CN108241712A - A kind of map data processing method and device - Google Patents
A kind of map data processing method and device Download PDFInfo
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- CN108241712A CN108241712A CN201611226179.8A CN201611226179A CN108241712A CN 108241712 A CN108241712 A CN 108241712A CN 201611226179 A CN201611226179 A CN 201611226179A CN 108241712 A CN108241712 A CN 108241712A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The present invention provides a kind of map data processing method and device, the method includes：Obtain the gridding information where road information and the road；Judge whether the road belongs to different grids according to the road information and the gridding information；If the road belongs to different grids, the first intersection point of boundary line between the road and the different grid is obtained；Calculated first intersection point and the target line vertical with the road；The road is divided using the target line.The program is split the attached object of the road for adhering to different grids separately with vertical line, to obtain with independence using endpoint as Road and the mark data of attached object line, it reduces and other data couplings in map, reduce the redundancy of map datum, improve the read-write efficiency of map datum, and the Road and attached object line that the program is partitioned into have identical length, avoid and the phenomenon that error in data occur.
Description
Technical field
The present invention relates to electronic map fields, and in particular to a kind of map data processing method and device.
Background technology
With the development of science and technology, electronic map is increasingly becoming indispensable trip auxiliary tool in people's life.
Electronic map, i.e. numerical map are the maps for storing and consulting in a digital manner using computer technology.Conditional electronic map
Data format, such as KIWI, NDS etc. are map of navigation electronic form, belong to the conventional navigation number that related association is formulated
According to form, they take layering, gridding processing, and KIWI forms carry out high compression storage to data using Bit forms, adopt
Information index is carried out with file offset address mechanism, NDS is stored and accessed using efficient database mode.
As requirement of the people to electronic map is higher and higher, high-precision map is also rapidly developed, high-precision map
More fine, minimum road unit is track, and the general high-precision map source data for scheming quotient's offer uses exchange format (example more
Such as Mif, Shape) storage, for traditional map, in high-precision map, a road increases track and lane side
Line or even also additional link traffic facade object such as height limit line etc., at this time still can not using traditional map grid division methods
Accomplish that the consistency of road with track and track sideline holding physics and in logic, most significant performance are exactly after splitting after splitting
Track with track sideline president is short differs, as shown in Figure 1, wherein lateral straight line is map grid boundary Parcel Boundary,
Dotted line is that track Lane, Lane or so solid lines are track sideline Lane Marking, and the curve by node is road Link.One
Lane and Lane Marking associated by Link just have 7 friendships with map grid boundary Parcel Boundary in Fig. 1
Point, if directly taking boundary line cutting, road Link and its track Lane, track sideline Lane Marking length are not
One, adeditive attribute is also unfavorable for splitting, and display effect is as shown in Figure 2.The above situation will make troubles very to map application
To mistake；In addition, in practical applications, different fields is different to the focus of map datum, certainly will thus be deposited
Redundancy in data；And current high-precision map source data is made of multiple relation tables, relational structure is complicated, coupling
Height is unfavorable for quick obtaining, and existing high-precision map is one " full figure ", causes map datum loading efficiency low, interior
It is big to deposit consumption.
Therefore, how to reduce map datum redundancy, improve map datum read-write efficiency, become one it is urgently to be resolved hurrily
The technical issues of.
Invention content
Therefore, the technical problem to be solved in the present invention is redundancy height, the map number of map datum of the prior art
According to read-write efficiency it is low.So as to provide a kind of map data processing method and device.
In view of this, the first aspect of the embodiment of the present invention provides a kind of map data processing method, including：Obtain road
Gridding information where road information and the road；Judge that the road is according to the road information and the gridding information
It is no to belong to different grids；If the road belongs to different grids, side between the road and the different grid is obtained
First intersection point in boundary line；Calculated first intersection point and the target line vertical with the road；Using the target line
Divide the road.
Preferably, it is described to judge whether the road belongs to different nets according to the road information and the gridding information
Lattice include：Obtain the shape point set of the road；The shape point set is traversed, judges that every two neighboring shape point is successively
It is no to adhere to two different grids separately；If there are the two neighboring shape points to adhere to two different grids separately, it is determined that the road
Road belongs to different grids, and otherwise the road belongs to same grid.
Preferably, the road includes Road, described to be included using the target line segmentation road：Described
First point of intersection interrupts the Road, using the first intersection point as the first Road first end point and the second Road
Two endpoints, first Road belong to different grids from second Road；Establish the first end point and described the
Double-pointed incidence relation.
Preferably, the road includes attached object line, described to be included using the target line segmentation road：It obtains
The second intersection point of the attached object line and the target line is taken, the attached object line includes：Lane line and track sideline；
The attached object line is interrupted in second point of intersection, using second intersection point as the third end of the first attached object line
4th endpoint of point and the second attached object line.
Preferably, it further includes：The road is stored according to the endpoint of road described after segmentation.
The second aspect of the embodiment of the present invention provides a kind of map data processing device, including：First acquisition module is used
Gridding information where road information and the road is obtained；Judgment module, for according to the road information and described
Gridding information judges whether the road belongs to different grids；Second acquisition module, if belonging to different for the road
Grid obtains the first intersection point of boundary line between the road and the different grid；Computing module, it is described for calculating
First intersection point and the target line vertical with the road；Divide module, for dividing the road using the target line.
Preferably, the judgment module includes：
First acquisition unit, for obtaining the shape point set of the road；Judging unit, for traversing the shape point
Set judges whether adhere to two different grids separately per two neighboring shape point successively；Determination unit, if for there are the phases
Adjacent two shape points adhere to two different grids separately, it is determined that the road belongs to different grids, and otherwise the road belongs to
Same grid.
Preferably, the road includes Road, and the segmentation module includes：
First interrupts unit, for interrupting the Road in first point of intersection, using the first intersection point as first
Second endpoint of the first end point of Road and the second Road, first Road belong to different from second Road
Grid；Unit is established, for establishing the incidence relation of the first end point and second endpoint.
Preferably, the road includes attached object line, and the segmentation module includes：Second acquisition unit, for obtaining
Second intersection point of the attached object line and the target line, the attached object line include：Lane line and track sideline；The
Two interrupt unit, for interrupting the attached object line in second point of intersection, second intersection point is attached as first
Belong to the third endpoint of object line and the 4th endpoint of the second attached object line.
Preferably, it further includes：Memory module, for storing the road according to the endpoint of road described after segmentation.
Technical scheme of the present invention has the following advantages：
Map data processing method and device provided in an embodiment of the present invention, to the road across boundary line between different grids
Road, by using the first intersection point of road and net boundary as segmentation benchmark, used first intersection point and perpendicular to the target of road
Straight line goes to divide the road, then data storage is carried out using road endpoint after segmentation as the unique mark of correspondence road, with showing
There is technology to compare, using endpoint as the mark data of road have independence, reduce with other data couplings in map,
In the case of not influencing original road data, the redundancy of map datum is reduced, improves the read-write efficiency of map datum, and
And the Road that is partitioned into of the program and its attached object line have identical length, avoid and the phenomenon that error in data occur.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a schematic diagram of grid cutting method of the prior art；
Fig. 2 is a display schematic diagram after the cutting of grid cutting method of the prior art.
Fig. 3 is a flow chart of the map data processing method of the embodiment of the present invention 1；
Fig. 4 is the schematic diagram carried out to certain region in map after mesh generation of the embodiment of the present invention 1；
Fig. 5 is for the embodiment of the present invention 1 using map datum prescription method to a schematic diagram after lane segmentation point；
Fig. 6 be the embodiment of the present invention 1 using map datum prescription method to the first intersection point treated schematic diagram；
Fig. 7 is a schematic diagram of the map datum storage organization of the embodiment of the present invention 1；
Fig. 8 is a schematic diagram of the track of the embodiment of the present invention 1 and the data store organisation in track sideline；
Fig. 9 is a block diagram of the map data processing device of the embodiment of the present invention 2.
Specific embodiment
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second ", " third ", " the 4th " are only used for retouching
Purpose is stated, and it is not intended that instruction or hint relative importance.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can be combined with each other into conflict.
Embodiment 1
The present embodiment provides a kind of map data processing method, suitable for the high-precision map that minimum road unit is track
The processing of data for ease of description, is described as follows the title occurred in this present embodiment：
Link represents a road (i.e. Road) in practical road network；
LinkID represents absolute numbers of the Link in electronic map grid；
Lane represents the track (i.e. lane line) in a road in practical road network；
Lane Marking represent track sideline；
Node represents the endpoint of a Link or Lane in electronic map；
Parcel represents a grid of the electronic map after cutting；
Region represents a grid in the topological relation data of the electronic map after cutting；
PID represents the number of unique mark Parcel；
(x, y) represents geographical coordinate.
As shown in figure 3, a kind of map data processing method provided in an embodiment of the present invention includes the following steps：
S31：Obtain the gridding information where road information and road；Road information and gridding information can come from herein
High-precision map source data, minimum road unit is track, specifically, can use conventional mesh division methods first by ground
Map object in figure source data carries out Preliminary division, as follows：The length of side of regulation grid Parcel first is 51200 (1/1024
Second), cutting map is started for origin with (0,0), then the position No. of the length of side and Parcel by Parcel can
Know the grid position that a Parcel is covered.In order to save memory overhead, the PID of unique mark Parcel numbers takes height
16 are deposited Parcel line numbers, low 16 modes for depositing Parcel row numbers.As shown in figure 4, for after to some region cutting in map
Parcel distributions, Node (endpoint for representing a road Link or track Lane in electronic map) Parcel for more concentrating
Its PID is 540280983.The then i.e. distributed intelligence of the road within a grid of the gridding information of road herein.
S32：Judge whether road belongs to different grids according to road information and gridding information, it herein can be according to step
Whether the road information and gridding information got from map source data in S31 belongs to different grids to road is sentenced
It is disconnected, to being further processed to being made across the road of net boundary, if solution fruit is yes, to be entered step according to judging result
Otherwise S33 illustrates that the road does not need to be split again.As a preferred embodiment, step S32 can include：Obtain road
The shape point set on road；Shape point set is traversed, judges whether adhere to two different grids separately per two neighboring shape point successively；
If there are two neighboring shape points to adhere to two different grids separately, it is determined that the road belongs to different grids, otherwise road category
In same grid.Specifically, for example, point traverses its shape point set first from the first point of a Link to tail, successively every two
A adjacent shape point calculates the PID of the Parcel where it, judge two shape points whether adhere to separately two it is different
Parcel, if secondly adhering to two different Parcel separately, it is determined that the Link belongs to different Parcel, and otherwise the Link exists
In same Parcel.
S33：If road belongs to different grids, the first intersection point of boundary line between road and different grids is obtained, it should
First intersection point is using as the datum mark of segmentation road, specifically, as shown in figure 5, when determining that a Link adheres to different grids separately,
The then linear equation L1 of the boundary line between the true difference grid：Ax+By+C=0 (being zero constant when A, B, C are different), really
Determine to adhere to separately the linear equation L2 of two shape points of different grids in step S32：Qx+Py+R=0 (is when Q, P, R are different
Zero constant), the intersection point for calculating two straight lines L1 and L2 is the first intersection point H (dot i.e. as shown in Figure 5).
S34：Calculated the first intersection point and the target line vertical with road.(i.e. as shown in Figure 5 hangs down target line herein
Line) it can be used for being split the road for adhering to different grids separately, specifically, it can calculate through the first intersection point H and and straight line
The equation L3 of target line vertical L2：Mx+Ny+K=0 (being zero constant when M, N, K are different).
S35：Road is divided using target line.It is crossed over herein for road for the road of net boundary, if due to passing
After system Meshing Method is divided, the road track attached with it and track sideline there is a situation where it is different in size, therefore
It needs to divide the road again, to avoid there is error in data.
As a preferred embodiment, road can include including but not limited to Road, step S35：In the first point of intersection
Road is interrupted, using the first intersection point as the first end point of the first Road and the second endpoint of the second Road, first
Route belongs to different grids from the second Road；Establish the incidence relation of first end point and the second endpoint.Specifically, step
The first intersection point H that two straight lines L1 and L2 are calculated in S33 be split the Link (Road) interrupt node, in the first intersection point
The Link is interrupted at H, is obtained two Link sections (i.e. the first Road and the second Roads), first intersection point H also using as
Split latter two Link sections of correspondence first end point and the second endpoint.This completes the Link in segmentation geometrically, are
Ensure the contact between the topological structure and Parcel of map, need to establish the incidence relation of first end point and the second endpoint,
First intersection point is designed as two node N1 (i.e. first end point) and N2 (i.e. the second endpoint) by embodiment, adhere to separately two it is different
Parcel, as shown in fig. 6, N1 with N2 coordinates are consistent at this time, the adjoining Node of Ni is N1, and the adjoining Node of Nii is N2, due to this
Syntople between Link is interrupted, and the path computing based on map will be unable to carry out, and the present embodiment uses labelling method, by N1
It is swapped with the grid number of N2, i.e., the PID of N1 is provided for node N2, the PID of N2 is provided for node N1, is formed with this
The incidence relation of N1 and N2.It, then can be smoothly complete in the adjoining Node for parsing N1 or N2 in this way in path calculation process
Transition between two neighboring grid.
As a preferred embodiment, road can include including but not limited to attached object line, step S35：It obtains attached
Second intersection point of object line and target line, attached object line is including but not limited to lane line and track sideline；In the second intersection point
Attached object line is interrupted at place, using the second intersection point as the first attached object line third endpoint and the second attached object line
Four endpoints.Specifically, as shown in figure 5, using target line L3 Lanes additional to the Link (lane line) and LaneMarking
(track sideline) is split, and equally traverses its shape point set from the starting point to the end of Lane or LaneMarking, by every two
A adjacent shapes point T1 (x1, y1) and T2 (x2, y2) are calculated substitute into result Ret1=Mx1+Ny1+ respectively for people target line L3
K, Ret2=Mx2+Ny2+K, judge Ret1 and Ret2 whether contrary sign, calculated if contrary sign and determine two the shape points T1 and T2
Linear equation L4：Ex+Fy+G=0, calculates the second intersection point of target line L3 and straight line L4, which is to interrupt
The node of Lane or LaneMarking, and be two Lane sections or two LaneMarking sections of corresponding end after segmentation
Point.
It should be noted that the segmentation side as segmentation Lane can also be used for the additional curvature information of the road
Formula, unlike, it is impossible to the point that spliting node is added to additional curvature information is concentrated, because the additional curvature information is to pass through
Other relevant informations are calculated by certain algorithm, and the curvature information of spliting node can not restore at this time, so only dividing
It cuts and is not inserted into node.
As a preferred embodiment, step S36 is further included：Road is stored according to the endpoint of road after segmentation.Specifically, it wraps
Include following steps：
First：Source data rearranges road number, track sideline number, the node (packet in each grid according to the map
Include Road and the endpoint of attached object line) number, wherein, the number of Link, LaneMarking, Node have grid only
One property.In Region data, topological relation is stored in a manner of Node, and Node must be unique in corresponding grid
's.
Second：It extracts Link attributes and nodal information structure road calculates data.Due to containing high accuracy data region
Road calculate in, do not need to the information of Lane, information of LaneMarking etc., only use the association attributes of Link such as
Attribute informations and the topological relations such as length, category of roads, road track number, tunnel bridge, therefore, data of the prior art are deposited
Storage mode so that redundant data is very more, and stores the road in the present embodiment by way of node+adjacent node of road
Associated property data, calculate when can independently use the storage data, greatly reduce data redundancy amount, improve data
Access efficiency.
Third：Map datum piecemeal storage again in each grid data for different purposes.As shown in fig. 7, here
To improve road computational efficiency, grid data saves as the Parcel data for possessing complete information (for showing, guiding and positioning)
With containing only topology information and the Region data of Link attributes (being used for path computing), two kinds of data are stored in different tables.
Parcel data are sub-divided into：Road data, road connection relation data, track data, track connection data, track sideline
Object data etc. inside data, track sideline connection data, road curvature data, form point data and traffic.As shown in figure 8,
Wherein, track data and lane side line number evidence take the mode of Group to store, the track of a so-called Group i.e. road or vehicle
Road sideline according to track or lane line from left to right be ranked sequentially formed set, conducive to road correlation track or lane side
The primary extraction of line is stored in this way in Parcel data by these classification piecemeals again.
4th, the Indexing Mechanism of offset is built, reaches the requirement of the access of real-time high-efficiency.Specifically, after piecemeal storage
If data do not take the Indexing Mechanism of offset, then can only be when accessing by whole Parcel data or Region numbers
According to parsing, then carry out alignment processing, it is unfavorable for the random access of data in this way, phase is stored using the indexed mode of offset
Map datum is answered to corresponding data relative position in the block, with reference to data block initial position then can quick indexing go out the map number
According to.As shown in table 1, the top of file for the offset indexes of structure；
The top of file for the offset indexes that table 1 is built
Then, corresponding map data are stored to corresponding data relative position in the block, example using the indexed mode of offset
As there is the offset of storage shape point in road, then the initial address+offset of shape point sequence is the shape of this road
The initial position of shape point data storage, as shown in table 2, the shape point sequence for road in the offset indexes of structure.
The shape point sequence of road in the offset indexes that table 2 is built
The shape point data of the road can be quickly obtained according to the agreement of number+point range.For other of the road
Correlation map data also carry out offset structures according to said program, in this way, greatly reducing data redundancy amount, improve data
Access efficiency.
5th, finally above-mentioned map datum is stored as unit of Bit into database.Specifically, as needed respectively
It is stored in database for key assignments according to Parcel, Region.Binary mode may be used to be stored, reducing data volume
While also reduce the capacity of physical store.
Map data processing method provided in this embodiment, to adhering to the road of different grids separately, by with road and grid
First intersection point on boundary is as datum mark, the used first intersection point and target line perpendicular to road removes the road for dividing the road
Line and attached object line, then using Road after segmentation and the endpoint of attached object line as corresponding Road and attached object line
Unique mark carry out data storage, compared with prior art, using endpoint as the mark data of road have independence, reduction
With other data couplings in map, in the case where not influencing original road data, the redundancy of map datum is reduced,
Improve the read-write efficiency of map datum, and the Road that is partitioned into of the program and attached object line have identical length,
It avoids and the phenomenon that error in data occurs.
Embodiment 2
The present embodiment has supplied a kind of map data processing device, suitable for the high-precision map that minimum road unit is track
The processing of data, as shown in figure 9, the device includes：First acquisition module 91, the second acquisition module 93, calculates judgment module 92
Module 94 and segmentation module 95, each module major function are as follows：
First acquisition module 91, for obtaining the gridding information where road information and road, referring specifically to embodiment 1
In to the detailed description of step S31.
Judgment module 92, for judging whether road belongs to different grids according to road information and gridding information, specifically
Referring in embodiment 1 to the detailed description of step S32.
Second acquisition module 93 if belonging to different grids for road, obtains boundary between road and different grids
First intersection point of line, referring specifically in embodiment 1 to the detailed description of step S33.
Computing module 94, for calculating the first intersection point and the target line vertical with road, referring specifically in embodiment 1
To the detailed description of step S34.
Divide module 95, for using target line divide road, referring specifically in embodiment 1 to the detailed of step S35
Description.
As a preferred embodiment, judgment module 92 includes：First acquisition unit 921, for obtaining the shape point of road
Set；Judging unit 922 for traversing shape point set, judges whether adhere to two differences separately per two neighboring shape point successively
Grid；Determination unit 923, if to adhere to two different grids separately for there are two neighboring shape points, it is determined that the road category
In different grids, otherwise road belongs to same grid.It is described in detail referring specifically to the correlation in embodiment 1.
As a preferred embodiment, road includes Road, and segmentation module 95 includes：First interrupts unit 951, for
First point of intersection interrupts Road, using the first intersection point as the first end point of the first Road and the second end of the second Road
Point, the first Road belong to different grids from the second Road；Unit 952 is established, for establishing first end point and second end
The incidence relation of point.It is described in detail referring specifically to the correlation in embodiment 1.
As a preferred embodiment, road includes attached object line, and segmentation module 95 includes：Second acquisition unit 953 is used
In the second intersection point for obtaining attached object line and target line, attached object line includes：Lane line and track sideline；Second interrupts
Unit 954, for interrupting attached object line in the second point of intersection, using the second intersection point as the third end of the first attached object line
4th endpoint of point and the second attached object line.It is described in detail referring specifically to the correlation in embodiment 1.
As a preferred embodiment, it further includes：Memory module 96, for storing road according to the endpoint of road after segmentation.
The correlation of step S36 is described in detail referring specifically in embodiment 1.
Map data processing device provided in this embodiment, to adhering to the road of different grids separately, by with road and grid
First intersection point on boundary is as datum mark, the used first intersection point and target line perpendicular to road removes the road for dividing the road
Line and attached object line, then using Road after segmentation and the endpoint of attached object line as corresponding Road and attached object line
Unique mark carry out data storage, compared with prior art, using endpoint as the mark data of road have independence, reduction
With other data couplings in map, in the case where not influencing original road data, the redundancy of map datum is reduced,
Improve the read-write efficiency of map datum, and the Road that is partitioned into of the program and attached object line have identical length,
It avoids and the phenomenon that error in data occurs.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. a kind of map data processing method, which is characterized in that including：
Obtain the gridding information where road information and the road；
Judge whether the road belongs to different grids according to the road information and the gridding information；
If the road belongs to different grids, the first friendship of boundary line between the road and the different grid is obtained
Point；
Calculated first intersection point and the target line vertical with the road；
The road is divided using the target line.
2. map data processing method according to claim 1, which is characterized in that described according to the road information and institute
It states gridding information and judges whether the road belongs to different grids and include：
Obtain the shape point set of the road；
The shape point set is traversed, judges whether adhere to two different grids separately per two neighboring shape point successively；
If there are the two neighboring shape points to adhere to two different grids separately, it is determined that the road belongs to different grids,
Otherwise the road belongs to same grid.
3. map data processing method according to claim 1, which is characterized in that the road includes Road, described
Divide the road using the target line to include：
The Road is interrupted in first point of intersection, using the first intersection point as the first end point of the first Road and second
Second endpoint of Road, first Road belong to different grids from second Road；
Establish the incidence relation of the first end point and second endpoint.
4. map data processing method according to claim 1, which is characterized in that the road includes attached object line,
It is described to be included using the target line segmentation road：
The second intersection point of the attached object line and the target line is obtained, the attached object line includes：Lane line and vehicle
Road sideline；
The attached object line is interrupted in second point of intersection, using second intersection point as the of the first attached object line
4th endpoint of three endpoints and the second attached object line.
5. map data processing method according to any one of claim 1 to 4, which is characterized in that further include：
The road is stored according to the endpoint of road described after segmentation.
6. a kind of map data processing device, which is characterized in that including：
First acquisition module, for obtaining the gridding information where road information and the road；
Judgment module, for judging whether the road belongs to different nets according to the road information and the gridding information
Lattice；
Second acquisition module, if belonging to different grids for the road, obtain the road and the different grid it
Between boundary line the first intersection point；
Computing module, for calculating first intersection point and the target line vertical with the road；
Divide module, for dividing the road using the target line.
7. map data processing device according to claim 6, which is characterized in that the judgment module includes：
First acquisition unit, for obtaining the shape point set of the road；
Judging unit for traversing the shape point set, judges whether adhere to two differences separately per two neighboring shape point successively
Grid；
Determination unit, if to adhere to two different grids separately for there are the two neighboring shape points, it is determined that the road category
In different grids, otherwise the road belongs to same grid.
8. map data processing device according to claim 6, which is characterized in that the road includes Road, described
Segmentation module includes：
First interrupts unit, for interrupting the Road in first point of intersection, using the first intersection point as the first road
Second endpoint of the first end point of line and the second Road, first Road belong to different nets from second Road
Lattice；
Unit is established, for establishing the incidence relation of the first end point and second endpoint.
9. map data processing device according to claim 6, which is characterized in that the road includes attached object line,
The segmentation module includes：
Second acquisition unit, for obtaining the second intersection point of the attached object line and the target line, the attached object
Line includes：Lane line and track sideline；
Second interrupts unit, for the attached object line to be interrupted in second point of intersection, using second intersection point as
4th endpoint of the third endpoint of the first attached object line and the second attached object line.
10. the map data processing device according to any one of claim 6 to 9, which is characterized in that further include：
Memory module, for storing the road according to the endpoint of road described after segmentation.
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| CN201611226179.8A CN108241712B (en) | 2016-12-27 | 2016-12-27 | Map data processing method and device |
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| CN201611226179.8A CN108241712B (en) | 2016-12-27 | 2016-12-27 | Map data processing method and device |
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| CN108241712B CN108241712B (en) | 2021-04-20 |
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