CN116052453A - Road junction determining method, device, electronic equipment and storage medium - Google Patents
Road junction determining method, device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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Abstract
The application discloses a road junction determining method, a road junction determining device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a driving track data set; dividing each of the plurality of travel tracks into a plurality of track segments; acquiring driving characteristics of a plurality of track segments; wherein the travel characteristics of the track segment are indicative of at least one of: geographic position corresponding to the track segment, running direction corresponding to the track segment, and running speed corresponding to the track segment; and determining the road crossing in the target space range based on the driving characteristics of the track segments. According to the technical scheme provided by the embodiment of the application, therefore, the electronic equipment can screen out the track fragments with common characteristics based on the driving characteristics of the track fragments, and determine the geographic position corresponding to the screened track fragments as the road intersection in the target space range, so that the road intersection in the target space range can be simply and efficiently determined.
Description
Technical Field
The present disclosure relates to the field of electronic map technologies, and in particular, to a road junction determining method, a device, an electronic device, and a storage medium.
Background
In the technical fields of advanced assisted driving, automatic driving, and the like, the running of a vehicle generally depends on a high-precision map. The detailed lane-level road information is provided with high accuracy.
Making a high-precision map requires accurate determination of road intersections. The road intersection determination method provided by the related art is as follows: the vehicle is provided with an image acquisition device and a positioning device, the environment image of the vehicle is acquired through the image acquisition device, and when the intersection exists in the environment image, the geographic position of the positioning device positioned at the acquisition time of the environment image is acquired, so that the road intersection is determined.
The road intersection determining method provided by the related technology has low road intersection determining efficiency.
Disclosure of Invention
The application provides a road junction determining method, a road junction determining device, electronic equipment and a storage medium.
In a first aspect, an embodiment of the present application provides a road junction determining method, including: acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks in a target space range; dividing each of the plurality of travel tracks into a plurality of track segments; acquiring driving characteristics of a plurality of track segments; wherein the travel characteristics of the track segment are indicative of at least one of: geographic position corresponding to the track segment, running direction corresponding to the track segment, and running speed corresponding to the track segment; and determining the road crossing in the target space range based on the driving characteristics of the track segments.
In a second aspect, an embodiment of the present application provides a road junction determining apparatus, including: the data acquisition module is used for acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks in a target space range; the track dividing module is used for dividing each of the plurality of running tracks into a plurality of track segments; the characteristic acquisition module is used for acquiring the driving characteristics of the track segments; wherein the travel characteristics of the track segment are indicative of at least one of: geographic position corresponding to the track segment, running direction corresponding to the track segment, and running speed corresponding to the track segment; and the intersection determining module is used for determining the road intersection in the target space range based on the driving characteristics of the track fragments.
In a third aspect, embodiments of the present application provide a vehicle, including: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in memory and configured to be executed by the one or more processors, the one or more applications configured to perform the road junction determination method as described in the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored therein computer program instructions that are callable by a processor to perform the road junction determination method as in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product for implementing the road junction determination method according to the first aspect when the computer program product is executed.
Compared with the prior art, the road intersection determination method provided by the embodiment of the application includes the steps of obtaining a large number of running tracks in a target space range, dividing the running tracks into track segments, determining the road intersection in the target space range based on the running characteristics of each track segment, wherein the running tracks at the road intersection generally have common characteristics, such as a cross track, a deceleration behavior before reaching the road intersection, an acceleration behavior after passing the road intersection, different running directions of two almost coincident running tracks when passing the road intersection, and the like, so that the electronic equipment can screen out the track segments with the common characteristics based on the running characteristics of a plurality of track segments, and determine the geographic position corresponding to the screened track segments as the road intersection in the target space range, thereby simply and efficiently determining the road intersection in the target space range.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application.
Fig. 2 is a flowchart of a road junction determining method according to an embodiment of the present application.
Fig. 3 is a flowchart of a road junction determining method according to another embodiment of the present application.
Fig. 4 is a schematic diagram of determining a road junction according to an embodiment of the present application.
Fig. 5 is a schematic diagram of determining a road junction according to an embodiment of the present application.
Fig. 6 is a block diagram of a road junction determining apparatus according to an embodiment of the present application.
Fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.
Fig. 8 is a block diagram of a computer storage medium according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In order to better understand the solution of the present application, the following description will make clear and complete descriptions of the technical solution of the embodiment of the present application with reference to the accompanying drawings in the embodiment of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Referring to fig. 1, a schematic diagram of an implementation environment provided in an embodiment of the present application is shown. The implementation environment comprises the electronic equipment 100, wherein the electronic equipment 100 can be a server, a server cluster formed by a plurality of servers, or a cloud computing service center. In some embodiments, the electronic device 100 may be a background server to which the map application corresponds.
In some embodiments, the implementation environment further includes a plurality of vehicles 200, each of the plurality of vehicles 200 establishing a communication connection with the electronic device 100. During the running process of the vehicle 200, the geographic position of the vehicle 200 is obtained through a positioning module (such as a GPS module) at intervals of a preset period, so as to obtain the running track of the vehicle 200. The vehicle 200 may also acquire the speed of the vehicle 200 through a speed sensor at predetermined intervals, thereby obtaining the speed at which the vehicle 200 travels at each track point. The vehicle 200 may also acquire its own traveling direction through the direction sensing device at predetermined intervals, thereby obtaining the traveling direction of the vehicle 200 traveling on each track point. The vehicle 200 may report a travel track to the electronic device 100 at the end of travel via the above-described communication connection, the travel track including a geographic location, a speed, a travel direction, etc. of each track point.
In this embodiment of the present application, the electronic device 100 may obtain multiple running tracks in the target space range, divide each running track into multiple track segments, and then determine, based on the running characteristics of each track segment, an intersection in the target space range, where the running track at the intersection generally has some common characteristics, such as a common cross track, a deceleration behavior before reaching the intersection, an acceleration behavior after passing the intersection, and different running directions of two almost coincident running tracks when passing the intersection, where the electronic device 100 may screen out the track segments with the common characteristics based on the running characteristics of each track segment, determine, as the intersection position in the target space range, the geographic position where the screened track segment is located, and may accurately and efficiently determine the intersection in the target space range.
Referring to fig. 2, a flowchart of a road junction determining method according to an embodiment of the present application is shown, and the method may be applied to the electronic device 100 in the embodiment of fig. 1, and the method may include the following steps S201 to S204.
Step S201, a travel track data set is acquired.
The travel track data set includes a plurality of travel tracks within a target space. The target space range is set experimentally or empirically, and is illustratively 10km.
The travel track is a line segment connected with a geographic position where the vehicle passes when traveling. In some embodiments, the vehicle includes a positioning module, and during driving, the vehicle acquires its own geographic position through the positioning module at intervals of a predetermined period, thereby obtaining a driving track. The predetermined period may be set by default by the vehicle, or may be set by a technician in a custom manner according to the accuracy requirements of the travel track. In the embodiment of the present application, when the driving track is acquired, the vehicle may further acquire information such as a driving direction and a driving speed at the track point, so that each track point in the driving track has three attributes including a geographic position, a driving direction and a driving speed.
The running track in the target space range can be a complete running track or a part of running tracks intercepted from other running tracks. In addition, the embodiment of the present application does not limit the start position and the end position of the travel track in the target space range. The number of the running tracks can be actually determined according to the determination accuracy of the road intersections, the higher the determination accuracy of the road intersections is, the more the number of the running tracks is required, and the lower the determination accuracy of the road intersections is, the fewer the number of the running tracks is.
In some embodiments, the electronic device may receive travel tracks sent by a plurality of vehicles, and then screen the travel tracks within the target space range from the travel tracks sent by the plurality of vehicles, so as to obtain a travel track data set. The following two implementations are possible for screening the driving track in the target space range.
In one implementation manner, for each running track, the electronic device obtains the geographical position information of the track points in the running track and the geographical position range corresponding to the target space range, obtains the number of the specified track points in the geographical position range corresponding to the target space range, determines the running track with the number of the specified track points being greater than the preset number as the running track in the target space range, for example, the running track a includes 700 specified track points with the geographical position information belonging to the geographical position range corresponding to the target space range, and the preset number is 500, and the running track a is the running track in the target space range.
In another implementation manner, for each running track, the electronic device obtains the geographical position information of the track points in the running track and the geographical position range corresponding to the target space range, obtains the number of the specified track points in the geographical position range corresponding to the target space range, which is the geographical position information in the running track, and the ratio between the total number of the track points included in the running track, determines the running track with the ratio being greater than the preset ratio as the running track in the target space range, for example, the running track B includes 1000 track points, and if 800 geographical position information is the specified track points in the geographical position range corresponding to the target space range, the ratio is 80%, the preset ratio is 60%, and the running track B is the running track in the target space range.
In other embodiments, the electronic device may obtain the travel track data set from a travel track database. In some embodiments, the different storage paths of the travel track database store travel track data sets with different spatial ranges, and when the travel track database is set in the electronic device, the electronic device may determine the storage path of the travel track data set within the target spatial range, and then directly read the travel track data set within the target spatial range from the storage path; when the travel track database is a device independent of the other devices of the electronic device, the electronic device may send a data acquisition request to the other devices of the travel track database, and then the other devices of the travel track database may return a travel track data set of the target space range to the electronic device based on the data acquisition request.
In some embodiments, the electronic device acquires the travel track data set after acquiring the map generation instruction, and performs the subsequent steps. Further, the electronic device acquires a driving track data set and executes subsequent steps under the condition that the electronic map to be generated includes the target space range.
In step S202, each of the plurality of travel tracks is divided into a plurality of track segments.
The dividing principle of dividing the travel track into a plurality of track segments may be a specified length, a travel direction, or a travel speed. It should be noted that the electronic device adopts the same dividing principle to divide all the driving tracks. In addition, the number of track segments obtained by dividing one running track is not limited, and the number of track segments obtained by dividing different track segments can be the same or different.
Under the condition that the dividing principle is the appointed length, the electronic equipment divides each running track into a plurality of track segments, and the track length of each track segment is the appointed length. In the case of a division principle of the driving direction, the electronic device divides each driving track into a plurality of track segments, adjacent track segments of the plurality of track segments having different driving directions. And under the condition that the dividing principle is the running speed, the electronic equipment divides each running track into a plurality of track segments, and the running speeds of track points in the same track segment belong to the same designated speed interval.
In some embodiments, after the electronic device divides the plurality of track segments, the electronic device may further perform a simplification process on each track segment, and specifically, the electronic device connects a first track point and a last track point included in the track segment to obtain a directional line segment for representing the track segment.
Step S203, acquiring driving characteristics of a plurality of track segments.
The travel characteristics of the track segment are used to indicate at least one of: geographic position corresponding to the track segment, running direction corresponding to the track segment, and running speed corresponding to the track segment.
The geographic location corresponding to the track segment may be a geographic location range corresponding to the directional line segment. Specifically, the electronic device obtains geographic positions corresponding to the start point and the end point of the directed line segment respectively, and then determines the geographic position corresponding to the untracked segment from the geographic position range between the start point and the end point. In one example, the electronic device may define a reference line in advance, and the driving direction corresponding to the track segment is indicated by an angle between the directional line segment and the reference line. The running speed corresponding to the track segment may be an average speed of the vehicle running on the track segment, or may be a speed curve corresponding to the running speed corresponding to each track point in the track segment. In the embodiment of the present application, only the latter will be described as an example.
Step S204, determining the road crossing in the target space range based on the driving characteristics of the track segments.
The travel tracks at an intersection often have some common characteristics, such as a common cross track, a deceleration behavior before reaching the intersection, an acceleration behavior after passing the intersection, and two travel tracks almost coincident with each other have different travel directions when passing the intersection. In the embodiment of the application, the electronic device can screen out the track segments with the common characteristics based on the driving characteristics of the track segments, and determine the geographic position corresponding to the screened track segments as the intersection position in the target space range, so that the intersection in the target space range is simply and efficiently determined.
In summary, according to the road intersection determination method provided by the embodiment of the present application, by acquiring a large number of driving tracks in the target space range, dividing the driving tracks into track segments, determining the road intersection in the target space range based on the driving characteristics of each track segment, since the driving tracks at the road intersection generally have some common characteristics, such as a cross track, a deceleration behavior before reaching the road intersection, an acceleration behavior after passing the road intersection, and different driving directions when two almost coincident driving tracks pass the road intersection, and so on, the electronic device can screen out the track segments with the common characteristics based on the driving characteristics of the track segments, determine the geographic position corresponding to the screened track segments as the road intersection in the target space range, and can simply and efficiently determine the road intersection in the target space range.
Referring to fig. 3, a flowchart of a road junction determining method according to an embodiment of the present application is shown. The method is applied to the electronic device 100 in fig. 1, and comprises the following steps S301-S306.
Step S301, a travel track data set is acquired.
The travel track data set includes a plurality of travel tracks within a target space.
In some embodiments, after the running track data set is acquired, data cleaning is further required for a plurality of running tracks in the target space range, so as to obtain a running track data set after data cleaning, and the plurality of running tracks in the target space range in the running track data set after data cleaning are used for determining road flushness. In the embodiment of the application, the data cleaning is used for removing the obviously unreasonable running track, so that the unreasonable running track is prevented from interfering the road intersection determination result, and the road intersection determination result is more accurate.
In a first possible implementation manner, the electronic device obtains the number of abnormal track points in a plurality of running tracks in the running track data set, and removes a first target running track with the number of abnormal track points being greater than a preset number. The preset number may be set according to experiments or experience, and the embodiment of the present application is not limited thereto. If the number of abnormal track points, i.e., noise points, which are usually deviated from the travel track and are usually caused by drift of the positioning signal, is large, the travel track is inaccurate, and therefore needs to be removed.
In a second possible implementation manner, the electronic device obtains running speeds corresponding to a plurality of running tracks in the running track data set, and removes a second target running track with an absolute value of a difference between the running speeds and speed limit information of the target road being greater than a preset value. The speed limit information of the target road refers to the maximum speed of running on the target road, such as 80km/h, and the preset value is set according to experiments or experience, which is not limited in the embodiment of the present application. In the case where the difference between the running speed of the vehicle and the speed limit information of the target road is too large, the running track may be caused by an accident or drinking of the driver, and does not have a reference value, and therefore needs to be removed.
In a third possible implementation manner, the electronic device obtains curvature information corresponding to each of the plurality of travel tracks in the travel track data set, and removes a third target travel track corresponding to abnormal curvature information in the curvature information. The curvature information is the rotation rate of the curve of the pointer to the tangential direction angle of a certain point on the curve to the arc length, and is defined by differentiation, and indicates the degree of deviation of the curve from a straight line. The abnormal curvature information refers to an excessive curvature, and if the abnormal curvature occurs, the abnormal curvature information indicates that the vehicle suddenly turns in the running process, and the running track does not have a reference value at this time, so that the abnormal curvature information needs to be removed.
In step S302, each of the plurality of travel tracks is divided into a plurality of track segments.
Step S303, acquiring driving characteristics of a plurality of track segments.
The travel characteristics of the track segment are used to indicate at least one of: geographic position corresponding to the track segment, running direction corresponding to the track segment, and running speed corresponding to the track segment.
Step S304, obtaining feature vectors corresponding to the track segments respectively.
The feature vectors corresponding to the track segments are used to characterize the driving features of the track segments. The dimension of the feature vector is the same as the number of travel features of the track segment, i.e. one travel feature of the track segment may be represented by a feature vector of one dimension. In the embodiment of the present application, the track segment has three driving features, such as a geographic location, a driving direction, and a driving speed, and the feature vector corresponding to the track segment may be represented by a three-dimensional feature vector. For example, the track segment a may be represented by a vector [ pos1, V1, θ1], where pos1 represents the geographic location of the track segment, V1 represents the travel speed of the track segment, and θ1 represents the direction of the travel track.
Step S305, clustering is carried out on the feature vectors corresponding to the track segments respectively, so as to obtain a multi-class track segment set.
Clustering refers to partitioning a data set into different classes or clusters according to a certain criteria, such that the similarity of data objects within the same cluster is as large as possible, and the variability of data objects that are not in the same cluster is also as large as possible. In the embodiment of the application, the similarity between the feature vectors corresponding to any two track segments respectively can be calculated through an inter-cluster distance measurement algorithm, and two track segments with the similarity larger than the preset similarity belong to the same track segment set. The inter-cluster distance algorithm described above may be cosine distance, euclidean distance, minkowski distance, etc. It should be noted that, when the similarity measurement is performed, the electronic device may set different driving characteristics to have different weights.
Each of the plurality of classes of track segment sets corresponds to a common feature. Common features include, but are not limited to: multi-turn features, cross track features, specified speed trend features, and so forth. The process of obtaining the common feature will be explained in the following embodiments.
Step S306, determining the road crossing in the target space range based on the public features respectively corresponding to the multiple track fragment sets.
In some embodiments, the electronic device determines the common geographic location of the first type of track fragment set as a road intersection within the target space range if it is determined that the common feature of the first type of track fragment set in the plurality of types of track fragment sets is a multi-turn feature.
The multi-steering feature is used for representing that a first track segment in the first track segment set corresponds to a plurality of driving directions. In some embodiments, for each type of track segment set, the electronic device detects a running direction of a track segment in the track segment set, or whether a running direction of a next track segment corresponding to the track segment is the same, and if the running directions are different, determines that a first track segment in the track segment set corresponds to a plurality of running directions. The next track segment and the track segments in the track segment set belong to the same running track. The common geographic location of the first type of track segment set may be a geographic location where a preset number or a preset proportion of track segments in the first type of track segments overlap each other. Illustratively, the first type track segment set includes 20 track segments, wherein the geographic locations of 17 track segments overlap each other, and the geographic locations of the 17 track segments overlap are determined to be a common geographic location for the non-first type track segment set. Referring to fig. 4, the traveling directions of the first track segments in the first track segment set include two track segments, namely, left and right, so that the public geographic position of the first track segment set is a t-intersection with a high probability.
In some embodiments, the electronic device determines the common geographic location of the second type of track segment set as an intersection within the target spatial range if it is determined that the common feature of the second type of track segment set in the plurality of types of track segment sets is a cross track feature. The cross track feature is used for representing that a second track segment in the second track segment set is intersected with other track segments, and an included angle between the second track segment and the other track segments is larger than a preset angle. The preset angle is set empirically, such as 60 degrees.
In some embodiments, for each type of track segment set, the electronic device detects whether track segments in the track segment set have the same geographic position, but other track segments with differences between driving directions greater than a preset difference value, and if so, indicates that the track segments in the track segment set have cross tracks. Referring to fig. 5, if the second track segment in the second track segment set corresponds to a cross track and an included angle between the cross track and the second track segment is 90 degrees, it is indicated that the public geographic location of the second track segment set is a crossroad with a high probability.
In some embodiments, when determining that the common feature of the third type of track segment set exists in the multiple type of track segment sets as the specified speed variation trend feature, the electronic device determines the common geographic position of the third type of track segment set as the intersection in the target space range, where the specified speed variation trend feature is used for representing that the third track segment in the third type of track segment set has the specified speed variation trend, and the specified speed variation trend is used for representing that the running speed corresponding to the third track segment is reduced and then increased. When a vehicle runs through a traffic light intersection, the vehicle can be decelerated and then accelerated with high probability, and based on the principle, the electronic equipment can determine the geographic position corresponding to the track segment with the change trend of reducing the running speed and increasing the running speed as the road intersection.
In some embodiments, after determining the road intersections, the electronic device may further search for track segments belonging to the same driving track in different track segment sets, and then connect each road intersection based on the track segments belonging to the same driving track, so as to obtain the road topology relationship.
In summary, according to the technical solution provided in the embodiments of the present application, by acquiring a large number of driving tracks in the target space range, then dividing the driving tracks into track segments, determining the road intersection in the target space range based on the driving characteristics of each track segment, since the driving tracks at the road intersection generally have some common characteristics, such as a cross track, a deceleration behavior before reaching the road intersection, an acceleration behavior after passing the road intersection, and different driving directions when two almost coincident driving tracks pass the road intersection, and so on, the electronic device may screen out the track segments having the common characteristics based on the driving characteristics of the track segments, and determine the geographic position corresponding to the screened track segments as the road intersection in the target space range, so that the road intersection in the target space range may be simply and efficiently determined.
Referring to fig. 6, a block diagram of a road junction determining apparatus according to an embodiment of the present application is shown, where the apparatus includes: a data acquisition module 610, a trajectory partitioning module 620, a feature acquisition module 630, and an intersection determination module 640.
The data acquisition module 610 is configured to acquire a travel track data set, where the travel track data set includes a plurality of travel tracks within a target space range.
The track dividing module 620 is configured to divide each of the plurality of driving tracks into a plurality of track segments.
A feature acquiring module 630, configured to acquire driving features of a plurality of track segments; wherein the travel characteristics of the track segment are indicative of at least one of: geographic position corresponding to the track segment, running direction corresponding to the track segment, and running speed corresponding to the track segment.
The intersection determination module 640 is configured to determine a road intersection within the target space range based on the driving characteristics of the plurality of track segments.
In some embodiments, the intersection determining module 640 is configured to obtain feature vectors corresponding to a plurality of track segments, where the feature vectors corresponding to the track segments are used to characterize driving features of the track segments; clustering the feature vectors respectively corresponding to the track segments to obtain a multi-class track segment set, wherein each class of track segment set in the multi-class track segment set corresponds to a common feature; and determining the road crossing in the target space range based on the public features respectively corresponding to the multiple types of track fragment sets.
In some embodiments, the intersection determining module 640 is configured to determine, when it is determined that the common feature of the first type of track segment set exists in the multiple type of track segment set is a multi-steering feature, a common geographic location of the first type of track segment set as a road intersection within the target space range, where the multi-steering feature is used to characterize that the first track segment in the first type of track segment set corresponds to a plurality of driving directions.
In some embodiments, the intersection determining module 640 is configured to determine, when it is determined that the common feature of the second type of track segment set exists in the multiple type of track segment set as a cross track feature, a common geographic location of the second type of track segment set as a road intersection within the target space range, where the cross track feature is used to characterize that a second track segment in the second type of track segment set intersects with other track segments, and an included angle between the second track segment and the other track segments is greater than a preset angle.
In some embodiments, the intersection determining module 640 is configured to determine, when it is determined that the common feature of the third type of track segment set exists in the multiple type of track segment sets as the specified speed variation trend feature, a common geographic location of the third type of track segment set as the road intersection in the target space range, where the specified speed variation trend feature is used to represent that a third track segment in the third type of track segment set has a specified speed variation trend, and the specified speed variation trend is used to represent that a running speed corresponding to the third track segment decreases first and then increases.
In some embodiments, the apparatus further comprises: a data cleansing module (not shown). The data cleaning module is used for carrying out data cleaning on the running track data set to obtain a running track data set after data cleaning, and a plurality of running tracks in the target space range in the running track data set after data cleaning are used for determining intersections in the target space range.
In some embodiments, the data cleaning module is specifically configured to obtain the number of abnormal track points in a plurality of running tracks in the running track data set, and remove a first target running track with the number of abnormal track points greater than a preset number; or/and, acquiring the running speeds corresponding to the running tracks in the running track data set, and removing a second target running track with the absolute value of the difference value between the running speed and the speed limit information of the target road being larger than a preset value; or/and, acquiring curvature information corresponding to each of the plurality of running tracks in the running track data set, and removing a third target running track corresponding to abnormal curvature information in the curvature information.
In summary, according to the technical solution provided in the embodiments of the present application, by acquiring a large number of driving tracks in the target space range, then dividing the driving tracks into track segments, determining the road intersection in the target space range based on the driving characteristics of each track segment, since the driving tracks at the road intersection generally have some common characteristics, such as a cross track, a deceleration behavior before reaching the road intersection, an acceleration behavior after passing the road intersection, and different driving directions when two almost coincident driving tracks pass the road intersection, and so on, the electronic device may screen out the track segments having the common characteristics based on the driving characteristics of the track segments, and determine the geographic position corresponding to the screened track segments as the road intersection in the target space range, so that the road intersection in the target space range may be simply and efficiently determined.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In several embodiments provided herein, the coupling of the modules to each other may be electrical, mechanical, or other.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
Referring to fig. 7, there is shown an electronic device 700 according to an embodiment of the present application, where the electronic device 700 includes: one or more processors 710, memory 720, and one or more application programs. Wherein one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs configured to perform the methods described in the above embodiments.
The Memory 720 may include a random access Memory 720 (Random Access Memory, RAM) or a Read-Only Memory 720 (ROM). Memory 720 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 720 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The storage data area may also store data created by the electronic device map in use (e.g., phonebook, audiovisual data, chat log data), and the like.
Referring to fig. 8, there is shown that the embodiment of the present application further provides a computer readable storage medium 800, where the computer readable storage medium 800 stores computer program instructions 810, and the computer program instructions 810 may be invoked by a processor to perform the method described in the above embodiment.
The computer readable storage medium 800 may be, for example, a flash Memory, an Electrically Erasable Programmable Read Only Memory (EEPROM), an electrically programmable Read Only Memory (Electrical Programmable Read Only Memory, EPROM), a hard disk, or a Read-Only Memory (ROM). Optionally, the computer readable storage medium comprises a Non-volatile computer readable storage medium (Non-transitory Computer-readable Storage Medium). The computer readable storage medium 800 has storage space for computer program instructions 810 that perform any of the method steps described above. The computer program instructions 810 may be read from or written to one or more computer program products.
The foregoing description is not intended to limit the preferred embodiments of the present application, but is not intended to limit the scope of the present application, and any such modifications, equivalents and adaptations of the embodiments described above in accordance with the principles of the present application should and are intended to be within the scope of the present application, as long as they do not depart from the scope of the present application.
Claims (10)
1. A method of determining a road junction, the method comprising:
acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks in a target space range;
dividing each of the plurality of travel tracks into a plurality of track segments;
acquiring driving characteristics of a plurality of track segments; wherein the travel characteristics of the track segment are used to indicate at least one of: the geographic position corresponding to the track segment, the running direction corresponding to the track segment and the running speed corresponding to the track segment;
and determining the road crossing in the target space range based on the driving characteristics of the track segments.
2. The method of claim 1, wherein the determining the road junction within the target spatial range based on the travel characteristics of the plurality of track segments comprises:
acquiring feature vectors corresponding to the track segments respectively, wherein the feature vectors corresponding to the track segments are used for representing the running features of the track segments;
clustering the feature vectors respectively corresponding to the track segments to obtain multiple track segment sets, wherein each track segment set in the track segment sets has common features;
and determining the road crossing in the target space range based on the public features respectively corresponding to the track fragment sets.
3. The method according to claim 2, wherein the determining the road junction in the target space range based on the common features respectively corresponding to the plurality of types of the track segment sets includes:
under the condition that the common features of the first type of track fragment sets in the plurality of types of track fragment sets are determined to be multi-steering features, the common geographic positions of the first type of track fragment sets are determined to be road intersections in the target space range, and the multi-steering features are used for representing that the first track fragments in the first type of track fragment sets correspond to a plurality of driving directions.
4. The method according to claim 2, wherein the determining the road junction in the target space range based on the common features respectively corresponding to the plurality of types of the track segment sets includes:
under the condition that the common features of the second type of track fragment sets in the track fragment sets are determined to be cross track features, determining the common geographic position of the second type of track fragment sets as a road intersection in the target space range, wherein the cross track features are used for representing that the second track fragments in the second type of track fragment sets intersect with other track fragments, and the included angles between the second track fragments and the other track fragments are larger than a preset angle.
5. The method according to claim 2, wherein the determining the road junction in the target space range based on the common features respectively corresponding to the plurality of types of the track segment sets includes:
under the condition that the common features of the third-class track fragment set in the track fragment sets are determined to be the specified speed change trend features, determining the common geographic position of the third-class track fragment set as the road intersection in the target space range, wherein the specified speed change trend features are used for representing that the third track fragment in the third-class track fragment set has the specified speed change trend, and the specified speed change trend is used for representing that the running speed corresponding to the third track fragment is firstly reduced and then increased.
6. The method according to any one of claims 1 to 5, further comprising, after the acquiring the travel track data set:
and carrying out data cleaning on the running track data set to obtain a running track data set after data cleaning, wherein a plurality of running tracks in the target space range in the running track data set after data cleaning are used for determining intersections in the target space range.
7. The method of claim 6, wherein the performing data cleansing on the travel track data set to obtain a data-cleansed travel track data set comprises:
obtaining the number of abnormal track points in a plurality of running tracks in the running track data set, and removing the first target running tracks with the number of the abnormal track points being greater than the preset number: or/and the like,
obtaining running speeds corresponding to a plurality of running tracks in the running track data set respectively, and removing a second target running track with the absolute value of the difference between the running speeds and the speed limit information of the target road being larger than a preset value; or/and the like,
and acquiring curvature information corresponding to a plurality of running tracks in the running track data set, and removing a third target running track corresponding to abnormal curvature information in the curvature information.
8. A road junction determining apparatus, characterized in that the apparatus comprises:
the data acquisition module is used for acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks in a target space range;
the track dividing module is used for dividing each of the plurality of running tracks into a plurality of track segments;
the characteristic acquisition module is used for acquiring the driving characteristics of the track segments; wherein the travel characteristics of the track segment are used to indicate at least one of: the geographic position corresponding to the track segment, the running direction corresponding to the track segment and the running speed corresponding to the track segment;
and the intersection determining module is used for determining the road intersection in the target space range based on the driving characteristics of the track segments.
9. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein one or more of the applications are stored in the memory and configured to be executed by one or more of the processors, the one or more applications configured to perform the road junction determination method of any of claims 1-7.
10. A computer readable storage medium having stored therein computer program instructions that are callable by a processor to perform the road junction determination method as claimed in any one of claims 1 to 7.
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