CN102194312B - Road merging method and road merging device - Google Patents
Road merging method and road merging device Download PDFInfo
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- CN102194312B CN102194312B CN201010118505.XA CN201010118505A CN102194312B CN 102194312 B CN102194312 B CN 102194312B CN 201010118505 A CN201010118505 A CN 201010118505A CN 102194312 B CN102194312 B CN 102194312B
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Abstract
The invention discloses a road merging method and a road merging device, which are used for preprocessing a real-time traffic rendered road. The method comprises the following steps: reading a road message; searching for crossing linkage information which contains the road message from a preset crossing linkage information set; acquiring a to-be-merged road of the road corresponding to the road message according to the crossing linkage information; and merging the road and the to-be-merged road into a whole road. The invention also discloses a road merging device for realizing the method. By using the road merging method and the road merging device provided by the invention, the smooth connection of shifted roads can be ensured.
Description
Technical field
The present invention relates to intelligent transport technology field, relate in particular to a kind of road merging method and road and merge device.
Background technology
Along with expanding economy, the road network traffic capacity is difficult to meet the transport need day by day increasing, and traffic hazard, traffic congestion, environmental pollution and energy shortage become a difficult problem for puzzlement field of traffic.Under this background, how from the angle of system, people, car, road and environment comprehensive are considered, reduce economic loss, improve traffic operation efficiency and safety, the thought of using various new and high technologies to solve traffic problems is arisen at the historic moment, and the realization that the advanced technologies such as meanwhile communication, control and infotech are above-mentioned thought provides strong technical support, everything produces intelligent transportation system (IntelligentTransport Systems, ITS) naturally.
ITS is based on hyundai electronics infotech, and towards the service system of communications and transportation, it is by collection, processing, issue, exchange and analysis to transport information, and for traveler provides many services, wherein a critical services is real-time traffic service.
Real-time traffic service is by being presented in the real-time traffic states of road states such as () road are crowded, unimpeded and slow on electronic chart, prompting traveler is avoided crowded section of highway, the traffic route of making rational planning for, thereby effectively alleviate traffic congestion, reduced traffic hazard, for traveler has been built a comfortable safe environment.
Inventor carries out in the process of research and practice existing real-time traffic service, find that existing real-time traffic service is in the time representing the real-time traffic states of road both direction, need to adopt lane departure algorithm to be offset road, obtain two skew roads of road, then on two skew roads, represent respectively the traffic behavior of road both direction.Because existing road migration algorithm is carried out vertical shift and obtained being offset starting point and the terminal of road by the starting point to every road and terminal, make to be offset between the skew road (road A ' B ' and C ' D ' as shown in Figure 1) in two road (road AB and CD as shown in Figure 1) of front smooth connection and occur breach, thereby cause cannot representing real-time traffic states between skew road A ' B ' and C ' D ', real-time traffic states and the actual conditions of finally presenting to traveler are not inconsistent, make traveler misunderstand.
There is the problem of breach for solving skew road, need badly a kind of road treatment technology is provided, adopt existing road migration algorithm to be offset the road obtaining by this treatment technology, can realize the smooth connection of the rear road of skew.
Summary of the invention
The technical matters that the embodiment of the present invention will solve is to provide a kind of road merging method and road merges device, before being used for being offset, road is merged to process and obtain merging road, adopt existing road migration algorithm to be offset described merging road, can realize the smooth connection of the rear road of skew.
For solving the problems of the technologies described above, the object of the invention is to be achieved through the following technical solutions:
The invention provides a kind of road merging method, comprising:
Read a road information;
Concentrate in preset point of crossing link information, search the point of crossing link information that comprises described road information;
According to described point of crossing link information, obtain the road to be combined of the corresponding road of described road information;
Road and road to be combined thereof are merged into a road.
The present invention also provides a kind of road to merge device, comprising:
Road information reading unit, for reading a road information;
Point of crossing link information is searched unit, concentrates for the point of crossing link information preset, searches the point of crossing link information that comprises described road information;
Road acquiring unit to be combined, for according to described point of crossing link information, obtains the road to be combined of the corresponding road of described road information;
Road merge cells, merges into a road for road and road to be combined thereof.
Technique scheme has following beneficial effect:
The invention provides a kind of road folding scheme, the road of smooth connection before skew is merged into a road by this scheme, makes the end points of road become the intermediate point that merges road.Due to existing road migration algorithm only the starting point to road and terminal carry out vertical shift, road intermediate point is not adopted to vertical shift, therefore, be combined road and be offset the road still smooth connection after skew that has ensured smooth connection before skew.Further, after skew, the road of smooth connection represents real-time traffic states, can not occur that real-time traffic states represents discontinuous problem again, ensures that the real-time traffic states of finally presenting to traveler conforms to completely with actual conditions.
Brief description of the drawings
Fig. 1 is lane departure principle schematic;
Fig. 2 is that road provided by the invention merges method flow diagram;
The road merging method flow diagram that Fig. 3 provides for the embodiment of the present invention one;
Fig. 4 adopts to the invention provides the real-time traffic states that technical scheme obtains and represent design sketch;
Fig. 5 is point of crossing provided by the invention link information acquisition methods process flow diagram;
Fig. 6 is that road provided by the invention merges installation composition schematic diagram;
Fig. 7 is point of crossing provided by the invention link information acquisition device.
Embodiment
For making object, technical scheme and the advantage of the embodiment of the present invention clearer, the technical scheme embodiment of the present invention being provided referring to accompanying drawing is elaborated.
Refer to Fig. 2, for road provided by the invention merges method flow diagram, the method comprises:
Step 101: read a road information, described road information comprises road markings and at least one endpoint type of a road; (supposing that the road markings that step 101 reads is that X and endpoint type are starting point)
It should be noted that, before execution road merging method provided by the invention, the starting point and the terminal that need to determine according to the actual direction of traffic of road in advance road, that is to say that the endpoint type that described road information carries is the beginning or end definite according to the actual direction of traffic of road.
Step 102: concentrate in preset point of crossing link information, search the point of crossing link information that comprises described road information;
Wherein, point of crossing refers to the place that road in electronic map intersects, a point of crossing has at least connected two road, point of crossing link information collection is the set of many point of crossing link informations, article one, point of crossing link information has recorded the information of all roads of a point of crossing connection, specifically comprise: road markings, road endpoint type (beginning or end) and road number (, road markings number).
Such as, a point of crossing has directly connected the terminal of road 1, the terminal of the starting point of road 2 and road 3, and point of crossing link information corresponding to this point of crossing comprises: road markings: 1, endpoint type: terminal; Road markings: 2, endpoint type: starting point; Road markings: 3, endpoint type: terminal; Road number (road markings number): 3.
Step 103: the point of crossing link information finding according to step 102, obtain the road Y to be combined of road X;
For ensureing that the road Y to be combined that step 103 is obtained is offset road front and road X smooth connection, described road Y to be combined need to meet the following conditions simultaneously:
The first, travel and can not collide at described road Y to be combined and the vehicle that travels on described road X, the actual direction of traffic in above-mentioned two road is consistent;
Due to before carrying out road merging method provided by the invention, determine in advance starting point and the terminal of road according to the actual direction of traffic of road, therefore, if the endpoint type that step 101 is carried is starting point, in the time obtaining road to be combined, the point of crossing link information that need to find from step 102, obtain the road that endpoint type is terminal, if the endpoint type that step 101 is carried is terminal, in the time obtaining road to be combined, the point of crossing link information that need to find from step 102, obtain the road that endpoint type is starting point, to ensure that the road Y to be combined that step 103 is obtained is the road of not colliding with road X.
The second, described road Y to be combined is the not merging road not merging with other any roads;
In method provided by the invention, the road merging will be marked as and merge road, therefore, in the time obtaining road to be combined, merge mark by judging whether road has, and can obtain not yet the not merging traffic road merging with other roads;
Three, the angle of described road Y to be combined and described road X maximum and 90 °≤angle≤180 °, if the angle of road to be combined and road X is less than zero, use the supplementary angle of this angle as the angle of described tape merge road Y and described road X.
Repeating step 102 to step 103 is obtained the road J to be combined of described road Y to be combined, in like manner described road J to be combined is processed, and starts the road all to be combined that can sequentially merge until get from described road Y to be combined;
Step 104: road X and road to be combined thereof are merged into a road;
Step 105: judge whether that road information does not read in addition, if had, return to step 101, if do not had, finish this flow process.
Be more than road merging method provided by the invention, the road of smooth connection before skew is merged into a road by the method, makes the end points of road become the intermediate point that merges road.Due to migration algorithm, only the starting point to road and terminal carry out vertical shift, road intermediate point is not adopted to vertical shift, therefore, the merging road that adopts the method that the invention provides to obtain is offset, can realizes road still smooth connection after skew of the front smooth connection of skew.Further, after skew, the road of smooth connection represents real-time traffic states, can not occur that real-time traffic states represents discontinuous problem again, has ensured that the real-time traffic states of finally presenting to traveler conforms to completely with actual conditions.
Taking road shown in Fig. 1 as example, road AB and road CD are two road originally, adopt after method provided by the invention, road AB and road CD will be merged into a road AD, this just makes original road terminal B and road end points C become the intermediate point of road AD, because migration algorithm only adopts vertical shift to road end points, and adopt the mode of appending side-play amount to be offset to road intermediate point, particularly: suppose that skew forward terminal B coordinate is (x
b, y
b), corresponding skew recoil be designated as (x '
b, y '
b), x '
b=x
b+ Δ x, y '
b=y
b+ Δ y* μ, has ensured the smooth connection after road AB and CD skew.Wherein, Δ x and Δ y are the preset coordinate offset amount of technician, and μ is preset coordinate scale-up factor, and μ value can rule of thumb be set by technician, and the present invention recommends the latitude cosine value of μ value by way of region, road.
Further, in actual process, exist point of crossing link information only to record the situation of two road information, in this case in order to improve the processing speed that the invention provides road merging method, find after the link information of point of crossing in step 102, can first perform step 103 ' and judge that no of described point of crossing link information has recorded two road information, judge whether the road number recording in the link information of point of crossing is 2, if, perform step 104 a road is merged into in the two road of recording in this point of crossing link information, if not, perform step again 103.
Further, recorded under more than three information state of road in step 102 in the point of crossing link information of obtaining, for ensureing that the road Y to be combined that step 103 is obtained meets described condition above, step 103 specifically comprises in actual applications:
The point of crossing link information of obtaining from step 102, obtain the road with the actual direction of traffic of road X identical (not colliding);
From the road identical with the actual direction of traffic of road X, obtain and do not merge the road road of mark (endlessly merge), described not merge road may be 0, more than 1 or 2, if 0, finish this flow process; If 1, judge whether this angle that does not merge road and road X meets the condition of 90 °≤angle≤180 °, if met, this is not merged to the to be combined road of road as road X, if do not met, finishes this flow process; If more than 2, calculate the angle that road X and these do not merge road, that therefrom selects that angle maximum and angle meet 90 °≤angle≤180 ° does not merge the to be combined road of road as road X.It should be noted that, actual should be in use, technician can be according to the feature of data, the road of not colliding is obtained in decision, obtains and does not merge road, obtains angle maximum and meet the road of 90 °≤angle≤180 °, the execution sequence of these three steps, can't affect realization of the present invention.
In actual applications, can be according to cosine formula
, calculate road angle,
be the end points of road X to the vector of road X intermediate point, described end points by the endpoint type recording in the link information of point of crossing determine;
be that step 102 is obtained the vector that records other road end points and this road intermediate point in the link information of point of crossing, described end points is determined by the endpoint type recording in the link information of point of crossing.
It should be noted that a road comprises: road end points and several road intermediate points, for improving angle degree of accuracy, the road intermediate point that recommendations for selection is adjacent with road end points in the time of compute vector.Such as, the endpoint type recording in the road information of point of crossing is starting point, selects the road intermediate point adjacent with starting point, if the endpoint type recording in the road information of point of crossing is terminal, selects the road intermediate point adjacent with terminal.
Such as, the road information that step 101 reads comprises: road markings 114, terminal; The point of crossing link information that step 102 finds comprises: road 114, terminal; Road markings 120, starting point; Road markings 110, terminal; Road markings 119, starting point; Road markings 122, starting point, so, the road of not colliding with road 114 comprises: road 120, and road 119 and road 122, merge road if road 120 is marked as, need to calculate respectively the angle of road 114 and road 119 and road 122, if angle is respectively 89 °, 123 °, the road to be combined that step 103 is obtained is road 122.
Be more than road merging method provided by the invention, the road merging method embodiment of the present invention being provided below in conjunction with instantiation describes in detail.
Road merging method provided by the invention has following several embodiment:
Refer to Fig. 3, the road providing for the embodiment of the present invention one merges method flow diagram, and the method comprises:
Step 1011, read a road information, suppose that this road information comprises road markings X and starting point thereof;
Step 1021, concentrated in preset point of crossing link information, searches the point of crossing link information that comprises road markings X and starting point thereof;
Step 103 ' 1, judge whether the road number recording in the link information of described point of crossing is 2, if not, enters step 1031, if so, enters step 1041;
Step 1031, according to described point of crossing link information, obtain the road Y to be combined of road X;
Step 1041, road X and road Y are merged into a road Z;
If the endpoint type of the road Y to be combined recording in the point of crossing link information that step 1021 finds is terminal, after step 1041, return to step 1021 and search the point of crossing link information that comprises road markings Y and starting point thereof, then perform step 103 ' 1 to 1041 and obtain the road J to be combined being connected with road Y terminal, road J to be combined and road Z are merged into road Z
1, in like manner treat merging road J and process again, until find the road all to be combined that starts to merge into a road from road X starting point, finally merged road Z
i;
Returning to step 1021 concentrates in preset point of crossing link information, search the point of crossing link information that comprises road markings X and terminal thereof, again according to the method for described processing road markings X and starting point thereof above, search from road X starting point and start the road all to be combined that can merge, and finally merged road N
j, last, by road Z
iwith road N
jmerge into a road;
Step 1051: judge whether that in addition road information does not read, if had, return to step 1011 and read next road information, then process according to described flow process above, details refer to relevant portion above, repeat no more for saving space herein; If no, finish this flow process.
The road merging method providing for the embodiment of the present invention one above, said method it should be noted that in the time realizing that the road of all merging need to add and has merged mark.
The embodiment of the present invention two also provides a kind of road merging method, the difference of the method and embodiment mono-supplying method is only: road information only includes road markings, so, concentrate in preset point of crossing link information, can find two point of crossing link informations, article one, described road markings and starting point thereof have been recorded, article one, described road markings and terminal thereof have been recorded, then the lane departure flow process, find two point of crossing link informations being provided according to the embodiment of the present invention one is respectively processed and is finally merged road.For saving space, embodiment bis-no longer describes in detail, and related content refers to the embodiment of the present invention one.
In addition, embodiment mono-and embodiment bis-can merge the road to be combined getting according to described mode above, also can first search from road beginning or end and start the road all to be combined that can merge, finally again these roads are once merged into a road, can't be affected realization of the present invention.
More than having introduced the road merging method that the embodiment of the present invention provides, referred to Fig. 4, is to adopt to the invention provides after the skew road that road merging method obtains, and represents the design sketch of real-time traffic states on described skew road.Road merging method provided by the invention has ensured the smooth connection of road after skew as shown in Figure 4, has ensured on this basis the continuity that real-time traffic states represents.
In addition, the present invention also provides a kind of point of crossing link information acquisition methods, refers to Fig. 5, and the method comprises:
Step 201: an end points coordinate that reads road A;
Step 202: the end points coordinate of described end points coordinate and other roads is compared, obtain having with road A other roads of same endpoints coordinate;
Step 203: the road markings of road A and described other roads, road endpoint type and road markings number are kept in a point of crossing link information, return to the other end point coordinate that step 201 reads road A, repeat above-mentioned steps and obtain another point of crossing link information;
Step 204: judged whether that road is untreated, if had, returned to step 201, if do not had, finished above-mentioned flow process.
The point of crossing link information obtaining by said method has formed point of crossing link information collection.
Further, for point of crossing provided by the invention link information acquisition methods, occur for fear of redundancy point of crossing link information, afterwards, said method may further include an end points coordinate (being assumed to be starting point coordinate) that reads road A in step 201:
In the existing record of point of crossing link information collection, search the point of crossing link information that comprises road markings A and starting point, if do not found, enter step 202, if found, read the terminal point coordinate of road A, repeat above-mentioned steps.
More than introduce road merging method provided by the invention, below in conjunction with accompanying drawing, road provided by the invention has been merged to device and describe in detail.
Refer to Fig. 6, the road providing for the embodiment of the present invention merges installation composition schematic diagram, and this device comprises:
Road information reading unit 301, for reading a road information;
Point of crossing link information is searched unit 302, concentrates for the point of crossing link information preset, searches the point of crossing link information that comprises described road information;
Road merge cells 304, for by road and road to be combined thereof and be a road.
For ensureing that the road to be combined that road acquiring unit 303 to be combined obtains is the road that is offset the corresponding road smooth connection of front and described road information, in actual applications, described road acquiring unit 303 to be combined specifically comprises:
The road acquiring unit of not colliding, for from described point of crossing link information, obtains the road that road corresponding to described road information do not collided;
Do not merge road acquiring unit, for from described road of not colliding, obtain not the not merging road merging with other roads;
Road acquiring unit to be combined, does not merge road from described, obtain angle maximum and 90 °≤road of angle≤180 ° is as the road to be combined of the corresponding road of described road information.
The processing speed that merges device for improving above-mentioned road, said apparatus further comprises:
Road number judging unit, for judging that described point of crossing link information searches whether the road number of the point of crossing link information record of searching unit is 2, if so, trigger described road merge cells, if not, trigger described road acquiring unit to be combined.
The present invention also provides a kind of point of crossing link information acquisition device, refers to Fig. 7, and this device comprises:
Road end points reading unit 401, for reading an end points coordinate of road;
With end points road acquiring unit 402, for described end points coordinate and other road end points coordinates are compared, obtain having with described road other roads of same endpoints coordinate;
Point of crossing link information acquiring unit 403, for depositing the information with described end points coordinate road in a point of crossing link information.
In order to improve the processing speed of said apparatus, said apparatus further comprises: existing point of crossing link information is searched unit;
Described road end points reading unit 401, is reading after an end points coordinate of road, triggers described existing point of crossing link information and searches unit;
Described point of crossing link information is searched unit, for concentrating in point of crossing link information, search the road markings that comprises described road and the point of crossing link information of described end points coordinate, if do not found, trigger described same end points road acquiring unit, if found, trigger described road end points reading unit and read another end points coordinate of road.
In actual applications, road merges device and point of crossing link information acquisition device can comprise mutually, also can be separate.
Above a kind of road merging method provided by the present invention and road merging device are described in detail, for one of ordinary skill in the art, according to the thought of the embodiment of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (9)
1. a road merging method, is characterized in that, comprising:
Read a road information;
Concentrate in preset point of crossing link information, search the point of crossing link information that comprises described road information;
From the link information of described point of crossing, obtain the road identical with the actual direction of traffic of the corresponding road of described road information; From the identical road of actual direction of traffic, do not obtain not the not merging road merging with other roads; Do not merge road from described, obtain angle maximum and 90 °≤road of angle≤180 ° is as the road to be combined of the corresponding road of described road information;
Road and road to be combined thereof are merged into a road.
2. the method for claim 1, is characterized in that, described method further comprises:
Whether the road number that judges described point of crossing link information record is 2, if, a road is merged into in the two road of recording in the link information of described point of crossing, if not, execution step: according to described point of crossing link information, obtain the road to be combined of the corresponding road of described road information.
3. method as claimed in claim 1 or 2, is characterized in that, obtain angle maximum and 90 °≤road of angle≤180 ° specifically comprises as the road to be combined of the corresponding road of described road information:
Calculate the corresponding road of described road information and the described angle that does not merge road, if described angle is less than zero, calculate the supplementary angle of described angle, with described supplementary angle as road angle;
According to the described angle calculating, obtain angle maximum and 90 °≤angle≤180 ° do not merge the to be combined road of road as the corresponding road of described road information.
4. method as claimed in claim 1 or 2, is characterized in that, described read a road information before, described method further comprises:
Read an end points coordinate of road;
Described end points coordinate and other road end points coordinates are compared, obtain having with described road other roads of same endpoints coordinate;
Deposit the information with described end points coordinate road in a point of crossing link information.
5. method as claimed in claim 4, is characterized in that, after a described end points coordinate that reads road, described method further comprises:
Concentrate in point of crossing link information, search the road markings that comprises described road and the point of crossing link information of described end points, if do not found, carry out the step that end points coordinate and other path coordinates are compared, if found, carry out the step of another end points coordinate that reads road.
6. road merges a device, it is characterized in that, comprising:
Road information reading unit, for reading a road information;
Point of crossing link information is searched unit, concentrates for the point of crossing link information preset, searches the point of crossing link information that comprises described road information;
Road acquiring unit to be combined, for according to described point of crossing link information, obtains the road to be combined of the corresponding road of described road information; Described road acquiring unit to be combined, specifically comprises: the road acquiring unit of not colliding, for from described point of crossing link information, obtains the road that road corresponding to described road information do not collided; Do not merge road acquiring unit, for from described road of not colliding, obtain not the not merging road merging with other roads; Road acquiring unit to be combined, does not merge road from described, obtain angle maximum and 90 °≤road of angle≤180 ° is as the road to be combined of the corresponding road of described road information;
Road merge cells, merges into a road for road and road to be combined thereof.
7. device as claimed in claim 6, is characterized in that, described device further comprises:
Road number judging unit, for judging that described point of crossing link information searches whether the road number of the point of crossing link information record of searching unit is 2, if so, trigger described road merge cells, if not, trigger described road acquiring unit to be combined.
8. the device as described in claim 6 or 7, is characterized in that, described device further comprises:
Road end points reading unit, for reading an end points coordinate of road;
With end points road acquiring unit, for described end points coordinate and other road end points coordinates are compared, obtain having with described road other roads of same endpoints coordinate;
Point of crossing link information acquiring unit, for depositing the information with described end points coordinate road in a point of crossing link information.
9. device as claimed in claim 8, is characterized in that, described device further comprises: existing point of crossing link information is searched unit;
Described road end points reading unit, is reading after an end points coordinate of road, triggers described existing point of crossing link information and searches unit;
Described point of crossing link information is searched unit, for concentrating in point of crossing link information, search the road markings that comprises described road and the point of crossing link information of described end points, if do not found, trigger described same end points road acquiring unit, if found, trigger described road end points reading unit and read another end points coordinate of road.
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| CN102567492B (en) * | 2011-12-22 | 2013-10-30 | 哈尔滨工程大学 | Method for sea-land vector map data integration and fusion |
| CN104077326B (en) * | 2013-03-29 | 2019-02-19 | 高德软件有限公司 | A kind of processing method and processing device of road data |
| CN106156245B (en) * | 2015-04-28 | 2020-02-14 | 高德软件有限公司 | Line element merging method and device in electronic map |
| CN106776900B (en) * | 2016-11-30 | 2020-06-23 | 百度在线网络技术（北京）有限公司 | Travel method and device |
| CN107704531B (en) * | 2017-09-21 | 2021-03-23 | 东南大学 | Automatic merging method for road network intersection nodes in OSM map data |
| CN110019603A (en) * | 2017-10-31 | 2019-07-16 | 高德软件有限公司 | A kind of road data method for amalgamation processing and device |
| CN111737379B (en) * | 2020-04-13 | 2023-07-18 | 腾讯科技（深圳）有限公司 | Road collection task generation device, electronic equipment and readable storage medium |
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| JP4727245B2 (en) * | 2005-02-08 | 2011-07-20 | 三菱電機株式会社 | Map information processing device |
| CN101281038A (en) * | 2008-05-27 | 2008-10-08 | 凯立德欣技术（深圳）有限公司 | Periphery searching device and method on closed road |
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| CN1823258A (en) * | 2003-07-10 | 2006-08-23 | 杏股份有限公司 | Road guide system and road guide method |
| CN1821718A (en) * | 2005-02-16 | 2006-08-23 | Lg电子株式会社 | Determining a display position of road name data and displaying the road name data |
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