Method, System, Medium and Device for Detecting a Turning Area Based on Epiphyseal Line Detection

Abstract

The present invention discloses a method, system, medium and device for detecting a turning-around area based on a road skeleton line. The method includes the following steps: obtaining an original trajectory and generating a road skeleton line according to the original trajectory; obtaining a plurality of initial skeleton line segments that meet a preset initial angle change condition according to the road skeleton line; obtaining corresponding multiple final skeleton line segments that meet a preset final angle change condition for each of the initial skeleton line segments; limiting the range of the original trajectory corresponding to each of the final skeleton line segments to obtain a corresponding trajectory segment to be measured; calculating the curvature radius of each of the trajectory segments to be measured to determine whether the trajectory segment to be measured exists in the turning-around area; judging the turning-around area based on the original trajectory and the skeleton line can improve the detection efficiency and detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision maps, and particularly relates to a method, system, medium and device for detecting turning and U-turn areas based on skeleton lines. Background Art

[0002] In a real scenario, the areas of trajectory turning and U-turn are more likely to be intersections. When the collected trajectories at this location do not cover all road topologies, for example, at an intersection where one can go straight, turn right, turn left, make a U-turn, etc., but the collected trajectories only include turning right or making a U-turn, it will result in the fact that the skeleton lines generated based on the original trajectories cannot show the morphology of divergence and confluence here; when there is no visible right-of-way selection from the skeleton lines, intersections will not be generated at this location, and in this way, two roads in reality will be regarded as the same road vector. For U-turns, even the roads in the upper and lower directions will be regarded as the same road vector, which is very chaotic for the generation of road networks. Therefore, detecting turning and U-turn areas is a relatively crucial step in generating intersections and correct road-level topologies. Summary of the Invention

[0003] The present invention provides a method, system, medium and device for detecting turning and U-turn areas based on skeleton lines, which can judge turning and U-turn areas based on original trajectories and skeleton lines, and improve the detection efficiency and detection accuracy.

[0004] In a first aspect, a method for detecting turning and U-turn areas based on skeleton lines is provided, including the following steps:

[0005] Obtain an original trajectory, and generate a road skeleton line according to the original trajectory;

[0006] According to the road skeleton line, obtain multiple initial skeleton line segments that meet a preset initial angle change condition;

[0007] According to each of the initial skeleton line segments, obtain corresponding multiple final skeleton line segments for each initial skeleton line segment that meet a preset final angle change condition;

[0008] Limit the range of the original trajectory corresponding to each of the final skeleton line segments to obtain a corresponding trajectory segment to be measured;

[0009] Calculate the radius of curvature of each of the trajectory segments to be measured, and judge whether the trajectory segment to be measured exists in a turning and U-turn area.

[0010] According to the first aspect, in a first possible implementation manner of the first aspect, the step of "according to the road skeleton line, obtain multiple initial skeleton line segments that meet a preset initial angle change condition" specifically includes the following steps:

[0011] Obtain the angular difference between all points on the road skeleton line and the first starting point. When the angular difference of one of the points is greater than the preset initial angle threshold, select a preset distance line segment containing one of the points as the initial skeleton line segment;

[0012] Take the next point of one of the points as the second starting point, obtain the angular difference between the remaining points on the road skeleton line and the second starting point, and select all the initial skeleton line segments based on the preset initial angle threshold.

[0013] According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step of "obtaining corresponding multiple final skeleton line segments that meet the preset final angle change condition for each initial skeleton line segment" specifically includes the following steps:

[0014] In each initial skeleton line segment, obtain the angular difference between all points on the initial skeleton line segment and the first starting point. When the angular difference of one of the points is greater than the preset final angle threshold, select a preset distance line segment containing one of the points as the final skeleton line segment;

[0015] Take the next point of one of the points as the second starting point, obtain the angular difference between the remaining points on the initial skeleton line segment and the second starting point, and select all the final skeleton line segments based on the preset final angle threshold.

[0016] According to the second possible implementation manner of the first aspect, in the third possible implementation manner of the first aspect, the step of "limiting the range of the original trajectory corresponding to each final skeleton line segment to obtain the corresponding trajectory segment to be measured" specifically includes the following steps:

[0017] Set a range buffer, and intercept the original trajectory corresponding to each final skeleton line segment through the range buffer to obtain the trajectory segment to be measured.

[0018] According to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, the step of "calculating the radius of curvature of each trajectory segment to be measured and determining whether the trajectory segment to be measured exists in the turning and U-turn area" specifically includes the following steps:

[0019] In each trajectory segment to be measured, select three adjacent points on the trajectory segment to be measured for radius of curvature calculation to obtain multiple radii of curvature;

[0020] When any one of the radii of curvature is greater than the preset radius of curvature threshold, it is determined that the trajectory segment to be measured exists in the turning and U-turn area.

[0021] According to the fourth possible implementation manner of the first aspect, in the fifth possible implementation manner of the first aspect, the step of "selecting three adjacent points on the to-be-detected trajectory segment to calculate the radius of curvature and obtaining a plurality of radii of curvature" specifically includes the following steps:

[0022] The calculation formula for the radius of curvature of three adjacent points is as follows:

[0023] r = abs(0.5 * a / sin(theta * π / 180));

[0024] In the formula, the three adjacent points are sequentially set as p0, p1, and p2; a is the distance between p0 and p2; theta is the angle between the direction vector from p1 to p0 and the direction vector from p1 to p2; abs is the absolute value.

[0025] In a second aspect, a system for detecting a turning and U-turn area based on a skeleton line is provided, including:

[0026] A data acquisition module, configured to acquire an original trajectory and generate a road skeleton line according to the original trajectory;

[0027] An initial skeleton line segment module, communicatively connected to the data acquisition module, configured to acquire a plurality of initial skeleton line segments that meet a preset initial angle change condition according to the road skeleton line;

[0028] A final skeleton line segment module, communicatively connected to the initial skeleton line segment module, configured to acquire a corresponding plurality of final skeleton line segments that meet a preset final angle change condition for each of the initial skeleton line segments according to each of the initial skeleton line segments;

[0029] A to-be-detected trajectory segment module, communicatively connected to the data acquisition module and the final skeleton line segment module, configured to limit the range of the original trajectory corresponding to each of the final skeleton line segments to obtain a corresponding to-be-detected trajectory segment;

[0030] A judgment module, communicatively connected to the to-be-detected trajectory segment module, configured to calculate the radius of curvature of each of the to-be-detected trajectory segments and judge whether the to-be-detected trajectory segment exists in the turning and U-turn area.

[0031] In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for detecting a turning and U-turn area based on a skeleton line as described in any one of the above is implemented.

[0032] In a fourth aspect, an electronic device is provided, including a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein when the processor runs the computer program, the method for detecting a turning and U-turn area based on a skeleton line as described above is implemented.

[0033] Compared with the prior art, the advantages of the present invention are as follows: First, obtain the original trajectory and generate a road skeleton line according to the original trajectory; then, according to the road skeleton line, obtain multiple initial skeleton line segments that meet the preset initial angle change condition; then, according to each of the initial skeleton line segments, obtain the corresponding multiple final skeleton line segments that meet the preset final angle change condition for each initial skeleton line segment; then, limit the range of the original trajectory corresponding to each of the final skeleton line segments to obtain the corresponding trajectory segment to be measured; then, calculate the curvature radius of each of the trajectory segments to be measured to determine whether the trajectory segment to be measured exists in the turning-around area; Therefore, after obtaining the road skeleton line generated from the original trajectory, first detect the interval segments with large angle changes in the skeleton line - the initial skeleton line segments and the final skeleton line segments, because the effect of the skeleton line is not very good in some places or in roundabouts and other circular places, it will also be detected due to large angle changes. At this time, it is necessary to obtain the original trajectory corresponding to the vicinity of the final skeleton line segment - the trajectory segment to be measured, and judge whether the trajectory segment to be measured exists in the turning-around area by calculating the curvature radius of the trajectory segment to be measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic flowchart of an embodiment of a method for detecting a turning-around area based on a skeleton line according to the present invention;

[0035] Figure 2 is a schematic diagram of limiting the range of the final skeleton line segment according to the present invention;

[0036] Figure 3 is a schematic structural diagram of a system for detecting a turning-around area based on a skeleton line according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS:

[0038] 100. System for detecting a turning-around area based on a skeleton line; 110. Data acquisition module; 120. Initial skeleton line segment module; 130. Final skeleton line segment module; 140. Trajectory segment to be measured module; 150. Judgment module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] Now, specific embodiments of the present invention will be described in detail, and examples of the present invention are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the described embodiments. On the contrary, it is intended to cover modifications, variations, and equivalents included within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0040] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Note: The examples to be introduced next are only specific examples and do not limit that the embodiments of the present invention must be the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present invention by reading this specification to construct more embodiments not mentioned in this specification.

[0042] See Figure 1 As shown, an embodiment of the present invention provides a method for detecting a turning-around area based on a road skeleton line, including the following steps:

[0043] S100, obtain an original trajectory and generate a road skeleton line according to the original trajectory;

[0044] S200, according to the road skeleton line, obtain multiple initial skeleton line segments that meet the preset initial angle change condition;

[0045] S300, according to each of the initial skeleton line segments, obtain corresponding multiple final skeleton line segments for each initial skeleton line segment that meet the preset final angle change condition;

[0046] S400, limit the range of the original trajectory corresponding to each of the final skeleton line segments to obtain a corresponding trajectory segment to be measured;

[0047] S500, calculate the radius of curvature of each of the trajectory segments to be measured, and determine whether the trajectory segment to be measured exists in the turning-around area.

[0048] Specifically, in this embodiment, after obtaining the road skeleton line generated from the original trajectory, first detect the interval segments with large angle changes in the skeleton line - the initial skeleton line segments and the final skeleton line segments. Because the skeleton line has poor effects in some places or in roundabouts and other circular places, it will also be detected due to large angle changes. At this time, it is necessary to obtain the corresponding original trajectory near the final skeleton line segment - the trajectory segment to be measured, and judge whether the trajectory segment to be measured exists in the turning-around area by calculating the radius of curvature of the trajectory segment to be measured.

[0049] The present invention has the following beneficial effects:

[0050] 1. Since multiple trajectory data are collected for a road, detecting through the road skeleton line is more efficient and saves computing power than detecting through the original trajectory;

[0051] 2. By restricting the range of the original trajectory corresponding to each final bone segment, the corresponding trajectory segment to be measured is obtained, and then the radius of curvature of each trajectory segment to be measured is calculated to determine whether the trajectory segment to be measured exists in the turning-around area, which can greatly filter out the influence of detection errors such as circular areas and other circular shapes.

[0052] Preferably, in another embodiment of the present application, the step of "S200. According to the road bone line, obtain multiple initial bone segments that meet the preset initial angle change condition" specifically includes the following steps:

[0053] S210. Obtain the angle difference between all points on the road bone line and the first starting point. When the angle difference of one of the points is greater than the preset initial angle threshold, select a preset distance segment containing one of the points as the initial bone segment;

[0054] S220. Take the next point of one of the points as the second starting point, obtain the angle difference between the remaining points on the road bone line and the second starting point, and select all the initial bone segments based on the preset initial angle threshold.

[0055] Specifically, in this embodiment, calculate the angle difference between all points on the bone line and the starting point. When it exceeds a certain preset initial angle threshold (such as 50°), take the first of these points, and select a preset distance segment containing one of the points (a segment of a certain distance before and after this point) as the initial bone segment. Then take the next point of this point as the starting point, and continue to calculate the angle difference between all subsequent points and this new starting point, and loop until no area with angle change can be found. At this time, all the initial bone segments can be selected.

[0056] Preferably, in another embodiment of the present application, the step of "S300. According to each of the initial bone segments, obtain the corresponding multiple final bone segments of each initial bone segment that meet the preset final angle change condition" specifically includes the following steps:

[0057] S310. In each initial bone segment, obtain the angle difference between all points on the initial bone segment and the first starting point. When the angle difference of one of the points is greater than the preset final angle threshold, select a preset distance segment containing one of the points as the final bone segment;

[0058] S320. Take the next point of one of the points as the second starting point, obtain the angle difference between the remaining points on the initial bone segment and the second starting point, and select all the final bone segments based on the preset final angle threshold.

[0059] Specifically, in this embodiment, for the initially obtained initial bone line segments, since they are all line segments within a certain distance before and after the angle change points, there is a section at both the beginning and the end of the initially obtained initial bone line segments that has no obvious change. Or because the angle was set relatively wide to prevent missed detection in the previous step, there are some that do not meet the turning requirements of the preset final angle threshold (such as a change of 70°). Here, it is necessary to further determine whether the change angle of the initial bone line segment exceeds a certain final angle threshold. If the threshold is reached, all the final bone line segments can be selected.

[0060] Preferably, in another embodiment of the present application, the step of "S400, performing range limitation on the original trajectory corresponding to each of the final bone line segments to obtain the corresponding trajectory segment to be measured" specifically includes the following steps:

[0061] Set a range buffer, and intercept the original trajectory corresponding to each final bone line segment through the range buffer to obtain the trajectory segment to be measured.

[0062] Specifically, in this embodiment, referring to Figure 2 As shown, the middle line segment with an arrow is the final bone line segment, and the outer frame is the set range buffer. The width of the buffer can be adjusted through parameters. Constructing the range buffer is to limit the range, and only the trajectory segment to be measured within the buffer range is the required result. In this way, narrowing the range avoids large-scale searching, which can improve efficiency and also improve the accuracy of the result.

[0063] Preferably, in another embodiment of the present application, the step of "S500, calculating the radius of curvature of each of the trajectory segments to be measured and determining whether the trajectory segment to be measured exists in the turning area" specifically includes the following steps:

[0064] S510, in each trajectory segment to be measured, select three adjacent points on the trajectory segment to be measured for calculating the radius of curvature to obtain a plurality of radii of curvature;

[0065] S520, when any one of the radii of curvature is greater than the preset radius of curvature threshold, it is determined that the trajectory segment to be measured exists in the turning area.

[0066] Preferably, in another embodiment of the present application, the step of "S510, selecting three adjacent points on the trajectory segment to be measured for calculating the radius of curvature to obtain a plurality of radii of curvature" specifically includes the following steps:

[0067] The formula for calculating the radius of curvature of three adjacent points is as follows:

[0068] r = abs(0.5 * a / sin(theta * π / 180));

[0069] Wherein, three adjacent points are sequentially set as p0, p1, and p2; a is the distance between p0 and p2; theta is the angle between the direction vector from p1 to p0 and the direction vector from p1 to p2; abs is the absolute value.

[0070] Specifically, in this embodiment, the angular radius of each trajectory segment to be measured is calculated respectively. Since the three points are concyclic, for each adjacent three points or three points p0, p1, p2 at a certain interval, its radius of curvature is calculated:

[0071] a = d(p0, p2): the distance between p0 and p2;

[0072] theta = angle(p1→p0, p1→p2): the angle between the p1 - p0 vector and the p1 - p2 vector;

[0073] r = abs(0.5 * a / sin(theta * π / 180)): calculate the radius of curvature

[0074] In this way, there will be multiple radii of curvature for each trajectory segment to be measured, forming a set of radii of curvature; in a trajectory segment to be measured, as long as one radius of curvature in its set of radii of curvature is greater than the preset radius - of - curvature threshold, it is determined that the trajectory segment to be measured exists in the turning - around area.

[0075] See also Figure 3 As shown, an embodiment of the present invention also provides a system 100 for detecting a turning - around area based on a skeleton line, including: a data acquisition module 110, an initial skeleton line segment module 120, a final skeleton line segment module 130, a trajectory segment to be measured module 140, and a judgment module 150;

[0076] The data acquisition module 110 is configured to acquire an original trajectory and generate a road skeleton line according to the original trajectory;

[0077] The initial skeleton line segment module 120 is communicatively connected to the data acquisition module 110 and is configured to acquire multiple initial skeleton line segments that meet the preset initial angle change condition according to the road skeleton line;

[0078] The final skeleton line segment module 130 is communicatively connected to the initial skeleton line segment module 120 and is configured to acquire multiple corresponding final skeleton line segments that meet the preset final angle change condition for each initial skeleton line segment according to each initial skeleton line segment;

[0079] The trajectory segment to be measured module 140 is communicatively connected to the data acquisition module 110 and the final skeleton line segment module 130 and is configured to limit the range of the original trajectory corresponding to each final skeleton line segment to acquire the corresponding trajectory segment to be measured;

[0080] A determination module 150, communicatively connected to the to-be-detected trajectory segment module 140, is configured to calculate the radius of curvature for each of the to-be-detected trajectory segments and determine whether the to-be-detected trajectory segment exists in a turning or U-turn area.

[0081] Therefore, in the embodiment of the present invention, the original trajectory is first obtained, and the road skeleton line is generated based on the original trajectory; then, according to the road skeleton line, multiple initial skeleton line segments that meet the preset initial angle change condition are obtained; then, according to each of the initial skeleton line segments, multiple corresponding final skeleton line segments that meet the preset final angle change condition are obtained for each initial skeleton line segment; then, the range of the original trajectory corresponding to each of the final skeleton line segments is limited to obtain the corresponding to-be-detected trajectory segment; then, the radius of curvature of each of the to-be-detected trajectory segments is calculated to determine whether the to-be-detected trajectory segment exists in a turning or U-turn area; therefore, after obtaining the road skeleton line generated from the original trajectory, the interval segments with large angle changes of the skeleton line - the initial skeleton line segments and the final skeleton line segments are detected first. Because the effect of the skeleton line is not very good in some places or in roundabouts and other circular places, it will also be detected due to large angle changes. At this time, it is necessary to obtain the original trajectory - the to-be-detected trajectory segment near the final skeleton line segment, and by calculating the radius of curvature of the to-be-detected trajectory segment, it is determined whether the to-be-detected trajectory segment exists in a turning or U-turn area.

[0082] Specifically, this embodiment corresponds one-to-one with the above method embodiment, and the functions of each module have been described in detail in the corresponding method embodiment, so they will not be elaborated one by one here.

[0083] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0084] The implementation of all or part of the processes in the above method of the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0085] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0086] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The processor is the control center of the computer device and connects various parts of the entire computer device through various interfaces and lines.

[0087] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory, the processor can implement various functions of the computer device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include high-speed random access memory and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0088] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, a server, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0089] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0090] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the steps specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for the functions specified in one block or a plurality of blocks.

[0092] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for detecting a turning area based on bone line detection, characterized in that, Including the following steps: Obtain the original trajectory and generate a road skeleton line based on the original trajectory; Based on the road skeleton line, obtain multiple initial skeleton line segments that meet the preset initial angle change condition; Based on each of the initial skeleton line segments, obtain the corresponding multiple final skeleton line segments for each initial skeleton line segment that meet the preset final angle change condition; Limit the range of the original trajectory corresponding to each of the final skeleton line segments to obtain the corresponding trajectory segment to be measured; Calculate the radius of curvature of each of the trajectory segments to be measured and determine whether the trajectory segment to be measured exists in a turning or U-turn area; The step of "Based on the road skeleton line, obtain multiple initial skeleton line segments that meet the preset initial angle change condition" specifically includes the following steps: Obtain the angle difference between all points on the road skeleton line and the first starting point. When the angle difference of one of the points is greater than the preset initial angle threshold, select the preset distance line segment containing the one point as the initial skeleton line segment; Take the next point of the one point as the second starting point, obtain the angle difference between the remaining points on the road skeleton line and the second starting point, and select all the initial skeleton line segments based on the preset initial angle threshold until all are selected.

2. The method for detecting a turning area based on epiphyseal line as claimed in claim 1, wherein The step of "Based on each of the initial skeleton line segments, obtain the corresponding multiple final skeleton line segments for each initial skeleton line segment that meet the preset final angle change condition" specifically includes the following steps: In each initial skeleton line segment, obtain the angle difference between all points on the initial skeleton line segment and the first starting point. When the angle difference of one of the points is greater than the preset final angle threshold, select the preset distance line segment containing the one point as the final skeleton line segment; Take the next point of the one point as the second starting point, obtain the angle difference between the remaining points on the initial skeleton line segment and the second starting point, and select all the final skeleton line segments based on the preset final angle threshold until all are selected.

3. The method for detecting a turning area based on epiphyseal line as claimed in claim 1, wherein The step of "Limit the range of the original trajectory corresponding to each of the final skeleton line segments to obtain the corresponding trajectory segment to be measured" specifically includes the following steps: Set a range buffer and intercept the original trajectory corresponding to each final skeleton line segment through the range buffer to obtain the trajectory segment to be measured.

4. The method for detecting a turning area based on epiphyseal line as claimed in claim 1, wherein, The step of "Calculate the radius of curvature of each of the trajectory segments to be measured and determine whether the trajectory segment to be measured exists in a turning or U-turn area" specifically includes the following steps: In each trajectory segment to be measured, select three adjacent points on the trajectory segment to be measured to calculate the radius of curvature and obtain multiple radii of curvature; When any one of the radii of curvature is greater than the preset radius of curvature threshold, it is determined that the trajectory segment to be measured exists in a turning or U-turn area.

5. The method for detecting a turning area based on epiphyseal line as claimed in claim 4, wherein, The step of "Select three adjacent points on the trajectory segment to be measured to calculate the radius of curvature and obtain multiple radii of curvature" specifically includes the following steps: The formula for calculating the radius of curvature of three adjacent points is as follows: r = abs(0.5 * a / sin(theta * π / 180)); Wherein, three adjacent points are sequentially set as p0, p1, and p2; a is the distance between p0 and p2; theta is the angle between the direction vector from p1 to p0 and the direction vector from p1 to p2; abs is the absolute value.

6. A system for detecting a turning area based on bone line detection, characterized in that, Including: A data acquisition module, configured to acquire an original trajectory and generate a road skeleton line according to the original trajectory; An initial skeleton segment module, communicatively connected to the data acquisition module, configured to acquire multiple initial skeleton segments that meet a preset initial angle change condition according to the road skeleton line; A final skeleton segment module, communicatively connected to the initial skeleton segment module, configured to acquire multiple corresponding final skeleton segments that meet a preset final angle change condition for each initial skeleton segment according to each initial skeleton segment; A to-be-tested trajectory segment module, communicatively connected to the data acquisition module and the final skeleton segment module, configured to limit the range of the original trajectory corresponding to each final skeleton segment to obtain a corresponding to-be-tested trajectory segment; A judgment module, communicatively connected to the to-be-tested trajectory segment module, configured to calculate the curvature radius of each to-be-tested trajectory segment and judge whether the to-be-tested trajectory segment exists in a turning-around area; The initial skeleton segment module is configured to obtain the angle difference between all points on the road skeleton line and the first starting point. When the angle difference of one of the points is greater than a preset initial angle threshold, a preset distance segment including the one point is selected as the initial skeleton segment; Taking the next point of the one point as the second starting point, obtaining the angle difference between the remaining points on the road skeleton line and the second starting point, and selecting all the initial skeleton segments based on the preset initial angle threshold until all are selected.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method for detecting a turning-around area based on a skeleton line according to any one of claims 1 to 5.

8. An electronic device, comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein, When the processor runs the computer program, it implements the method for detecting a turning-around area based on a skeleton line according to any one of claims 1 to 5.

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