Turning road section identification method, system and equipment based on GPS track, and medium

Abstract

The invention discloses a turning road section identification method, system and device based on a GPS track, and a medium. The method comprises the following steps: obtaining a GPS track sequence; the GPS track sequence comprises a plurality of track points of one line and path vectors of two adjacent track points; presetting a radius, taking a track point in the GPS track sequence as a circle center, and making a first circular fence of the track point according to the radius; determining a pair of path vectors intersected with the circular fence corresponding to each track point, and calculating a path included angle of each pair of path vectors; taking the track points corresponding to each pair of path vectors of which the path included angles are greater than a first threshold as candidate track points to obtain a candidate track point set; and determining the turning road section according to the candidate track point set, so that the turning road section can be efficiently and accurately identified based on the GPS track sequence according to the radius and angle threshold value for identifying the turning road section.

Description

Technical Field

[0001] The present application relates to the technical field, and in particular to a method, system, device and medium for identifying a turning section based on a GPS trajectory. Background Art

[0002] In traffic management, accidents often occur on curved sections of a route because drivers cannot accurately predict the turning points. Therefore, it is necessary to issue safety reminders when a vehicle is about to enter a curved section, and to be able to analyze the driver's safe driving behavior afterwards. Currently, the identification of curve points on a route mainly relies on manual annotation, or the analysis of camera images and speed sensor data in front of the vehicle through the on-board system. However, these methods require a large amount of data analysis, which is not only costly and inefficient, but also prone to measurement errors and cannot guarantee the accuracy of the predicted data. Summary of the invention

[0003] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0004] The main purpose of the embodiments of the present disclosure is to propose a method, system, device and storage medium for identifying turning sections based on GPS trajectory, which can efficiently and accurately identify turning sections in a route based on the GPS trajectory of the route.

[0005] A first aspect of an embodiment of the present application provides a method for identifying a turning section based on a GPS track, which is used in a central controller. The method includes:

[0006] Acquire a GPS trajectory sequence; the GPS trajectory sequence includes a plurality of trajectory points of a route and a path vector of two adjacent trajectory points;

[0007] A first circular fence of the track point is made according to a preset radius, with the track point in the GPS track sequence as the center of the circle;

[0008] Determine a pair of path vectors that intersect the circular fence corresponding to each of the trajectory points, and calculate the path angle of each pair of path vectors;

[0009] The trajectory points corresponding to each pair of path vectors whose path angle is greater than the first threshold are taken as candidate trajectory points to obtain a candidate trajectory point set; and the turning section is determined according to the candidate trajectory point set.

[0010] The embodiment of the present application provides a method for identifying a turning section based on a GPS trajectory, by obtaining a GPS trajectory sequence; the GPS trajectory sequence includes multiple trajectory points of a route, and path vectors of two adjacent trajectory points; a preset radius is used, and the trajectory points in the GPS trajectory sequence are used as the center of the circle, and a first circular fence of the trajectory points is made according to the radius; a pair of path vectors intersecting the circular fence corresponding to each of the trajectory points is determined, and the path angle of each pair of path vectors is calculated; the trajectory points corresponding to each pair of path vectors whose path angle is greater than a first threshold are used as candidate trajectory points to obtain a set of candidate trajectory points; the turning section is determined according to the set of candidate trajectory points, and the turning section can be efficiently and accurately identified based on the GPS trajectory sequence and the radius and angle threshold used to identify the turning section.

[0011] In some embodiments of the present application, before making a first circular fence of trajectory points according to the radius, the method further includes:

[0012] The radius is calculated according to the following formula:

[0013]

[0014] Wherein, r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, and n represents the number of trajectory points.

[0015] In some embodiments of the present application, determining a pair of path vectors intersecting the circular fence corresponding to each of the trajectory points includes:

[0016] Taking the trajectory point as the center point, all path vectors in the GPS trajectory sequence are divided into a front path vector located before the center point and a rear path vector located after the center point;

[0017] Determine a first path vector intersecting the circular fence corresponding to the trajectory point from the previous path vector;

[0018] Determine, from the latter path vector, a second path vector intersecting the circular fence corresponding to the trajectory point;

[0019] The first path vector and the second path vector are used as a pair of path vectors of the trajectory point.

[0020] In some embodiments of the present application, determining the turning section according to the candidate trajectory point set includes:

[0021] The candidate trajectory point set is grouped to obtain a plurality of groups; wherein a plurality of candidate trajectory points that are consecutively adjacent in the GPS trajectory sequence are grouped into one group, and candidate trajectory points that have no adjacent candidate trajectory points in the GPS trajectory sequence are grouped into a separate group;

[0022] Each group is regarded as a corresponding turning section.

[0023] In some embodiments of the present application, after determining the turning section according to the candidate trajectory point set, the method further includes:

[0024] Determine a turning trajectory point and an identification radius for each candidate trajectory point group, take the turning trajectory point as the center of a circle, and make a circular fence for the turning trajectory point according to the identification radius;

[0025] The circular fence passing through all the turning trajectory points represents the turning section of the GPS trajectory sequence.

[0026] In some embodiments of the present application, before determining the turning trajectory point and identification radius of each candidate trajectory point group, the method further includes:

[0027] When there is only one candidate turning point in the candidate trajectory group, the candidate trajectory point is used as the turning trajectory point, and the radius of the candidate trajectory point is used as the identification radius;

[0028] When there are multiple candidate turning points in the candidate trajectory group, the candidate turning point with the largest path angle in the candidate trajectory point group is used as the turning trajectory point, and the recognition radius is calculated according to the turning trajectory point.

[0029] In some embodiments of the present application, before determining the turning trajectory point and identification radius of each candidate trajectory point group, the method further includes:

[0030] The identification radius is calculated according to the following formula:

[0031]

[0032] Wherein, R represents the identification radius, r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y sRepresents the latitude coordinate of the sth trajectory point.

[0033] To achieve the above object, a second aspect of an embodiment of the present invention provides a GPS track-based turning section identification system, the system comprising:

[0034] An acquisition module, used to acquire a GPS trajectory sequence; the GPS trajectory sequence includes a plurality of trajectory points of a route and a path vector of two adjacent trajectory points;

[0035] A setting module, for presetting a radius, taking a track point in the GPS track sequence as a center, and making a first circular fence of the track point according to the radius;

[0036] A calculation module, used to determine a pair of path vectors intersecting the circular fence corresponding to each of the trajectory points, and calculate the path angle of each pair of path vectors;

[0037] The identification module is used to take the trajectory points corresponding to each pair of path vectors whose path angle is greater than the first threshold as candidate trajectory points to obtain a set of candidate trajectory points; and determine the turning section according to the set of candidate trajectory points.

[0038] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present invention provides an electronic device, comprising: at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the above-mentioned method for identifying turning sections based on GPS trajectory.

[0039] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned method for identifying a turning section based on a GPS trajectory.

[0040] It can be understood that the beneficial effects of the second to fourth aspects compared with the related art are the same as the beneficial effects of the first aspect compared with the related art. Please refer to the relevant description in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] Figure 1 It is a flowchart of a method for identifying a turning section based on a GPS track provided in an embodiment of the present application;

[0043] Figure 2 It is a schematic diagram of calculating the angle of intersection vectors of circular fences around trajectory points in one implementation provided by an embodiment of the present application;

[0044] Figure 3 is a schematic diagram of calculating the angle between adjacent vectors of trajectory points in an implementation manner provided in an embodiment of the present application;

[0045] Figure 4 This is a schematic diagram of the effect of an implementation method provided in an embodiment of the present application;

[0046] Figure 5 This is an example effect diagram of an implementation method provided in an embodiment of the present application;

[0047] Figure 6 It is a structural schematic diagram of a turning road section identification system based on GPS trajectory provided in an embodiment of the present application;

[0048] Figure 7 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0050] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0051] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0053] First, some nouns involved in this application are analyzed:

[0054] Noun: GPS track is a series of location points of outdoor activities collected by GPS track recorder. Each point includes at least date, time, longitude, latitude, altitude information and speed. The turning section of the route refers to the section where the path changes significantly during the driving process of the vehicle, usually with a large curvature, including sharp turns, U-turns, S-turns, etc.

[0055] The turning sections of the route are usually where accidents occur frequently. To ensure safety, it is necessary to analyze the turning sections in the route and remind drivers to drive carefully to avoid accidents caused by improper turns.

[0056] In intelligent transportation systems, identifying turns in routes is of great significance for traffic safety, traffic management and driving behavior analysis. Traditional methods for identifying turns usually rely on high-precision maps or manually marking route trajectories in map information systems, which are then stored in map databases or vehicle-mounted systems for user backup, or analyzed through the vehicle-mounted system using camera images and speed sensor data in front of the vehicle. However, these methods require a large amount of data analysis, which is not only costly and inefficient, but also prone to measurement errors and cannot guarantee the accuracy of predicted data.

[0057] Based on this, the embodiments of the present application provide a method, system, electronic device and medium for identifying turning sections based on GPS trajectory, aiming at achieving technical effects.

[0058] The method, system, electronic device and medium for identifying a turning section based on a GPS trajectory provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the method for identifying a turning section based on a GPS trajectory in the embodiments of the present application is described.

[0059] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Among them, artificial intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0060] AI basic technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. AI software technologies mainly include computer vision technology, robotics technology, biometrics technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0061] The method for identifying a turning section based on GPS trajectory provided in the embodiment of the present application relates to a technical field. The method for identifying a turning section based on GPS trajectory provided in the embodiment of the present application can be applied to a terminal, can be applied to a server side, or can be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or can be configured as a server cluster or a distributed system composed of multiple physical servers, or can be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements a method for identifying a turning section based on GPS trajectory, etc., but is not limited to the above forms.

[0062] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0063] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0064] For this purpose, refer to Figure 1The embodiment of the present application provides a method for identifying a turning section based on a GPS trajectory. The method is applied to a central controller. The controller may be a server, an electronic device, or a mobile terminal, etc., which is not specifically limited here. The method includes the following steps S110 to S140:

[0065] Step S110, obtaining a GPS trajectory sequence; the GPS trajectory sequence includes a plurality of trajectory points of a route and a path vector between two adjacent trajectory points.

[0066] In this step, the GPS trajectory sequence containing multiple trajectory points of a route can be obtained by uploading it to a processing terminal through a file, a database, a GPS vehicle-mounted terminal, etc., or by collecting the GPS points reported by n vehicles in a row in real time through a production system, extracting the time, longitude, and latitude in the GPS trajectory points, and converting them into a GPS trajectory sequence in chronological order. Each trajectory point contains longitude and latitude information, and the obtained trajectory points can be converted into the position sequence of the route according to the time sequence of the trajectory points, thereby forming a path vector of two adjacent trajectory points through multiple trajectory points of the route, and the path vector represents the direction and distance between two adjacent trajectory points.

[0067] Furthermore, by obtaining the GPS trajectory sequence, basic trajectory data is provided, which provides the necessary input for subsequent path analysis and turning point identification, ensuring the integrity and continuity of the data, and facilitating subsequent calculations and analysis. Moreover, by further identifying the turning section by only processing the GPS trajectory sequence, it can not only be applied to the identification of turning sections of fixed line trajectories, but also can be used to find the turning sections passed by the vehicle in the real-time GPS sequence of the vehicle.

[0068] Step S120: preset a radius, take the track point in the GPS track sequence as the center of the circle, and make a first circular fence of the track point according to the radius.

[0069] In this step, a radius is preset for subsequent determination of candidate trajectory points, so that the trajectory point in the GPS trajectory sequence is used as the center of the circle, and the first circular fence of the trajectory point is made according to the radius, wherein the radius is an adjustable parameter, which can be set to a fixed value based on experience, or the average interval distance of the trajectory sequence can be calculated as the radius, and each trajectory point can be judged using the same radius or a different radius.

[0070] In some embodiments, before step S120 forms a first circular fence of trajectory points according to the radius, the method further includes:

[0071] The radius is calculated according to the following formula:

[0072]

[0073] Where r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, and n represents the number of trajectory points.

[0074] In this embodiment, by calculating the average interval distance of each trajectory point in the trajectory sequence as the radius, the circular fence used for subsequent judgment can be more adapted to the actual trajectory distribution, making it more suitable for different application scenarios, reducing misjudgment, optimizing resource utilization, and improving overall accuracy.

[0075] Step S130: determine a pair of path vectors that intersect the circular fence corresponding to each trajectory point, and calculate the path angle of each pair of path vectors.

[0076] In this step, a pair of path vectors intersecting the circular fence corresponding to each trajectory point is determined, and the path angle of each pair of path vectors is calculated. Specifically, the method includes: taking the trajectory point as the center point, dividing all path vectors in the GPS trajectory sequence into a front path vector located before the center point, and a rear path vector located after the center point, and then determining a first path vector intersecting the circular fence corresponding to the trajectory point from the front path vector and determining a second path vector intersecting the circular fence corresponding to the trajectory point from the rear path vector, and then using the first path vector and the second path vector as a pair of path vectors for the trajectory point.

[0077] Furthermore, by respectively calculating the azimuth of each path vector in each pair of path vectors, the angle difference between the two azimuths, ie, the path angle, is calculated according to the azimuth of each path vector in each pair of path vectors.

[0078] In some embodiments, determining a pair of path vectors intersecting the circular fence corresponding to each trajectory point in step S130 includes the following steps S210 to S240:

[0079] Step S210, taking the trajectory point as the center point, dividing all path vectors in the GPS trajectory sequence into a front path vector located before the center point and a rear path vector located after the center point;

[0080] Step S220, determining a first path vector intersecting the circular fence corresponding to the trajectory point from the previous path vector;

[0081] Step S230, determining a second path vector intersecting the circular fence corresponding to the trajectory point from the latter path vector;

[0082] Step S240: Use the first path vector and the second path vector as a pair of path vectors of the trajectory point.

[0083] In this embodiment, the currently processed trajectory point is first determined to be s, and a circular fence is made with the trajectory point s as the center and r as the radius. Then, the path sequence is divided into two sections with the trajectory point s as the center, which are recorded as: and n represents the number of trajectory points. Then, two path vector sequences are formed through these two path sequences, which are recorded as: and

[0084]

[0085] Furthermore, the vectors of the path vector sequence intersecting with the circular fence made by the radius are determined by the path vector sequence. First, the vector sequence is determined The vector that intersects the border of the circular fence, from the vector Start searching backwards, first determine the vector Check if there is an intersection with the circular fence boundary. If there is an intersection, determine that the vector is the intersection vector. Otherwise, select the next vector. Determine whether it intersects with the boundary of the circular fence until an intersecting vector is found, or return a vector sequence The last vector in .

[0086] Then, determine the vector sequence The vector that intersects the border of the circular fence, from the vector Start searching forward, first determine the vector Check if there is an intersection with the boundary of the circular fence. If there is an intersection, the vector is determined to be the intersection vector. Otherwise, the next vector is selected. Determine whether it intersects with the boundary of the circular fence until an intersecting vector is found, or return a vector sequence The last vector in , we end up with two vectors where the two path vector sequences intersect with the circular fence.

[0087] Among them, when judging whether the vector intersects with the circular fence, set For the current comparison vector, first calculate the distance ‖d between one of the vector endpoints a and the center s of the circular fence as ‖, then calculate the distance ‖d between the other endpoint of the vector, point b, and the center s of the circular fence bs ‖, the distance between one of the endpoints a of the vector and the center s of the circular fence ‖das ‖ is less than or equal to the radius of the circular fence and less than or equal to the distance between the other endpoint b of the vector and the center s of the circular fence‖d bs ‖, or the distance between the other end point b of the vector and the center point s of the circular fence ‖d bs ‖ is less than or equal to the radius of the circular fence and less than or equal to the distance between one of the endpoints a of the vector and the center s of the circular fence‖d as ‖, determine the vector There is an intersection with the circular fence. The specific judgment inequality is as follows:

[0088] ‖d as ‖≤r≤‖d bs ‖ or ‖d bs ‖≤r≤‖d as ‖(r is the radius of the circular fence);

[0089] Among them, the distance between the vector endpoint and the center of the circle can be calculated using the formula for calculating the distance between two points on the earth's surface:

[0090]

[0091] Represents the distance between point 1 and point 2. The distance between the vector endpoint and the circle center can be calculated by substituting the vector endpoint and the circle center. R is the radius of the earth.

[0092] Furthermore, to calculate the angle between two vectors intersecting the path vector sequence and the circular fence, the azimuths of the two vectors can be calculated respectively first, and then the angle difference between the two azimuths can be used as the path angle.

[0093] First, the vector The azimuth is calculated using the following formula:

[0094]

[0095] Based on the azimuth of the vector, the formula for calculating the angle between the two vectors of the path vector sequence and the circular fence is:

[0096]

[0097] Wherein, it means that when the absolute value of the difference between the angles of the two vectors intersecting the path vector sequence and the circular fence is less than 180, the angle between the two vectors is the absolute value of the difference between the angles of the two vectors intersecting the path vector sequence and the circular fence; when the absolute value of the difference between the angles of the two vectors intersecting the path vector sequence and the circular fence is greater than or equal to 180, the angle between the two vectors is 360 minus the absolute value of the difference between the angles of the two vectors intersecting the path vector sequence and the circular fence, wherein the absolute values ​​β1 and β2 of the difference between the angles of the two vectors intersecting the path vector sequence and the circular fence are the azimuths of the two vectors intersecting the path vector sequence and the circular fence, respectively. Finally, the angle between the two vectors intersecting the path vector sequence and the circular fence is calculated by using the formula for calculating the angle between the two vectors intersecting the path vector sequence and the circular fence, that is, the path angle. In addition, the interval of the path angle is [0,180].

[0098] Step S140: taking the trajectory points corresponding to each pair of path vectors whose path angle is greater than the first threshold as candidate trajectory points to obtain a candidate trajectory point set; and determining the turning section according to the candidate trajectory point set.

[0099] In this step, whether the trajectory point is a candidate trajectory point is determined based on the preset first threshold and the calculated path angle, wherein the first threshold is an adjustable parameter, and its range is preferably 0 to 180 degrees, that is, the turning angle threshold. When the path angle of the trajectory point exceeds the first threshold, it means that there is a large change in the direction of the path vector around the trajectory point, so the trajectory point exists in the terminal turning section of the line and is a candidate turning point. Moreover, under different application requirements, different radius and path angle thresholds can be set according to actual needs to identify turning sections of different sizes.

[0100] In some embodiments, determining the turning section according to the candidate trajectory point set in step S140 includes the following steps S310 to S320:

[0101] Step S310, grouping the candidate trajectory point set to obtain a plurality of groups; wherein, a plurality of candidate trajectory points that are consecutively adjacent in the GPS trajectory sequence are grouped into one group, and candidate trajectory points that have no adjacent candidate trajectory points in the GPS trajectory sequence are grouped into a separate group;

[0102] Step S320: taking each group as a corresponding turning section.

[0103] In this embodiment, a plurality of groups are obtained by grouping the candidate trajectory point set, each group corresponding to a turning section, wherein, since the candidate turning points with consecutive path numbers are displayed as consecutive GPS trajectory points of the same turning section on the electronic map, the grouping basis is preferably based on the path numbers of the candidate turning points, and the candidate turning points with consecutive numbers are divided into the same group, that is, multiple candidate trajectory points that are consecutively adjacent in the GPS trajectory sequence are grouped together, and the candidate trajectory points that have no adjacent candidate trajectory points in the GPS trajectory sequence are grouped separately.

[0104] In some embodiments, after determining the turning section according to the candidate trajectory point set in step S140, the following steps are also included:

[0105] Determine the turning trajectory point and identification radius of each candidate trajectory point group, take the turning trajectory point as the center of the circle, and make a circular fence of the turning trajectory point according to the identification radius;

[0106] The circular fence passing through all turning trajectory points represents the turning section of the GPS trajectory sequence.

[0107] In this embodiment, the turning trajectory point and identification radius of each candidate trajectory point group are determined according to application requirements, and a circular fence of the turning trajectory point is made according to the identification radius with the turning trajectory point as the center of the circle. Since the circular fence can cover the turning section, the turning section of the GPS trajectory sequence is represented by the circular fence of all the turning trajectory points. Other turning expressions can also be selected according to actual needs, which brings convenience to subsequent data analysis and processing such as safety warning and driving behavior analysis.

[0108] In some embodiments, before determining the turning trajectory point and the identification radius of each candidate trajectory point group, the method further includes:

[0109] When there is only one candidate turning point in the candidate trajectory group, the candidate trajectory point is used as the turning trajectory point, and the radius of the candidate trajectory point is used as the recognition radius;

[0110] When there are multiple candidate turning points in the candidate trajectory group, the candidate turning point with the largest path angle in the candidate trajectory point group is used as the turning trajectory point, and the recognition radius is calculated according to the turning trajectory point.

[0111] In this embodiment, since the number of candidate trajectory point groups is unlimited, when the route GPS trajectory sequence is very dense, the number of turning points in the candidate trajectory point group will be large, and when the route GPS trajectory sequence is sparse, the number of candidate turning points in the candidate trajectory point group will be small. Therefore, before determining the turning trajectory points and identification radius of each candidate trajectory point group according to application requirements, it is necessary to determine the turning trajectory points and identification radius according to the number in each candidate trajectory point group, so as to ensure that a circular fence that can cover the entire turning section can be identified from each candidate trajectory point group.

[0112] Furthermore, when there is only one candidate turning point in the candidate trajectory group, the candidate trajectory point is used as the turning trajectory point, and the radius of the candidate trajectory point is used as the recognition radius; when there are multiple candidate turning points in the candidate trajectory group, the candidate turning point with the largest path angle in the candidate trajectory point group is used as the turning trajectory point, and the recognition radius is calculated according to the turning trajectory point.

[0113] In some embodiments, before determining the turning trajectory point and the identification radius of each candidate trajectory point group, the method further includes:

[0114] The recognition radius is calculated according to the following formula:

[0115]

[0116] Wherein, R represents the identification radius, r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s Represents the latitude coordinate of the sth trajectory point.

[0117] In this embodiment, by selecting the candidate turning point with the largest path angle as the turning trajectory point and calculating the recognition radius based on the turning trajectory point, the accuracy of trajectory recognition can be significantly improved, trajectory analysis can be optimized, algorithm efficiency can be improved, the robustness of the algorithm can be enhanced, and the effects of various applications can be improved.

[0118] In this embodiment, a GPS trajectory sequence is obtained; the GPS trajectory sequence includes multiple trajectory points of a route, and path vectors of two adjacent trajectory points; a radius is preset, and a trajectory point in the GPS trajectory sequence is used as the center of the circle, and a first circular fence of the trajectory point is made according to the radius; a pair of path vectors intersecting the circular fence corresponding to each trajectory point is determined, and the path angle of each pair of path vectors is calculated; the trajectory points corresponding to each pair of path vectors whose path angle is greater than a first threshold are taken as candidate trajectory points to obtain a set of candidate trajectory points; a turning section is determined according to the set of candidate trajectory points, and the turning section can be efficiently and accurately identified based on the GPS trajectory sequence and the radius and angle thresholds used to identify the turning section.

[0119] In one implementation of the present embodiment, the GPS trajectory sequence of the route is first input, and the radius r for identifying the turning section is set. Then, a circular fence with a radius of r is made with each trajectory point as the center of the circle, and a pair of path vectors intersecting with the boundary of the circular fence is found. The angle between the pair of path vectors is calculated, and then the recognition threshold of the turning angle is set, and the trajectory points whose angles of the path vectors exceed the recognition threshold are marked as candidate trajectory points.

[0120] Furthermore, the candidate turning points that appear continuously are grouped, including: according to the path serial numbers of the candidate turning points, the candidate turning points with serial numbers that appear continuously are divided into the same group. Then, a circular fence that can cover the candidate turning points in each group is identified from the candidate turning points in the group, and the identified circular fences are used to represent the turning sections.

[0121] In one implementation of this embodiment, the line trace in Table 1 is processed:

[0122] Table 1

[0123] Serial number longitude latitude 0 112.6008013 26.78601457 1 112.6012222 26.7852636 2 112.6013341 26.7851506 3 112.6014911 26.78508158 4 112.6016211 26.78505956 5 112.60179 26.78516352 6 112.6021418 26.78553641 7 112.6026926 26.78614422

[0124] The processing process is as follows:

[0125] First, obtain the data of the GPS trajectory sequence of the route in Table 1, and its route trajectory is as follows Figure 2 As shown in the figure, the radius is set to 30 meters. A circular fence with a radius of r is constructed with each trajectory point as the center. Then, a pair of path vectors that intersect each trajectory point with the boundary of the circular fence corresponding to the trajectory point are found, and then the angle between the pair of path vectors is calculated. The calculation process is as follows: Figure 2 As shown, it is used to judge the candidate turning point according to the turning angle threshold in the future. The calculation results are shown in Table 2:

[0126] Table 2

[0127]

[0128]

[0129] Furthermore, the turning angle threshold is set to 45 degrees, and the trajectory points exceeding the threshold are marked as candidate turning points by comparison. The marking results are shown in Table 3:

[0130] Table 3

[0131]

[0132] Furthermore, all candidate turning points are grouped. Since trajectory points 2, 3, 4, and 5 are candidate turning points and have consecutive numbers, trajectory points 2, 3, 4, and 5 are grouped together, and finally a group of candidate turning points is obtained: 2, 3, 4, and 5. Then the center and identification radius of the circular fence that can cover the turning section in the route are determined. Since there are more than one candidate trajectory points in this group, it is necessary to select the trajectory point with the largest adjacent vector angle from this group of candidate turning points as the center of the final output circular fence.

[0133] Furthermore, the adjacent vector angles of trajectory points 2, 3, 4, and 5 are calculated respectively. The calculation process is as follows: Figure 3 As shown, the calculation results are shown in Table 4:

[0134] Table 4

[0135]

[0136] From the results in Table 4, we can see that the angle between the adjacent vectors of the trajectory point with sequence number 4 is the largest, so the trajectory point with sequence number 4 is selected as the center of the circle for the subsequent circular fence with the identification radius. Then, the radius of the circular fence with sequence number 4 as the center is calculated by the formula:

[0137]

[0138] In the formula, It represents the radius of the circular fence with number 4 as the center, r represents the radius, represents the distance between trajectory point 2 and trajectory point 3, represents the distance between trajectory point 3 and trajectory point 4, represents the distance between track point 4 and track point 5, x2 represents the longitude coordinate of track point 2, y2 represents the latitude coordinate of track point 2, x3 represents the longitude coordinate of track point 3, y3 represents the latitude coordinate of track point 3, x4 represents the longitude coordinate of track point 4, y4 represents the latitude coordinate of track point 4, x5 represents the longitude coordinate of track point 5, y5 represents the latitude coordinate of track point 5, and then the radius of the circular fence is calculated It is 43.8, among which, the distance between the trajectory points 2, 3, 4, and 5 is calculated as shown in Table 5:

[0139] Table 5

[0140]

[0141] Finally, if Figure 4 As shown, the circular fence representing the coverage of the turning section is identified through the results in Table 5, and then the circular fence of the identified turning section is displayed on the map, so that the circular fence correctly covers the area of ​​the turning section as seen from the map.

[0142] In one implementation of this embodiment, a real bus line GPS trajectory data is selected to identify the turning section, and its trajectory data is shown in Table 6. The longitude and latitude in Table 6 are encoded using the GWS standard. By setting two groups of parameters respectively to compare different recognition radii and turning angle thresholds, the effect of the turning section is obtained. Among them, the first group of parameters is a recognition radius of 30 meters and a turning angle threshold of 45 degrees; the second group of parameters is a recognition radius of 30 meters and a turning angle threshold of 40 degrees.

[0143] Table 6

[0144]

[0145]

[0146] By using the parameters of the first parameter group and the second parameter group respectively to execute the turning section recognition method based on GPS trajectory, the final recognition result is as follows Figure 5 As shown, the center of each circular fence in the figure is the center of the circular fence representing the identified turning section, the radius of each circular fence in the figure is not equal to the radius of the fence representing the identified turning section, and because the radius of the fence representing the turning section is magnified by a certain multiple, the fence is clearly visible on the electronic map. Figure 5 The results show that when the turning threshold is set to 40 degrees, there is one more turning point than when the turning threshold is set to 45 degrees, which is consistent with the actual situation, that is, the smaller the turning threshold is set, the more turning points are identified. Moreover, it is convenient for users to set different parameters independently to meet different usage scenarios and meet personalized needs.

[0147] like Figure 6 As shown, some embodiments of the present application provide a turning road section identification system based on GPS trajectory, the system includes an acquisition module 610, a setting module 620, a calculation module 630, and an identification module 640, specifically:

[0148] The acquisition module 610 is used to acquire a GPS trajectory sequence; the GPS trajectory sequence includes multiple trajectory points of a route and a path vector between two adjacent trajectory points;

[0149] A setting module 620 is used to preset a radius, take a track point in the GPS track sequence as the center of the circle, and make a first circular fence of the track point according to the radius;

[0150] A calculation module 630, for determining a pair of path vectors intersecting the circular fence corresponding to each trajectory point, and calculating a path angle of each pair of path vectors;

[0151] The identification module 640 is used to take the trajectory points corresponding to each pair of path vectors whose path angle is greater than the first threshold as candidate trajectory points to obtain a set of candidate trajectory points; and determine the turning section according to the set of candidate trajectory points.

[0152] In some implementations, the setting module 620 may include: calculating the radius according to the following formula:

[0153]

[0154] Where r is the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, and n represents the number of trajectory points.

[0155] In some implementations, the calculation module 630 may include: taking the trajectory point as the center point, dividing all path vectors in the GPS trajectory sequence into a front path vector located before the center point, and a rear path vector located after the center point.

[0156] In some implementations, the calculation module 630 may include: determining a first path vector intersecting a circular fence corresponding to the trajectory point from the previous path vector.

[0157] In some implementations, the calculation module 630 may include: determining a second path vector intersecting the circular fence corresponding to the trajectory point from the latter path vector.

[0158] In some implementations, the calculation module 630 may include: using the first path vector and the second path vector as a pair of path vectors of the trajectory point.

[0159] In some embodiments, the identification module 640 may include: grouping the candidate trajectory point set to obtain multiple groups; wherein, multiple candidate trajectory points that are consecutively adjacent in the GPS trajectory sequence are grouped into one group, and candidate trajectory points that have no adjacent candidate trajectory points in the GPS trajectory sequence are grouped separately.

[0160] In some implementations, the identification module 640 may include: treating each group as a corresponding turning road segment.

[0161] In some embodiments, the identification module 640 may include: determining a turning trajectory point and an identification radius for each candidate trajectory point group, taking the turning trajectory point as the center of the circle, and making a circular fence of the turning trajectory point according to the identification radius.

[0162] In some implementations, the identification module 640 may include: representing the turning sections of the GPS trajectory sequence by circular fences of all turning trajectory points.

[0163] In some implementations, the identification module 640 may include: when there is only one candidate turning point in the candidate trajectory group, using the candidate trajectory point as the turning trajectory point and using the radius of the candidate trajectory point as the identification radius.

[0164] In some implementations, the recognition module 640 may include: when there are multiple candidate turning points in the candidate trajectory group, taking the candidate turning point with the largest path angle in the candidate trajectory point group as the turning trajectory point, and calculating the recognition radius according to the turning trajectory point.

[0165] In some implementations, the identification module 640 may include: calculating the identification radius according to the following formula:

[0166]

[0167] Wherein, R represents the identification radius, r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s Represents the latitude coordinate of the sth trajectory point.

[0168] It should be noted that the GPS trajectory-based turning section identification system provided in this embodiment and the above-mentioned GPS trajectory-based turning section identification method are based on the same inventive concept. Therefore, the relevant content of the above-mentioned GPS trajectory-based turning section identification method is also applicable to the content of the GPS trajectory-based turning section identification system. Therefore, it will not be repeated here.

[0169] In order to solve the problem of identifying turning sections when only GPS trajectory data of the route is available, the system obtains a GPS trajectory sequence; the GPS trajectory sequence includes multiple trajectory points of a route and path vectors of two adjacent trajectory points; a preset radius is used, and the trajectory point in the GPS trajectory sequence is used as the center of the circle, and a first circular fence of the trajectory point is made according to the radius; a pair of path vectors intersecting the circular fence corresponding to each trajectory point is determined, and the path angle of each pair of path vectors is calculated; the trajectory points corresponding to each pair of path vectors whose path angle is greater than a first threshold are taken as candidate trajectory points to obtain a set of candidate trajectory points; the turning section is determined according to the set of candidate trajectory points, and the turning section can be efficiently and accurately identified based on the GPS trajectory sequence and the radius and angle threshold used to identify the turning section.

[0170] An embodiment of the present application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor implements the above-mentioned GPS trajectory-based turning section identification method when executing the computer program.

[0171] like Figure 7 As shown, Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application, wherein the electronic device includes:

[0172] At least one battery;

[0173] at least one memory;

[0174] at least one processor;

[0175] at least one program;

[0176] The program is stored in the memory, and the processor executes at least one program to implement the above-mentioned method for identifying a turning section based on a GPS trajectory in the present disclosure.

[0177] The electronic device may be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a vehicle-mounted computer, etc.

[0178] The electronic device according to the embodiment of the present application is described in detail below.

[0179] The processor 1600 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present disclosure;

[0180] The memory 1700 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1700 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1700, and the processor 1600 calls and executes a method for identifying a turning section based on a GPS trajectory in an embodiment of the present disclosure.

[0181] Input / output interface 1800, used to implement information input and output;

[0182] The communication interface 1900 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0183] Bus 2000 , which transmits information between various components of the device (e.g., processor 1600 , memory 1700 , input / output interface 1800 , and communication interface 1900 );

[0184] The processor 1600 , the memory 1700 , the input / output interface 1800 , and the communication interface 1900 are connected to each other in communication within the device via the bus 2000 .

[0185] The embodiment of the present disclosure also provides a storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned method for identifying turning sections based on GPS trajectory.

[0186] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0187] The embodiments described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0188] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present disclosure and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0189] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0190] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0191] The terms "first", "second", "third", "fourth", etc. (if any) in the specification 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. 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 comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0192] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0193] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0194] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0195] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0196] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable an electronic device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store programs.

[0197] The above is a specific description of the preferred implementation of the embodiments of the present application, but the embodiments of the present application are not limited to the above-mentioned implementation methods. Technical personnel familiar with the field can also make various equivalent modifications or substitutions without violating the spirit of the embodiments of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the embodiments of the present application.

[0198] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A method for identifying turning sections based on GPS trajectory, characterized in that: The method comprises: Acquire a GPS trajectory sequence; the GPS trajectory sequence includes a plurality of trajectory points of a route and a path vector of two adjacent trajectory points; A first circular fence of the track point is made according to a preset radius, with the track point in the GPS track sequence as the center of the circle; Determine a pair of path vectors that intersect the circular fence corresponding to each of the trajectory points, and calculate the path angle of each pair of path vectors; The trajectory points corresponding to each pair of path vectors whose path angle is greater than the first threshold are taken as candidate trajectory points to obtain a candidate trajectory point set; and the turning section is determined according to the candidate trajectory point set.

2. The method for identifying turning sections based on GPS trajectory according to claim 1, characterized in that: Before making a first circular fence of trajectory points according to the radius, the method further comprises: The radius is calculated according to the following formula: Wherein, r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, and n represents the number of trajectory points.

3. The method for identifying turning sections based on GPS trajectory according to claim 1, characterized in that: The step of determining a pair of path vectors intersecting the circular fence corresponding to each of the trajectory points comprises: Taking the trajectory point as the center point, all path vectors in the GPS trajectory sequence are divided into a front path vector located before the center point and a rear path vector located after the center point; Determine a first path vector intersecting the circular fence corresponding to the trajectory point from the previous path vector; Determine, from the latter path vector, a second path vector intersecting the circular fence corresponding to the trajectory point; The first path vector and the second path vector are used as a pair of path vectors of the trajectory point.

4. The method for identifying a turning section based on GPS trajectory according to claim 2, characterized in that: The step of determining the turning section according to the candidate trajectory point set includes: The candidate trajectory point set is grouped to obtain a plurality of groups; wherein a plurality of candidate trajectory points that are consecutively adjacent in the GPS trajectory sequence are grouped into one group, and candidate trajectory points that have no adjacent candidate trajectory points in the GPS trajectory sequence are grouped into a separate group; Each group is regarded as a corresponding turning section.

5. The method for identifying turning sections based on GPS trajectory according to claim 4, characterized in that: After determining the turning section according to the candidate trajectory point set, the method further includes: Determine a turning trajectory point and an identification radius for each candidate trajectory point group, take the turning trajectory point as the center of a circle, and make a circular fence for the turning trajectory point according to the identification radius; The circular fence passing through all the turning trajectory points represents the turning section of the GPS trajectory sequence.

6. The method for identifying turning sections based on GPS trajectory according to claim 5, characterized in that: Before determining the turning trajectory point and the identification radius of each candidate trajectory point group, the method further includes: When there is only one candidate turning point in the candidate trajectory group, the candidate trajectory point is used as the turning trajectory point, and the radius of the candidate trajectory point is used as the identification radius; When there are multiple candidate turning points in the candidate trajectory group, the candidate turning point with the largest path angle in the candidate trajectory point group is used as the turning trajectory point, and the recognition radius is calculated according to the turning trajectory point.

7. The method for identifying a turning section based on GPS trajectory according to claim 6, characterized in that: Before determining the turning trajectory point and the identification radius of each candidate trajectory point group, the method further includes: The identification radius is calculated according to the following formula: Wherein, R represents the identification radius, r represents the radius, is the distance from the sth trajectory point to the s+1th trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s represents the latitude coordinate of the sth trajectory point, x s Indicates the longitude coordinate of the sth trajectory point, y s Represents the latitude coordinate of the sth trajectory point.

8. A turning road section identification system based on GPS trajectory, characterized in that: The system comprises: An acquisition module, used to acquire a GPS trajectory sequence; the GPS trajectory sequence includes a plurality of trajectory points of a route and a path vector of two adjacent trajectory points; A setting module, for presetting a radius, taking a track point in the GPS track sequence as a center, and making a first circular fence of the track point according to the radius; A calculation module, used to determine a pair of path vectors intersecting the circular fence corresponding to each of the trajectory points, and calculate the path angle of each pair of path vectors; The identification module is used to take the trajectory points corresponding to each pair of path vectors whose path angle is greater than the first threshold as candidate trajectory points to obtain a set of candidate trajectory points; and determine the turning section according to the set of candidate trajectory points.

9. An electronic device, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute a method for identifying a turning section based on a GPS trajectory as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute a method for identifying a turning section based on a GPS trajectory as described in any one of claims 1 to 7.

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