CN117740001A - Map route matching method and system - Google Patents
Map route matching method and system Download PDFInfo
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- CN117740001A CN117740001A CN202311502770.1A CN202311502770A CN117740001A CN 117740001 A CN117740001 A CN 117740001A CN 202311502770 A CN202311502770 A CN 202311502770A CN 117740001 A CN117740001 A CN 117740001A
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Abstract
The invention provides a map route matching method and a map route matching system, wherein the method comprises the following steps: segmenting a navigation route of a common map according to a preset position; after the Link at the tail end of the route is matched with the first Link of the high-precision map road in each segment, the Link at the tail end of the route in the previous segment is matched with the second Link of the high-precision map road, and the route between the second Link and the first Link is topologically searched on the high-precision map; when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road; and based on the route searched in each segment, splicing to generate a navigation route of the high-precision map. By the scheme, the accuracy and the reliability of the common map and the high-precision map route matching can be improved, and the matching efficiency is high.
Description
Technical Field
The invention belongs to the field of high-precision maps, and particularly relates to a map route matching method and system.
Background
The data used by the vehicle/mobile phone navigation system is common map data, and the vehicle is automatically driven to use a high-precision map. Because the common map data are inconsistent with the high-precision map in terms of collection, manufacturing, specification and the like, the route generated by the common map navigation system cannot be directly applied to the high-precision map due to the difference of the map data, and the route can be applied only by being firstly matched with the high-precision map and converted into the corresponding route.
The common map and the high-precision map have various differences, such as road shape differences, coordinate precision differences, intersection construction differences, road cutting differences, data timeliness differences and the like. If matching is directly performed based on navigation route characteristics or after shape point projection is directly performed, poor matching accuracy and poor reliability can be caused.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a map route matching method and system, which are used for solving the problems of poor accuracy and reliability of the existing map route matching.
In a first aspect of an embodiment of the present invention, there is provided a map route matching method, including:
segmenting a navigation route of a common map according to a preset position;
after the Link at the tail end of the route is matched with the first Link of the high-precision map road in each segment, the Link at the tail end of the route in the previous segment is matched with the second Link of the high-precision map road, and the route between the second Link and the first Link is topologically searched on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
and based on the route searched in each segment, splicing to generate a navigation route of the high-precision map.
In a second aspect of the embodiment of the present invention, there is provided a map route matching system, including:
the route dividing module is used for segmenting a navigation route of the common map according to a preset position;
the segment matching module is used for matching the Link at the tail end of the route to the first Link of the high-precision map road in each segment, then matching the Link at the tail end of the route in the previous segment to the second Link of the high-precision map road, and topologically searching the route between the second Link and the first Link on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
and the splicing module is used for splicing the navigation route based on the route searched in each segment to generate the high-precision map.
In a third aspect of the embodiments of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect of the embodiments of the present invention when the computer program is executed by the processor.
In a fourth aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In the embodiment of the invention, after the common map navigation route is segmented, the segmentation is subjected to topology search on the high-precision map based on the head and tail Link, and the segmented route is matched to the high-precision map, so that compared with the direct Li nk matching or the direct route linear point projection, the method has the advantages of high matching efficiency and high speed, can ensure the accuracy and reliability of matching, can accommodate data difference, and is suitable for various matching scenes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a flow chart of a map route matching method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a map route matching system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the term "comprising" and other similar meaning in the description of the invention or the claims and the above-mentioned figures is intended to cover a non-exclusive inclusion, such as a process, method or system, apparatus comprising a series of steps or elements, without limitation to the listed steps or elements. Furthermore, "first" and "second" are used to distinguish between different objects and are not used to describe a particular order.
Referring to fig. 1, a flow chart of a map route matching method provided by an embodiment of the present invention includes:
s101, segmenting a navigation route of a common map according to a preset position;
the common map refers to a navigation map used in daily life, such as a Goldmap, a Google map and the like, and a user inputs a starting point and a destination point to automatically generate a navigation route. The navigation routes in the common map may be organized according to links, i.e. roads, including road class (divided into expressway/urban expressway/common road, etc.), road type (divided into ramp/service area/tunnel/overhead/toll station/auxiliary road/intersection, etc.), road shape, etc.
The predetermined location is typically a critical location capable of accurately dividing a route, typically an entrance of a high speed/city/overhead, an entrance of a long tunnel (greater than 1000 meters), or the like. The preset position is characterized in that ambiguity does not exist basically at the preset position, parallel roads do not appear, and Link matching accuracy can be guaranteed.
After the navigation route is segmented according to the preset position, the navigation route of each segment is composed of Link, and at the moment, the high-precision map is used for carrying out route matching independently according to the route of each segment.
S102, after the Link at the tail end of the route is matched with a first Link of a high-precision map road in each segment, the Link at the tail end of the route in the previous segment is matched with a second Link of the high-precision map road, and the route between the second Link and the first Link is topologically searched on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
the route in each segment is composed of a plurality of links, and the links at the tail end of the segment route are matched with links in the high-precision map until the matching is successful, and the first Link can be marked. And acquiring the Link at the tail end of the last segmented route, matching the Link with the Link in the high-precision map, and marking the Link as a second Link.
It can be understood that when the Link at the tail end of the last segment is marked as the second Link, it can also be used as the first Link of the current segment, that is, the second Link of the high-precision map road matched by the segment L2, and can be used as the first Link matched by the last segment L1.
The roads in the high-precision map can be represented by Link, and when Link matching of the head end or the tail end of the segmentation is carried out, search matching is carried out in the high-precision map according to the position and the type of the corresponding Link in the common map. When the first Link and the second Link are matched in the high-precision map, the route between the first Link and the second Link is continuously searched on the high-precision map in a topology mode based on the first Link and the second Link.
Specifically, searching a high-precision map route in a predetermined range around the segmented route on the high-precision map; and performing attribute matching on the searched high-precision map route and the segmented route.
Illustratively, the route search cannot be 100 meters from the perimeter of the segmented navigation route. When the road attributes match, if the navigation route passes through the service area, the search route must pass through the service area.
Optionally, if no matching route is searched, matching the high-precision map Link with the common map Link in the segment.
When the segment route search and the matching fail, link matching can be directly carried out, and the matched links are connected in series to form segment routes.
Preferably, the navigation route is projected to a high-precision map, a high-precision map road Link around a Link shape point of a common map is searched, and high-precision map road Link filtering is performed based on angle difference, distance and road attribute difference between the Link of the common map navigation route and the high-precision map road Link.
Exemplary, shape points on the navigation route Link are projected onto a high-precision map, and the high-precision map Link around the shape points is searched; comparing the acquired high-precision map Link with the angle of the navigation route Link, and filtering when the angle difference exceeds 60 degrees; when the distance between the high-precision map Link and the navigation route Link is far and exceeds 20 meters, the high-precision map Link can be filtered; when the high-precision map Link is inconsistent with the navigation route Link attribute, filtering can be performed.
S103, based on the route searched in each segment, the navigation route of the high-precision map is generated by splicing.
And splicing the high-precision map routes corresponding to the segments to obtain the navigation route on the high-precision map.
It will be appreciated that the spliced high-precision map route end point may be different from the navigation route end point (Li nk on the navigation route where the tail end is successfully matched may not be the end point), and that a corresponding end point needs to be generated on the high-precision map according to the navigation route end point information.
In this embodiment, the Li nk based on the common map segment route matching performs topology search on the high-precision map, and compared with the conventional direct Li nk matching and route projection matching, the method has the advantages of higher matching precision, high matching speed and high efficiency, and meanwhile, can be compatible with data differences, and can realize correct matching in the scenes of road shape differences, coordinate precision differences, intersection construction differences, road cutting differences, data timeliness differences and the like.
It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a map route matching system according to an embodiment of the present invention, where the system includes:
a route division module 210 for segmenting a navigation route of a general map according to a predetermined position;
the segment matching module 220 is configured to match, in each segment, the Link at the end of the route to the first Link of the high-precision map road, and then match the Link at the end of the route in the previous segment to the second Link of the high-precision map road, and topologically search the route from the second Link to the first Link on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
the topology searching of the route from the second Link to the first Link on the high-precision map comprises the following steps:
searching a high-precision map route in a preset range around the segmented route on the high-precision map;
and performing attribute matching on the searched high-precision map route and the segmented route.
Optionally, the segment matching module 220 includes:
and the Link matching unit is used for matching the high-precision map Link with the common map Link in the segment if no matched route is searched.
Preferably, the segment matching module 220 further includes:
and the filtering module is used for projecting the navigation route to the high-precision map, searching for the high-precision map road Link around the Link-shaped point of the common map, and filtering the high-precision map road Link based on the angle difference, the distance and the road attribute difference between the Link of the navigation route of the common map and the high-precision map road Link.
And a splicing module 230 for splicing the navigation routes based on the searched routes in each segment to generate a high-precision map.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described system and module may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is used for matching the common map navigation route to the high-precision map. As shown in fig. 3, the electronic apparatus 3 of this embodiment includes: memory 310, processor 320, and system bus 330, the memory 310 including an executable program 3101 stored thereon, it will be understood by those skilled in the art that the electronic device structure shown in fig. 3 is not limiting of the electronic device and may include more or fewer components than illustrated, or may combine certain components, or a different arrangement of components.
The following describes the respective constituent elements of the electronic device in detail with reference to fig. 3:
the memory 310 may be used to store software programs and modules, and the processor 320 may execute various functional applications and data processing of the electronic device by executing the software programs and modules stored in the memory 310. The memory 310 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data created according to the use of the electronic device (such as cache data), and the like. In addition, memory 310 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
An executable program 3101 containing network request methods on the memory 310, the executable program 3101 may be partitioned into one or more modules/units stored in the memory 310 and executed by the processor 320 for map route matching, etc., the one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions for describing the execution of the computer program 3101 in the electronic device 3. For example, the computer program 3101 may be divided into a route dividing module, a segment matching module, a splicing module, and other functional modules.
Processor 320 is a control center of the electronic device that utilizes various interfaces and lines to connect various portions of the overall electronic device, perform various functions of the electronic device and process data by running or executing software programs and/or modules stored in memory 310, and invoking data stored in memory 310, thereby performing overall condition monitoring of the electronic device. Optionally, processor 320 may include one or more processing units; preferably, the processor 320 may integrate an application processor that primarily handles operating systems, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 320.
The system bus 330 is used to connect functional components in the computer, and CAN transmit data information, address information, and control information, and the types of the system bus may be, for example, a PCI bus, an isa bus, and a CAN bus. Instructions from the processor 320 are transferred to the memory 310 through the bus, the memory 310 feeds back data to the processor 320, and the system bus 330 is responsible for data and instruction interaction between the processor 320 and the memory 310. Of course, the system bus 330 may also access other devices, such as a network interface, a display device, etc.
In an embodiment of the present invention, the executable program executed by the process 320 included in the electronic device includes:
segmenting a navigation route of a common map according to a preset position;
after the Link at the tail end of the route is matched with the first Link of the high-precision map road in each segment, the Link at the tail end of the route in the previous segment is matched with the second Link of the high-precision map road, and the route between the second Link and the first Link is topologically searched on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
and based on the route searched in each segment, splicing to generate a navigation route of the high-precision map.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system, apparatus and module may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A map route matching method, comprising:
segmenting a navigation route of a common map according to a preset position;
after the Link at the tail end of the route is matched with the first Link of the high-precision map road in each segment, the Link at the tail end of the route in the previous segment is matched with the second Link of the high-precision map road, and the route between the second Link and the first Link is topologically searched on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
and based on the route searched in each segment, splicing to generate a navigation route of the high-precision map.
2. The method of claim 1, wherein the topologically searching for a route between the second Link and the first Link on the high-precision map comprises:
searching a high-precision map route in a preset range around the segmented route on the high-precision map;
and performing attribute matching on the searched high-precision map route and the segmented route.
3. The method of claim 1, wherein the topologically searching for a route between the second Link and the first Link on the high-precision map further comprises:
and if no matched route is searched, matching the high-precision map Link with the common map Link in the segment.
4. The method of claim 1, wherein after the matching the Link at the end of the route to the first Link of the high-precision map road in each segment, the matching the Link at the end of the route in the previous segment to the second Link of the high-precision map road, and topologically searching the high-precision map for the route between the second Link and the first Link further comprises:
and projecting the navigation route to a high-precision map, searching for a high-precision map road Link around a Link-shaped point of the common map, and filtering the high-precision map road Link based on the angle difference, the distance and the road attribute difference between the Link of the common map navigation route and the high-precision map road Link.
5. A map route matching system, comprising:
the route dividing module is used for segmenting a navigation route of the common map according to a preset position;
the segment matching module is used for matching the Link at the tail end of the route to the first Link of the high-precision map road in each segment, then matching the Link at the tail end of the route in the previous segment to the second Link of the high-precision map road, and topologically searching the route between the second Link and the first Link on the high-precision map;
when the previous segment is the first segment or the previous segment has high-precision map missing, the Link at the head end of the route of the current segment is backwards matched to a second Link of the high-precision map road;
and the splicing module is used for splicing the navigation route based on the route searched in each segment to generate the high-precision map.
6. The system of claim 5, wherein the topologically searching for a route between the second Link and the first Link on the high-precision map comprises:
searching a high-precision map route in a preset range around the segmented route on the high-precision map;
and performing attribute matching on the searched high-precision map route and the segmented route.
7. The system of claim 5, wherein the segment matching module comprises:
and the Link matching unit is used for matching the high-precision map Link with the common map Link in the segment if no matched route is searched.
8. The system of claim 5, wherein the segment matching module further comprises:
and the filtering module is used for projecting the navigation route to the high-precision map, searching for the high-precision map road Link around the Link-shaped point of the common map, and filtering the high-precision map road Link based on the angle difference, the distance and the road attribute difference between the Link of the navigation route of the common map and the high-precision map road Link.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of a map route matching method as claimed in any one of claims 1 to 4 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed implements the steps of a map route matching method as claimed in any one of claims 1 to 4.
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| CN202311502770.1A CN117740001A (en) | 2023-11-08 | 2023-11-08 | Map route matching method and system |
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| CN202311502770.1A CN117740001A (en) | 2023-11-08 | 2023-11-08 | Map route matching method and system |
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