Bus route generation method and system based on vehicle U-turn detection, and electronic equipment

Abstract

The invention relates to a bus route generation method based on vehicle U-turn detection, which comprises the following steps of: firstly, determining a direction angle between each track point and front and back adjacent track points, then determining an included angle between two adjacent direction angles, and when the included angle continuously appears at 90 degrees for multiple times, considering that a route U-turn area appears; and then, comparing the distance between the starting track point and the ending track point in the path U-turn area with the minimum turning radius of the movement of the bus, and when the distance is greater than the minimum turning radius of the movement of the bus, judging that the bus can turn around from the current path U-turn area, and if the distance is greater than the minimum turning radius of the movement of the bus, judging that the bus can turn around from the current path U-turn area. And determining that the current to-be-generated bus route can be generated, and if not, determining that the current to-be-generated bus route is abandoned. On the basis of the method and the device, the road can be pre-marked, whether the turning-around condition exists in the route or not and whether the input vehicle meets the turning-around condition or not are detected, and therefore the technical problem that the turning-around condition of the vehicle cannot be considered in the to-be-optimized route in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of bus line network optimization, and in particular to a bus line generation method, system and electronic equipment based on vehicle U-turn detection. Background Art

[0002] The development of urban public transportation has an important impact on the development of many aspects of urban politics, economy, society and even culture. In addition, urban public transportation is the preferred mode of transportation for most travelers due to its wide coverage, economic and fast speed. In order to meet the growing transportation needs of residents, public transportation is given priority. In this case, the reasonable planning, dynamic evaluation and optimization and adjustment of urban bus lines are particularly important.

[0003] The optimization of bus networks includes opening new lines, adjusting existing lines, and canceling existing lines. For a long time, the optimization of bus networks has mainly relied on manual experience and intuition, and there has been a lack of a solution that can predict the effects of bus network optimization plans after they are implemented. To solve this technical problem, the applicant previously proposed an online decision support system for bus network optimization, namely, patent CN202311676806.8, which can analyze and predict the line benefits of the current lines to be optimized after they are implemented, thereby accurately and efficiently supporting the smooth formulation of bus network optimization plans before they are implemented.

[0004] However, the above existing schemes do not consider the U-turn problem of buses, that is, whether the vehicle can make a U-turn is not considered as a factor in bus route optimization. This may cause the embarrassing situation that some buses with different lengths cannot run on the implemented bus routes after the bus route optimization scheme is implemented. During the operation of buses, U-turn is an operation that drivers often need to perform in urban road environments. Therefore, it is very necessary to consider whether the vehicle can make a U-turn in the route to be optimized when optimizing bus routes, so as to solve the technical problems of judging whether the vehicle can make a U-turn and which vehicle models meet the requirements of the bus routes to be planned when planning bus routes, thereby providing auxiliary support for the planning of bus routes, especially new routes. Summary of the invention

[0005] In view of this, the present invention provides a bus route generation method based on vehicle U-turn detection, which can pre-mark the roads along which the bus route is to be opened, and detect whether there is a U-turn on the route and whether the vehicles involved meet the U-turn conditions.

[0006] The first aspect of the present invention discloses a method for generating a bus route based on vehicle U-turn detection, comprising the following steps:

[0007] Obtain the site coordinates of all the sites to be planned in the bus route to be generated;

[0008] Generate path trajectory points corresponding to the bus line to be generated according to the station coordinates;

[0009] For the bus route to be generated, sampling the path trajectory points, and determining a plurality of sampling trajectory points that can cover the entire route of the corresponding bus route to be generated;

[0010] For the plurality of sampled trajectory points, sequentially calculating and obtaining the direction angle between each trajectory point and the preceding and following adjacent trajectory points;

[0011] For the obtained multiple direction angles, the angle between two adjacent direction angles is calculated respectively, wherein the trajectory point area with angles greater than 90° appearing continuously is regarded as the path U-turn area, the center trajectory point with angle greater than 90° appearing for the first time in the path U-turn area is regarded as the starting trajectory point of the path U-turn area, and the center trajectory point with angle greater than 90° appearing for the last time in the path U-turn area is regarded as the ending trajectory point of the path U-turn area; wherein the direction angle refers to the direction of the line between adjacent trajectory points in the spatial coordinate system, and in the present invention, the angle between two adjacent direction angles can be understood as the angle between each trajectory point and the extension line of the line between the front and rear adjacent trajectory points; in the sampled trajectory points of the straight road, the angle between two adjacent direction angles does not change much or changes slightly, and when a turning or U-turn area appears, the angle between the adjacent direction angles will change, especially when transitioning from the straight road area to the turning or U-turn area, for example, at the starting trajectory point, the angle between the starting trajectory point and the extension line of the line between the front and rear adjacent trajectory points will be greater than 90°, which also applies to the ending trajectory point of the turning or U-turn area;

[0012] Calculate and obtain the distance between the starting track point and the ending track point in the path U-turn area based on the track point coordinate information;

[0013] It is determined whether the distance is greater than the minimum turning radius of the bus movement. If so, it is determined that the bus can make a U-turn in the U-turn area of ​​the current path, and it is determined that the current bus route to be generated can be generated. If not, it is determined that the bus cannot make a U-turn, and it is determined to abandon the current bus route to be generated.

[0014] Among them, the path trajectory points are distributed along the entire route of the bus route to be generated (or called "new route to be opened") to cover the entire route, and those skilled in the art should understand that the number of path trajectory points is greater than the number of sites to be planned in the bus route to be generated, wherein all or part of the sites to be planned can be part of the path trajectory points. In the implementation process of the above method, the direction angle between each trajectory point of the bus route to be generated (or called "new route to be opened") and the adjacent trajectory points before and after is first determined, and then the angle between the two adjacent direction angles is determined. When the angle appears 90° for multiple consecutive times, it is considered that the path U-turn area has appeared; wherein, preferably, it appears twice or more consecutively can be regarded as the angle appears multiple times. Then, based on the distance between the starting trajectory point and the ending trajectory point in the path U-turn area, the minimum turning radius of the bus movement is compared. When the distance is greater than the minimum turning radius of the bus movement, it is determined that the bus can turn around from the current path U-turn area, and it is determined that the current bus route to be generated can be generated. When it is not, it is determined that the bus cannot turn around, and it is determined to abandon the current bus route to be generated.

[0015] Among them, the minimum turning radius of the bus movement can be determined according to the parameters of the vehicle itself. For example, the turning radius can be determined according to the wheelbase of the vehicle to be used and the maximum deflection angle of the front wheels of the vehicle, and the turning radius is regarded as the minimum turning radius. This calculation process is existing technology and will not be repeated here.

[0016] In addition, the so-called calculating and obtaining the distance between the starting trajectory point and the ending trajectory point in the path U-turn area based on the trajectory point coordinate information means calculating the distance between the starting trajectory point and the ending trajectory point based on the GPS coordinate information of the two, that is, based on the distance between the starting trajectory point and the ending trajectory point, the road width of the area to be turned around can be determined, thereby making the judgment on whether the vehicle can turn around concrete.

[0017] According to the bus route generation method based on vehicle U-turn detection disclosed in the first aspect of the present invention, in the step of obtaining the site coordinates of all planned sites in the bus route to be generated, the site coordinates are the longitude and latitude coordinates of all planned sites.

[0018] According to the method for generating bus routes based on vehicle U-turn detection disclosed in the first aspect of the present invention, in the step of generating path track points corresponding to the bus route to be generated according to the station coordinates, the GPS track points of the entire bus route to be generated are obtained according to the longitude and latitude coordinates of all planned stations based on the map API. This can be implemented based on the existing technology and is not described in detail in this step. The map API can be the Amap API. Of course, those skilled in the art can understand that the generation of GPS track points can also be implemented based on other existing commercial map APTs.

[0019] According to the bus route generation method based on vehicle U-turn detection disclosed in the first aspect of the present invention, in the step of sampling path trajectory points and determining multiple sampled trajectory points that can cover the entire bus route to be generated, it includes: taking turning points and / or intersections in the path as key feature points, and dividing key feature areas and non-key feature areas based on the key feature points.

[0020] That is, the key feature points are turning points and intersections. For trajectory points near the key feature points (i.e., key feature areas), a weighted sampling method is used to increase the probability of these points being selected; and in non-key feature areas, a uniform sampling method is used to ensure coverage of the entire route. In addition, manual verification is performed to verify whether the sampling points evenly cover the entire route, especially in the key areas. In addition, the key feature areas can be determined based on the key feature points at the location, and the distance from the key feature points is used as the coverage area to determine the key feature areas, where the distance can be limited to 10-50m; areas other than the key feature areas are considered non-key feature areas. Specifically, the weighted sampling method and the uniform sampling method can be implemented through the existing weighted sampling scheme and the uniform sampling scheme, respectively, which will not be repeated here.

[0021] According to the bus route generation method based on vehicle U-turn detection disclosed in the first aspect of the present invention, in the step of sequentially calculating and obtaining the direction angle between each trajectory point and the front and rear adjacent trajectory points, the following formula 1 is used for calculation:

[0022] θ=arctan2(s in(ΔLon),cos(LatB)×cos(LatA)-sin(LatB)×s in(LatA)×cos(ΔLon)), where ΔLon=LonB-LonA;

[0023] Among them, arctan2 is the inverse tangent function, which returns the principal value of the given y and x values, that is, the angle range is between -π and π; LatA is the latitude of point A, LatB is the latitude of point B, LonA is the longitude of point A, and LonB is the longitude of point B. That is, taking three track points (each track point and its adjacent track points before and after) as an example, the one in the middle is the center track point, and the direction angle between the center track point and the adjacent track point in front, and the direction angle between the center track point and the adjacent track point in the back, are all calculated by formula 1, and the points A and B in formula 1 represent the two adjacent track points used to calculate the direction angle.

[0024] The second aspect of the present invention further discloses a bus route generation system based on vehicle U-turn detection, comprising:

[0025] A station coordinate acquisition unit, which is configured to acquire station coordinates of all planned stations in the bus route to be generated;

[0026] A path trajectory generating unit, which is configured to generate path trajectory points corresponding to the bus route to be generated according to the station coordinates;

[0027] A sampling unit is constructed to sample the path trajectory points and determine a plurality of sampling trajectory points that can cover the entire route of the bus route to be generated;

[0028] A first calculation unit is configured to sequentially calculate and obtain, for the plurality of sampled trajectory points, a direction angle between each trajectory point and its adjacent trajectory points;

[0029] The second calculation unit is constructed to calculate the angle between two adjacent direction angles for the obtained multiple direction angles, wherein a trajectory point area where angles greater than 90° appear continuously is regarded as a path U-turn area, a central trajectory point where an angle greater than 90° appears for the first time in the path U-turn area is regarded as a starting trajectory point of the path U-turn area, and a central trajectory point where an angle greater than 90° appears for the last time in the path U-turn area is regarded as an ending trajectory point of the path U-turn area;

[0030] A trajectory point distance calculation unit, which is configured to calculate and obtain the distance between the starting trajectory point and the ending trajectory point in the path U-turn area based on the trajectory point coordinate information thereof;

[0031] The judgment and bus route generation unit is constructed to judge whether the distance is greater than the minimum turning radius of the bus movement. If so, it is judged that the bus can make a U-turn from the U-turn area of ​​the current path, and it is determined that the current bus route to be generated can be generated. If not, it is judged that the bus cannot make a U-turn, and it is determined to abandon the current bus route to be generated.

[0032] According to the bus route generation system based on vehicle U-turn detection disclosed in the second aspect of the present invention, the site coordinates are the longitude and latitude coordinates of all planned sites; and the path trajectory points are GPS trajectory points.

[0033] According to the bus route generation system based on vehicle U-turn detection disclosed in the second aspect of the present invention, the sampling unit is constructed to take the turning points and / or intersections in the bus route to be generated as key feature points, and divide the key feature areas and non-key feature areas in the overall bus route to be generated based on the key feature points; and, a weighted sampling method is used to determine the key feature area trajectory points in the key feature area, and a uniform sampling method is used to determine the non-key feature area trajectory points in the non-key feature area, so as to form a plurality of sampling trajectory points together.

[0034] The third aspect of the present invention discloses an electronic device, which includes a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the bus route generation method based on vehicle U-turn detection disclosed in the first aspect of the present invention.

[0035] The fourth aspect of the present invention discloses a computer-readable storage medium storing computer instructions. When the computer instructions in the computer-readable storage medium are executed by a computing device, the computing device executes the method disclosed according to the first aspect of the present invention, or the computing device implements the functions of the system disclosed according to the second aspect of the present invention.

[0036] Beneficial effect: In the bus route generation method and system based on vehicle U-turn detection of the present invention, it is possible to detect whether there is a U-turn on the route and whether the vehicles put into use meet the U-turn conditions by pre-marking the roads, thereby solving the technical problem in the prior art that the vehicle U-turn situation cannot be considered in the route to be optimized, so that the vehicle U-turn situation is considered in the route planning process, so that the finally generated bus route meets the actual operation requirements of the bus.

[0037] The bus route generation method, system and electronic device based on vehicle U-turn detection of the present invention are disclosed in detail below in conjunction with the embodiments shown in the accompanying drawings and the accompanying drawing numbers. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The flowchart of the steps of the bus route generation method based on vehicle U-turn detection in the present invention is shown. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0041] Figure 1 The flowchart of the steps of the bus route generation method based on vehicle U-turn detection in the present invention is shown. Figure 1 As shown, the first aspect of the present invention discloses a bus route generation method based on vehicle U-turn detection, comprising the following steps:

[0042] Step S1, obtaining the site coordinates of all sites to be planned in the bus route to be generated;

[0043] Step S2 generates path trajectory points corresponding to the bus route to be generated according to the station coordinates;

[0044] Step S3: for the bus route to be generated, sampling the path trajectory points, and determining a plurality of sampling trajectory points that can cover the entire route of the corresponding bus route to be generated;

[0045] Step S4: for the plurality of sampled trajectory points, sequentially calculate and obtain the direction angle between each trajectory point and the adjacent trajectory points before and after;

[0046] Step S5, for the obtained multiple direction angles, respectively calculate the angle between two adjacent direction angles, wherein the area of ​​trajectory points where the angle is greater than 90° appears continuously is regarded as the path U-turn area, the first central trajectory point where the angle is greater than 90° appears in the path U-turn area is regarded as the starting trajectory point of the path U-turn area, and the last central trajectory point where the angle is greater than 90° appears in the path U-turn area is regarded as the ending trajectory point of the path U-turn area; wherein the central trajectory point refers to the trajectory point located in the middle when calculating the trajectory points adjacent to it before and after a certain trajectory point, that is, the coincident trajectory point of the two adjacent direction angles;

[0047] Step S6 calculates and obtains the distance between the starting track point and the ending track point in the path U-turn area based on the track point coordinate information;

[0048] Step S7 determines whether the distance is greater than the minimum turning radius of the bus movement. If so, it is determined that the bus can make a U-turn from the U-turn area of ​​the current path, and determines that the current bus route to be generated can be generated. If not, it is determined that the bus cannot make a U-turn, and determines to abandon the current bus route to be generated.

[0049] Among them, the path trajectory points are distributed along the entire route of the bus route to be generated (or called "new route to be opened") to cover the entire route, and those skilled in the art should understand that the number of path trajectory points is greater than the number of sites to be planned in the bus route to be generated, wherein all or part of the sites to be planned can be part of the path trajectory points. In the implementation process of the above method, the direction angle between each trajectory point of the bus route to be generated (or called "new route to be opened") and the adjacent trajectory points before and after is first determined, and then the angle between the two adjacent direction angles is determined. When the angle appears 90° for multiple consecutive times, it is considered that the path U-turn area has appeared; wherein, preferably, it appears twice or more consecutively can be regarded as the angle appears multiple times. Then, based on the distance between the starting trajectory point and the ending trajectory point in the path U-turn area, the minimum turning radius of the bus movement is compared. When the distance is greater than the minimum turning radius of the bus movement, it is determined that the bus can turn around from the current path U-turn area, and it is determined that the current bus route to be generated can be generated. When it is not, it is determined that the bus cannot turn around, and it is determined to abandon the current bus route to be generated.

[0050] In the method embodiment of the present invention, in step S1, the site coordinates are the longitude and latitude coordinates of all planned sites.

[0051] In the method embodiment of the present invention, in step S2, the GPS track points of the entire bus route to be generated are obtained based on the latitude and longitude coordinates of all planned sites based on the map API. This can be achieved based on the existing technology and is not described in detail in this step. The map API can be the Amap API. Of course, those skilled in the art can understand that the generation of GPS track points can also be achieved based on other existing commercial map APIs.

[0052] In the method embodiment of the present invention, in step S3, it includes: taking the turning points and / or intersections in the bus route to be generated as key feature points, and dividing the key feature area and the non-key feature area in the entire bus route to be generated based on the key feature points; using a weighted sampling method to determine the key feature area trajectory points in the key feature area, and using a uniform sampling method to determine the non-key feature area trajectory points in the non-key feature area, to form a plurality of sampled trajectory points together.

[0053] That is, the key feature points are turning points and intersections. For trajectory points near the key feature points (i.e., key feature areas), a weighted sampling method is used to increase the probability of these points being selected; and in non-key feature areas, a uniform sampling method is used to ensure coverage of the entire route. In addition, manual verification is performed to verify whether the sampling points evenly cover the entire route, especially in the key areas. In addition, the key feature areas can be determined based on the key feature points at the location, and the distance from the key feature points is used as the coverage area to determine the key feature areas, where the distance can be limited to 10-50m; areas other than the key feature areas are considered non-key feature areas. Specifically, the weighted sampling method and the uniform sampling method can be implemented through the existing weighted sampling scheme and the uniform sampling scheme, respectively, which will not be repeated here.

[0054] In the method embodiment of the present invention, in the step of calculating and obtaining the direction angle θ1 of the overall bus route to be generated, the following formula 1 is used for calculation:

[0055] θ=arctan2(s in(ΔLon),cos(LatB)×cos(LatA)-sin(LatB)×s in(LatA)×cos(ΔLon)), where ΔLon=LonB-LonA; where arctan2 is an inverse tangent function, which returns the principal value of a given y and x value, i.e., the angle range is between -π and π; LatA is the latitude of point A, LatB is the latitude of point B, LonA is the longitude of point A, and LonB is the longitude of point B. That is, taking three trajectory points (each trajectory point and its adjacent trajectory points before and after) as an example, the one in the middle is the center trajectory point, and the direction angle between the center trajectory point and the adjacent trajectory point in front, and the direction angle between the center trajectory point and the adjacent trajectory point in the back, are all calculated by formula 1, and points A and B in formula 1 represent two adjacent trajectory points used to calculate the direction angle.

[0056] The present invention also discloses a bus route generation system based on vehicle U-turn detection, comprising:

[0057] A station coordinate acquisition unit, which is configured to acquire station coordinates of all planned stations in the bus route to be generated;

[0058] A path trajectory generating unit, which is configured to generate path trajectory points corresponding to the bus route to be generated according to the station coordinates;

[0059] A sampling unit is constructed to sample the path trajectory points and determine a plurality of sampling trajectory points that can cover the entire route of the bus route to be generated;

[0060] A first calculation unit is configured to sequentially calculate and obtain, for the plurality of sampled trajectory points, a direction angle between each trajectory point and its adjacent trajectory points;

[0061] The second calculation unit is constructed to calculate the angle between two adjacent direction angles for the obtained multiple direction angles, wherein a trajectory point area where angles greater than 90° appear continuously is regarded as a path U-turn area, a central trajectory point where an angle greater than 90° appears for the first time in the path U-turn area is regarded as a starting trajectory point of the path U-turn area, and a central trajectory point where an angle greater than 90° appears for the last time in the path U-turn area is regarded as an ending trajectory point of the path U-turn area;

[0062] A trajectory point distance calculation unit, which is configured to calculate and obtain the distance between the starting trajectory point and the ending trajectory point in the path U-turn area based on the trajectory point coordinate information thereof;

[0063] The judgment and bus route generation unit is constructed to judge whether the distance is greater than the minimum turning radius of the bus movement. If so, it is judged that the bus can make a U-turn from the U-turn area of ​​the current path, and it is determined that the current bus route to be generated can be generated. If not, it is judged that the bus cannot make a U-turn, and it is determined to abandon the current bus route to be generated.

[0064] In the implementation process of the above system, the site coordinates of all the sites to be planned are first determined by the site coordinate acquisition unit, and then the path trajectory points of the bus line to be generated are generated by the path trajectory generation unit, and the sampling trajectory points that can cover the entire bus line to be generated are determined based on the sampling unit, and then the direction angle between each trajectory point of the bus line to be generated (or called "new line to be opened") and the adjacent trajectory points before and after are determined by the calculation unit, and then the angle between the two adjacent direction angles is determined. When the angle appears 90° for multiple consecutive times, it is considered that the path U-turn area has appeared; wherein, preferably, it can be considered that the angle appears for multiple consecutive times when it appears twice or more. Then, based on the distance between the starting trajectory point and the ending trajectory point in the path U-turn area, the minimum turning radius of the bus movement is compared. When the distance is greater than the minimum turning radius of the bus movement, it is determined that the bus can turn around from the current path U-turn area, and it is determined that the current bus line to be generated can be generated. When it is not, it is determined that the bus cannot turn around, and it is determined to abandon the current bus line to be generated.

[0065] In the system embodiment of the present invention, the site coordinates are the longitude and latitude coordinates of all planned sites; and the path track points are GPS track points.

[0066] In a system embodiment of the present invention, the sampling unit is constructed to take turning points and / or intersections in the bus route to be generated as key feature points, and divide the entire bus route to be generated into key feature areas and non-key feature areas based on the key feature points; and, a weighted sampling method is used to determine the key feature area trajectory points in the key feature area, and a uniform sampling method is used to determine the non-key feature area trajectory points in the non-key feature area, so as to form a plurality of sampling trajectory points together.

[0067] The third aspect of the present invention further discloses an electronic device, which includes a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the bus route generation method based on vehicle U-turn detection disclosed in the first aspect of the present invention.

[0068] The fourth aspect of the present invention discloses a computer-readable storage medium storing computer instructions. When the computer instructions in the computer-readable storage medium are executed by a computing device, the computing device executes the method disclosed according to the first aspect of the present invention, or the computing device implements the functions of the system disclosed according to the second aspect of the present invention.

[0069] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0071] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0072] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A bus route generation method based on vehicle U-turn detection, characterized in that: The following steps are involved: Obtain the site coordinates of all the sites to be planned in the bus route to be generated; Generate path trajectory points corresponding to the bus line to be generated according to the station coordinates; For the bus route to be generated, sampling the path trajectory points, and determining a plurality of sampling trajectory points that can cover the entire route of the corresponding bus route to be generated; For the plurality of sampled trajectory points, sequentially calculating and obtaining the direction angle between each trajectory point and the preceding and following adjacent trajectory points; For the multiple direction angles obtained, the angles between two adjacent direction angles are calculated respectively, wherein the area of ​​trajectory points with consecutive angles greater than 90° is regarded as the path U-turn area, the first central trajectory point with an angle greater than 90° in the path U-turn area is regarded as the starting trajectory point of the path U-turn area, and the last central trajectory point with an angle greater than 90° in the path U-turn area is regarded as the ending trajectory point of the path U-turn area; Calculate and obtain the distance between the starting track point and the ending track point in the path U-turn area based on the track point coordinate information; It is determined whether the distance is greater than the minimum turning radius of the bus movement. If so, it is determined that the bus can make a U-turn in the U-turn area of ​​the current path, and it is determined that the current bus route to be generated can be generated. If not, it is determined that the bus cannot make a U-turn, and it is determined to abandon the current bus route to be generated.

2. The bus route generation method based on vehicle U-turn detection according to claim 1 is characterized in that: In the step of obtaining the site coordinates of all planned sites in the bus route to be generated, the site coordinates are the longitude and latitude coordinates of all planned sites.

3. The bus route generation method based on vehicle U-turn detection according to claim 2 is characterized in that: In the step of generating the path track points corresponding to the bus line to be generated according to the site coordinates, the GPS track points of the entire bus line to be generated are obtained according to the longitude and latitude coordinates of all planned sites based on the map API.

4. The bus route generation method based on vehicle U-turn detection according to claim 3 is characterized in that: The step of sampling the path trajectory points to determine a plurality of sampled trajectory points that can cover the entire bus route to be generated includes: Taking turning points and / or intersections in the path as key feature points, and dividing key feature areas and non-key feature areas based on the key feature points; A weighted sampling method is used to determine the key feature area trajectory points in the key feature area, and a uniform sampling method is used to determine the non-key feature area trajectory points in the non-key feature area, and the multiple sampling trajectory points are jointly formed.

5. The method for generating bus routes based on vehicle U-turn detection according to claim 4, characterized in that: In the step of sequentially calculating and obtaining the direction angle between each track point and the adjacent track points, the following formula 1 is used for calculation: θ=arctan2(sin(ΔLon),cos(LatB)×cos(LatA)-sin(LatB)×sin(LatA)×cos(ΔLon)), where ΔLon=LonB-LonA; Among them, arctan2 is the inverse tangent function; LatA is the latitude of point A, LatB is the latitude of point B, LonA is the longitude of point A, and LonB is the longitude of point B.

6. A bus route generation system based on vehicle U-turn detection, characterized in that: include: A station coordinate acquisition unit, which is configured to acquire station coordinates of all planned stations in the bus route to be generated; A path trajectory generating unit, which is configured to generate path trajectory points corresponding to the bus route to be generated according to the station coordinates; A sampling unit is constructed to sample the path trajectory points and determine a plurality of sampling trajectory points that can cover the entire route of the bus route to be generated; A first calculation unit is configured to sequentially calculate and obtain, for the plurality of sampled trajectory points, a direction angle between each trajectory point and its adjacent trajectory points; The second calculation unit is constructed to calculate the angle between two adjacent direction angles for the obtained multiple direction angles, wherein a trajectory point area where angles greater than 90° appear continuously is regarded as a path U-turn area, a central trajectory point where an angle greater than 90° appears for the first time in the path U-turn area is regarded as a starting trajectory point of the path U-turn area, and a central trajectory point where an angle greater than 90° appears for the last time in the path U-turn area is regarded as an ending trajectory point of the path U-turn area; A trajectory point distance calculation unit, which is configured to calculate and obtain the distance between the starting trajectory point and the ending trajectory point in the path U-turn area based on the trajectory point coordinate information thereof; The judgment and bus route generation unit is constructed to judge whether the distance is greater than the minimum turning radius of the bus movement. If so, it is judged that the bus can make a U-turn from the U-turn area of ​​the current path, and it is determined that the current bus route to be generated can be generated. If not, it is judged that the bus cannot make a U-turn, and it is determined to abandon the current bus route to be generated.

7. The bus route generation system based on vehicle U-turn detection according to claim 6 is characterized in that: in, The site coordinates are the latitude and longitude coordinates of all planned sites; the path track points are GPS track points.

8. The bus route generation system based on vehicle U-turn detection according to claim 7 is characterized in that: The sampling unit is constructed as follows: taking turning points and / or intersections in the bus route to be generated as key feature points, and dividing the bus route to be generated as a whole into key feature areas and non-key feature areas based on the key feature points; and using a weighted sampling method to determine trajectory points in the key feature areas, and using a uniform sampling method to determine trajectory points in the non-key feature areas, to form the plurality of sampling trajectory points together.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the bus route generation method based on vehicle U-turn detection according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: It stores computer instructions. When the computer instructions in the computer-readable storage medium are executed by a computing device, the computing device executes the method according to any one of claims 1 to 5, or the computing device implements the functions of the system according to any one of claims 6 to 8.

Images