CN107978219A - A kind of method and device for the road network for building numerical map - Google Patents
A kind of method and device for the road network for building numerical map Download PDFInfo
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- CN107978219A CN107978219A CN201610939225.2A CN201610939225A CN107978219A CN 107978219 A CN107978219 A CN 107978219A CN 201610939225 A CN201610939225 A CN 201610939225A CN 107978219 A CN107978219 A CN 107978219A
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Abstract
The present invention provides a kind of method for the road network for building numerical map, selects the first administrative division first, obtains some second administrative divisions within a preset range with the distance of first administrative division；Then, the path starting point and path termination of the first administrative division are obtained, the exploration point set of the first administrative division is determined according to the path starting point of first administrative division and path termination；Finally, successively since it is each explore point, get up to second administrative division exploration point can pass, formed road network.In this method, first obtain and explore point, then explore path according to point is explored, form customizable road network, the program is by adjusting administrative division quantity or connection algorithm, thus it is possible to vary the road network of arbitrary region.The path planning algorithm of obtained road network navigation instrument, can improve the path planning efficiency of navigator.In addition, this method can automate calculating road network, manual operation is reduced, avoids repeated work.
Description
Technical field
The present invention relates to numerical map field, and in particular to a kind of method and device for the road network for building numerical map.
Background technology
In electronic map, after road digital, the Yi Tiaodao in real world is represented using a line and two nodes
Road.Road species have at a high speed, national highway, provincial highway, county road, small towns village road, other roads.In certain area, by different kinds of roads group
Into mutual unicom roadnet, formed road network.Road network closeness is reasonably distributed, and closeness is too big or too small can all drop
Low path footpath planning efficiency.The road of one or more of road species forms road network, and road network grade represents the important of road network
Property.
Road network in navigator generally has multilayer, and from lower floor to upper strata, road network level is higher and higher, and importance is more next
Higher, closeness is less and less, suitable for more remote path planning.And the road network of last layer, it is necessary in next layer
Road network exists.The Multi-layer road net of navigator, can be considered as the result for repeatedly extracting turnpike road.Bottom road network possesses
All road networks of real world, extract part turnpike road from the bottom, form advanced trail road network.Such as level-one road network is state
Road network between the big cities such as the provincial capital of road composition, secondary road net are that increase connection is different on the basis of level-one road network
The provincial highway in city, three-level road network connect the county road in county and town to increase on the basis of secondary road net.When new Zengcheng City or new
After increasing road, then need to rebuild new road network, carry out remote path planning, for realizing long-range navigation, but
It is that manual amendment is time-consuming and laborious, and the update cycle is slow, causes the validity of road network data in numerical map poor.
The content of the invention
Therefore, the technical problem to be solved in the present invention can not be built newly in time after being to overcome road renewal in the prior art
Road network the defects of.
The present invention provides a kind of method for the road network for building numerical map, including：Select the first administrative division, obtain with
Some second administrative divisions of the distance of first administrative division within a preset range；Rise in the path for obtaining the first administrative division
Point and path termination, the exploration point of the first administrative division is determined according to the path starting point of first administrative division and path termination
Set；Successively since it is each explore point, get up to second administrative division exploration point can pass, formed road
Road network.
Preferably, some second administrative areas of the distance of the acquisition and first administrative division within a preset range
Draw, including：Using the center of first administrative division as the center of circle, using default first distance as radius, obtain and covered in the radius
In the range of periphery administrative division；Center of the center of each periphery administrative division respectively with the first administrative division is connected, if
The angle of connecting line is less than angle threshold, then deletes the remote one or more periphery administrative areas in the first administrative division of distance center
Draw, remaining periphery administrative division is the second administrative division.
Preferably, the path starting point for obtaining first administrative division, including：Using the center of the first administrative division as
The center of circle, it is radius to preset second distance, obtains the road node in the radius；Using the road node as vertex, respectively
The center of the first administrative division and the center of the second administrative division are connected, obtains the angle of two lines；Obtain the mitre joint
Path starting point of the set of nearly 180 ° of road node as the first administrative division.
Preferably, the path starting point for obtaining first administrative division, including：With in first administrative division
The heart is origin, and circle is drawn for radius with default 3rd distance；The set of the intersection point of circumference and surrounding road is obtained, is made with the intersection point
For the path starting point of the first administrative division.
Preferably, the path termination for obtaining first administrative division, including：Determine second administrative division
Path starting point, explore from the path starting point of the second administrative division to the first administrative division can pass；The road of passing through
When the distance at the center of the node in footpath and the first administrative division is less than pre-determined distance threshold value, exploration terminates, and it is described to explore terminal
The path termination of first administrative division.
Preferably, the path starting point and path termination according to first administrative division determines the first administrative division
Point set is explored, including：The path starting point and path termination are merged to obtain and explore point set.
Preferably, it is described get up to second administrative division exploration point can pass formed road network mistake
Journey, including：According to can passing road category of roads formed different levels road network.
In addition, the present invention also provides a kind of device for the road network for building numerical map, including：Area selecting unit, is used
In selecting the first administrative division, some second administrative areas within a preset range with the distance of first administrative division are obtained
Draw；Point acquiring unit is explored, for obtaining the path starting point and path termination of the first administrative division, according to first administrative area
The path starting point and path termination drawn determine the exploration point set of the first administrative division；Road network construction unit, for successively from every
It is a explore point start, get up to second administrative division exploration point can pass, formed road network.
Preferably, the area selecting unit includes：Periphery administrative division obtains subelement, for administrative with described first
The center of zoning is the center of circle, using default first distance as radius, obtains the periphery administrative division in the radius coverage；Sieve
Subelement is selected, for center of the center of each periphery administrative division respectively with the first administrative division to be connected, if connecting line
Angle is less than angle threshold, then deletes the remote one or more periphery administrative divisions in the first administrative division of distance center, remaining
Periphery administrative division is the second administrative division.
Preferably, the point acquiring unit of exploring includes path starting point acquisition subelement, it includes：Road node selection
Unit, for using the center of the first administrative division as the center of circle, it to be radius to preset second distance, obtains the road in the radius
Node；Angle obtains subelement, for using the road node as vertex, connecting the center and second of the first administrative division respectively
The center of administrative division, obtains the angle of two lines；Subelement is selected, for obtaining the angle close to 180 road knot
Path starting point of the set of point as the first administrative division.
The solution of the present invention, has the following advantages that：
1. the method for the road network of structure numerical map provided by the invention, selects the first administrative division first, obtain with
Some second administrative divisions of the distance of first administrative division within a preset range；Then, the first administrative division is obtained
Path starting point and path termination, the first administrative division is determined according to the path starting point of first administrative division and path termination
Explore point set；Finally, passing through up to the exploration point of second administrative division is got since each exploration point successively
Path, forms road network.In this method, first obtain and explore point, then explore path according to point is explored, form customizable road
Road network, the program is by adjusting administrative division quantity or connection algorithm, thus it is possible to vary the road network of arbitrary region, obtained road
The path planning algorithm of net navigation instrument, can improve the path planning efficiency of navigator.In addition, this method can automate
Road network is calculated, manual operation is reduced, avoids repeated work.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the flow chart of a specific example of the method for the road network that numerical map is built in the embodiment of the present invention 1；
Fig. 2, Fig. 3, Fig. 4 are the schematic diagram that surrounding administrative division is obtained in the embodiment of the present invention 1；
Fig. 5, Fig. 6 are the schematic diagram of acquisition approach starting point in the embodiment of the present invention 1；
Fig. 7 is the schematic diagram of the road network of the structure in the embodiment of the present invention 1；
Fig. 8 is the structure diagram of the device of the road network of the structure numerical map in the embodiment of the present invention 2.
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Easy to describe the present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be with
It is the connection inside two elements, can is wireless connection or wired connection.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can be combined with each other into conflict.
Embodiment 1
A kind of method for the road network for building numerical map is provided in the present embodiment, can be automatic in numerical map
The road network between multiple cities is generated, provides reference for remote path planning, the flow chart of this method is as shown in Figure 1, bag
Include following steps：
S1, the first administrative division of selection, obtain with the distance of first administrative division within a preset range some the
Two administrative divisions.
What administrative division herein referred generally to is exactly city, such as municipality directly under the Central Government, provincial capital, prefecture-level city etc..Administrative area
The center drawn is a centre coordinate, but the region that administrative division includes is usually an irregular scope.
It is first during some second administrative divisions of the distance of acquisition and first administrative division within a preset range
First, using the center of first administrative division as the center of circle, using default first distance as radius, obtain in the radius coverage
Periphery administrative division；Then, center of the center of each periphery administrative division respectively with the first administrative division is connected, if even
The angle of wiring is less than angle threshold, then deletes the remote one or more periphery administrative divisions in the first administrative division of distance center,
Remaining periphery administrative division is the second administrative division.In addition, as preferable mode, periphery administrative area can also be manually adjusted
Draw, the administrative division on periphery is adjusted by manual type.
A specific example is given below, such as using Wuhan as the first administrative division, obtains the administrative area around Wuhan
Draw, method is as follows：
First, periphery administrative division is screened by scope.Using the center in current administrative division Wuhan as origin, to specify length
Degree R is radius.Retain the periphery administrative division within circular scope, as shown in Fig. 2, being Zhengzhou, Hefei, Nanjing, Nanchang, Hangzhoupro
State, Changsha.
Then, angularly screen.Connect each periphery administrative division center and current administrative division center, obtain line with
The angle of direct north.If the differential seat angle of any two lines, less than thresholding T (within generally 30 degree), retain wherein
One (or multiple).As shown in figure 3, the angle between Nanjing and Hefei is smaller, then distant Nanjing is deleted, Nanjing is not made
For the periphery administrative division in Wuhan.
Finally, manual setting periphery administrative division.When the above method cannot find suitable periphery administrative division, user
The method of work configuration.As shown in figure 4, the periphery administrative division of additional Xi'an and Chongqing as Wuhan.
S2, the path starting point and path termination for obtaining the first administrative division, rise according to the path of first administrative division
Point and path termination determine the exploration point set of the first administrative division.
Wherein, the step of obtaining the path starting point of first administrative division, can be realized using two ways.
Mode one：
First, using the center of the first administrative division as the center of circle, it is radius to preset second distance, is obtained in the radius
Road node；
Second, using the road node as vertex, center and the second administrative division of the first administrative division are connected respectively
Center, obtains the angle of two lines；
3rd, obtain path starting point of the angle close to the set of the road node of 180 degree as the first administrative division.
It can be judged close to 180 degree by scope, such as angle is considered between 165-180 close to 180 degree, those skilled in the art
Can rationally it set as needed.
Specifically, an example is provided, as shown in figure 5, obtaining all roads in the range of current administrative center radius r first
Set N={ the N of road node1,N2…Nn, road node can be the starting point of road, crosspoint, using road node as vertex, even
Current administrative center and periphery administrative center are met, seeks the angle α of two lines.Obtain the corresponding angle set P=of each node
{α1,α2…αn}.α is taken closest to the node set of 180 degree, obtains having explored point set S={ N1＇, N2＇ ... Nn＇ }.
Mode two：
First, using the center of first administrative division as origin, circle is drawn for radius with default 3rd distance；
Second, the set of the intersection point of circumference and surrounding road is obtained, the path of the first administrative division is used as using the intersection point
Starting point.
As shown in fig. 6, using current administrative center as origin, drawn and justified as radius using r, obtain the intersection point set of circumference and road
S={ N1,N2…Nn, S is used as and has explored point set.
The process of acquisition approach terminal is as follows：First, the path starting point of second administrative division is determined, it is determined here that the
The mode of the path starting point of two administrative divisions is identical with the mode of the path starting point of above-mentioned first administrative division.Explore from the second row
Administrative division draw path starting point to the first administrative division can pass.Since the second administrative division can be several,
What each second administrative division can form down the first administrative division can pass.Every can pass have road knot
Point, such as crosspoint, starting point, when it is described can pass node and the first administrative division center distance be less than it is default
During distance threshold, exploration terminates, and default distance threshold can select 0-2km, since the centre coordinate close to administrative division is
Can, herein explore terminal be first administrative division path termination.
After path starting point and path termination is obtained, the path starting point and path termination are merged to obtain and explore point set
Close.Merge the exploration starting point of current administrative center and explore terminal, obtain exploring point set X={ M1,M2…Mn}。
S3, successively since it is each explore point, get up to second administrative division exploration point can pass,
Form road network.The acquisition modes of the exploration point of second administrative division and the acquisition modes phase of the exploration point of the first administrative division
Together, so that all administrative divisions all establish its corresponding exploration point set, by since each exploration point, exploring successively
It is reachable it is other explore point can pass, track search algorithm herein can be arranged as required to, such as fastest, distance
Most short etc., path searching method therefor allocation list is as shown in table 1 below.
1 track search allocation list of table
| Starting point administrative division | Destination administrative division | Track search algorithm | The road species that can be used |
| Wuhan | Changsha | Fastest, distance is most short | At a high speed, national highway |
| Wuhan | Nanchang | It is all can pass | At a high speed, national highway, provincial highway |
| … | … | … | … |
Finally, by it is multiple can pass connection into a road network.Several administrative divisions are all subjected to above-mentioned processing,
Road network is then formd, as shown in Figure 7.
During road network is formed, according to can passing road category of roads formed different levels road network.Example
Level-one road network is such as formed according to national highway, expressway, increases provincial highway on the basis of level-one road network and forms secondary road net, with this
Analogize, as shown in table 2, as disposable embodiment, layered mode herein can be as needed when generating road network
Set.The program is realized based on administrative hierarchy, with reference to different track search algorithm construction Multi-layer road nets.
2 road species allocation list of table
| Road network level | Road species |
| 1 | Mainly include super expressway, expressway around city, national highway |
| 2 | Mainly include super expressway, expressway around city, national highway, provincial highway |
| 3 | Mainly include super expressway, expressway around city, national highway, provincial highway, county road |
| 4 | Mainly include super expressway, expressway around city, national highway, provincial highway, county road, small towns village road |
| 5 | All roads |
Embodiment 2：
A kind of device for the road network for building numerical map is provided in the present embodiment, as shown in figure 8, including：
Area selecting unit 01, for selecting the first administrative division, obtains the distance with first administrative division pre-
If some second administrative divisions in scope；
A point acquiring unit 02 is explored, for obtaining the path starting point and path termination of the first administrative division, according to described the
The path starting point and path termination of one administrative division determine the exploration point set of the first administrative division；
Road network construction unit 03, for since each exploration point, getting the spy up to second administrative division successively
Rope point can pass, formed road network.
Wherein, the area selecting unit includes：
Periphery administrative division obtains subelement, for using the center of first administrative division as the center of circle, to preset first
Distance is radius, obtains the periphery administrative division in the radius coverage；
Subelement is screened, for center of the center of each periphery administrative division respectively with the first administrative division to be connected,
If the angle of connecting line is less than angle threshold, the remote one or more periphery administrative areas in the first administrative division of distance center are deleted
Draw, remaining periphery administrative division is the second administrative division.
Wherein, the point acquiring unit of exploring includes path starting point acquisition subelement, it includes：
Road node selection subelement, for using the center of the first administrative division as the center of circle, it is radius to preset second distance,
Obtain the road node in the radius；
Angle obtain subelement, for using the road node as vertex, connect respectively the first administrative division center and
The center of second administrative division, obtains the angle of two lines；
Subelement is selected, for obtaining the angle close to the set of 180 road node as the first administrative division
Path starting point.
The device of the road network of structure numerical map provided in this embodiment, including area selecting unit, exploration point obtain
Unit and road network construction unit, the program realize the structure of road network, improve structure speed and efficiency.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or square frame in journey and/or square frame and flowchart and/or the block diagram.These computer programs can be provided
The processors of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices, which produces, to be used in fact
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided and is used for realization in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a square frame or multiple square frames.
Obviously, the above embodiments are merely examples for clarifying the description, and the restriction not to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
- A kind of 1. method for the road network for building numerical map, it is characterised in that including：The first administrative division is selected, obtains some second administrative areas within a preset range with the distance of first administrative division Draw；The path starting point and path termination of the first administrative division are obtained, according to the path starting point of first administrative division and path Terminal determines the exploration point set of the first administrative division；Successively since it is each explore point, get up to second administrative division exploration point can pass, formed road Road network.
- 2. according to the method described in claim 1, it is characterized in that, described obtain the distance with first administrative division pre- If some second administrative divisions in scope, including：Using the center of first administrative division as the center of circle, using default first distance as radius, obtain in the radius coverage Interior periphery administrative division；Center of the center of each periphery administrative division respectively with the first administrative division is connected, if the angle of connecting line is less than angle Threshold value is spent, then deletes the remote one or more periphery administrative divisions in the first administrative division of distance center, remaining periphery administrative area Divide the second administrative division into.
- 3. method according to claim 1 or 2, it is characterised in that rise in the path for obtaining first administrative division Point, including：Using the center of the first administrative division as the center of circle, it is radius to preset second distance, obtains the road node in the radius；Using the road node as vertex, the center of the first administrative division and the center of the second administrative division are connected respectively, is obtained The angle of two lines；Obtain path starting point of the angle close to the set of the road node of 180 degree as the first administrative division.
- 4. method according to claim 1 or 2, it is characterised in that rise in the path for obtaining first administrative division Point, including：Using the center of first administrative division as origin, circle is drawn for radius with default 3rd distance；The set of the intersection point of circumference and surrounding road is obtained, the path starting point of the first administrative division is used as using the intersection point.
- 5. according to claim 1-4 any one of them methods, it is characterised in that the road for obtaining first administrative division Footpath terminal, including：Determine the path starting point of second administrative division, explore from the path starting point of the second administrative division to the first administrative division Can pass；It is described can the node of pass and the distance at center of the first administrative division when being less than pre-determined distance threshold value, explore knot Beam, explores the path termination that terminal is first administrative division.
- 6. according to claim 1-5 any one of them methods, it is characterised in that the road according to first administrative division Footpath starting point and path termination determine the exploration point set of the first administrative division, including：The path starting point and path termination are merged to obtain and explore point set.
- 7. according to claim 1-6 any one of them methods, it is characterised in that described to get up to second administrative division Exploration point can pass formed road network process, including：According to can passing road category of roads formed different levels road network.
- A kind of 8. device for the road network for building numerical map, it is characterised in that including：Area selecting unit, for selecting the first administrative division, obtains the distance with first administrative division in preset range Interior some second administrative divisions；Point acquiring unit is explored, it is administrative according to described first for obtaining the path starting point and path termination of the first administrative division The path starting point and path termination of zoning determine the exploration point set of the first administrative division；Road network construction unit, for since each exploration point, getting successively up to the exploration point of second administrative division Can pass, formed road network.
- 9. device according to claim 8, it is characterised in that the area selecting unit includes：Periphery administrative division obtains subelement, for using the center of first administrative division as the center of circle, to preset the first distance For radius, the periphery administrative division in the radius coverage is obtained；Subelement is screened, for center of the center of each periphery administrative division respectively with the first administrative division to be connected, if even The angle of wiring is less than angle threshold, then deletes the remote one or more periphery administrative divisions in the first administrative division of distance center, Remaining periphery administrative division is the second administrative division.
- 10. device according to claim 8 or claim 9, it is characterised in that the point acquiring unit of exploring is obtained including path starting point Subelement is taken, it includes：Road node selection subelement, for using the center of the first administrative division as the center of circle, default second distance to be radius, is obtained Road node in the radius；Angle obtains subelement, for using the road node as vertex, connecting the center and second of the first administrative division respectively The center of administrative division, obtains the angle of two lines；Subelement is selected, for obtaining path of the angle close to the set of 180 road node as the first administrative division Starting point.
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| CN110489510A (en) * | 2019-08-23 | 2019-11-22 | 腾讯科技（深圳）有限公司 | Processing method, device, readable storage medium storing program for executing and the computer equipment of road data |
| CN112115567A (en) * | 2020-08-01 | 2020-12-22 | 富盛科技股份有限公司 | Optical fiber minimum consumption path planning method |
| CN113935511A (en) * | 2021-08-26 | 2022-01-14 | 武汉光庭信息技术股份有限公司 | Method and system for maintaining normal connection of exploration road network after yawing |
| CN114199227A (en) * | 2021-12-03 | 2022-03-18 | 京东鲲鹏(江苏)科技有限公司 | Navigation path planning method and device |
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