CN103292816B - Electronic map generating method, device and paths planning method, device - Google Patents
Electronic map generating method, device and paths planning method, device Download PDFInfo
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- CN103292816B CN103292816B CN201210044575.4A CN201210044575A CN103292816B CN 103292816 B CN103292816 B CN 103292816B CN 201210044575 A CN201210044575 A CN 201210044575A CN 103292816 B CN103292816 B CN 103292816B
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Abstract
The present invention provides a kind of electronic map generating method, device and paths planning method, device, belongs to field of electronic navigation.This electronic map generating method includes: obtain the first road road net data and the lane information of road；Described lane information is mated with the corresponding road in described first road road net data, generates the second road road net data including lane information；The road surface including lane information is generated according to described second road road net data.This paths planning method includes: obtain the path planning request including starting point and destination of user；Electronic chart according to including lane information plans the adapter path between described starting point and described destination, and the track that described adapter path is interconnected by more than one forms；Described adapter path is described by word and/or shows on the navigation terminal of user in the way of graphic plotting.Technical scheme can accurately express pavement behavior, provides accurate for human pilot and guides.
Description
Technical field
The present invention relates to field of electronic navigation, particularly relate to a kind of electronic map generating method, device and paths planning method, device.
Background technology
Prior art is to provide the user navigation based on traditional map of navigation electronic.The road network master data of conventional navigation electronic chart is made up of the geometry relevant to site of road and the road topology data being correlated with in succession with topology.Conventional navigation electronic chart is to turn to a line by abstract for a road in real world, and all of attribute information is based on this Road and carries out record, does not has to record the details in each track on a road.If one on road, the information in each track is completely the same, use traditional map of navigation electronic carry out navigating no problem.But in real world, on same path, the information on each track is the most inconsistent, in order to express the information on a road, the information in each track must comprehensively be summarized by traditional map of navigation electronic, so will necessarily lose the partial information on road, it is impossible to provide the user the guiding of accurately intelligence.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of electronic map generating method, device and paths planning method, device, it is possible to accurately expresses pavement behavior, and provides accurate guiding for human pilot.
For solving above-mentioned technical problem, embodiments of the invention provide technical scheme as follows:
On the one hand, it is provided that a kind of electronic map generating method, including:
Obtain the first road road net data and the lane information of road；
Described lane information is mated with the corresponding road in described first road road net data, generates the second road road net data including lane information；
The road surface including lane information is generated according to described second road road net data.
Further, the lane information of described acquisition the first road road net data and road includes:
Obtaining the first road road net data and the lane information of road from navigation electronic, described lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track.
Further, described described lane information is mated with the corresponding road in described first road road net data, generates and include the second road road net data of lane information and include:
Increase the track attribute field of road, and fill the track attribute field of corresponding road in described first road road net data according to the lane information obtained, generate described second road road net data.
The embodiment of the present invention additionally provides a kind of digital map device, including:
Acquisition module, for obtaining the first road road net data and the lane information of road；
Matching module, for being mated with the corresponding road in described first road road net data by described lane information, generates the second road road net data including lane information；
Processing module, for generating the road surface including lane information according to described second road road net data.
Further, described acquisition module is specifically for obtaining the first road road net data and the lane information of road from navigation electronic, and described lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track.
Further, described matching module is specifically for increasing the track attribute field of road, and fills the track attribute field of corresponding road in described first road road net data according to the lane information obtained, and generates described second road road net data.
The embodiment of the present invention additionally provides a kind of paths planning method, including:
Obtain the path planning request including starting point and destination of user；
Electronic chart according to including lane information plans the adapter path between described starting point and described destination, and the track that described adapter path is interconnected by more than one forms；
Described adapter path is described by word and/or shows on the navigation terminal of user in the way of graphic plotting.
Further, also include before the described path planning request including starting point and destination obtaining user:
Obtain the first road road net data and the lane information of road；
Described lane information is mated with the corresponding road in described first road road net data, generates the second road road net data including lane information；
The electronic chart including lane information is generated according to described second road road net data.
The embodiment of the present invention additionally provides a kind of path planning apparatus, including:
Receiver module, for obtaining the path planning request including starting point and destination of user；
Planning module, for planning the adapter path between described starting point and described destination according to the electronic chart including lane information, the track that described adapter path is interconnected by more than one forms；
Display module, for describing described adapter path by word and/or showing the navigation terminal user in the way of graphic plotting.
Further, described device also includes:
Acquisition module, for obtaining the first road road net data and the lane information of road；
Matching module, for being mated with the corresponding road in described first road road net data by described lane information, generates the second road road net data including lane information；
Processing module, for generating the electronic chart including lane information according to described second road road net data.
Embodiments of the invention have the advantages that
In such scheme, first obtain the lane information of road, and lane information is mated with the corresponding road in existing road road net data, generate the road network data including lane information, thus generate the electronic chart including lane information.This electronic chart expresses scene based on track rank, more accurately expresses pavement behavior, decreases the loss of road information；And accurately guiding based on track can be provided the user based on this electronic chart, provide the user more preferable roading.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the electronic map generating method of the embodiment of the present invention；
Fig. 2 is the structured flowchart of the digital map device of the embodiment of the present invention；
Fig. 3 is the lane information schematic diagram in the embodiment of the present invention on road；
Fig. 4 is the schematic flow sheet of the paths planning method of the embodiment of the present invention；
Fig. 5 is the structured flowchart of the path planning apparatus of the embodiment of the present invention.
Detailed description of the invention
For making embodiments of the invention solve the technical problem that, technical scheme and advantage clearer, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The information in each track is comprehensively summarized by embodiments of the invention for map of navigation electronic in prior art, partial information on loss road, the problem that cannot provide the user the accurately guiding of intelligence, a kind of electronic map generating method, device and paths planning method, device are provided, can accurately express pavement behavior, and provide accurate guiding for human pilot.
Fig. 1 is the schematic flow sheet of the electronic map generating method of the embodiment of the present invention, as it is shown in figure 1, the present embodiment includes:
Step 101: obtain the first road road net data and the lane information of road；
Step 102: mated by the corresponding road in lane information and the first road road net data, generates the second road road net data including lane information；
Step 103: generate the road surface including lane information according to the second road road net data.
Wherein, this road surface can truly reflect road actual state.
The electronic map generating method of the present invention, first the lane information of road is obtained, and lane information is mated with the corresponding road in existing road road net data, generate the road network data including lane information, thus generate the electronic chart including lane information.This electronic chart expresses scene based on track rank, more accurately expresses pavement behavior, decreases the loss of road information.
Fig. 2 is the structured flowchart of the digital map device of the embodiment of the present invention, as in figure 2 it is shown, the present embodiment includes:
Acquisition module 20, for obtaining the first road road net data and the lane information of road；
Matching module 21, for being mated by the corresponding road in lane information and the first road road net data, generates the second road road net data including lane information；
Processing module 22, for generating the road surface including lane information according to the second road road net data.
Further, acquisition module 20 is specifically for obtaining the first road road net data and the lane information of road from navigation electronic, and lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track.
Further, matching module 21 is specifically for increasing the track attribute field of road, and fills the track attribute field of corresponding road in the first road road net data according to the lane information obtained, and generates the second road road net data.
The digital map device of the present invention, first the lane information of road is obtained, and lane information is mated with the corresponding road in existing road road net data, generate the road network data including lane information, thus generate the electronic chart including lane information.This electronic chart expresses scene based on track rank, more accurately expresses pavement behavior, decreases the loss of road information.
Below in conjunction with specific embodiment the electronic map generating method of the present invention done and introduces further:
Embodiment one
Step a1: obtaining the first road road net data and the lane information of road from navigation electronic, lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track；
Step a2: increase the track attribute field of road, and fill the track attribute field of corresponding road in the first road road net data according to the lane information obtained, generate the second road road net data.
Step a3: generate the road surface including lane information according to the second road road net data.
When generating road surface in electronic chart at present, it is impossible to generate road surface in real time according to the change of site road, need to re-shoot photo and make road surface.And the road surface that the present invention can generate in electronic chart by the second road road net data including lane information in real time.
The electronic map generating method of the present invention, first from navigation electronic, obtain the lane information of road, and lane information is mated with corresponding road, increase the track attribute field of road, and the track attribute field of corresponding road is filled according to the lane information obtained, generate the road network data including lane information, include the electronic chart of lane information based on this road network data genaration.This electronic chart expresses scene based on track rank, more accurately expresses pavement behavior, decreases the loss of road information；And the road surface that the present embodiment can generate in real time based on navigation electronic and update in electronic chart.
Embodiment two
Step b1: obtain the first road road net data and the lane information of road from navigation electronic；
Wherein, the road information in the first road road net data is that the information to track is comprehensively summarized, it is impossible to describe the specifying information in each track of road.This step is poly-also needs to obtain the lane information of each road from navigation electronic, and the lane information of road includes: road belonging to lane markings, track, track sequence number, track direction of traffic, carriageway type, rotation arrow, lane width, track limit for height, track Maximum speed limit, with or without electronic eye, limited direction, track, disabling time period of disabling time period, the limited type of vehicle in track and limited vehicle etc. in limited direction.Wherein, carriageway type is the different purposes expressing track, and dividing common carriageway type by function has: bus zone, urgent track, acceleration/deceleration track, fast traffic lane, fast, changeable driveway etc..
Fig. 3 is the lane information schematic diagram on road, as shown in Figure 3, on this road, one has tetra-tracks of Lane1, Lane2, Lane3 and Lane4, wherein the speed in Lane1 track is limited to 120km/h, limit for height is 2.5m, allowing current vehicle is compact car, is split by long dotted line with adjacent lane, and lane width is 3.3m；The speed in Lane2 track is limited to 100km/h, and limit for height is 3.5m, it is allowed to current vehicle is compact car, is split by long dotted line with adjacent lane, and lane width is 3.3m；The speed in Lane3 track is limited to 90km/h, it is allowed to current vehicle is large car, is split by long solid line with adjacent lane, and vehicle can be kept straight on and turn right on this track；The speed in Lane4 track is limited to 80km/h, it is allowed to current vehicle is large car, is split by long solid line with adjacent lane, and vehicle can be kept straight on and turn left on this track；
Step b2: mated by the corresponding road in lane information and the first road road net data, generates the second road road net data including lane information；
In navigation electronic, lane information can use data structure to be as shown in Table 1 described, for according to on-the-spot practical situation, recording the details in each track.
Illustrating as a example by the Lane1 shown in Fig. 3, the lane information in this track is described as follows:
Table one
The track attribute field of road is increased in navigation electronic, and the lane information represented with above-mentioned data structure (table one) is filled in the track attribute field of corresponding road, it is possible to generate the second road road net data including lane information；
Step b3: generate the road surface including lane information according to the second road road net data.
When generating road surface in electronic chart at present, it is impossible to generate road surface in real time according to the change of site road, need to re-shoot photo and make road surface.And the present invention can generate the road surface specific to track according to this second road road net data including lane information, the road surface generated is no longer the display of single one-dimensional line segment, but more vivid face, track shows, almost on-the-spot with road consistent, strengthening the display effect of existing electronic chart, also the map for becoming more meticulous renders offer data basis；The road surface generated can be according to the details in each track, real-time Simulation road surface, it is possible to set up road network based on each track on the basis of traditional road road network.
The electronic map generating method of the present invention, first from navigation electronic, obtain the lane information of road, and lane information is mated with corresponding road, increase the track attribute field of road, and the track attribute field of corresponding road is filled according to the lane information obtained, generate the road network data including lane information, include the electronic chart of lane information based on this road network data genaration.This electronic chart expresses scene based on track rank, more accurately expresses pavement behavior, decreases the loss of road information；And the road surface that the present embodiment can generate in real time based on navigation electronic and update in electronic chart.
Present invention also offers a kind of paths planning method, Fig. 4 is the schematic flow sheet of the paths planning method of the embodiment of the present invention, and as shown in Figure 4, the present embodiment includes:
Step 401: obtain the path planning request including starting point and destination of user；
In the present invention, the user of indication is the human pilot of vehicle；
Step 402: the electronic chart according to including lane information plans the adapter path between starting point and destination, and the track that adapter path is interconnected by more than one forms；
Step 403: adapter path is described by word and/or shows on the navigation terminal of user in the way of graphic plotting.
The paths planning method of the present invention, based on the electronic chart including lane information, it is possible to asks to provide the user accurately guiding based on track according to the path planning of user, provides the user more preferable roading.
Present invention also offers a kind of path planning apparatus, Fig. 5 is the structured flowchart of the path planning apparatus of the embodiment of the present invention, as it is shown in figure 5, the present embodiment includes:
Receiver module 50, for obtaining the path planning request including starting point and destination of user；
Planning module 51, for planning the adapter path between starting point and destination according to the electronic chart including lane information, the track that adapter path is interconnected by more than one forms；
Display module 52, for describing adapter path by word and/or showing the navigation terminal user in the way of graphic plotting.
Further, this path planning apparatus also includes:
Acquisition module, for obtaining the first road road net data and the lane information of road；
Matching module, for being mated by the corresponding road in lane information and the first road road net data, generates the second road road net data including lane information；
Processing module, for generating the electronic chart including lane information according to the second road road net data.
The path planning apparatus of the present invention, based on the electronic chart including lane information, it is possible to asks to provide the user accurately guiding based on track according to the path planning of user, provides the user more preferable roading.
Below in conjunction with specific embodiment the paths planning method of the present invention done and introduces further:
Embodiment three
Step c1: obtain the first road road net data and the lane information of road；
Step c2: mated by the corresponding road in lane information and the first road road net data, generates the second road road net data including lane information；
Step c3: generate the electronic chart including lane information according to the second road road net data；
Step c4: obtain the path planning request including starting point and destination of user；
Step c5: the electronic chart according to including lane information plans the adapter path between starting point and destination, and the track that adapter path is interconnected by more than one forms；
Step c6: adapter path is described by word and/or shows on the navigation terminal of user in the way of graphic plotting.
The paths planning method of the present invention, first the lane information of road is obtained, and lane information is mated with the corresponding road in existing road road net data, generate the road network data including lane information, thus generate the electronic chart including lane information；Include the electronic chart of lane information based on this afterwards, ask to provide the user accurately guiding based on track according to the path planning of user, provide the user more preferable roading.
Embodiment four
Step d1: obtain the first road road net data and the lane information of road from navigation electronic；
Wherein, the road information in the first road road net data is that the information to track is comprehensively summarized, it is impossible to describe the specifying information in each track of road.This step also needs to obtain the lane information of each road from navigation electronic, and the lane information of road includes: road belonging to lane markings, track, track sequence number, track direction of traffic, carriageway type, rotation arrow, lane width, track limit for height, track Maximum speed limit, with or without electronic eye, limited direction, track, disabling time period of disabling time period, the limited type of vehicle in track and limited vehicle etc. in limited direction.Wherein, carriageway type is the different purposes expressing track, and dividing common carriageway type by function has: bus zone, urgent track, acceleration/deceleration track, fast traffic lane, fast, changeable driveway etc..
Fig. 3 is the lane information schematic diagram on road, as shown in Figure 3, on this road, one has tetra-tracks of Lane1, Lane2, Lane3 and Lane4, wherein the speed in Lane1 track is limited to 120km/h, limit for height is 2.5m, allowing current vehicle is compact car, is split by long dotted line with adjacent lane, and lane width is 3.3m；The speed in Lane2 track is limited to 100km/h, and limit for height is 3.5m, it is allowed to current vehicle is compact car, is split by long dotted line with adjacent lane, and lane width is 3.3m；The speed in Lane3 track is limited to 90km/h, it is allowed to current vehicle is large car, is split by long solid line with adjacent lane, and vehicle can be kept straight on and turn right on this track；The speed in Lane4 track is limited to 80km/h, it is allowed to current vehicle is large car, is split by long solid line with adjacent lane, and vehicle can be kept straight on and turn left on this track；
Step d2: mated by the corresponding road in lane information and the first road road net data, generates the second road road net data including lane information；
In navigation electronic, lane information can use data structure to be as shown in Table 1 described, for according to on-the-spot practical situation, recording the details in each track.
Illustrating as a example by the Lane1 shown in Fig. 3, the lane information in this track is described as follows:
Table one
The track attribute field of road is increased in navigation electronic, and the lane information represented with above-mentioned data structure (table one) is filled in the track attribute field of corresponding road, it is possible to generate the second road road net data including lane information；
Step d3: generate the electronic chart including lane information according to the second road road net data；
The electronic chart comprising the road surface specific to track can be generated according to the second road road net data that this includes lane information, the road surface generated is no longer the display of single one-dimensional line segment, but more vivid face, track shows, almost on-the-spot with road consistent, strengthening the display effect of existing electronic chart, also the map for becoming more meticulous renders offer data basis；The electronic chart generated can be according to the details in each track, real-time Simulation road surface, it is possible to set up road network based on each track on the basis of traditional road road network；
Step d4: obtain the path planning request including starting point and destination of user；
Receive the path planning request including starting point and destination that user is sent by navigation terminal；
Step d5: the electronic chart according to including lane information plans the adapter path between starting point and destination, and the track that this adapter path is interconnected by more than one forms；
Can cook up a plurality of adapter path between starting point and destination according to this electronic chart including lane information, and this mulitpath is optimized calculating, therefrom select an optimum adapter path, this adapter path is specific to track；
Step d6: this adapter path is described by word and/or shows on the navigation terminal of user in the way of graphic plotting.
Further, it is also possible in the way of voice message, this adapter path is informed to user, and in real time user is reminded according to user position when user travels, the most when need to turn round, should travel on any bar track, when need also road etc..
The paths planning method of the present invention, first the lane information of road is obtained, and lane information is mated with the corresponding road in existing road road net data, generate the road network data including lane information, thus generate the electronic chart including lane information；Include the electronic chart of lane information based on this afterwards, ask to provide the user accurately guiding based on track according to the path planning of user.
These many functional parts described in this description are all referred to as module, in order to specifically emphasize the independence of its implementation.
In the embodiment of the present invention, module can realize with software, in order to is performed by various types of processors.For example, the executable code module of a mark can include one or more physics or the logical block of computer instruction, for example, it can be built as object, process or function.While it is true, the executable code of identified module need not be physically located together, but in can including being stored in not coordination on different instructions, when combining in these command logics, it constitutes module and realizes the regulation purpose of this module.
It practice, executable code module can be individual instructions or many bar instructions, and even can be distributed on multiple different code segment, be distributed in the middle of distinct program, and cross over the distribution of multiple memory devices.Similarly, operation data can be identified in module, and can realize according to any suitable form and be organized in the data structure of any suitable type.Described operation data can be collected as individual data collection, or can be distributed on diverse location and (be included in different storage device), and can be only used as electronic signal at least in part and be present on system or network.
When module can utilize software to realize, level in view of existing hardware technique, so module that can be implemented in software, in the case of not considering cost, those skilled in the art can build the hardware circuit of correspondence and realize corresponding function, and described hardware circuit includes conventional ultra-large integrated (VLSI) circuit or gate array and the existing quasiconductor of such as logic chip, transistor etc or other discrete element.Module can also use programmable hardware device, such as field programmable gate array, programmable logic array, programmable logic device etc. to realize.
In each method embodiment of the present invention; the sequence number of described each step can not be used for limiting the sequencing of each step; for those of ordinary skill in the art, on the premise of not paying creative work, the priority of each step is changed also within protection scope of the present invention.
The above is the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, on the premise of without departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. an electronic map generating method, it is characterised in that including:
Obtaining the first road road net data and the lane information of road, described lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track；
Described lane information is mated with the corresponding road in described first road road net data, generates the second road road net data including lane information；
The road surface including lane information is generated according to described second road road net data.
Electronic map generating method the most according to claim 1, it is characterised in that the lane information of described acquisition the first road road net data and road includes:
The first road road net data and the lane information of road is obtained from navigation electronic.
Electronic map generating method the most according to claim 2, it is characterised in that described mated with the corresponding road in described first road road net data by described lane information, generates and includes the second road road net data of lane information and include:
Increase the track attribute field of road, and fill the track attribute field of corresponding road in described first road road net data according to the lane information obtained, generate described second road road net data.
4. a digital map device, it is characterised in that including:
Acquisition module, for obtaining the first road road net data and the lane information of road, described lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track；
Matching module, for being mated with the corresponding road in described first road road net data by described lane information, generates the second road road net data including lane information；
Processing module, for generating the road surface including lane information according to described second road road net data.
Digital map device the most according to claim 4, it is characterised in that
Described acquisition module is specifically for obtaining the first road road net data and the lane information of road from navigation electronic.
Digital map device the most according to claim 5, it is characterised in that
Described matching module is specifically for increasing the track attribute field of road, and fills the track attribute field of corresponding road in described first road road net data according to the lane information obtained, and generates described second road road net data.
7. a paths planning method, it is characterised in that including:
Obtain the path planning request including starting point and destination of user；
Electronic chart according to including lane information plans the adapter path between described starting point and described destination, the track that described adapter path is interconnected by more than one forms, and described lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track；
Described adapter path is described by word and/or shows on the navigation terminal of user in the way of graphic plotting.
Paths planning method the most according to claim 7, it is characterised in that also include before the path planning request including starting point and destination of described acquisition user:
Obtain the first road road net data and the lane information of road；
Described lane information is mated with the corresponding road in described first road road net data, generates the second road road net data including lane information；
The electronic chart including lane information is generated according to described second road road net data.
9. a path planning apparatus, it is characterised in that including:
Receiver module, for obtaining the path planning request including starting point and destination of user；
Planning module, for planning the adapter path between described starting point and described destination according to the electronic chart including lane information, the track that described adapter path is interconnected by more than one forms, and described lane information includes: belonging to lane markings, track, road, track limit for height, lane width, track Maximum speed limit, track allow by the traffic lane line between type of vehicle, track and other track；
Display module, for describing described adapter path by word and/or showing the navigation terminal user in the way of graphic plotting.
Path planning apparatus the most according to claim 9, it is characterised in that described device also includes:
Acquisition module, for obtaining the first road road net data and the lane information of road；
Matching module, for being mated with the corresponding road in described first road road net data by described lane information, generates the second road road net data including lane information；
Processing module, for generating the electronic chart including lane information according to described second road road net data.
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