CN113008251B - Digital map updating method for unstructured roads in closed area - Google Patents
Digital map updating method for unstructured roads in closed area Download PDFInfo
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Abstract
The invention discloses a digital map updating method for an unstructured road in a closed area, which comprises the following steps: step 1, collecting track data of an unstructured road of a closed area; step 3, extracting an expanded new boundary of the target closed region by a boundary expansion method according to the track data processed in the step 2, and updating a static map of the map; step 4, updating a static map of the map and updating the directed map by a road addition method according to the track data processed in the step 2; and 5, deleting the road information needing to be discarded, updating the static map of the map and updating the directed map. The method and the device update the map by acquiring the high-precision track data of a plurality of engineering vehicles, and ensure the update efficiency and the update cost of the map.
Description
Technical Field
The invention relates to the technical field of digital map updating, in particular to a digital map updating method for an unstructured road in a closed area.
Background
With the continuous development of artificial intelligence, the automatic driving technology gradually becomes a research hotspot in academic circles and industrial circles, and the high-precision map is a key technology for realizing the commercialized landing of the L3-L5 automatic driving. Compared with the traditional navigation map, the high-precision map contains richer and more precise road information, and plays an important role in the function modules of perception, positioning, decision-making, control and the like of the automatic driving vehicle. Over time, roads in the real world may change, resulting in a mismatch between the previously acquired high-precision map data and the real world. The high-precision map which cannot be updated in time can lead the navigation service performance to be worse and worse, and even can influence the safety and the reliability of an automatic driving automobile. In some enclosed areas of unstructured roadways, such as: mining areas, ports and the like, the boundaries of the working areas are expanded or reduced due to the requirements of work, and roads between the working areas are newly repaired and abandoned. If the map is updated by collecting data again from the map collection vehicle to the changed area when the boundary and the road change every time, the map updating efficiency is not high, and the map updating and maintaining cost is high due to the fact that a large amount of manual intervention is needed in the data collection stage.
Disclosure of Invention
The invention aims to provide a digital map updating method for an unstructured road in a closed area, which updates a map by acquiring high-precision track data of a plurality of engineering vehicles and ensures the updating efficiency and the updating cost of the map.
In order to achieve the above object, the present invention provides a method for updating a digital map of an unstructured road in a closed area, the method comprising:
step 1, collecting track data of an unstructured road in a closed area, wherein the track data comprises a series of track points with time stamps and coordinate values;
step 2, filtering noise point information of the track data;
step 3, extracting an expanded new boundary of the target closed region by a boundary expansion method according to the track data processed in the step 2, and updating a static map of the map;
step 4, updating a static map of the map and updating the directed map by a road addition method according to the track data processed in the step 2;
and 5, deleting the road information needing to be discarded, updating the static map of the map and updating the directed map.
Further, in step 3, the boundary extension method specifically includes:
step 31, finding out all intersection points of the trajectory data processed in the step 2 and the original boundary; wherein the original boundary is a boundary in a static map of the map before updating;
step 32, according to the time sequence of the trace points in the original boundary, sequencing the intersection points, taking out and connecting the intersection points to the first intersection point P 0 And the intersection point P arranged at the last n To obtain a line segment
Constructing a two-dimensional plane coordinate system XOY in the plane of the pre-update map, wherein the origin is the intersection point P 0 The positive direction of the X-axis being a vector
The positive direction of the Y axis is the positive direction of the X axis and rotates 90 degrees anticlockwise;
step 33, converting the coordinates of the track points in the track data processed in step 2 into corresponding coordinate values under the coordinate system XOY;
step 34, constructing a first rectangle in the first quadrant of the coordinate system XOY, the line segment
The middle equally-divided line segment after being equally divided by n is one side of the first rectangle, the side is perpendicular to the other two perpendicular sides of the first rectangle, and the lengths of the two perpendicular sides are larger than the maximum y coordinate value in the track point of the track data by a first preset value;
step 35, finding out the trace point farthest from the X axis from the trace points included in each first rectangle, and using the trace point as a representative point of the current first rectangle;
step 36, connecting the intersection point P 0 The intersection point P n And step 35 obtaining a new boundary for each representative point of said first rectangle obtained.
Further, in step 4, the road addition method specifically includes:
step 41, finding out the trajectory data processed in step 2 and the original boundary L 3 All the intersection points of (a); wherein the original boundary L 3 The method comprises the steps of obtaining an original boundary at one side of an original road to be updated in a static map of a map before updating;
step 42, according to the original boundary L 3 Sequencing the intersection points according to the time sequence of the middle track points, taking out and connecting to the first intersection point P 1 And the intersection point P arranged at the last 3 To obtain a line segment
Constructing a two-dimensional plane coordinate system X ' O ' Y ' in the plane of the pre-update map, wherein the origin is the intersection point P 1 The positive direction of the X' axis is a vector
Direction of (2), positive direction of the Y' axisRotates 90 degrees counterclockwise in the positive direction of the X' axis;
step 43, converting the coordinates of the track points in the track data processed in step 2 into corresponding coordinate values under the coordinate system X ' O ' Y ';
step 44, constructing a second rectangle, said line segment, in a first quadrant of said coordinate system X 'O' Y
Is one side of the second rectangle, and the second rectangle has P 1 And the other side of which the length is larger than the maximum Y coordinate value in the track points of the track data by a second preset value is overlapped on the Y' axis;
step 45, finding out the trace point farthest from the X' axis in the trace points contained in the second rectangle, and taking the trace point as the representative point P of the current second rectangle 2 ；
Step 46, according to the line segment
And a representative point P of said second rectangle 2 And constructing a new road.
Further, in step 46, if the newly repaired road is a straight road, pass P 2 Making a vertical line segment perpendicular to the Y 'axis in the negative direction of the X' axis, wherein the midpoint of the vertical line segment is P 2 One end point of which is the intersection point P of the Y' axis and the 6 The other end point is P 7 Respectively connected by straight lines P 1 And P 6 And connection P 3 And P 7 Then through P 2 Making line segments
Perpendicular line of (1), the perpendicular line and the line segment
Has a point of intersection of P 8 Straight line segment
And
the boundary of the newly repaired road is a straight line segment
And the central line of the newly repaired road is taken as the central line of the newly repaired road.
Further, in step 46, if the newly repaired road is a curved road, first, the newly repaired road is divided into a plurality of linear road segments; then, finding the line segment in each linear road section
And a representative point P of said second rectangle 2 (ii) a Per P 2 Making a vertical line segment perpendicular to the Y 'axis in the negative direction of the X' axis, wherein the midpoint of the vertical line segment is P 2 One end point of which is the intersection point P of the Y' axis 6 The other end point is P 7 Respectively connected by straight lines P 1 And P 6 And connection P 3 And P 7 Then through P 2 Making line segments
Perpendicular line of (A), the perpendicular line and line segment
Has a point of intersection of P 8 Straight line segment
And
is the boundary of the linear road section, the linear section
Is the centerline of the linear road segment.
Further, the original boundary L 3 Is located atThe other side boundary of the original road to be updated is L 4 And the step 4 further comprises:
step 47, if the newly-repaired road is connected to the original road in the map before updating, under the condition of forming newly-added intersections, respectively passing through P 1 And P 3 Perpendicular to line segment in negative direction of said Y' axis
Perpendicular lines of (a) with the boundary L 4 Has a point of intersection of P 4 And P 5 Then, then
And said boundary L 4 Forming the boundary of the newly added intersection and deleting P 1 And P 3 The original boundary between and the corresponding road centerline.
Further, in the step 4, the method for updating the directed graph specifically includes:
updating the end point of the newly-repaired road, which is accessed to the original road, into a newly-added intersection node, and updating the end point which is not accessed to the original road into a newly-added area node;
setting the connecting edges between the newly added intersection nodes and the newly added area nodes at the two ends of the newly repaired road to be bidirectional, and updating the connecting edges into newly added bidirectional edges;
and respectively setting the connection edges between the nodes at the two ends of the original road and the newly added intersection nodes connected into the original road into two directions, and updating the two sides into two newly added two-way edges.
Further, in the step 5, a starting point P of the road to be deleted is located in the static map m 、P n From a starting point P m 、P n Deleting the left and right boundaries and the center line information of the specified road, and then connecting P m 、P n Structural closed line
The intersection boundary is closed.
Further, the nodes and edges corresponding to the areas and roads in the static map are deleted in the directed map.
Due to the adoption of the technical scheme, the invention has the following advantages: the invention fully utilizes the track data of the engineering vehicle in the usual work, excavates the change of the road and the working area boundary, realizes the fusion update of the map data through the database, leads the whole map update work to be more efficient, and leads the map update work to be more economic and intelligent because the labor cost of specially re-collecting the data is saved.
Drawings
FIG. 1 is a static map of a general closed area unstructured road constructed in an embodiment of the invention;
FIG. 2 is a general closed area unstructured road directed graph in an embodiment of the invention;
FIG. 3 is a flowchart illustrating a map updating method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of boundary extension in an embodiment of the present invention;
FIG. 5 is a diagram illustrating the updating of a workspace boundary extension static map in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a road addition in an embodiment of the present invention;
FIG. 7 is a diagram illustrating an update of a newly added road static map according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating updating of a new directed graph of a road according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating static map update for road deletion in an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The embodiment of the invention provides two-level original map representation of a closed area of an unstructured road: the static graph shown in fig. 1 mainly comprises road and working area information, and the directed graph shown in fig. 2 mainly comprises nodes v, edges e and weight information w calculated according to the length of a center line of a road.
As shown in fig. 3, the method for updating a digital map of an unstructured road in a closed area according to this embodiment includes:
step 1, collecting track data of an unstructured road in a closed area, wherein the track data comprises a series of track points with time stamps and coordinate values.
In a work area of a closed area, the boundary of the work area is gradually enlarged along with the operation, and engineering vehicles such as excavators can continuously break through the boundary of an original map and move back and forth in the work area, so that track data which can be used for excavating a new boundary of the work area is generated. Meanwhile, in a closed area, a new road needs to be repaired due to work requirements, and during the process of repairing the new road, engineering vehicles such as a road roller can move back and forth in the new road, and a lot of track data which can be used for excavating the boundary of the new road can be generated. In the embodiment, the change information of the map is mined by collecting the track data with potential value, the collected track data can be collected by a GNSS-IMU high-precision inertial integrated navigation positioning system installed on the engineering vehicle as a precondition for updating the map, the positioning system can realize RTK differential positioning under the condition of no signal shielding, the positioning precision is high, the anti-interference performance is good, and the UTM coordinate sequence of the acquisition vehicle can be accurately obtained. The trajectory data is characterized as a set of trajectories TS = { T = } 1 ,T 2 ,T 3 ,......,T n Each trace T consists of a series of time-stamped coordinate points (x, y, T), where T is a time stamp.
And 2, filtering noise point information of the track data.
Although the GNSS-IMU combined inertial navigation system has good anti-interference performance, jump data caused by weak signals is inevitable sometimes. In this embodiment, according to a distance threshold method, data processing is performed on the trajectory data including the error, so as to filter noise point information. And calculating a distance threshold value d according to the maximum driving speed s and the data sampling period t of the engineering vehicle, and when the distance between a certain positioning point and the last positioning point is greater than the threshold value d, regarding the positioning point as the filtered noise point.
d＝s*t
And 3, extracting an expanded new boundary of the target closed region by a boundary expansion method according to the track data processed in the step 2, and updating a static map of the map, as shown by the 'convex' new boundary in the figure 5.
In an embodiment, as shown in fig. 4, the boundary extension method proposed in this embodiment specifically includes:
step 31, finding out the trajectory data processed in step 2 and the original boundary L 1 All the intersections of (a); wherein the original boundary L 1 Is a boundary in the static map of the pre-update map.
Step 32, according to the original boundary L 1 Sequencing the intersection points according to the time sequence of the middle track points, taking out and connecting to the first intersection point P 0 And the intersection point P arranged at the last n To obtain a line segment
Constructing a two-dimensional plane coordinate system XOY in the plane of the pre-update map, wherein the origin is the intersection point P 1 The positive direction of the X-axis being a vector
The positive direction of the Y axis is the positive direction of the X axis, and the positive direction of the Y axis rotates 90 degrees anticlockwise.
And step 33, converting the coordinates of the track points in the track data processed in the step 2 into corresponding coordinate values in the coordinate system XOY.
Step 34, constructing a first rectangle in a first quadrant of the coordinate system XOY, the line segment
The middle equally-divided line segment divided by n is one side of the first rectangle, the side is perpendicular to the other two perpendicular sides of the first rectangle, and the lengths of the two perpendicular sides are greater than the maximum y coordinate value in the track point of the track data by a first preset value, such as 0.1m, but the length of the two perpendicular sides is not limited to this, and the length can be set according to the actual situation. Wherein the value of the parameter nThe accuracy of the finally deduced new boundary is influenced, and the higher n is, the higher the accuracy of the deduced new boundary is.
And step 35, finding out the trace point farthest from the X axis from the trace points contained in each first rectangle, and taking the trace point as the representative point of the current first rectangle.
Step 36, connecting the intersection point P 0 The intersection point P n And obtaining a new boundary L for each representative point of the first rectangle obtained in step 35 2 。
Of course, the data may be collected by a special map collecting vehicle to update the data or the boundary may be scanned by a laser radar to extract boundary information to update the boundary in the map, or any one of the methods disclosed in the prior art may be used to update the road boundary, which is not listed here.
And 4, updating a static map of the map and updating the directed map by a road addition method according to the track data processed in the step 2. The original road includes original boundaries on the left and right sides, and the original boundaries on the left and right sides are hereinafter referred to as L 3 、L 4 For example, a road adding method is developed and explained, which specifically comprises the following steps:
step 41, as shown in fig. 6, finding out the trajectory data and the original boundary L processed in step 2 3 All the intersection points of (a); wherein the original boundary L 3 Is a boundary in the static map of the pre-update map.
Step 42, according to the original boundary L 3 Sequencing the intersection points according to the time sequence of the middle track points, taking out and connecting to the first intersection point P 1 And the intersection point P arranged at the last 3 To obtain a line segment
Constructing a two-dimensional plane coordinate system X ' O ' Y ' in the plane of the pre-update map, wherein the origin is the intersection point P 1 The positive direction of the X' axis is a vector
The positive direction of the Y ' axis is the positive direction of the X ' axis, and the positive direction of the Y ' axis rotates 90 degrees anticlockwise.
And 43, converting the coordinates of the track points in the track data processed in the step 2 into corresponding coordinate values under the coordinate system X ' O ' Y '.
Step 44, constructing a second rectangle, said line segment, in a first quadrant of said coordinate system X 'O' Y
Is one side of the second rectangle, and the second rectangle has P 1 And the other side of the length larger than the maximum Y coordinate value in the track points of the track data by a second preset value is overlapped with the Y' axis, and the second preset value can be 0.1m, but is not limited thereto.
Step 45, finding out the trace point farthest from the X' axis in the trace points contained in the second rectangle, and taking the trace point as the representative point P of the current second rectangle 2 。
Step 46, according to the line segment
And a representative point P of said second rectangle 2 And constructing a new road.
It should be noted that, in addition to the manners given in the above embodiments, any manner disclosed in the prior art may be adopted to update the newly revised road of the static map in the map, which is not listed here.
In one embodiment, in step 46, if the newly repaired road is a straight road, pass P 2 Making a vertical line segment perpendicular to the Y 'axis in the negative direction of the X' axis, wherein the midpoint of the vertical line segment is P 2 One end point of which is the intersection point P of the Y' axis 6 The other end point is P 7 Respectively connected by straight lines P 1 And P 6 And connection P 3 And P 7 Then through P 2 Making line segments
Perpendicular line of (1), the perpendicular line and the line segment
Has a point of intersection of P 8 Straight line segment
And
the boundary of the newly repaired road is a straight line segment
And the center line of the newly repaired road is taken as the center line of the newly repaired road.
In one embodiment, in step 46, if the newly repaired road is a curved road, first, the newly repaired road is divided into a plurality of linear road segments; then, find the line segment in each linear road segment
And a representative point P of said second rectangle 2 (ii) a Per P 2 Making a vertical line segment perpendicular to the Y 'axis in the negative direction of the X' axis, wherein the midpoint of the vertical line segment is P 2 One end point of which is the intersection point P of the Y' axis and the 6 The other end point is P 7 Respectively connected by straight lines P 1 And P 6 And connection P 3 And P 7 Then through P 2 Making line segments
Perpendicular line of (1), the perpendicular line and the line segment
Has a point of intersection of P 8 Straight line segment
And
for the boundaries of corresponding linear road sections, linear sections
Is the centerline of the corresponding linear road segment.
In one embodiment, the original boundary L 3 The other side of the original road to be updated has a boundary L 4 And the step 4 further comprises:
step 47, if the newly-repaired road is connected to the original road in the map before updating, under the condition of forming newly-added intersections, respectively passing through P 1 And P 3 Perpendicular to line segment in the negative direction of the Y' axis
With the boundary L 4 Has a point of intersection of P 4 And P 5 Then, then
And said boundary L 4 Forming the boundary of the newly added intersection and deleting P 1 And P 3 The original boundary between and the corresponding road centerline as shown in fig. 7.
In an embodiment, in step 4, the method for updating the directed graph specifically includes:
updating the end point of the newly-repaired road accessed to the original road into a newly-added intersection node, such as the intersection node V in FIG. 8 3 . The end point which is not accessed to the original road is updated to be a newly added area node, such as the area node V in FIG. 8 4 。
Setting the connecting edges between the newly added intersection nodes and the newly added area nodes at the two ends of the newly-repaired road to be bidirectional, and updating the connecting edges to be newly added bidirectional edges, such as a group of edges (e) in fig. 8 4 ，e 4 ′)。
The connection edges between the nodes at the two ends of the original road and the newly added intersection nodes connected into the original road are set to be bidirectional,updating to two newly added bidirectional edges, such as two sets of bidirectional edges (e) in FIG. 8 1 ，e 1 ′)、(e 2 ，e 2 ′)。
And 5, deleting the road information needing to be discarded, updating the static map of the map and updating the directed map.
In step 5, updating the static map of the map includes:
as shown in FIG. 9, a starting point P of a desired deleted road is located in a static map m 、P n From a starting point P m 、P n Deleting the left and right boundaries and the road center line information of the specified road, and then connecting P m 、P n Structural closed line
The intersection boundary is closed.
In step 5, updating the directed graph of the map includes:
and deleting nodes and edges corresponding to the areas and roads in the static graph in the directed graph, and finishing the updating of the directed graph.
The method extracts and deletes the map information of relevant changes by discriminating boundary expansion, road addition and road deletion, and sends the map change information to the map database through the wireless communication network to realize the fusion and update of the map data. The map database is a Mysql database, map data are stored in the database in a data table form, and data query, management and operation are convenient and fast.
The method fully utilizes the track data of the engineering vehicle provided with the single GNSS-IMU high-precision combined positioning system to update the map information of the automatic driving engineering vehicle working on the closed area unstructured road, has high updating efficiency and low cost, and ensures the freshness of the electronic map of the closed area.
Finally, it should be pointed out that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A digital map updating method for unstructured roads in a closed area is characterized by comprising the following steps:
step 1, collecting track data of an unstructured road of a closed area, wherein the track data comprises a series of track points with time stamps and coordinate values;
step 2, filtering noise point information of the track data;
step 3, extracting an expanded new boundary of the target closed region by a boundary expansion method according to the track data processed in the step 2, and updating a static map of the map;
step 4, updating a static map and a directed map of the map by a road addition method according to the track data processed in the step 2;
step 5, deleting the road information needing to be discarded, and updating the static map and the directed map of the map;
in step 3, the boundary extension method specifically includes:
step 31, finding out all intersection points of the trajectory data processed in the step 2 and the original boundary; wherein the original boundary is a boundary in a static map of the map before updating;
step 32, according to the time sequence of the track points in the original boundary, sequencing the intersection points, taking out and connecting to the first intersection point P 0 And the intersection point P arranged at the last n To obtain a line segment
Constructing a two-dimensional plane coordinate system XOY in the plane of the pre-update map, wherein the origin is the intersection point P 0 The positive direction of the X-axis being a vector
In the direction of (1), the positive direction of the Y axis is counterclockwise rotation of the positive direction of the X axisRotating by 90 degrees;
step 33, converting the coordinates of the track points in the track data processed in step 2 into corresponding coordinate values under the coordinate system XOY;
step 34, constructing a first rectangle in a first quadrant of the coordinate system XOY, the line segment
The middle equally-divided line segment divided by n is one side of the first rectangle, the side is perpendicular to the other two vertical sides of the first rectangle, and the lengths of the two vertical sides are larger than the maximum y coordinate value in the track points of the track data by a first preset value;
step 35, finding out the trace point farthest from the X axis from the trace points included in each first rectangle, and using the trace point as a representative point of the current first rectangle;
step 36, connecting the intersection point P 0 The intersection point P n And step 35 obtaining a new boundary for each representative point of said first rectangle obtained.
2. The method for updating the digital map of the unstructured road in the closed area according to claim 1, wherein in the step 4, the method for adding the road specifically comprises:
step 41, finding out the trajectory data processed in step 2 and the original boundary L 3 All the intersection points of (a); wherein the original boundary L 3 The method comprises the steps of obtaining an original boundary at one side of an original road to be updated in a static map of a map before updating;
step 42, according to the original boundary L 3 Sequencing the intersection points according to the time sequence of the middle track points, taking out and connecting to the first intersection point P 1 And the intersection point P arranged at the last 3 To obtain a line segment
Constructing a two-dimensional plane coordinate system X 'O' Y 'in the plane of the pre-update map'The origin is the intersection point P 1 The positive direction of the X' axis is a vector
The positive direction of the Y 'axis is the positive direction of the X' axis and rotates 90 degrees counterclockwise;
step 43, converting the coordinates of the track points in the track data processed in step 2 into corresponding coordinate values under the coordinate system X ' O ' Y ';
step 44, constructing a second rectangle, said line segment, in a first quadrant of said coordinate system X 'O' Y
Is one side of the second rectangle, and the second rectangle has P 1 And the other side of which the length is larger than the maximum Y coordinate value in the track points of the track data by a second preset value is overlapped on the Y' axis;
step 45, finding out the trace point farthest from the X' axis in the trace points contained in the second rectangle, and taking the trace point as the representative point P of the current second rectangle 2 ；
Step 46, according to the line segment
And a representative point P of said second rectangle 2 And constructing a new road.
3. A method for updating a digital map of an unstructured road in an enclosed area as defined by claim 2 wherein in step 46, if the new road is a straight road, the new road is taken as the straight road 2 Making a vertical line segment perpendicular to the Y 'axis in the negative direction of the X' axis, wherein the midpoint of the vertical line segment is P 2 One end point of which is the intersection point P of the Y' axis 6 The other end point is P 7 Respectively connected by straight lines P 1 And P 6 And connection P 3 And P 7 Then through P 2 Making line segments
Perpendicular line of (A), the perpendicular line and line segment
Has a point of intersection of P 8 Straight line segment
And
the boundary of the newly repaired road is a straight line segment
And the central line of the newly repaired road is taken as the central line of the newly repaired road.
4. The method for updating a digital map of an unstructured road in an enclosed area according to claim 2, wherein in step 46, if the newly constructed road is a curved road, the newly constructed road is firstly divided into a plurality of linear road segments; then, finding the line segment in each linear road section
And a representative point P of said second rectangle 2 (ii) a Over P 2 Making a vertical line segment perpendicular to the Y 'axis in the negative direction of the X' axis, wherein the midpoint of the vertical line segment is P 2 One end point of which is the intersection point P of the Y' axis and the 6 The other end point is P 7 Respectively connected by straight lines P 1 And P 6 And connection P 3 And P 7 Then through P 2 Making line segments
Perpendicular line of (A), the perpendicular line and line segment
Has a point of intersection of P 8 Straight line segment
And
is the boundary of the linear road section, the linear section
Is the centerline of the linear road segment.
5. Method for digital map updating of an unstructured road of an enclosed area according to claim 3 or 4, characterized in that the original boundary L 3 The boundary of the other side of the original road to be updated is L 4 And the step 4 further comprises:
step 47, if the newly-repaired road is connected to the original road in the map before updating, under the condition of forming newly-added intersections, respectively passing through P 1 And P 3 Perpendicular to line segment in negative direction of said Y' axis
With the boundary L 4 Has a point of intersection of P 4 And P 5 Then, then
And said boundary L 4 Forming the boundary of the newly added intersection and deleting P 1 And P 3 The original boundary between and the corresponding road centerline.
6. The method for updating a digital map of an unstructured road in an enclosed area according to claim 2, wherein in the step 4, the method for updating the directed graph specifically comprises:
updating the end point of the newly-repaired road, which is accessed to the original road, into a newly-added intersection node, and updating the end point which is not accessed to the original road into a newly-added area node;
setting the connecting edges between the newly added intersection nodes and the newly added area nodes at the two ends of the newly repaired road into two directions, and updating the connecting edges into newly added two-way edges;
and respectively setting the connection edges between the nodes at the two ends of the original road and the newly added intersection nodes connected into the original road into two directions, and updating the two sides into two newly added two-way edges.
7. The method for updating the digital map of the unstructured roads in the closed area of claim 1, wherein in the step 5, a starting point P of the road to be deleted is located in the static map m 、P n From a starting point P m 、P n Deleting the left and right boundaries and the road center line information of the specified road, and then connecting P m 、P n Structure closed line
The intersection boundary is closed.
8. The closed area unstructured road digital map update method of claim 7, characterized in that nodes and edges corresponding to areas and roads in the static map are deleted in the directed map.
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