CN110608747B - Method and device for merging uplink and downlink roads in three-dimensional road - Google Patents
Method and device for merging uplink and downlink roads in three-dimensional road Download PDFInfo
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- CN110608747B CN110608747B CN201810613837.1A CN201810613837A CN110608747B CN 110608747 B CN110608747 B CN 110608747B CN 201810613837 A CN201810613837 A CN 201810613837A CN 110608747 B CN110608747 B CN 110608747B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
The embodiment of the invention discloses a method for merging an uplink road and a downlink road in a three-dimensional road, which comprises the following steps: obtaining a single line set, wherein the single line set comprises at least two single lines; pairing single wires in the single wire set to form an uplink and downlink double wire pair, wherein the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire; obtaining the shape of the central line of the uplink and downlink double-line pairs according to the uplink single line and the downlink single line in the uplink and downlink double-line pairs; and obtaining the center line node corresponding to the uplink and downlink double line pairs according to the node on the uplink single line, the node on the downlink single line and the shape of the center line.
Description
Technical Field
The invention relates to the technical field of map navigation, in particular to a method and a device for merging an uplink road and a downlink road in a three-dimensional road.
Background
With the development of cities, a large number of uplink and downlink roads exist in a road network. For the simplicity and beauty of display, the up-down roads are often merged in navigation.
In the prior art, the mode of merging the uplink and downlink roads is mostly: and (4) polygon filling algorithm. This method requires: firstly, identifying a cavity area between an uplink road and a downlink road; next, the hollow area is filled in the road surface. The method has large calculation amount and large data amount to be stored, and the filled data are mostly polygons, which is inconvenient for drawing marks on the road surface, such as: zebra crossings, lane markings, etc.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a method and a device for merging an uplink road and a downlink road in a three-dimensional road.
The embodiment of the invention provides a method for merging an uplink road and a downlink road in a three-dimensional road, which comprises the following steps:
obtaining a single line set, wherein the single line set comprises at least two single lines;
pairing the single wires in the single wire set to form an uplink and downlink double wire pair, wherein the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire;
obtaining the shape of the central line corresponding to the uplink and downlink double-line pairs according to the uplink single line and the downlink single line in the uplink and downlink double-line pairs;
obtaining a central line node corresponding to the uplink and downlink double-line pairs according to the nodes on the uplink single line, the nodes on the downlink single line and the shape of the central line;
and generating a combined uplink and downlink road according to the shape of the central line and the central line node.
The embodiment of the invention provides a device for merging an uplink road and a downlink road in a three-dimensional road, which comprises:
the single line set obtaining module is used for obtaining a single line set, and the single line set comprises at least two single lines;
the pairing module is used for pairing the single wires in the single wire set to form an uplink and downlink double wire pair, and the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire;
the center line shape obtaining module is used for obtaining the shape of the center line corresponding to the uplink and downlink double-line pairs according to the uplink single line and the downlink single line in the uplink and downlink double-line pairs;
a center line node obtaining module, configured to obtain, according to the node on the uplink single line, the node on the downlink single line, and the shape of the center line, a center line node corresponding to the uplink and downlink double-line pairs;
and the uplink and downlink road obtaining module is used for generating a combined uplink and downlink road according to the shape of the central line and the central line node.
Compared with the prior art, the invention has at least the following advantages:
the single lines in the single line set are paired to form an uplink and downlink double-line pair, the central line shape corresponding to the uplink and downlink double-line pair is obtained for the uplink single line and the downlink single line in each pair of the uplink and downlink double-line pair, and the central line node is generated by using the node on the uplink single line and the node on the downlink single line. And finally merging the uplink and downlink roads by the shape of the central line and the central line node. It can be understood that the merged data of the uplink and downlink roads only includes the centerline shape and the centerline node, and does not include the data of the uplink single line and the downlink single line, which is much reduced compared with the data of the prior art that the roads are filled into polygons. Since the polygons need to include data of the road surface constituted by the respective polygons, the data of only one center line is included in the present application. Therefore, the method provided by the application can reduce the data volume.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of uplink and downlink single lines before merging provided by the present invention;
FIG. 2 is a diagram illustrating a combination of pairs of upstream and downstream singlelines into a single lane according to the present invention;
FIG. 3 is a combined up and down road line finally presented on a three-dimensional navigation map according to the present invention;
FIG. 4 is a flowchart of an embodiment of a method for merging an uplink road and a downlink road in a three-dimensional road provided by the present invention;
FIG. 5 is a schematic diagram of an upstream single line provided by the present invention;
FIG. 6 is a schematic diagram of each segment of the upstream single line and the downstream single line provided by the present invention;
FIG. 7 is a schematic diagram of an upstream single line and a downstream single line after concatenation according to the present invention;
FIG. 8 is a flow chart of the pairing of upstream single lines and downstream single lines provided by the present invention;
FIG. 9 is a schematic diagram illustrating the shortest distance between two roads provided by the present invention;
FIG. 10 is a diagram of the corresponding variance of FIG. 9;
FIG. 11 is a schematic diagram of the shortest distance between two other roads provided by the present invention;
FIG. 12 is a schematic diagram of the variance corresponding to FIG. 11;
FIG. 13 is a schematic diagram of a road between an uplink single line and a downlink single line provided by the present invention;
FIG. 14 is a schematic diagram of the relationship between nodes on the uplink single line and the downlink single line and the center line node provided by the present invention;
FIG. 15 is a flowchart of the present invention for generating a merged ascending/descending road from a centerline shape and a centerline node;
FIG. 16 is a schematic diagram of a collapsing node process provided by the present invention;
FIG. 17 is a schematic diagram of node merging provided by the present invention;
FIG. 18 is a schematic diagram of a merged three-dimensional uplink and downlink road according to the present invention;
FIG. 19 is a schematic diagram of an upstream road and a downstream road before merging according to the present invention;
FIG. 20 is a schematic view of a merged up-down road corresponding to FIG. 19;
FIG. 21 is a schematic view of a long road breaking point provided by the present invention;
fig. 22 is a schematic diagram of an intersection breaking point provided by the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make those skilled in the art better understand the method provided by the embodiments of the present invention, the following scheme is described with reference to the accompanying drawings.
Referring to fig. 1, a schematic diagram of an uplink and downlink single line before merging is shown.
The up-line single line 11 and the down-line single line 12 shown in fig. 1 constitute a so-called up-down-line single line. The up-line 21 and the down-line 22 constitute so-called up-and-down-line.
However, the difference between the road surface generated by the uplink and downlink single lines shown in fig. 1 during navigation and the actual situation is large.
Therefore, in order to enable the road surface to approach the actual situation as much as possible in the embodiment of the present invention, adjustment needs to be performed before the road surface is generated, and the uplink single line and the downlink single line separated in the uplink and the downlink are merged into a complete road line. See in particular the schematic diagram shown in fig. 2. In fig. 2, the pair of the upstream single line and the downstream single line is merged into one lane route.
In order to make the road surface during final navigation closer to the actual situation, the generated road surface effect diagram is shown in fig. 3, and fig. 3 shows the combined up-down road line finally presented on the three-dimensional navigation map in the embodiment of the present invention.
The method for merging the uplink and downlink roads in the three-dimensional road provided by the embodiment of the invention is explained in detail below.
Referring to fig. 4, the figure is a flowchart of an embodiment of a method for merging an uplink road and a downlink road in a three-dimensional road provided by the present invention.
The method for merging the uplink and the downlink roads in the three-dimensional road provided by the embodiment comprises the following steps:
s401: obtaining a single line set, wherein the single line set comprises at least two single lines;
the purpose of S401 is to obtain all the single lines.
For convenience of description, the uplink single line is taken as an example for description, and the downlink single line is similar.
Because the uplink single line may be longer and there are many small intersections in the middle, the whole uplink single line is divided into multiple sections by the intersections, but for the final merging effect, the sections belonging to the same uplink single line need to be connected in series to form the complete uplink single line.
For a more intuitive understanding of the ascending single line, reference may be made in particular to fig. 5, in which the bold luxurious path is a complete ascending single line. It can be seen that the ascending single line of the luxuriant road connects the two road segments in series, and the ascending single line of the luxuriant road does not include the intersection road line. For example, the left end and the right end of the ascending single line of the luxuriant road in fig. 5 each include a four-way intersection, and the road route of the intersection does not belong to the ascending single line and does not belong to the descending single line.
In addition, in order to facilitate pairing of the uplink single line and the downlink single line, all road sections need to be connected in series, so that the lengths of the uplink single line and the downlink single line are equivalent, and the problem of mismatch does not exist. As shown in fig. 6, the ascending single line and the descending single line of the south landscape street include a plurality of sections, and the lengths of the sections on the ascending single line and the descending single line cannot be aligned in parallel, so that, referring to fig. 7 after the sections are connected in series, the thickened ascending single line and the thickened descending single line of the south landscape street are aligned in parallel in the whole section of road from the comprehensive intersection at the left end to the comprehensive intersection at the right end.
It will be understood that the single ascending line and the single descending line are directional, and the direction determines whether the line is the single ascending line or the single descending line, and the specific rule can be set according to the requirement, for example, the upward line toward the east and the upward line toward the north can be set.
S402: pairing the single wires in the single wire set to form an uplink and downlink double wire pair, wherein the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire;
because the single line set comprises a plurality of single lines, the single lines need to be paired to form an uplink and downlink double-line pair, and the aim of the method is to finally combine the paired uplink single line and downlink single line into a road.
S403: obtaining the shape of the central line of the uplink and downlink double-line pairs according to the uplink single line and the downlink single line in the uplink and downlink double-line pairs; obtaining a central line node corresponding to the uplink and downlink double-line pairs according to the nodes on the uplink single line, the nodes on the downlink single line and the shape of the central line;
because the uplink single line and the downlink single line in the uplink and downlink double line pairs are finally merged into a road, a central line is needed to distinguish the uplink line and the downlink line of the merged road.
S404: and generating a combined uplink and downlink road according to the shape of the central line and the central line node.
The method for obtaining the central line shape of the corresponding uplink and downlink double-line pairs by the uplink single line and the downlink single line specifically comprises the following steps:
and obtaining a midpoint by the sampling point on one road in the uplink and downlink double-line pair and the corresponding closest point of the sampling point on the other road, and obtaining the shape of the central line by the corresponding midpoints of all the sampling points.
It will be appreciated that the final merged up-down roadway includes the shape of the centerline, and the width of the roadway is known. The combined up-down road can be rendered according to the shape of the center line and the center line nodes. The method and the device only need to comprise the center line and the road width when the three-dimensional road is rendered, wherein the center line comprises a center line shape and center line nodes.
The center line nodes carry the information of the original nodes, namely the original nodes of the center line comprise nodes on an uplink single line and nodes on a downlink single line.
In the application, single lines in a single line set are paired to form an uplink and downlink double-line pair, the shapes of central lines corresponding to the uplink and downlink double-line pairs are obtained for the uplink single line and the downlink single line in each pair of the uplink and downlink double-line pairs, and the central line nodes are generated by using nodes on the uplink single line and nodes on the downlink single line. And finally merging the uplink and downlink roads by the shape of the central line and the central line node. It can be understood that the merged data of the uplink and downlink roads only includes the centerline shape and the centerline node, and does not include the data of the uplink single line and the downlink single line, which is much reduced compared with the data of the prior art that the roads are filled into polygons. Since the polygons need to include data of the road surface constituted by the respective polygons, the data of only one center line is included in the present application. Therefore, the method provided by the application can reduce the data volume.
The following describes a specific implementation manner for obtaining the uplink and downlink single line sets.
Obtaining an uplink and downlink single line set consisting of uplink single lines and downlink single lines, specifically comprising:
connecting road sections with the same road name and attribute and with the angle difference smaller than a preset angle into a road to obtain an uplink and downlink single line set;
the road sections with the same road name comprise road sections with the same road name and road sections without the same road name.
For example, there are roads with names and some roads without names. All roads without names are considered to be the same road name in this application. Thus, it is not possible to concatenate individual road segments solely by virtue of the same road name, which would result in the concatenation of road segments of different roads that are far apart.
The same road name is only one auxiliary parameter in the uplink single line and the downlink single line.
In addition, the following problems may also exist for roads with road names: since the road names of the ascending single line and the descending single line are the same, when the sections of the ascending single line are concatenated, in order to avoid concatenating the sections of the descending single line, it is necessary to limit the angle difference between any adjacent sections to be smaller than a predetermined angle.
The predetermined angle may be set according to roads in different geographical locations, for example, mountainous areas, plateau basins, coastal areas, etc. are more special, and the roads themselves may have many curves. And the road in plain areas is relatively straight.
Each road has road attributes that represent the rank and function of the road.
For example, the road attributes include: urban expressways, ordinary roads, etc. The uplink and downlink single lines need to have a single road attribute and cannot include roads of two different attributes. Further, the intersection line, the approach line, the entrance, and the like cannot be mixed with the ascending and descending single line, and these roads need to be excluded.
The pairing of the upstream single wire and the downstream single wire is described below with reference to a specific schematic diagram.
Referring to fig. 8, it is a flowchart of pairing an upstream single line and a downstream single line provided by the present invention.
In order to merge the uplink and downlink roads, the obtained uplink single line and downlink single line need to be paired, and the whole uplink and downlink double-line pair is treated as a group.
In this embodiment, pairing the single lines in the single line set to form an uplink and downlink double-line pair specifically includes:
s801: selecting a sampling point for one road in the uplink and downlink single line set according to a preset interval;
the sampling points may be set at predetermined intervals, for example, 3 meters at predetermined intervals, with one sampling point being set every 3 meters.
It should be noted that the sampling point may be set on any one of the roads, and may be an uplink single line or a downlink single line. But the sampling point is not needed to be set for the road which is successfully paired.
S802: searching a closest point on another road according to the sampling points and calculating the closest distance corresponding to all the sampling points;
it will be understood that the closest distance from a point to a road is the perpendicular to the road, and the intersection of the perpendicular with the road is the closest point to the sampling point.
S803: obtaining the variance of all the nearest distances;
the sampling point of a road may include many. If the predetermined intervals corresponding to all roads are the same, the longer the road is, the more sampling points are.
S804: and when the variance is smaller than a preset variance threshold value, forming the two roads into an uplink and downlink double-line pair.
It will be appreciated that the variance may represent the degree of dispersion between each closest distance and the mean of all closest distances. In the embodiment, the parallelism of the two roads is judged by the variance, and when the parallelism meets the preset requirement, the two roads form an uplink and downlink double-line pair.
As shown in fig. 9, the horizontal lines in the figure represent two roads, the vertical lines represent the closest distances from the sampling point on one road to the other road, and the lengths of the respective closest distances are counted.
Specifically, as shown in fig. 10, the highest vertical line in the graph represents the average value of all the closest distances, and the remaining lines represent the respective closest distances, and it can be seen that the respective closest distances are near the average value, which indicates that the parallelism of two roads is good, and the two roads can be paired into an uplink and downlink double-line pair.
As shown in fig. 11, the schematic diagram of the closest distances of the two roads shows that the difference between the closest distances is relatively large, and the corresponding variance can be seen in fig. 12, which shows that the distribution of the closest distances is relatively scattered and the average value is relatively long, so that it can be determined that the parallelism of the two roads is not good, and the two roads are not paired into an uplink and downlink double-line pair.
The method and the device combine the successfully paired uplink and downlink double-line pairs.
In order to meet the actual road in the merging for some special cases, it is necessary to exclude some roads in which the ascending single line and the descending single line are parallel, for example, when there are other roads between the ascending single line and the descending single line, such as overpasses, or small gardens, or small aisles. In view of the above, the roads in the middle are shielded when the uplink single line and the downlink single line are merged, and therefore, in view of this, merging of the uplink and downlink roads is not performed. As shown in fig. 13, the road 31 is located right between the upper single line and the lower single line.
That is, in S804, the two roads are grouped into an uplink and downlink dual-line pair, which further includes:
and judging whether a road exists between the two roads or not, and if not, forming an uplink and downlink double-line pair by the two roads.
For example, there is an elevated road or other road between two roads.
A special case is also included where the difference in height between two roads is relatively large.
And judging the height difference between the two roads, and if the height difference between the two roads is smaller than a preset height, forming an uplink and downlink double-line pair by the two roads.
In this case, although the two roads have good parallelism, the heights of the two roads are different greatly, and the two roads having a great height difference are not merged into the uplink and downlink roads for the display effect of the three-dimensional map.
In addition, a special case is also included, the distance between the two roads is too large, the two roads cannot be combined into an uplink road and a downlink road, and the distance between the two roads can be determined by using the closest distance of the sampling point obtained in the above S802. The method specifically comprises the following steps:
obtaining an average of all of the closest distances;
and when the average value is smaller than the preset road distance, forming the two roads into an uplink and downlink double-line pair.
The generation of centerline nodes from nodes on the upstream singleline and nodes on the downstream singleline is described below.
Referring to fig. 14, A, D and F are three nodes on the upstream single line, and B, C, E and G are four nodes on the downstream single line.
And the middle dotted line is a central line, and the nodes on the uplink single line and the downlink single line are projected onto the central line to obtain a central line node. The central line node carries the information of the original node, if the node on the uplink single line and the node on the downlink single line are projected to be the same node, the node is marked as a group, otherwise, the node is singly marked as a group. The set of nodes in FIG. 14 includes: (A, B), (C), (D), (E), (F), (G).
In order to ensure that the final data volume is smaller, when the up-and-down roads are finally merged, the nodes of the intersection can be collapsed into one node, and a specific process of collapsing the center line nodes will be described in the following embodiments.
Referring to fig. 15, this is a flowchart of generating a merged uplink and downlink road from a centerline shape and a centerline node according to an embodiment of the present invention.
Obtaining a center line node corresponding to the uplink and downlink double-line pairs according to the nodes on the uplink single line, the nodes on the downlink single line and the shape of the center line, which specifically comprises:
s1501: obtaining an uplink node group and a downlink node group by nodes on an uplink single line and nodes on a downlink single line; the uplink and downlink node groups comprise a multi-node group and a single-node group; the multi-node group consists of two nodes, wherein the projections of the nodes on the uplink single line and the downlink single line on the central line are the same; the other nodes are the single node group; as shown in fig. 14, (a, B) is a two-node group, and (C) is a single-node group.
S1502: merging the node groups with the common nodes in the uplink and downlink node groups until no common node exists between the node groups, and taking the finally obtained node group as a center line node cluster;
specifically, as shown in fig. 16, the node group included in the centerline node includes (a, B), (C), (a, F), (F, G), (G, B), (J, I). The above node groups are collapsed until there is no common node position between any two node groups, for example, a common node a exists between two node groups of (a, B) and (a, F), the two node groups become (a, B, F) after being merged, common nodes B and F exist between (a, B, F) and (F, G, B) after being collapsed for the first time, and become (a, B, F, G) after being collapsed. And finally, the node group obtained after combination comprises the following three groups: (C) (A, B, F, G), (J, I); it is thus seen that, ultimately, there are no common nodes between the three groups.
S1502 is a process of removing duplicate nodes between node groups, and duplicate nodes do not have to be reserved between node groups.
S1503: and generating an up-down combined road by the shape of the central line and the node cluster, wherein the central line node cluster comprises two or more node groups which are combined into one node on the up-down combined road.
When the uplink and downlink roads are finally merged, all the nodes in one node group obtained in S1502 are merged into one point node. For example, (A, B, F, G) are merged into one node. Therefore, the data volume can be reduced, the data of each node does not need to be reserved, and the data of only one node is reserved.
As shown in fig. 17, three nodes of the synthetic intersection collapse into one node when the up-down road and the down-down road are finally merged. The nodes after being collapsed are only used for representing positions and adjacent relations with roads, and do not need to carry information of the nodes before being collapsed.
As shown in fig. 18, the three-dimensional uplink and downlink roads are merged by the method provided by the above embodiment of the present invention. It can be seen that the up and down roads include the centerline shape and centerline nodes, and of course the road width.
For comparing the uplink and downlink roads before merging, see fig. 19 and fig. 20, where fig. 19 is a schematic diagram of the separation of the uplink single line and the downlink single line before merging. Fig. 20 shows the merged up-down road according to the present invention. It can be seen that the combined up-down road of the invention is more in line with the real condition of the road and the picture is cleaner. It is essential that the amount of data that needs to be processed is much reduced compared to the prior art.
In addition, in order to better match the uplink single line and the downlink single line, preprocessing is required before matching, and some roads are subjected to breakpoint processing. When the road sections are connected in series, the positions of the break points are not connected in series, namely, the break points divide the road into different uplink and downlink single lines.
The method comprises the following steps that road sections with the same road name and attribute and the angle difference smaller than a preset angle are connected in series to form a road to obtain an uplink and downlink single line set, and the method also comprises the following steps:
the breakpoint handling includes the following two cases:
firstly, a road with the road length exceeding the preset length is broken through a breakpoint according to the preset length;
and the combination of (a) and (b),
secondly, breaking the position of the road with the comprehensive intersection through a breakpoint;
the first of these is to avoid the road being too long, for example, several tens of kilometers, and to break the road into segments in case of too long road. For example, a predetermined length may be set, and if the road length exceeds the predetermined length, a break point is made every predetermined length. The break point of the middle loop is divided as shown in fig. 21, since the middle loop is too long.
The second is that some intersections are not comprehensive intersections, so that the upper and lower intersections cannot be disconnected in series. At this time, a break point needs to be broken so as to pair the uplink single line and the downlink single line. Referring specifically to the three-way intersection shown in fig. 22, since the road 41 is a whole road without intersections, in order to match the roads 42 and 43, a breaking point needs to be formed on the road 41 at a position corresponding to the three-way intersection.
The method for obtaining the uplink and downlink single line set by connecting road sections with the same road name, the same attribute and the angle difference smaller than the preset angle into a road comprises the following steps:
and connecting road sections with the same road name, the same attribute, no break point in the middle of the road sections and the angle difference between the road sections smaller than a preset angle in series to obtain an uplink and downlink single line set.
The device for merging the uplink and the downlink in the three-dimensional road provided by the embodiment of the application is described below, and the device for merging the uplink and the downlink in the three-dimensional road described below and the method for merging the uplink and the downlink in the three-dimensional road described above can be referred to correspondingly.
The embodiment of the invention also provides a device for merging the uplink and the downlink roads in the three-dimensional road, which comprises the following components:
the single line set obtaining module is used for obtaining a single line set, and the single line set comprises at least two single lines;
the pairing module is used for pairing the single wires in the single wire set to form an uplink and downlink double wire pair, and the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire;
the center line shape obtaining module is used for obtaining the center line shape of the uplink and downlink double line pairs according to the uplink single line and the downlink single line in the uplink and downlink double line pairs;
a center line node obtaining module, configured to obtain, according to the node on the uplink single line, the node on the downlink single line, and the shape of the center line, a center line node corresponding to the uplink and downlink double-line pairs;
and the uplink and downlink road obtaining module is used for generating a combined uplink and downlink road according to the shape of the central line and the central line node.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (8)
1. A method for combining an uplink road and a downlink road in a three-dimensional road is characterized by comprising the following steps:
obtaining a single line set, wherein the single line set comprises at least two single lines;
pairing the single wires in the single wire set to form an uplink and downlink double wire pair, wherein the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire;
obtaining the shape of the central line corresponding to the uplink and downlink double-line pairs according to the uplink single line and the downlink single line in the uplink and downlink double-line pairs;
obtaining an uplink node group and a downlink node group by nodes on an uplink single line and nodes on a downlink single line; the uplink and downlink node groups comprise a multi-node group and a single-node group; the multi-node group consists of two nodes, wherein the projections of the nodes on the uplink single line and the downlink single line on the central line are the same; the other nodes are the single node group; merging the node groups with the common nodes in the uplink and downlink node groups until no common node exists between the node groups, and taking the finally obtained node group as a center line node cluster;
and generating an up-down combined road by the central line shape and the central line node cluster, wherein the central line node cluster comprises two or more node groups which are combined into one node on the up-down combined road.
2. The method for merging the uplink and the downlink roads in the three-dimensional road according to claim 1, wherein the obtaining of the single line set specifically comprises:
connecting road sections with the same road name and attribute and with the angle difference smaller than a preset angle into a road to obtain an uplink and downlink single line set;
the road sections with the same road name comprise road sections with the same road name and road sections without the same road name.
3. The method for merging the uplink and downlink roads in the three-dimensional road according to claim 1, wherein the obtaining of the shape of the center line corresponding to the uplink and downlink doublet pair according to the uplink single line and the downlink single line in the uplink and downlink doublet pair specifically comprises:
and obtaining a midpoint by using the sampling point on one road in the uplink and downlink double-line pair and the corresponding closest point of the sampling point on the other road, and obtaining the shape of the central line by using the corresponding midpoints of all the sampling points.
4. The method for merging the uplink and the downlink roads in the three-dimensional road according to claim 1, wherein the uplink single line and the downlink single line in the single line set are paired to form an uplink and downlink double-line pair, which specifically comprises:
selecting a sampling point for one road in the single line set according to a preset interval;
searching a closest point on another road according to the sampling points and calculating the closest distance corresponding to all the sampling points;
obtaining the variance of all the nearest distances;
and when the variance is smaller than a preset variance threshold value, forming an uplink and downlink double-line pair by the two roads.
5. The method for merging the uplink and the downlink roads in the three-dimensional road according to claim 1, wherein the uplink single line and the downlink single line in the single line set are paired to form an uplink and downlink double-line pair, which specifically comprises:
selecting a sampling point for one road in the single line set according to a preset interval;
searching a closest point on another road according to the sampling points and calculating the closest distance corresponding to all the sampling points;
obtaining an average of all of the closest distances;
and when the average value is smaller than the preset road distance, forming an uplink and downlink double-line pair by the two roads.
6. The method for merging the uplink and the downlink roads in the three-dimensional road according to claim 4, wherein before the step of combining the two roads into the uplink and downlink double-line pair, the method further comprises:
judging whether a road exists between the two roads or not, and if not, forming an uplink and downlink double-line pair by the two roads;
and/or the presence of a gas in the gas,
and judging the height difference between the two roads, and if the height difference between the two roads is smaller than a preset height, forming an uplink and downlink double-line pair by the two roads.
7. The method for merging uplink and downlink roads in a three-dimensional road according to claim 2, wherein the method further comprises the following steps of obtaining the uplink and downlink single line sets by concatenating road segments with the same road name and attribute and with an angle difference smaller than a predetermined angle between the road segments, wherein the road segments are connected in series to form a road, and the method further comprises the following steps:
breaking a road with the road length exceeding the preset length through a breaking point according to the preset distance;
and the combination of (a) and (b),
breaking the position of the road with the comprehensive intersection through a breakpoint;
the method for obtaining the uplink and downlink single line set by connecting road sections with the same road name, the same attribute and the angle difference smaller than the preset angle into a road comprises the following steps:
and connecting road sections with the same road name, the same attribute, no break point in the middle of the road sections and the angle difference between the road sections smaller than a preset angle in series to obtain an uplink and downlink single line set.
8. An apparatus for merging an up-down road and a down-down road in a three-dimensional road, comprising:
the single line set obtaining module is used for obtaining a single line set, and the single line set comprises at least two single lines;
the pairing module is used for pairing the single wires in the single wire set to form an uplink and downlink double wire pair, and the uplink and downlink double wire pair comprises an uplink single wire and a downlink single wire;
the center line shape obtaining module is used for obtaining the shape of the center line corresponding to the uplink and downlink double-line pairs according to the uplink single line and the downlink single line in the uplink and downlink double-line pairs;
a center line node obtaining module, which is used for obtaining an uplink and downlink node group from the nodes on the uplink single line and the nodes on the downlink single line; the uplink and downlink node groups comprise a multi-node group and a single node group, the multi-node group consists of two nodes, the projections of the nodes on the central lines of the uplink single line and the downlink single line are the same point, and the rest nodes are the single node groups; merging the node groups with the common nodes in the uplink and downlink node groups until no common node exists between the node groups, and taking the finally obtained node group as a center line node cluster;
and the uplink and downlink road obtaining module is used for generating a road subjected to uplink and downlink combination by the central line shape and the central line node cluster, and the central line node cluster comprises two or more node groups which are combined into a node on the road subjected to uplink and downlink combination.
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