Special curve recognition method and recognition system based on road book navigation

Abstract

The invention discloses a special curve recognition method and recognition system based on road book navigation. The recognition method comprises the following steps: screening road book points to obtain a target road book point, and performing coordinate conversion on the target road book point to obtain a plane coordinate; the plane coordinates are stored in the first sliding window and the second sliding window; fitting a conic curve by using the data in the first sliding window to obtain a curvature radius and a goodness of fit; calculating a plane vector included angle by using the data in the second sliding window; and setting identification conditions of the special curve, judging whether the curvature radius, the goodness of fit and the plane vector included angle meet the identification conditions or not, and outputting an identification conclusion. According to the method, the special curves in the mountain-surrounding road and the snakelike curve road can be identified only according to the road book points and by combining various algorithms, namely, the curve information in the route can be identified without additionally acquiring the road book information, so that the route information can be increased; and the identification accuracy is high.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation, and particularly relates to a special curve recognition method and recognition system based on route book navigation. Background Art

[0002] Route book navigation is a commonly used function in cycling sports. A route book consists of sparse discrete coordinate points. Generally, there is less steering road condition information in the route book, and most of the marks only exist at the intersection points of traffic lights. There are almost no marks for curves such as mountain roads and serpentine sections.

[0003] In summary, there is a need to design a special curve recognition method and recognition system based on route book navigation to solve the above problems in the prior art. Summary of the Invention

[0004] The present invention provides a special curve recognition method and recognition system based on route book navigation, which solves the problem of lack of curve marks in route book navigation in the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A special curve recognition method based on route book navigation, comprising the following steps: Screen the route book points to obtain target route book points and perform coordinate transformation on the target route book points to obtain plane coordinates; Store the plane coordinates into a first sliding window and a second sliding window; Use the data in the first sliding window to fit a conic curve to obtain the radius of curvature and the goodness of fit; Use the data in the second sliding window to calculate the included angle of plane vectors; Set the recognition conditions for special curves, and determine whether the radius of curvature, the goodness of fit, and the included angle of plane vectors meet the recognition conditions, and output the recognition conclusion.

[0006] In some embodiments of the present invention, the calculation process of the radius of curvature is as follows: Use the data in the first sliding window to form two columns of coordinate arrays, where the first column of coordinates is the eastward coordinate in the plane coordinates, and the second column of coordinates is the northward coordinate in the plane coordinates; Perform summation calculation on the coordinate arrays to obtain a first parameter; then perform calculations on the first parameter in sequence to obtain a second parameter and a third parameter; Use the third parameter to calculate the radius of curvature.

[0007] In some embodiments of the present invention, the plane coordinates include the eastward coordinate and the northward coordinate, and the calculation process of the included angle of plane vectors is as follows: Calculate the two-norm of the sum of squares of forward differences in the planar coordinates from the first position to the middle position within the second sliding window; calculate the two-norm of the sum of squares of backward differences in the planar coordinates from the middle position to the end position within the second sliding window; calculate the dot product of the sum of squares of forward and backward differences in the planar coordinates with the middle position within the second sliding window as the boundary. Use the above calculation results to perform an arccosine calculation to obtain the angle between the planar vectors.

[0008] In some embodiments of the present invention, screening waypoint data to obtain target waypoints includes: Calculate the distance between the current waypoint and the previous waypoint. Set a threshold. When the distance is greater than the threshold, the current waypoint is screened as a target waypoint; otherwise, the current waypoint is excluded.

[0009] In some embodiments of the present invention, the recognition conditions include a first recognition condition and a second recognition condition. When any one of the recognition conditions is met, it is determined that the waypoint corresponding to the current planar coordinate is a special curve.

[0010] In some embodiments of the present invention, the first recognition condition is: The radius of curvature is not greater than 50 meters and the goodness of fit is greater than 0.5. The second recognition condition is that the angle between the planar vectors is less than 90 degrees.

[0011] In some embodiments of the present invention, the target waypoints are converted to planar coordinates through the following formula: ; The target waypoints are longitude and latitude points. Longitude represents the longitude of the target waypoint, latitude represents the latitude of the target waypoint, earthRad represents the radius of the earth, E represents the eastward coordinate of the planar coordinate, and N represents the northward coordinate of the planar coordinate.

[0012] In some embodiments of the present invention, a special curve recognition system based on waypoint navigation is provided, including: A data screening module for screening target waypoints from waypoint data and performing coordinate conversion on the target waypoints to obtain planar coordinates. A calculation module for calculating the radius of curvature, goodness of fit, and angle between planar vectors based on the planar coordinates. An identification module for setting identification conditions and for determining whether the radius of curvature, goodness of fit, and angle between planar vectors meet the identification conditions. A communication module for communicating with external devices.

[0013] In some embodiments of the present invention, an electronic device is provided, including: a processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to transmit and receive data; The processor executes the computer-executable instructions stored in the memory to implement the above-mentioned identification method.

[0014] In some embodiments of the present invention, a computer-readable storage medium is provided, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the above-mentioned identification method when executed by a processor.

[0015] The technical solution of the present invention has the following technical effects compared with the prior art: The present invention can identify special bends in mountain roads and serpentine roads based only on road book points and by combining multiple algorithms. That is, the bend information in the route can be identified without additional road book information, which can increase route information; and the recognition accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of a planned route shown in Example 1 of the present invention.

[0018] Figure 2 This is a schematic diagram of a planned route shown in Example 2 of the present invention.

[0019] Figure 3 This is a structural diagram of a special curve recognition system based on road book navigation.

[0020] Figure 4 Schematic diagram of the structure of the electronic device.

[0021] Figure numerals: 100, identification system; 110, data screening module; 120, calculation module; 130, identification module; 140, communication module; 200, electronic device; 210, processor; 220, memory; 230, transceiver. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0024] The terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "plurality" is two or more.

[0025] In the description of the present application, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0026] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the indirect contact between the first and second features through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0027] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0028] To enrich the route information of the roadbook, especially for the scenarios of mountain roads and serpentine curves, the present invention designs an algorithm for detecting special curves using roadbook information. This can enable users to receive more route information reminders during the cycling process, and the cycling safety can also be improved.

[0029] Embodiment 1: A method for identifying special curves based on roadbook navigation, comprising the following steps: Step S1: Screen the roadbook points to obtain target roadbook points and perform coordinate transformation on the target roadbook points to obtain plane coordinates; The density of roadbook points will affect the recognition of arc curves, especially curves with a slow angle change speed. To reduce this influence, in this step, the roadbook points are first screened to obtain target roadbook points; S11. When obtaining coordinates from the roadbook / gpx file, calculate the distance between the current roadbook point and the previous roadbook point; S12. Set a threshold. When the distance is greater than the threshold, the current roadbook point is screened as a target roadbook point; otherwise, the current roadbook point is excluded.

[0030] Specifically, the threshold can be set to 10 m. That is to say, if the distance between two adjacent roadbook points is greater than 10 m, the subsequent roadbook point will be selected as the target roadbook point; otherwise, the subsequent roadbook point is excluded.

[0031] S13. Coordinate transformation: The target roadbook points are longitude and latitude points. In the process of calculating feature data, plane coordinates are required. Therefore, after obtaining the target roadbook points, coordinate transformation is performed on them to convert the coordinate points from degree units to m: The target roadbook points are converted to plane coordinates through the following formula: ; longitude represents the longitude of the target waypoint, latitude represents the latitude of the target waypoint, and earthRad represents the radius of the earth, which is approximated by 6378137m in this embodiment; E represents the eastward coordinate of the plane coordinate, and N represents the northward coordinate of the plane coordinate.

[0032] Step S2: Store the plane coordinates into the first sliding window and the second sliding window; In this embodiment, curve recognition is performed through multiple feature data. Since the amount of data required to calculate the feature data is different, the first sliding window and the second sliding window are respectively constructed to select the plane coordinates for the calculation of the feature data.

[0033] The length of the first sliding window is m, and the length of the second sliding window is n.

[0034] After the coordinate conversion is completed, the plane coordinates are cached into two sliding windows. Both sliding windows are updated once per second, and a feature data calculation and solution are performed each time.

[0035] The following steps start to introduce the calculation process of the feature data.

[0036] Step S3: Use the data in the first sliding window to fit a conic curve to obtain the radius of curvature and the goodness of fit; S31: Perform a least squares operation on the data in the first sliding window to fit a curve; use the data in the first sliding window to form a two-column coordinate array, specifically inputting m rows of 2-column coordinate data; among them, the first column of coordinates is the eastward coordinate in the plane coordinate, denoted as E, and the second column of coordinates is the northward coordinate in the plane coordinate, denoted as N; Step S32: Perform a summation calculation on the coordinate array to obtain the first parameter sum; First, perform a summation calculation on the eastward coordinates and their squares and cubes in the first sliding window to obtain sum E 、sum E2 、sum E3 : ; ; ; Then, perform a summation calculation on the northward coordinates and their squares and cubes in the first sliding window to obtain sum N 、sum N2 、sum N3 : ; ; ; Next, sum is obtained by summing the products of the eastward coordinates and the northward coordinates at the same time within the first sliding window. EN : ; Finally, sum is obtained by summing the products of the eastward coordinates or their squares and the northward coordinates or their squares at the same time within the first sliding window. EN2 and sum E2N : ; .

[0037] Step S33: Calculate the second parameter temp using the first parameter sum in the above steps: At the same time, the length m of the first sliding window is also introduced into the calculation, and the following formula is specifically used:

[0038] Step S34: Calculate the third parameters a, b, and c using the first parameter sum and the second parameter temp in the above steps;

[0039] Step S35: Calculate the radius of curvature radius using the third parameter, and the calculation formula is as follows:

[0040] Among them, radius represents the radius of curvature. After obtaining the fitted curve, the curve is denoted as N = f(E), then the goodness of fit R2 can be expressed as:

[0041] Among them, is the average value of each northward coordinate in the data of the first sliding window. [[ID=4)]

[0042] In the process of fitting the conic curve using the least squares method above, when the data within the first sliding window is 5 rows and 2 columns, better fitting accuracy can be achieved while saving computing power.

[0043] Step S4: Calculate the included angle of the plane vector using the data within the second sliding window; Step S41: Calculate the included angle of the plane vector using the coordinates in the second sliding window with a length of n. The eastward coordinate sequence of this sequence is denoted as E1, and the northward coordinate sequence is denoted as N1.

[0044] Step S42: Intermediate process calculation parameters Δ1, Δ2, and temp of the included angle of the plane vector oirThe calculation process is as follows: The calculation parameters in the above intermediate process have no special meaning, and i is the coordinate count value in the sliding window; Calculate the two-norm of the sum of the squares of the forward differences in the planar coordinates from the first position to the middle position within the second sliding window; the calculation formula is as follows:

[0045] Calculate the two-norm of the sum of the squares of the reverse differences in the planar coordinates from the middle position to the end position within the second sliding window; the calculation formula is as follows:

[0046] Taking the middle position within the second sliding window as the boundary, calculate the dot product of the sum of the squares of the forward and reverse differences in the planar coordinates; the calculation formula is as follows:

[0047] Step S43: Use the above intermediate process calculation parameters Δ1, Δ2, and temp oir Perform an inverse cosine calculation to obtain the included angle oir of the planar vectors, and the calculation formula is as follows:

[0048] In the process of the above planar vector included angle, when the length of the second sliding window is 3, a better fitting accuracy can be achieved while saving computing power.

[0049] Step S5: Set the recognition conditions for special curves, and determine whether the radius of curvature, goodness of fit, and included angle of the planar vectors meet the recognition conditions, and output the recognition conclusion.

[0050] The recognition conditions include a first recognition condition and a second recognition condition. When any one of the recognition conditions is met, it is determined that the road book point corresponding to the current planar coordinate is a special curve.

[0051] The first recognition condition is: the radius of curvature is not greater than 50 meters and the goodness of fit is greater than 0.5; specifically as follows:

[0052] The second recognition condition is that the included angle of the planar vectors is less than 90 degrees; specifically as follows: Oir < 90°.

[0053] Refer to Figure 2 As shown, this figure describes the route map of the special curve. Using the recognition method of this embodiment, each characteristic curve therein can be recognized, that is, the positions marked by the circles in the figure.

[0054] The technical solution of the present invention has the following technical effects compared with the prior art: The present invention can identify special curves in mountain roads and serpentine curves only based on roadbook points and by combining multiple algorithms, that is, it can identify the curve information in the route without obtaining additional roadbook information, which can increase route information and has high recognition accuracy.

[0055] Embodiment 2: The special curve recognition method further includes step S6: obtaining the maximum speed when passing through the special curve according to the calculated radius of curvature.

[0056] Specifically, during cycling, different cornering speeds require different centripetal forces, and cornering while leaning and friction will balance the centrifugal force during cornering. When the radius of curvature radius is determined, the following can be obtained: ; where M represents the total weight of the cycling user and the bicycle; v represents the speed during real-time cycling; θ represents the banking angle; α represents the ground friction coefficient; and g is the acceleration due to gravity. Since the magnitude of α is less than cosθ, when providing an emergency turn warning for the user, α can be ignored and the speed reminder threshold can be appropriately reduced (and the safe banking limit is set to 60°):

[0057]

[0058] Therefore, when the speed does not satisfy the above inequality, a deceleration reminder for an emergency turn will be issued to the user.

[0059] Embodiment 3: This embodiment will describe a special curve recognition system 100 and an electronic device 200 based on roadbook navigation according to Figure 3 and Figure 4 For the recognition system 100, as shown in

[0060] shown, it includes: Figure 3 A data screening module 110, configured to screen target roadbook points according to roadbook points and perform coordinate conversion on the target roadbook points to obtain plane coordinates; A calculation module 120, configured to calculate the radius of curvature, goodness of fit, and plane vector angle according to the plane coordinates; An identification module 130, configured to set identification conditions and further configured to determine whether the radius of curvature, goodness of fit, and plane vector angle satisfy the identification conditions; A communication module 140, configured to communicate with external devices. A communication module 140, configured to communicate with external devices.

[0061] It should be understood that the recognition system 100 here is embodied in the form of functional modules. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor for executing one or more software or firmware programs (such as a shared processor, a proprietary processor or a group of processors, etc.) and a memory, a combined logic circuit and / or other suitable components that support the described functions. In an alternative example, those skilled in the art can understand that the recognition system 100 can specifically be the electronic device 200 in the above embodiments, or the functions of the electronic device 200 in the above embodiments can be integrated into the recognition system 100. The recognition system 100 can be used to execute the respective processes and / or steps corresponding to the electronic device 200 in the above method embodiments. To avoid repetition, it will not be elaborated here.

[0062] The above recognition system 100 has the function of implementing the corresponding steps executed by the electronic device 200 in the recognition method of Embodiment 1; the above function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the above acquisition module can be a communication interface, such as a transceiver interface.

[0063] In the embodiments of the present application, Figure 3 the recognition system 100 in

[0064] Referring to Figure 4 as shown, in this embodiment, an electronic device 200 is provided, including: a processor 210, and a memory 220 and a transceiver 230 communicatively connected to the processor; the memory 220 stores computer execution instructions; the transceiver 230 is used for sending and receiving data; the processor 210 executes the computer execution instructions stored in the memory 220 to implement the recognition method in Embodiment 1.

[0065] It should be understood that the electronic device 200 can be used to execute the respective steps and / or processes corresponding to the above method embodiments. Optionally, the memory 220 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A part of the memory 220 may further include a non-volatile random access memory. For example, the memory 220 may also store information about the device type. The processor 210 can be used to execute the instructions stored in the memory 220, and when the processor 210 executes the instructions, the processor 210 can execute the respective steps and / or processes corresponding to the above method embodiments.

[0066] It should be understood that in the embodiments of the present application, the processor 210 may be a central processing unit (CPU), and the processor 210 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0067] In the implementation process, the steps of the above method may be completed by the integrated logic circuit of the hardware in the processor 210 or the instructions in the form of software. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor 210. The software module may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor executes the instructions in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0068] Embodiment 4: In this embodiment, a computer-readable storage medium is provided. Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the recognition method in Embodiment 1.

[0069] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces. The indirect coupling or communication connection of the devices or units may be in an electrical, mechanical, or other form.

[0070] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to 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.

[0071] In addition, in each embodiment of the present application, each functional unit can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0072] If the above-mentioned function 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 such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0073] In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0074] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A special curve recognition method based on route book navigation, characterized in that It includes the following steps: Screen the waypoint book points to obtain target waypoint book points and perform coordinate transformation on the target waypoint book points to obtain plane coordinates; Store the plane coordinates into the first sliding window and the second sliding window; Use the data in the first sliding window to fit a conic curve to obtain the radius of curvature and the goodness of fit; Use the data in the second sliding window to calculate the included angle of plane vectors; Set the recognition conditions for special curves, and determine whether the radius of curvature, the goodness of fit, and the included angle of plane vectors meet the recognition conditions, and output the recognition conclusion.

2. The recognition method according to claim 1, wherein The calculation process of the radius of curvature is as follows: Use the data in the first sliding window to form a two-column coordinate array, where the first column of coordinates is the eastward coordinate in the plane coordinates, and the second column of coordinates is the northward coordinate in the plane coordinates; Perform a summation calculation on the coordinate array to obtain the first parameter; then perform calculations on the first parameter in sequence to obtain the second parameter and the third parameter; Calculate the radius of curvature using the third parameter.

3. The recognition method according to claim 1, wherein The plane coordinates include an eastward coordinate and a northward coordinate, and the calculation process of the included angle of plane vectors is as follows: Calculate the two-norm of the sum of the squares of the forward differences in the plane coordinates from the first position to the middle position in the second sliding window; calculate the two-norm of the sum of the squares of the reverse differences in the plane coordinates from the middle position to the end position in the second sliding window; Taking the middle position in the second sliding window as the boundary, calculate the dot product of the sum of the squares of the forward and reverse differences of the plane coordinates; Perform an inverse cosine calculation using the above calculation results to obtain the included angle of plane vectors.

4. The recognition method according to claim 1, wherein Screening the waypoint book points to obtain target waypoint book points includes: Calculate the distance between the current waypoint book point and the previous waypoint book point; Set a threshold value. When the distance is greater than the threshold value, the current waypoint book point is screened as a target waypoint book point; otherwise, the current waypoint book point is excluded.

5. The recognition method according to claim 1, wherein The recognition conditions include a first recognition condition and a second recognition condition. When any one of the recognition conditions is met, it is determined that the waypoint book point corresponding to the current plane coordinates is a special curve.

6. The recognition method according to claim 5, wherein The first recognition condition is: The radius of curvature is not greater than 50 meters and the goodness of fit is greater than 0.5; The second recognition condition is that the included angle of plane vectors is less than 90 degrees.

7. The recognition method according to claim 1, wherein The target waypoint book points are converted into plane coordinates through the following formula: ； The target waypoint book points are longitude and latitude points, longitude represents the longitude of the target waypoint book point, latitude represents the latitude of the target waypoint book point, earthRad represents the radius of the earth, E represents the eastward coordinate of the plane coordinates, and N represents the northward coordinate of the plane coordinates.

8. A special curve recognition system based on roadbook navigation, characterized in that, To implement the method described in any one of claims 1-7; it includes: A data screening module, configured to screen target waypoint book points according to waypoint book points and perform coordinate transformation on the target waypoint book points to obtain plane coordinates; A calculation module, configured to calculate the radius of curvature, goodness of fit, and the included angle of plane vectors according to planar coordinates; An identification module, configured to set identification conditions and further configured to determine whether the radius of curvature, goodness of fit, and the included angle of plane vectors meet the identification conditions; A communication module, configured to communicate with external devices.

9. An electronic device, characterized in that, Comprising: A processor, as well as a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is configured to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1-7 when executed by a processor.

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