CN109974725A

CN109974725A - A kind of road network topology construction method, guidance path calculation method and device

Info

Publication number: CN109974725A
Application number: CN201711454514.4A
Authority: CN
Inventors: 刘册; 杨凯
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2019-07-05
Anticipated expiration: 2037-12-28
Also published as: CN109974725B

Abstract

The application provides a kind of road network topology construction method, guidance path calculation method and device.The road network topology construction method includes: to obtain the corresponding two-dimensional coordinate point array of target scene；Wherein, the corresponding Data Identification of each coordinate points in two-dimensional coordinate point array, the Data Identification are barrier mark or road markings；Based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, the boundary of each barrier in the target scene is determined；Based on the boundary of each barrier, the vertex of each barrier is determined；Using the vertex of each barrier as road-net node, and using the corresponding region of each target collection as road network section, the road network topology of the target scene is generated；Wherein, either objective set include can coordinate points between two road-net nodes of connection.By the road network topology construction method, the high-precision road network topology of target scene can be efficiently constructed.

Description

A kind of road network topology construction method, guidance path calculation method and device

Technical field

This application involves Spatial Information Technology field, in particular to a kind of road network topology construction method, guidance path calculate Method and device.

Background technique

With the development of development of Mobile Internet technology and geographical information technology, location-based service is increasingly taken seriously.Wherein, right For certain target scenes, such as specific outdoor environment or the interior of building of complexity provide accurately navigation road for user Diameter has become rigid demand, and this demand has biggish market potential.

For guidance path, there are much relations, major embodiment with the road network topology of target scene are as follows: target scene The precise degrees of road network topology directly influence the precision of guidance path.

Therefore, how efficiently to construct the high-precision road network topology of target scene is a urgent problem to be solved.

Summary of the invention

In view of this, the application provides a kind of road network topology construction method and device, efficiently to construct target scene High-precision road network topology；In addition present invention also provides a kind of guidance path calculation methods, to provide accurately guidance path.

Specifically, the application is achieved by the following technical solution:

In a first aspect, this application provides a kind of road network topology construction methods, comprising:

Obtain the corresponding two-dimensional coordinate point array of target scene；Wherein, each coordinate in the two-dimensional coordinate point array The corresponding Data Identification of point, the Data Identification are barrier mark or road markings；

Based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, determine each in the target scene The boundary of a barrier；

Based on the boundary of each barrier, the vertex of each barrier is determined；

Using the vertex of each barrier as road-net node, and using the corresponding region of each target collection as road network Section generates the road network topology of the target scene；Wherein, either objective set include can be between two road-net nodes of connection Coordinate points.

Optionally, described based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, determine described in In target scene the step of the boundary of each barrier, comprising:

Based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, determine each in the target scene The boundary point set of a barrier；

Based on the boundary point set of each barrier, the boundary of each barrier is determined.

Optionally, described based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, determine described in In target scene the step of the boundary point set of each barrier, comprising:

The coordinates of targets point in the two-dimensional coordinate point array is traversed, using the coordinates of targets currently traversed point as starting Point searches for boundary point using breadth-first search algorithm BFS；Wherein, it is barrier that the coordinates of targets point, which is corresponding Data Identification, The coordinate points for hindering object to identify；

After traversal, the boundary point of each barrier in the target scene is obtained based on the boundary point searched Set.

Optionally, the boundary point set based on each barrier, determines the boundary of each barrier Step, comprising:

For each barrier, perform the following operations:

A boundary point is chosen from boundary point set corresponding to the barrier as initial detection starting point；

Since currently detection starting point, detected using target direction as initial probe direction；

In detection process, belong to the boundary point if detecting the coordinate points for being not belonging to the boundary point set or detecting Set but marked boundary point continue to detect after then adjusting detection direction according to predetermined direction adjustment sequence；

Belong to the boundary point set and not labeled object boundary point if detected, the object boundary is clicked through Line flag, and using the object boundary point as new detection starting point, to detect the detection direction of the object boundary point As new target direction, return described in executing since currently detection starting point, using target direction as initial probe direction The step of being detected, until detection less than new object boundary point or until finding the initial detection starting point.

Optionally, the boundary based on each barrier, the step of determining the vertex of each barrier, packet It includes:

For each barrier, perform the following operations:

Select a boundary point in the boundary of the barrier as initial inquiry starting point；

Construct first straight line by endpoint of current queries starting point and the corresponding auxiliary magnet of current queries starting point, determine from Current queries starting point advances in each boundary point that corresponding auxiliary magnet is passed through, with the first straight line lie farthest away First boundary point, if the first boundary point is greater than predetermined threshold at a distance from the first straight line, by first boundary Point is determined as a vertex of the barrier；Wherein, the corresponding auxiliary magnet of current queries starting point be the barrier boundary in, The boundary point reached when being started with current queries starting point according to predetermined direction of propulsion advance target step；

Be that endpoint constructs second straight line using current queries starting point and the vertex after determining any vertex, determination from Current queries starting point advances in each boundary point that the vertex is passed through, the second side with the second straight line lie farthest away Boundary's point, if the second boundary point is greater than the predetermined threshold at a distance from the second straight line, by the second boundary point It is determined as a vertex of the barrier, until it can not determine vertex；

Using boundary point adjacent on predetermined direction of propulsion with current queries starting point in the boundary of the barrier as new Inquiry starting point, return using current queries starting point and the corresponding auxiliary magnet of current queries starting point be endpoint building first directly The step of line, and terminate when new inquiry starting point is the initial inquiry starting point.

Optionally, judge any two road-net node whether can the process of connection include:

Construct the linear equation about the first road-net node and the second road-net node；Wherein, first road-net node and Second road-net node is any two road-net node；

Based on the linear equation, calculate what straight line between first road-net node and second road-net node was crossed over Each coordinate points；

When the corresponding Data Identification of all coordinate points that straight line is crossed over is road markings, the first road network section is determined Point and second road-net node can connection.

Optionally, described based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, determine described in In target scene the step of the boundary of each barrier before, the method also includes:

Each coordinate points in the two-dimensional coordinate point array are traversed, determines and makes a reservation for corresponding to the coordinate points currently traversed The Data Identification of coordinate points in range counts the first road Ci Shuohe that barrier mark occurs in determined Data Identification Second number that line occurs, and by first number and second time it is several in data mark corresponding to the biggish number of numerical value Know, be updated to the corresponding Data Identification of the coordinate points currently traversed, until the corresponding Data Identification of each coordinate points does not occur Change.

Second aspect, present invention also provides a kind of guidance path calculation methods, comprising:

Determine the source location set and destination locations point in target road network topology；Wherein, the target road network topology is base Road network topology constructed by the road network topology construction method described in the application first aspect；

Based on the source location set and destination locations point, the target road network topology is updated；

The source location set and the mesh are determined by presetting pathfinding algorithm based on updated target road network topology Location point between guidance path.

Optionally, described to be based on the source location set and destination locations point, update the target road network topology Step, comprising:

Judge whether each road-net node can connection in the source location set and the target road network topology；

Determine the source location set and can first set between the road-net node of connection, and will be corresponding to first set Region is added to the target road network topology as road network section；

Judge whether each road-net node can connection in the destination locations point and the target road network topology；

Determine the destination locations point and can second set between the road-net node of connection, and by the second set institute Corresponding region is added in the target road network topology as road network section.

Optionally, described to be based on updated target road network topology, by presetting pathfinding algorithm, determine the initial position After guidance path between point and destination locations point, the method also includes:

Updated target road network topology is restored.

The third aspect, present invention also provides a kind of road network topology construction devices, comprising:

Array obtains module, for obtaining the corresponding two-dimensional coordinate point array of target scene；Wherein, the two-dimensional coordinate point The corresponding Data Identification of each coordinate points in array, the Data Identification is barrier mark or road markings；

Obstacles borders determination unit, for based on the corresponding data mark of coordinate points each in the two-dimensional coordinate point array Know, determines the boundary of each barrier in the target scene；

Barrier vertex determination unit determines each barrier for the boundary based on each barrier Vertex；

Road network topology generation unit, for using the vertex of each barrier as road-net node, and with each target Gather corresponding region as road network section, generates the road network topology of the target scene；Wherein, either objective set include can Coordinate points between two road-net nodes of connection.

Fourth aspect, present invention also provides a kind of guidance path computing devices, comprising:

Location point determination unit, for determining source location set and destination locations point in target road network topology；Wherein, institute Stating target road network topology is based on road network topology constructed by road network topology construction method described in the application first aspect；

Road network topology updating unit updates the target for being based on the source location set and destination locations point Road network topology；

Navigation path calculating unit, by presetting pathfinding algorithm, determines institute for being based on updated target road network topology State the guidance path between source location set and destination locations point.

5th aspect, present invention also provides a kind of electronic equipment, including memory, processor and storage are on a memory And the computer program that can be run on a processor, the processor are realized described in above-mentioned first aspect when executing described program Road network topology construction method.

6th aspect, present invention also provides a kind of electronic equipment, including memory, processor and storage are on a memory And the computer program that can be run on a processor, the processor are realized described in above-mentioned second aspect when executing described program Guidance path calculation method.

7th aspect, present invention also provides a kind of computer readable storage medium, the storage medium is stored with calculating Machine program, the computer program is for executing road network topology construction method described in above-mentioned first aspect.

Eighth aspect, present invention also provides a kind of computer readable storage medium, the storage medium is stored with calculating Machine program, the computer program is for executing guidance path calculation method described in above-mentioned second aspect.

In road network topology construction method provided herein, the corresponding two-dimensional coordinate point array of target scene is being obtained Afterwards, in order to ensure that the boundary of each barrier and the accuracy on vertex, based on each coordinate in the two-dimensional coordinate point array The corresponding Data Identification of point, determines the boundary of each barrier in the target scene, and the boundary based on each barrier, determines The vertex of each barrier；In turn, using the vertex of each barrier as road-net node, and with the corresponding area of each target collection Domain generates the road network topology of the target scene as road network section, so as to complete the fine modeling of road network.Therefore, the road network Topological construction method can efficiently construct the high-precision road network topology of target scene.

In addition, determining the initial position in target road network topology in guidance path calculation method provided herein After point and destination locations point, it is based on source location set and destination locations point, more fresh target road network topology；Based on updated target Road network topology determines the guidance path between source location set and destination locations point by presetting pathfinding algorithm.Due to the navigation In path calculation method, before pathfinding, target road network topology is updated based on source location set and destination locations point, is made Obtaining fusion in target road network topology has the relevant topology information of source location set and destination locations point, therefore can provide accurately Guidance path.

Detailed description of the invention

Fig. 1 is a kind of flow chart of road network topology construction method provided herein；

Fig. 2 is image effect schematic diagram corresponding to two-dimensional coordinate point array in the application；

Fig. 3 is that the image after data cleansing is carried out to the point array of two-dimensional coordinate corresponding to image effect schematic diagram shown in Fig. 2 Effect diagram；

Fig. 4 is the positional diagram of the boundary point in the application in exemplary border's node set；

Fig. 5 is after determining to the point array of two-dimensional coordinate corresponding to image effect schematic diagram shown in Fig. 3 progress obstacles borders Image effect schematic diagram；

Fig. 6 is the inquiry schematic diagram on the vertex of barrier in the application；

Fig. 7 is after determining to the point array of two-dimensional coordinate corresponding to image effect schematic diagram shown in Fig. 5 progress barrier vertex Image effect schematic diagram；

Fig. 8 is a kind of flow chart of guidance path calculation method provided herein；

Fig. 9 is the schematic diagram using a kind of guidance path calculation method guidance path calculated provided herein；

Figure 10 is a kind of structural schematic diagram of road network topology construction device provided herein；

Figure 11 is a kind of structural schematic diagram of guidance path computing device provided herein；

Figure 12 is the structural schematic diagram of electronic equipment corresponding with road network topology construction method provided herein；

Figure 13 is the structural schematic diagram of electronic equipment corresponding with guidance path calculation method provided herein.

Specific embodiment

Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the application.

It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application. It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps It may be combined containing one or more associated any or all of project listed.

It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ... When " or " in response to determination ".

In the prior art, scheme one provides a kind of path planning algorithm based on grid dividing composition, basic ideas are as follows: Grid dividing is carried out in Map building, each grid not comprising barrier is as a node in road network；Adjacent node Construct road；Also, it is sought on this basis using Dijkstra (Di Jiesitela) algorithm or Bi-directional Dijkstra Algorithm Road.

Scheme two provides a kind of determining method of path, basic ideas are as follows: the starting point terminating point of to acquisite approachs is risen Initial point and the corresponding barrier data of terminating point obtain intervisibility figure according to starting point terminating point, calculate the adjacency matrix of intervisibility figure, Optimal path is calculated according to adjacency matrix.

It is directed to for scheme one, technical disadvantages are as follows: if gridding method composition grid will cause pathfinding when choosing larger As a result mechanical and be not optimal path, it is not the fine modeling to road network；And it will lead in road network if the grid chosen is small Node sharply increase, pathfinding algorithm performance is greatly reduced and pathfinding result can include many steps.

It is directed to for scheme two, technical disadvantages are as follows: global obstacle information (vertex and side including barrier Boundary) it is used as Given information, influence the accuracy of constructed road network topology；Also, need when constructing road according to the vertex of barrier Judge whether straight line intersects with all boundaries of barrier, algorithm performance is lower；Starting point and terminal are not added in pathfinding Road network topology is updated, pathfinding is not accurate enough.

The shortcomings that based on the above-mentioned prior art, this application provides a kind of road network topology construction method, device and electronics Equipment and a kind of guidance path calculation method, device and electronic equipment.

In a first aspect, this application provides a kind of road network topology construction method, efficiently to construct the high-precision of target scene Spend road network topology.

It should be noted that a kind of road network topology construction method provided herein can be applied in electronic equipment. Wherein, in a particular application, which can be terminal device or server, this is all reasonable.

It is emphasized that the application involved in target scene can for about multi-story structure, single story building object or Indoor scene across building, for example: the indoor scene can be shopping plaza, underground parking, office building etc.；When So, which may be outdoor scene, specifically, the outdoor scene can be small-sized scene region, for example: should Outdoor scene can be regions such as open parking ground, park, plant area, residential area, school, etc..

As shown in Figure 1, may include steps of this application provides a kind of road network topology construction method:

S101 obtains the corresponding two-dimensional coordinate point array of target scene；Wherein, each seat in the two-dimensional coordinate point array The corresponding Data Identification of punctuate, the Data Identification are barrier mark or road markings；

When needing to construct the road network topology of target scene, staff can be by specific scanning device to mesh first Mark scene is scanned, and obtains the corresponding Scanned Mapss of the target scene, and then the electronic equipment can obtain and be based on being somebody's turn to do The two-dimensional coordinate point array [M] [N] that Scanned Mapss are determined, wherein the two-dimensional coordinate point array includes M*N coordinate Point, each coordinate points determine position by coordinate value, and the corresponding Data Identification of each coordinate points, the Data Identification are road Mark or barrier mark.It, can also be with it is understood that the electronic equipment can be different equipment with the scanning device The scanning device is same equipment, this is all reasonable.Wherein, which includes but is not limited to radar equipment or laser Equipment.

It should be noted that in a particular application, in order to facilitate machine recognition, Data Identification may include 0 and 1 liang of type Type, wherein barrier mark can for 0 and road markings can be 1, alternatively, barrier mark can for 1 and road markings can Think 0, this is all reasonable.For example: if barrier be identified as 0 and road markings be 1, the two-dimensional coordinate point Image effect schematic diagram corresponding to array may refer to Fig. 2, wherein the pixel value of the pixel in the Fig. 2 is corresponding seat The Data Identification of punctuate, i.e., 0 or 1, wherein the pixel that pixel value is 0 is black, and the pixel that pixel value is 1 is white.

Optionally, in order to guarantee the reliability of the corresponding Data Identification of each coordinate points in the two-dimensional coordinate point array, from And the accuracy of road network topology is further increased, and data cleansing can be carried out to two-dimensional coordinate point array, it is then, clear using data Two-dimensional coordinate point data after washing carries out the building of network topology.In order to carry out data cleansing, this Shen to two-dimensional coordinate point array Please provided by constructing network topology method, it is described after the step of obtaining target scene corresponding two-dimensional coordinate point array Based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, each barrier in the target scene is determined Before the step of boundary, can also include:

Each coordinate points in the two-dimensional coordinate point array are traversed, determine predetermined model corresponding to the coordinate points currently traversed Enclose the Data Identification of interior coordinate points, first number and road that barrier mark occurs in the determined Data Identification of statistics Identify second number occurred, and by this first time number and second time it is several in Data Identification corresponding to the biggish number of numerical value, It is updated to the corresponding Data Identification of the coordinate points currently traversed, until the corresponding Data Identification of each coordinate points does not change Become.

Data cleansing is carried out to each coordinate points in two-dimensional coordinate point array through the above steps, each seat can be improved The reliability of Data Identification corresponding to punctuate.About the effect picture of data cleansing, Fig. 3 may refer to, Fig. 3 is to Fig. 2 institute diagram The point array of the two-dimensional coordinate as corresponding to effect diagram carries out the image effect schematic diagram after data cleansing.

It should be noted that preset range corresponding to any coordinate points can be the surrounding four centered on the coordinate points The range of at least one layer of coordinate points on direction, alternatively, on eight directions of surrounding at least one layer of coordinate points range, certainly can be with For other regional scopes relevant to the coordinate points, etc..Wherein, surrounding's four direction of any coordinate points can be the coordinate Top, right, lower section and the left of point, are not limited thereto certainly；And eight directions can be to be somebody's turn to do around any coordinate points Top, lower section, left, right, upper left side, lower left, upper right side and the lower right of coordinate points.For example, data are being carried out When cleaning, each coordinate points in the two-dimensional coordinate point array can be traversed, determine around the coordinate points currently traversed eight The Data Identification of two layers of coordinate points on direction counts first number that barrier mark occurs in determined Data Identification Second number occurred with road markings, and by this first time number and second time it is several in data corresponding to the biggish number of numerical value Mark, is updated to the corresponding Data Identification of the coordinate points currently traversed, until the corresponding Data Identification of each coordinate points is not sent out It is raw to change.

It is emphasized that the above-mentioned given specific implementation for carrying out data cleansing to the two-dimensional coordinate point array It is merely exemplary, it should not constitute the restriction to the application.

S102 is determined in the target scene based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array The boundary of each barrier；

Wherein, after obtaining two-dimensional coordinate point array or executing data cleansing to two-dimensional coordinate point array, can be based on should The corresponding Data Identification of each coordinate points, determines the boundary of each barrier in the target scene in two-dimensional coordinate point array.

Optionally, described based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, determine the target In scene the step of the boundary of each barrier, may include:

Based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, each barrier in the target scene is determined Hinder the boundary point set of object；

Boundary point set based on each barrier, determines the boundary of each barrier.

Wherein, in determining target scene when the boundary of each barrier, belonging to for each barrier can be determined first Unordered boundary point set, and then unordered boundary point set is analyzed, obtain each barrier has ordered boundary The boundary of point.

Wherein, described corresponding based on coordinate points each in the two-dimensional coordinate point array in a kind of specific implementation Data Identification, the step of determining the boundary point set of each barrier in the target scene, may include:

The coordinates of targets point in the two-dimensional coordinate point array is traversed, using the coordinates of targets currently traversed point as starting Point searches for boundary point using BFS (Breadth First Search, breadth-first search algorithm)；Wherein, the coordinates of targets point It is the coordinate points of barrier mark for corresponding Data Identification；

After traversal, the boundary point set of each barrier in the target scene is obtained based on the boundary point searched It closes.

In the specific implementation, the coordinate points that identify using corresponding Data Identification as barrier are as starting point, and benefit Boundary point is searched for BFS, it is to be understood that the boundary point searched out is right for search in all directions first Answering Data Identification is the coordinate points of road markings.By taking barrier is identified as 0 and road markings is 1 as an example, each obstacle is being determined When the boundary point set of object, the coordinate points that corresponding Data Identification is 0 in the two-dimensional coordinate point data are traversed, will currently be traversed Corresponding Data Identification be 0 coordinate points be used as starting point, using BFS search boundary point, i.e., searched in all directions The coordinate points that first corresponding Data Identification is 1.It is understood that BFS belongs to a kind of blindness search method, it is therefore an objective to system Ground is unfolded and checks all nodes in figure, to look for result；In other words, BFS it is not intended that result possible position, thoroughly Whole figure is searched on ground, until finding result.

Wherein, in a kind of specific implementation, the boundary point set based on each barrier determines each obstacle The step of boundary of object, may include:

For each barrier, perform the following operations:

Belong to the boundary point set and not labeled object boundary point if detected, which is carried out Label, and using the object boundary point as new detection starting point, to detect the detection direction of the object boundary point as newly Target direction, return and execute described since currently detection starting point, visited using target direction as initial probe direction The step of survey, until detection less than new object boundary point or until finding the initial detection starting point.

Wherein, since the boundary of barrier is Close edges, it can be by randomly selected mode, from the obstacle A boundary point is chosen in boundary point set corresponding to object as initial detection starting point, is not limited thereto certainly.Also, After the initial detection starting point of determination, mesh corresponding to the detection starting point initial as this of a direction can be randomly selected Direction is marked, can also be using target direction corresponding to the predetermined direction detection starting point initial as this, this is all reasonable.Separately Outside, predetermined direction adjustment sequence can be clock-wise order, or sequence counter-clockwise.It is using initial probe direction as left Example, then clock-wise order can be with are as follows: left, upper left side, top, upper right side, right, lower right, lower left, lower left, alternatively, Clock-wise order can be with are as follows: left, top, right, lower section, etc.；And sequence counter-clockwise can be with are as follows: left, lower left, under Side, lower right, right, upper right side, top, upper left side, alternatively, sequence counter-clockwise can be with are as follows: left, lower section, right, top, Etc..

In order to facilitate the boundary point set based on each barrier is understood, the specific implementation on the boundary of each barrier is determined Mode, the application introduce so that boundary point set 1 includes four coordinate points ABCD as an example and specifically how to detect to obtain boundary.Wherein, The positional relationship of ABCD is shown in Figure 4, after determining boundary point set 1, can from the boundary point set 1 selected point B As initial detection starting point, started with point B, detected using right as initial detection direction, detects the right point B Coordinate points, since the coordinate points of the right point B are not belonging to the boundary point set 1, change detection direction be lower section, detection To point C, since point C belongs to the boundary point set 1 and is not labeled, point C is marked as object boundary point；And And using point C as new detection starting point, using the lower section of C point as detection direction, the coordinate points below point C are detected, due to Coordinate points below point C are not belonging to boundary point set 1, and therefore, change detection direction is left, detect point D, since point D belongs to It is not labeled in the boundary point set 1 and, therefore, point D is marked as object boundary point；Also, using point D as new It detects starting point and detects the coordinate points of the left point D using the left of point D as detection direction, due to the coordinate points of the left point D It is not belonging to the boundary point set 1, therefore, change detection direction is top, point A is detected, since point A belongs to the boundary point set It 1 and is not labeled, therefore, point A is marked as object boundary point, and using point A as new detection starting point, with A's The coordinate points above A are detected as detection direction in top, since the coordinate points above point A are not belonging to the boundary point set 1, Therefore, changing detection direction is right, detects point B, since point B is initial detection starting point, detection process knot Beam, the boundary that label obtains barrier is BCDA.

In addition, the effect diagram on the boundary about each barrier, may refer to Fig. 5, Fig. 5 is to image shown in Fig. 3 The point array of two-dimensional coordinate corresponding to effect diagram carries out the image effect schematic diagram after obstacles borders determine.

It is emphasized that described based on the corresponding number of coordinate points each in the two-dimensional coordinate point array given by above-mentioned According to mark, the specific implementation for the step of determining the boundary of each barrier in the target scene is merely exemplary, not The restriction to the application should be constituted；Also, it is described based on each coordinate points in the two-dimensional coordinate point array given by above-mentioned Corresponding Data Identification, the specific implementation for the step of determining the boundary point set of each barrier in the target scene, with And the above-mentioned given boundary point set based on each barrier, the step of determining the boundary of each barrier it is specific Implementation, it is also merely exemplary, it should not constitute the restriction to the application.

S103 determines the vertex of each barrier based on the boundary of each barrier；

Behind the boundary for determining each barrier, each barrier can be determined based on each coordinate points in boundary Vertex.

Optionally, the boundary based on each barrier, can wrap the step of determining the vertex of each barrier It includes:

For each barrier, perform the following operations:

Be that endpoint constructs second straight line using current queries starting point and the vertex after determining any vertex, determination from Current queries starting point advances in each boundary point that the vertex is passed through, the second boundary with the second straight line lie farthest away The second boundary point is determined as the barrier if the second boundary point is greater than the predetermined threshold at a distance from the second straight line by point A vertex for hindering object, until it can not determine vertex；

It is understood that since the boundary of barrier is closure, obstacle can be selected by random fashion A boundary point in the boundary of object is not limited thereto certainly as initial inquiry starting point.In addition, in order to avoid being based on There are incomplete situations on the vertex that first straight line is searched, therefore, after determining any vertex, based on vertex building the Two straight lines, and other vertex whether there is based on second straight line inquiry.In conjunction with the detection thinking for introducing vertex for Fig. 6, it is assumed that Point E in boundary is starting point, according to point of arrival F after predetermined direction of propulsion advance target step, straight line EF is constructed, before point E It proceeds in each boundary point that point F is passed through, point G is farthest apart from straight line EF, and G is determined as a vertex；Also, construct straight line EG judges EG directly without vertex；In turn, by side adjacent on predetermined direction of propulsion with point E in the boundary of the barrier Boundary point H repeats above-mentioned query process as new inquiry starting point；The inquiry starting point new with determination is constantly promoted, until Return to initial inquiry starting point.

The effect diagram on the vertex about barrier, may refer to Fig. 7, and Fig. 7 is to image effect schematic diagram shown in Fig. 5 Corresponding two-dimensional coordinate point array carries out the image effect schematic diagram after barrier vertex determines.

It is emphasized that the above-mentioned given boundary based on each barrier, determines the vertex of each barrier Specific implementation is merely exemplary, should not constitute the restriction to the application.

S104, using the vertex of each barrier as road-net node, and using the corresponding region of each target collection as road Network section, generates the road network topology of the target scene；Wherein, either objective set include can be between two road-net nodes of connection Coordinate points.

It, can be using the vertex of each barrier as road-net node, and with each behind the vertex for determining each barrier The corresponding region of a target collection generates the road network topology of the target scene as road network section.

Optionally, judge any two road-net node whether can the process of connection may include:

Construct the linear equation about the first road-net node and the second road-net node；Wherein, first road-net node and should Second road-net node is any two road-net node；

Based on the linear equation, each seat that straight line is crossed between first road-net node and second road-net node is calculated Punctuate；

When the corresponding Data Identification of all coordinate points that straight line is crossed over is road markings, first road-net node is determined It can connection with second road-net node.

It is straight corresponding to the first road-net node and the second road-net node by taking barrier is identified as 0 and road markings is 1 as an example The corresponding Data Identification of all coordinate points that line is crossed over is 1, determines that first road-net node and second road-net node can join It is logical.

It is emphasized that it is above-mentioned it is given judge any two road-net node whether can connection specific implementation side Formula, it is merely exemplary, it should not constitute the restriction to the application.

Second aspect, based on above-mentioned road network topology construction method, present invention also provides a kind of guidance path calculating sides Method, to provide accurately guidance path.

It should be noted that a kind of guidance path calculation method provided herein can be applied in electronic equipment. Wherein, in a particular application, which can be terminal device or server, this is all reasonable.

As shown in figure 8, a kind of guidance path calculation method provided herein, may include steps of:

S201 determines source location set and destination locations point in target road network topology；Wherein, which is Based on road network topology constructed by the above-mentioned road network topology construction method of the application；

When calculating guidance path, the source location set and destination locations point in target road network topology can be determined first, And then calculating of the execution about guidance path between the source location set and the destination locations point.

It is understood that it is more to determine that the mode of source location set and destination locations point in target road network topology exists Kind.For example: in one implementation, user can input the source location set and purpose by human-computer interaction interface Location point；In one implementation, user can click in the target road network topology and choose source location set and purpose position It sets a little, etc..

It is emphasized that above-mentioned given acquisition be directed to target scene homeposition and destination locations it is specific Implementation is merely exemplary, should not constitute the restriction to the embodiment of the present invention.

S202 updates the target road network topology based on the source location set and the destination locations point；

It, can be based on the source location set and the destination locations after determining the source location set and the destination locations point Point, updates the target road network topology, i.e., analysis source location set and destination locations point and each road-net node can connectivity and With can road network section between the road-net node of connection, to increase in target road network topology about source location set and purpose The update to target road network topology is completed in the road network section of location point.

The source location set and destination locations point are based on specifically, described, the step of updating the target road network topology, May include:

Determine the source location set and can first set between the road-net node of connection, and by area corresponding to first set Domain is added to the target road network topology as road network section；

Determine the destination locations point and can second set between the road-net node of connection, and will be corresponding to the second set Region is added in the target road network topology as road network section.

Wherein, judge each road-net node in the source location set and the target road network topology whether can connection specific reality Existing mode, may refer to it is above-mentioned judge any two road-net node whether can connection specific implementation, do not do herein superfluous It states.

S203 is based on updated target road network topology, by presetting pathfinding algorithm, determines the source location set and the mesh Location point between guidance path.

After updating to target road network topology, it can be based on updated target road network topology, by presetting pathfinding algorithm, Determine the guidance path between the source location set and the destination locations point；Wherein, presetting pathfinding algorithm can be with are as follows: dijkstra (Di Jiesitela) algorithm, best first search (best-first search) algorithm, A* algorithm etc..Wherein, dijkstra (Di Jiesitela) algorithm, the dijkstra algorithm are the shortest path first from a vertex to remaining each vertex, solution It is shortest route problem in digraph, in simple terms, the algorithm are as follows: access other neighbor nodes from starting point, and by the node It is added in node set to be checked, the path length value of node to be checked is updated using relaxed algorithm.And preferably first search is calculated Method is similar with dijkstra (Di Jiesitela) algorithm, the difference is that preferably first search algorithm has one to the distance of target point Estimated value (inspiration value), best first search algorithm not in node set to be checked the close node of selected distance starting point into The calculating of row next step, but the node for selecting distance objective point close；Also, best first search algorithm does not ensure that searching To optimal path, however pathfinding speed can be but greatly improved, because it has used heuristic to guide the trend in path.A* Algorithm is the synthesis of dijkstra's algorithm and best first search algorithm, and A* algorithm uses didactic mode, combines The advantages of dijkstra's algorithm and best first search algorithm, and can still guarantee to find optimal path.

As shown in figure 9, Fig. 9 is to utilize a kind of guidance path calculation method guidance path calculated provided herein Schematic diagram, it is seen then that guidance path road turning point is less, and road is more smooth, distance it is shorter.

It should be noted that described be based on updated target road network topology, by presetting pathfinding algorithm, the starting is determined After guidance path between location point and the destination locations point, updated target road network topology can be restored, with Underlying topology is provided for subsequent pathfinding.

In guidance path calculation method provided herein, source location set and mesh in target road network topology are being determined Location point after, be based on source location set and destination locations point, more fresh target road network topology；It is opened up based on updated target road network It flutters, by presetting pathfinding algorithm, determines the guidance path between source location set and destination locations point.Due to the navigation road In diameter calculation method, before pathfinding, target road network topology is updated based on source location set and destination locations point, so that Fusion has the relevant topology information of source location set and destination locations point in target road network topology, therefore can provide and accurately lead Bit path.

The third aspect corresponds to above-mentioned road network topology construction method, and present invention also provides a kind of buildings of road network topology to fill It sets, as shown in Figure 10, the apparatus may include:

Array obtains module 1010, for obtaining the corresponding two-dimensional coordinate point array of target scene；Wherein, the two dimension is sat The corresponding Data Identification of each coordinate points in punctuate array, the Data Identification is barrier mark or road markings；

Obstacles borders determination unit 1020, for based on the corresponding number of coordinate points each in the two-dimensional coordinate point array According to mark, the boundary of each barrier in the target scene is determined；

Barrier vertex determination unit 1030 determines each obstacle for the boundary based on each barrier The vertex of object；

Road network topology generation unit 1040, for using the vertex of each barrier as road-net node, and with each The corresponding region of target collection generates the road network topology of the target scene as road network section；Wherein, either objective set packet Including can coordinate points between two road-net nodes of connection.

Road network topology construction device provided herein, after obtaining the corresponding two-dimensional coordinate point array of target scene, In order to ensure that the boundary of each barrier and the accuracy on vertex, based on each coordinate points pair in the two-dimensional coordinate point array The Data Identification answered determines the boundary of each barrier in the target scene, and the boundary based on each barrier, determines each The vertex of barrier；In turn, using the vertex of each barrier as road-net node, and made with the corresponding region of each target collection For road network section, the road network topology of the target scene is generated, so as to complete the fine modeling of road network.Therefore, the road network topology Construction method can efficiently construct the high-precision road network topology of target scene.

Optionally, the obstacles borders determination unit 1020 may include:

Boundary point set determines subelement, for based on the corresponding data of coordinate points each in the two-dimensional coordinate point array Mark, determines the boundary point set of each barrier in the target scene；

Boundary determines subelement, for the boundary point set based on each barrier, determines each barrier Boundary.

Optionally, the boundary point set determines subelement, is specifically used for:

Optionally, the boundary determines that subelement is specifically used for:

For each barrier, perform the following operations:

Optionally, barrier vertex determination unit 1030 is specifically used for:

For each barrier, perform the following operations:

Optionally, the road network topology generation unit 1040 judge any two road-net node whether can connection process packet It includes:

Optionally, the road network topology construction device can also include:

Data cleansing unit is based on each seat in the two-dimensional coordinate point array for obstacles borders determination unit 1020 The corresponding Data Identification of punctuate determines in the target scene before the boundary of each barrier, traverses the two-dimensional coordinate point Each coordinate points in array determine the Data Identification of the coordinate points in preset range corresponding to the coordinate points currently traversed, Second number that first number and road markings that barrier mark occurs in the determined Data Identification of statistics occur, and by Data Identification corresponding to the biggish number of numerical value, is updated to the coordinate currently traversed in first number and second number The corresponding Data Identification of point, until the corresponding Data Identification of each coordinate points does not change.

Fourth aspect corresponds to above-mentioned guidance path calculation method, calculates and fills present invention also provides a kind of guidance path It sets, as shown in figure 11, the apparatus may include:

Location point determination unit 1110, for determining source location set and destination locations point in target road network topology；Its In, the target road network topology is based on road network topology constructed by herein described road network topology construction method；

Road network topology updating unit 1120, for being based on the source location set and destination locations point, described in update Target road network topology；

Navigation path calculating unit 1130, for being based on updated target road network topology, by presetting pathfinding algorithm, really Guidance path between the fixed source location set and destination locations point.

Guidance path computing device provided herein is determining source location set and purpose in target road network topology After location point, it is based on source location set and destination locations point, more fresh target road network topology；It is opened up based on updated target road network It flutters, by presetting pathfinding algorithm, determines the guidance path between source location set and destination locations point.Due to the navigation road Diameter computing device is updated target road network topology based on source location set and destination locations point, before pathfinding so that mesh Fusion has the relevant topology information of source location set and destination locations point in mark road network topology, therefore can provide and accurately navigate Path.

Optionally, the road network topology updating unit 1120 may include:

First judgment sub-unit, for judging each road-net node in the source location set and the target road network topology Whether can connection；

First is added subelement, for determining the source location set and can the first collection between the road-net node of connection It closes, and is added to the target road network topology for region corresponding to first set as road network section；

Second judgment sub-unit, for judging each road-net node in the destination locations point and the target road network topology Whether can connection；

Second is added subelement, for determining the destination locations point and can the second collection between the road-net node of connection It closes, and is added to region corresponding to the second set as road network section in the target road network topology.

Optionally, the guidance path computing device can also include:

Reduction unit, for being based on updated target road network topology in navigation path calculating unit, by presetting pathfinding Algorithm, after determining the guidance path between the source location set and destination locations point, by updated target road network Topology is restored.

5th aspect, corresponding to above-mentioned road network topology construction method, the application also proposed a kind of electronic equipment.It please join Figure 12 is examined, in hardware view, which includes processor 1210, internal bus 1220, network interface 1230, memory 1240 And nonvolatile memory 1250, it is also possible that hardware required for other business certainly.Processor 1210 is from non-volatile Property memory 1250 in read corresponding computer program into memory 1240 then run, to execute road provided herein Net topology construction method forms a kind of road network topology construction device on logic level.Certainly, in addition to software realization mode it Outside, other implementations, such as logical device or the mode of software and hardware combining etc. is not precluded in the application, that is to say, that with The executing subject of lower process flow is not limited to each logic unit, is also possible to hardware or logical device.

6th aspect, corresponding to above-mentioned guidance path calculation method, the application also proposed a kind of electronic equipment.It please join Figure 13 is examined, in hardware view, which includes processor 1310, internal bus 1320, network interface 1330, memory 1340 And nonvolatile memory 1350, it is also possible that hardware required for other business certainly.Processor 1310 is from non-volatile Property memory 1350 in read corresponding computer program into memory 1340 then operation to execute provided herein lead Bit path calculation method forms a kind of guidance path computing device on logic level.Certainly, in addition to software realization mode it Outside, other implementations, such as logical device or the mode of software and hardware combining etc. is not precluded in the application, that is to say, that with The executing subject of lower process flow is not limited to each logic unit, is also possible to hardware or logical device.

7th aspect, present invention also provides a kind of computer readable storage medium, the storage medium is stored with calculating Machine program, the computer program is for executing above-mentioned road network topology construction method.

Eighth aspect, present invention also provides a kind of computer readable storage medium, the storage medium is stored with calculating Machine program, the computer program is for executing above-mentioned guidance path calculation method.

The function of each unit and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus Realization process, details are not described herein.

For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying Out in the case where creative work, it can understand and implement.

The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.

Claims

1. a kind of road network topology construction method characterized by comprising

Obtain the corresponding two-dimensional coordinate point array of target scene；Wherein, each coordinate points in the two-dimensional coordinate point array are equal A corresponding Data Identification, the Data Identification are barrier mark or road markings；

Based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, each barrier in the target scene is determined Hinder the boundary of object；

Using the vertex of each barrier as road-net node, and using the corresponding region of each target collection as road network road Section, generates the road network topology of the target scene；Wherein, either objective set include can be between two road-net nodes of connection Coordinate points.

2. the method according to claim 1, wherein described based on each coordinate in the two-dimensional coordinate point array The step of putting corresponding Data Identification, determining the boundary of each barrier in the target scene, comprising:

3. according to the method described in claim 2, it is characterized in that, described based on each coordinate in the two-dimensional coordinate point array The step of putting corresponding Data Identification, determining the boundary point set of each barrier in the target scene, comprising:

The coordinates of targets point in the two-dimensional coordinate point array is traversed, using the coordinates of targets currently traversed point as starting point, Boundary point is searched for using breadth-first search algorithm BFS；Wherein, it is barrier that the coordinates of targets point, which is corresponding Data Identification, The coordinate points of mark；

4. according to the method described in claim 3, it is characterized in that, the boundary point set based on each barrier, The step of determining the boundary of each barrier, comprising:

For each barrier, perform the following operations:

In detection process, belong to the boundary point set if detecting the coordinate points for being not belonging to the boundary point set or detecting But marked boundary point continues to detect after then adjusting detection direction according to predetermined direction adjustment sequence；

Belong to the boundary point set and not labeled object boundary point if detected, rower is clicked through to the object boundary Note, and using the object boundary point as new detection starting point, using detect the detection direction of the object boundary point as New target direction is returned described in executing since currently detection starting point, is carried out using target direction as initial probe direction The step of detection, until detection less than new object boundary point or until finding the initial detection starting point.

5. method according to claim 1-4, which is characterized in that the side based on each barrier Boundary, the step of determining the vertex of each barrier, comprising:

For each barrier, perform the following operations:

First straight line is constructed using current queries starting point and the corresponding auxiliary magnet of current queries starting point as endpoint, is determined from current Inquiry starting point advances in each boundary point that corresponding auxiliary magnet is passed through, and first with the first straight line lie farthest away Boundary point, it is if the first boundary point is greater than predetermined threshold at a distance from the first straight line, the first boundary point is true It is set to a vertex of the barrier；Wherein, the corresponding auxiliary magnet of current queries starting point is in the boundary of the barrier, to work as The boundary point that preceding inquiry starting point reaches when starting according to predetermined direction of propulsion advance target step；

After determining any vertex, second straight line is constructed using current queries starting point and the vertex as endpoint, is determined from current Inquiry starting point advances in each boundary point that the vertex is passed through, the second boundary with the second straight line lie farthest away Point, it is if the second boundary point is greater than the predetermined threshold at a distance from the second straight line, the second boundary point is true It is set to a vertex of the barrier, until it can not determine vertex；

It is looked into boundary point adjacent on predetermined direction of propulsion with current queries starting point in the boundary of the barrier as new Starting point is ask, returns and constructs first straight line using current queries starting point and the corresponding auxiliary magnet of current queries starting point as endpoint Step, and terminate when new inquiry starting point is the initial inquiry starting point.

6. method according to claim 1-4, which is characterized in that judge whether any two road-net node can join Logical process includes:

Construct the linear equation about the first road-net node and the second road-net node；Wherein, first road-net node and described Second road-net node is any two road-net node；

Based on the linear equation, each of straight line leap between first road-net node and second road-net node is calculated Coordinate points；

When straight line cross over the corresponding Data Identification of all coordinate points be road markings when, determine first road-net node and Second road-net node can connection.

7. the method according to claim 1, wherein described based on each coordinate in the two-dimensional coordinate point array Before the step of putting corresponding Data Identification, determining the boundary of each barrier in the target scene, the method also includes:

Each coordinate points in the two-dimensional coordinate point array are traversed, determine preset range corresponding to the coordinate points currently traversed The Data Identification of interior coordinate points counts the first road Ci Shuohe road sign that barrier mark occurs in determined Data Identification Know second number occurred, and by first number and second time it is several in Data Identification corresponding to the biggish number of numerical value, It is updated to the corresponding Data Identification of the coordinate points currently traversed, until the corresponding Data Identification of each coordinate points does not change Become.

8. a kind of guidance path calculation method characterized by comprising

Determine the source location set and destination locations point in target road network topology；Wherein, the target road network topology is based on power Benefit requires road network topology constructed by the described in any item methods of 1-7；

The source location set and the purpose position are determined by presetting pathfinding algorithm based on updated target road network topology Set the guidance path between a little.

9. according to the method described in claim 8, it is characterized in that, described be based on the source location set and the destination locations Point, the step of updating the target road network topology, comprising:

Determine the source location set and can first set between the road-net node of connection, and by region corresponding to first set The target road network topology is added to as road network section；

10. method according to claim 8 or claim 9, which is characterized in that it is described to be based on updated target road network topology, lead to Cross default pathfinding algorithm, after determining the guidance path between the source location set and destination locations point, the method Further include:

Updated target road network topology is restored.

11. a kind of road network topology construction device characterized by comprising

Array obtains module, for obtaining the corresponding two-dimensional coordinate point array of target scene；Wherein, the two-dimensional coordinate point array In the corresponding Data Identification of each coordinate points, the Data Identification is that barrier identifies or road markings；

Obstacles borders determination unit is used for based on the corresponding Data Identification of coordinate points each in the two-dimensional coordinate point array, Determine the boundary of each barrier in the target scene；

Barrier vertex determination unit determines the vertex of each barrier for the boundary based on each barrier；

Road network topology generation unit, for using the vertex of each barrier as road-net node, and with each target collection Corresponding region generates the road network topology of the target scene as road network section；Wherein, either objective set include can connection Two road-net nodes between coordinate points.

12. a kind of guidance path computing device characterized by comprising

Location point determination unit, for determining source location set and destination locations point in target road network topology；Wherein, the mesh Marking road network topology is based on road network topology constructed by the described in any item methods of claim 1-7；

Road network topology updating unit updates the target road network for being based on the source location set and destination locations point Topology；

Navigation path calculating unit, by presetting pathfinding algorithm, determines described rise for being based on updated target road network topology Guidance path between beginning location point and destination locations point.

13. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor Machine program, which is characterized in that the processor realizes road described in any one of the claims 1-7 when executing described program Net topology construction method.

14. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor Machine program, which is characterized in that the processor is realized described in any one of the claims 8-10 when executing described program Guidance path calculation method.

15. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the meter Calculation machine program is for executing the described in any item road network topology construction methods of the claims 1-7.

16. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the meter Calculation machine program is for executing the described in any item guidance path calculation methods of the claims 8-10.