on a bone line, including: a data acquisition module 110, an initial skeleton line segment module 120, a final skeleton line segment module 130, a track segment to be detected module 140 and a judgment module 150;
the data acquisition module 110 is configured to acquire an original trajectory and generate a road skeleton line according to the original trajectory;
an initial skeleton line segment module 120, communicatively connected to the data acquisition module 110, configured to acquire, according to the road skeleton line, a plurality of initial skeleton line segments that meet a preset initial angle change condition;
a final skeleton line segment module 130, communicatively connected to the initial skeleton line segment module 120, configured to obtain, according to each initial skeleton line segment, a plurality of corresponding final skeleton line segments, where each initial skeleton line segment meets a preset final angle change condition;
a to-be-detected track segment module 140, communicatively connected to the data acquisition module 110 and the final skeleton segment module 130, configured to perform range limitation on an original track corresponding to each final skeleton segment, and acquire a corresponding to-be-detected track segment;
and the judging module 150 is in communication connection with the to-be-detected track segment module 140, and is configured to perform curvature radius calculation on each to-be-detected track segment, and judge whether the to-be-detected track segment exists in a turn-around area.
Therefore, the embodiment of the invention firstly obtains the original track and generates the road skeleton line according to the original track; then, acquiring a plurality of initial skeleton line segments which accord with a preset initial angle change condition according to the road skeleton line; then, according to each initial skeleton line segment, obtaining a plurality of corresponding final skeleton line segments of which each initial skeleton line segment meets a preset final angle change condition; limiting the range of the original track corresponding to each final skeleton line segment to obtain a corresponding track segment to be detected; then, calculating the curvature radius of each track section to be detected, and judging whether the track section to be detected exists in a turning area; therefore, after the road skeleton line generated by the original track is obtained, the section with large angle change of the skeleton line, namely the initial skeleton line section and the final skeleton line section, is detected firstly, because the skeleton line has poor effect in some places or is detected in a roundabout or other annular places because of large angle change, the original track and the track section to be detected corresponding to the position near the final skeleton line section need to be obtained at this time, and whether the track section to be detected exists in the turning area is judged by calculating the curvature radius of the track section to be detected.
Specifically, this embodiment corresponds to the above method embodiments one to one, and the functions of each module have been described in detail in the corresponding method embodiments, so that the details are not repeated.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention realizes all or part of the processes of the above methods, and can also be implemented by a computer program instructing related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, embodiments of the present application further provide an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A method for detecting a turning area based on a skeleton line is characterized by comprising the following steps:
acquiring an original track, and generating a road skeleton line according to the original track;
acquiring a plurality of initial skeleton line segments meeting a preset initial angle change condition according to the road skeleton line;
obtaining a plurality of corresponding final skeleton line segments of which each initial skeleton line segment meets a preset final angle change condition according to each initial skeleton line segment;
limiting the range of the original track corresponding to each final skeleton line segment to obtain a corresponding track segment to be detected;
and calculating the curvature radius of each track section to be detected, and judging whether the track section to be detected exists in the turning area.
2. The method for detecting a turning region based on skeleton lines as claimed in claim 1, wherein the step of obtaining a plurality of initial skeleton line segments meeting a preset initial angle change condition according to the road skeleton lines specifically comprises the following steps:
obtaining angle difference values between all points on a road skeleton line and a first head point, and selecting a preset distance line segment containing one point as an initial skeleton line segment when the angle difference value of one point is greater than a preset initial angle threshold value;
and taking the next point of one point as a second head point, acquiring the angle difference between the remaining points on the road skeleton line and the second head point, and selecting all initial skeleton line segments based on the preset initial angle threshold value.
3. The method for detecting a turning region based on bone lines according to claim 1, wherein the step of obtaining a plurality of corresponding final bone line segments of each initial bone line segment according with a preset final angle change condition according to each initial bone line segment specifically comprises the following steps:
in each initial skeleton line segment, acquiring angle difference values between all points on the initial skeleton line segment and a first head point, and selecting a preset distance line segment containing one point as a final skeleton line segment when the angle difference value of one point is greater than a preset final angle threshold value;
and taking the next point of one point as a second head point, acquiring the angle difference between the remaining point on the initial skeleton line segment and the second head point, and selecting all final skeleton line segments based on the preset final angle threshold.
4. The method for detecting a turning area based on bone lines according to claim 1, wherein the step of "limiting the range of the original trajectory corresponding to each final bone line segment and obtaining the corresponding trajectory segment to be detected" includes the following steps:
and setting a range buffer area, and intercepting the original track corresponding to each final skeleton line segment through the range buffer area to obtain a track segment to be detected.
5. The method for detecting a turning region based on a skeleton line as claimed in claim 1, wherein the step of calculating the curvature radius of each track segment to be detected and determining whether the track segment to be detected exists in the turning region includes the following steps:
selecting three adjacent points on each track segment to be measured to calculate the curvature radius in each track segment to be measured, and acquiring a plurality of curvature radii;
and when any one curvature radius is larger than a preset curvature radius threshold value, judging that the track section to be detected exists in the turning area.
6. The method for detecting a turning area based on a bone line as claimed in claim 5, wherein the step of selecting three adjacent points on the track segment to be detected for calculating the curvature radius to obtain a plurality of curvature radii comprises the following steps:
the curvature radius calculation formula of adjacent three points is as follows:
r＝abs(0.5*a/sin(theta*π/180))；
in the formula, adjacent three points are set as p0, p1 and p2 in sequence; a is the distance between p0 and p2; theta is an included angle between the vector from the p1 direction to the p0 direction and the vector from the p1 direction to the p2 direction; abs is absolute.
7. A system for detecting a turn around region based on a bone line, comprising:
the data acquisition module is used for acquiring an original track and generating a road skeleton line according to the original track;
the initial skeleton line segment module is in communication connection with the data acquisition module and is used for acquiring a plurality of initial skeleton line segments meeting a preset initial angle change condition according to the road skeleton line;
the final skeleton line segment module is in communication connection with the initial skeleton line segment module and is used for acquiring a plurality of corresponding final skeleton line segments, wherein each initial skeleton line segment meets a preset final angle change condition;
the to-be-detected track segment module is in communication connection with the data acquisition module and the final skeleton segment module and is used for limiting the range of the original track corresponding to each final skeleton segment to acquire a corresponding to-be-detected track segment;
and the judging module is in communication connection with the track section to be detected and is used for calculating the curvature radius of each track section to be detected and judging whether the track section to be detected exists in the turning area.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of detecting a turning round region based on a bone line according to any one of claims 1 to 6.
9. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the processor implements the method for detecting a turning region based on a bone line according to any one of claims 1 to 6 when executing the computer program.
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| CN202211518876.6A CN115984358A (en) | 2022-11-29 | 2022-11-29 | Method, system, medium, and apparatus for detecting turning area based on skeleton line |
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| CN202211518876.6A CN115984358A (en) | 2022-11-29 | 2022-11-29 | Method, system, medium, and apparatus for detecting turning area based on skeleton line |
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