CN111475593A - Mapping method and device of electronic map, storage medium and terminal - Google Patents

Mapping method and device of electronic map, storage medium and terminal Download PDF

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CN111475593A
CN111475593A CN202010171969.0A CN202010171969A CN111475593A CN 111475593 A CN111475593 A CN 111475593A CN 202010171969 A CN202010171969 A CN 202010171969A CN 111475593 A CN111475593 A CN 111475593A
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semantic
electronic map
mapping
mesoscopic
road network
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CN111475593B (en
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郭胜敏
韩兴广
牛彦芬
袁少杰
夏曙东
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Beijing Palmgo Information Technology Co ltd
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Abstract

The invention discloses a mapping method, a mapping device, a storage medium and a terminal of an electronic map, wherein the method comprises the following steps: acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data; semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic; and mapping based on the first semantic set and the second semantic set to generate an electronic map mapping result. Therefore, by adopting the embodiment of the application, the accuracy of electronic map mapping can be improved.

Description

Mapping method and device of electronic map, storage medium and terminal
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a mapping method and apparatus for an electronic map, a storage medium, and a terminal.
Background
With the social development and the improvement of living standard, the space range of activities of people is continuously expanded, and the map plays a vital role in the life of people. Particularly in the internet and mobile internet era, the electronic map can help users to search points of interest, plan routes, check road condition information and the like, and has the advantages of convenience in searching, portability, quickness in data updating and the like.
The electronic map industry in China has made great development and progress, but has a great problem that data exchange of a basic database cannot be realized due to the lack of uniform data standards and the uneven levels of various electronic map manufacturers in the aspects of production process, platform construction and the like. For upper-layer applications depending on the electronic map, such as traffic information services, etc., since the basic database between map providers cannot effectively exchange data, if service and content of the cross-map provider are needed, mapping between electronic maps of different map providers and different versions must be completed.
Different electronic maps have different degrees of differences in road network detail, point and line positions, local road type details and the like, so that it is difficult to intuitively map the two maps through geometric comparison. In addition, map mapping is more difficult in areas with dense road networks, such as major and minor roads, overhead/ground, and overpasses. At present, most of road data mapping of different image merchants adopts a mode of taking manpower as a main mode and taking a machine as an auxiliary mode, and a large amount of manpower and material resources are consumed.
Based on the above, the prior art provides an electronic map mapping method among different map quotients, and the mapping is completed by finding some endpoints and road sections with obvious characteristics, and continuously performing topology expansion on the basis, and the mapping of all electronic map data is completed iteratively. For example, in the prior art with patent number 201611262290.2, a series of preprocessing is performed on the electronic map to bridge the differences between different electronic maps in terms of detail, intersection description, and the like. Although the method in the prior art reduces the difficulty of mapping the feature points, the accuracy of electronic map mapping is improved. However, the core logic of the mapping method is based on the feature point mapping, and the accuracy of the final electronic map mapping strongly depends on the accuracy of the feature point mapping. However, the feature points cannot be completely and accurately mapped, and the root cause of the incomplete and accurate mapping is that map operators of different map providers express the same geographic information elements based on different operation specifications and operation habits, and the description mode and the description precision adopted have certain differences, as shown in fig. 1, at a small roundabout intersection, a map a abstracts the intersection into 1 point, and a map B is more detailed in a depicting manner, wherein a dotted arrow is a traffic flow direction, and a road section of the map a in fig. 1 expresses a bidirectional traffic flow. In this case, the feature point mapping at the microscopic level has been unable to accurately depict the similarities and differences of the geographic information elements, and the mapping accuracy is susceptible to map description differences. Therefore, a new technical idea and means are needed to more accurately implement mapping between electronic maps of different versions.
Disclosure of Invention
The embodiment of the application provides a mapping method and device of an electronic map, a storage medium and a terminal. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
In a first aspect, an embodiment of the present application provides a mapping method for an electronic map, where the method includes:
acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
and mapping based on the first semantic set and the second semantic set to generate an electronic map mapping result.
Optionally, the semantic extracting the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set includes:
extracting end point data, communication relation data and orientation relation data corresponding to the road sections in the first electronic map road network data and the second electronic map road network data to generate first microscopic semantics and second microscopic semantics;
extracting intersection structures and access structures corresponding to the first microscopic semantics and the second microscopic semantics to generate first mesoscopic semantics and second mesoscopic semantics;
and generating a first macroscopic semantic meaning and a second macroscopic semantic meaning based on the path and the road network corresponding to the first mesoscopic semantic meaning and the second mesoscopic semantic meaning.
Optionally, the mapping based on the first semantic set and the second semantic set to generate a mapping result includes:
mapping the first macro semantic and the second macro semantic mapping;
when the first macroscopic semantics and the second macroscopic semantics are mapped successfully, mapping the first mesoscopic semantics and the second mesoscopic semantics;
and when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, mapping the first microscopic semantic meaning and the second microscopic semantic meaning to generate an electronic map mapping result.
Optionally, the mapping the first macro semantic and the second macro semantic comprises:
constructing a path in the first electronic map to generate a macro path;
and inputting the macro path into the second electronic map for matching.
Optionally, when the first macro semantic and the second macro semantic are mapped successfully, mapping the first meso semantic and the second meso semantic, including:
when the macro path matching is successful, acquiring a matched macro path set;
calculating based on the mesoscopic semantics of each macroscopic path in the macroscopic path set to generate the similarity of each macroscopic path;
and acquiring a target mapping path based on the similarity of each macro path.
Optionally, when the mapping of the first mesoscopic semantic meaning and the second mesoscopic semantic meaning is successful, the mapping of the first microscopic semantic meaning and the second microscopic semantic meaning is performed to generate an electronic map mapping result, where the mapping result includes:
when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, acquiring a mapping road section in the target mapping path;
projecting the end points of all road sections in the constructed path and the mapping road section;
when the projections coincide, outputting a projection coincidence road section and a distance value of the projection coincidence road section;
and determining the projection superposition road section and the projection superposition road section distance value as an electronic map mapping result.
In a second aspect, an embodiment of the present application provides an apparatus for mapping an electronic map, where the apparatus includes:
the data acquisition module is used for acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
the semantic set generating module is used for performing semantic extraction on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, wherein the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
and the result generation module is used for mapping based on the first semantic set and the second semantic set to generate an electronic map mapping result.
Optionally, the semantic set generating module includes:
the microscopic semantic generating unit is used for extracting end point data, communication relation data and orientation relation data corresponding to the road sections in the first electronic map road network data and the second electronic map road network data to generate a first microscopic semantic and a second microscopic semantic;
the mesoscopic semantic generating unit is used for extracting the intersection structure and the access structure corresponding to the first microcosmic semantic and the second microcosmic semantic to generate a first mesoscopic semantic and a second mesoscopic semantic;
and the macroscopic semantic generating unit is used for generating a first macroscopic semantic and a second macroscopic semantic based on the path and the road network corresponding to the first mesoscopic semantic and the second mesoscopic semantic.
In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-mentioned method steps.
In a fourth aspect, an embodiment of the present application provides a terminal, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the embodiment of the application, a user terminal firstly obtains electronic map road network data, the electronic map road network data comprises first electronic map road network data and second electronic map road network data, then semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first micro semantic, a first mesoscopic semantic and a first macro semantic, the second semantic set comprises a second micro semantic, a second mesoscopic semantic and a second macro semantic, and finally mapping is carried out based on the first semantic set and the second semantic set to generate an electronic map mapping result. According to the electronic map mapping method fusing the three types of semantics, the three types of semantics are abstracted layer by layer, the microcosmic semantics, the mesopic semantics and the macroscopic semantics of different maps are defined, then mapping is carried out on the macroscopic semantic level, the influence of description difference of the different electronic maps is reduced, finally, the mapping from the protocol to the mesopic semantics and the microcosmic semantics is gradually refined on the basis of successful mapping of the macroscopic semantics, and finally, an accurate electronic map mapping result on the microcosmic level is formed, so that the accuracy of electronic map mapping is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of different microscopic semantic representations of a small roundabout intersection provided by an embodiment of the present application;
fig. 2 is a schematic flowchart of a mapping method for an electronic map according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a microscopic semantic definition (point, line, topology) of a map provided by an embodiment of the present application;
fig. 4 is a schematic diagram of a parallel road network structure provided in the embodiment of the present application;
FIG. 5 is a schematic diagram of a U-Turn structure provided in an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating abstract view semantics at an intersection according to an embodiment of the present application;
FIG. 7 is a generalized intersection abstraction diagram provided by an embodiment of the present application;
FIG. 8 is a schematic diagram of a parallel switch mesoscopic semantic abstraction according to an embodiment of the present disclosure;
FIG. 9 is a diagram of a functional structure of a geographical semantic mapping provided in an embodiment of the present application;
fig. 10 is a process schematic diagram of a mapping method of an electronic map according to an embodiment of the present application;
fig. 11 is a schematic flowchart of another mapping method for an electronic map according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a mapping apparatus of an electronic map according to an embodiment of the present application;
FIG. 13 is a schematic structural diagram of a semantic set generation module according to an embodiment of the present disclosure;
fig. 14 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.
It should be understood that the described embodiments are only some embodiments of the invention, and not all 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.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
So far, for electronic map mapping, the core logic of patent 201811496446.2 is based on feature point mapping, and the accuracy of the final electronic map mapping depends on the accuracy of the feature point mapping. Although the accuracy of feature point mapping is greatly improved by technical means such as map preprocessing and multidimensional verification, mapping failure caused by large differences of micro-description of feature points cannot be avoided. Therefore, the present application provides a mapping method, device, storage medium and terminal for an electronic map, so as to solve the problems in the related art. According to the technical scheme, due to the fact that the electronic map mapping method fusing three types of semantics is adopted, firstly, the layers are abstracted layer by layer, the micro, center and macro semantics of different maps are defined, then, mapping is carried out on the macro semantic level, the influence of description difference of different electronic maps is reduced, finally, mapping from a protocol to the center and the micro semantics is gradually refined on the basis of successful mapping of the macro semantics, and finally, an accurate electronic map mapping result of the micro level is formed, so that the accuracy of electronic map mapping is improved, and detailed description is carried out by adopting an exemplary embodiment.
The following describes in detail a mapping method of an electronic map provided in an embodiment of the present application with reference to fig. 2 to 11. The method may be implemented in dependence on a computer program, operable on a mapping device based on an electronic map of the von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application. The mapping device of the electronic map in the embodiment of the present application may be a user terminal, including but not limited to: personal computers, tablet computers, handheld devices, in-vehicle devices, wearable devices, computing devices or other processing devices connected to a wireless modem, and the like. The user terminals may be called different names in different networks, for example: user equipment, access terminal, subscriber unit, subscriber station, mobile station, remote terminal, mobile device, user terminal, wireless communication device, user agent or user equipment, cellular telephone, cordless telephone, Personal Digital Assistant (PDA), terminal equipment in a 5G network or future evolution network, and the like.
Referring to fig. 2, a flow chart of a mapping method of an electronic map is provided in an embodiment of the present application. As shown in fig. 2, the method of the embodiment of the present application may include the steps of:
s101, acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
in the embodiment of the present application, the first electronic map road network and the second electronic map road network may be electronic maps of different versions provided by the same provider, or electronic maps provided by different providers, and the first electronic map road network and the second electronic map road network have different differences in road network details, point and line positions, local road type details, and the like.
When mapping a first electronic map road network and a second electronic map road network, first electronic map road network data and second electronic map road network data need to be acquired.
S102, performing semantic extraction on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, wherein the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
in a possible implementation manner, based on step S103, the first electronic map road network data and the second electronic map road network data may be acquired, then the end point data, the communication relation data, and the orientation relation data corresponding to the road segments in the first electronic map road network data and the second electronic map road network data are extracted, the first microscopic semantics and the second microscopic semantics are generated, then the intersection structure and the entrance structure corresponding to the first microscopic semantics and the second microscopic semantics are extracted, the first mesoscopic semantics and the second mesoscopic semantics are generated, and finally, based on the path and the road network corresponding to the first mesoscopic semantics and the second mesoscopic semantics, the first macroscopic semantics and the second macroscopic semantics are generated.
Specifically, as shown in table 1, the map semantics in the present application are divided into 3 levels, micro, meso, and macro.
TABLE 1
Figure BDA0002409493630000071
Figure BDA0002409493630000081
From the microcosmic to the macroscopic, on one hand, the semantics are gradually abstracted, and the sensitivity to the difference of the road network is reduced; on the other hand, the semantics are gradually aggregated, the information amount is gradually enriched, and the mapping accuracy is improved. In the following, the map semantics are defined from micro, meso and macro 3 levels, respectively.
In the microscopic semantic definition, for a given road network R<N,L>(where N represents a set of nodes and L represents a set of road segments), as shown in FIG. 3, with l3By way of example, from n0,n1,…,nmA total of m points, wherein n0And nmCalled end points, other points called interior points, at which multiple segments intersect.
Defining endpoints
Figure BDA0002409493630000082
Wherein id uniquely identifies an endpoint; (x, y) is its latitude and longitude; phi is the entrance degree of the end point, namely the number of road sections (incident road sections) taking the end point as an end point;
Figure BDA0002409493630000083
the number of links (outgoing links) that are the number of the end points and that are starting points; Φ and Ψ are sets of links having the end point n as the end point and the start point, respectively.
By the endpoint n0For example, n0.φ＝1，
Figure BDA0002409493630000084
n0.Φ＝{l1}，n0.Ψ＝{l2,l3}。
Defining road segments
Figure BDA0002409493630000085
Wherein id uniquely identifies a road segment; len is the length of the road segment; n isbgnIs the starting end point of the road section, nendIs a termination end point of the road segment;
Figure BDA0002409493630000086
the angle of (d); ω is the angle of the link end point and θ is the angle of the link vector; kappa defines the curvature of the road section, the ratio of the length of the road section to the vector length of the starting point and the ending point of the road section, and the higher the curvature is, the more curved the road section is represented; and N is the set of all nodes of the road section.
By road section l3For the purpose of example only,
Figure BDA00024094936300000813
is that
Figure BDA0002409493630000087
The vector angle of (a); l3ω is
Figure BDA0002409493630000088
Defines the function Angle () as an orientation metric Angle operation, i.e.
Figure BDA0002409493630000089
The vector angle is defined as that the north is 0 degree, the vector angle is increased by rotating clockwise, and the angle value range is [0,360 ]. l3Theta is
Figure BDA00024094936300000810
The vector angle of (a);
Figure BDA00024094936300000811
l3.Ν＝{n0,n1,…,nm-1,nm}。
defining a topology: topology refers to connectivity between road segments. In FIG. 3, because l3Is terminated by an endpoint nmN of (A) to (B)m.Ψ＝{l4,l5,l6So the subsequent road section is l4、l5And l6(ii) a Wherein l3ω and
Figure BDA00024094936300000812
the angle between the vectors is minimal, so called4Is 13A straight following road section; same principle l3The forward road section and the straight forward road section are both l1。
Defining parallelism-parallel refers to the orientation relationship between two road segments or two groups of road segments as shown in fig. 4, it is assumed that there are two groups of road segment sets L S satisfying the topological order<l1→l2→…→lm>And L S ═<l′1→l′2→…→l′n>If the hausdorff distance of L S and L S 'is less than the set threshold, which indicates that link sets L S and L S' satisfy the parallel relationship determination, for any two links l of L S and L Si∈L S and l'j∈L S', if liAnd l'jOverlap each other in the projection direction, then indicateiAnd l'jAnd judging whether the parallel relation is satisfied.
The hausdorff distance is calculated by setting n and n ' to any two points on L S and L S ', respectively, and setting the hausdorff distance of L0S and L1S ' to H (L4S, L5S ') -max (H (L S, L S '), H (L S ', L S)), where H (L S, L S ') -max (n L2S) { min (n ' L3S ') | n-n ' | }, H (L S ', L S) | max (n ' L6S ') { min (n L7S) | n ' -n | | | | | | | is a normal distance formula of n and n ', and the present invention refers to euclidean distance.
When L S and L S 'have the same or similar traffic flow directions, L S and L S' are called as being parallel in the same direction and mainly appear as main and auxiliary roads, viaducts and other road network structures in reality, and when L S and L S 'have opposite traffic flow directions, L S and L S' are called as being parallel in the opposite direction and mainly appear as two traffic flow directions separated from each other on the same road in reality.
When L S and L S' are in the same direction and parallel to each other, if li∈L S and l'j∈L S' satisfies the judgment of parallelism, and is denoted as spl (l)i,l′j) True when L S is antiparallel to L S', ifi∈L S and l'j∈L S' satisfying the parallel relation judgment, and is marked as dpl (l)i,l′j)＝True。
In the definition of the mesoscopic semantics, the mesoscopic semantics are the aggregation and abstraction of the microscopic semantics, and in the application, two carriers of the mesoscopic semantics are mainly defined, namely, an intersection and an entrance.
In the definition of the intersection, the intersection is a convergence of multi-directional traffic flows, and there are both incoming traffic flows and outgoing traffic flows. From the perspective of microscopic semantics, intersection descriptions are various, and still taking fig. 1 as an example, the same roundabout intersection has semantic descriptions of various forms at a microscopic level. However, if the intersection is abstracted from the functional perspective, i.e. the direction of traffic flow, the semantics of the intersection are similar.
Defining the U-Turn structure:
as shown in FIG. 5(a), the U-Turn structure is composed of 3 segments, i.e., short-circuited segmentkIf it is of length lkLen is less than a set threshold and is located at l respectivelykAny two sections of upstream and downstream
Figure BDA0002409493630000101
And
Figure BDA0002409493630000102
if it is not
Figure BDA0002409493630000103
If the determination is true, lk、
Figure BDA0002409493630000104
And
Figure BDA0002409493630000105
form a U-Turn structure, which is marked as
Figure BDA0002409493630000106
Wherein
Figure BDA0002409493630000107
And
Figure BDA0002409493630000108
respectively incident and outgoing traffic flows. Further, the U-Turn may have some modified form, as shown in FIG. 5(b), where the incoming and outgoing traffic flows intersect at a point nk(ii) a As shown in fig. 5(c), for a road segment with bidirectional traffic flow, it naturally forms a U-Turn structure around the end point.
Setting the set of all U-Turn in the routing network as U ═ UkH, K ∈ (1, K), for a subset of U
Figure BDA0002409493630000109
If U is present0Short circuit section U of all U-Turn structures in the structurek.lk(uk∈Uλ) Can be aggregated together based on topology, then U is aggregatedλDefined as an intersection CRSλ＝<(xλ,yλ),Uλ>Wherein (x)λ,yλ) The position of the central point after crossing aggregation is as follows:
Figure BDA00024094936300001010
as shown in FIG. 6, the left diagram is a link description of the map B of FIG. 1, according to the intersection definition, since l2、l4…l16Is a topologically continuous ring, so the junction shown in the right figure can be formed by aggregation abstraction, namely a central point and a plurality of incident and emergent traffic flows, and the shape of the junction formed by abstraction is the same as the description of the map A in the figure 1.
Furthermore, from the functional perspective of the intersection, as long as there is traffic flow intersection in different directions, the structural condition that each direction strictly forms a U-Turn is not required, and the intersection structure can also be defined in a generalized manner. As shown in fig. 7(a), there is only one U-Turn structure; as shown in fig. 7(b), the U-Turn structure does not exist, has a significant traffic flow change characteristic corresponding to the form of a branch point or the like, and can be abstractly defined as an intersection.
In the road network structure, besides the intersection structure, the exit structure also generates divergence and convergence of traffic flow, so that the road network structure has obvious semantic characteristics. In a general entrance structure, the vector characteristics of traffic flow divergence and convergence are obvious, and can be distinguished on a microscopic semantic level (point and line), but under a specific road network form such as a parallel road network structure, a special ramp entrance structure exists, and the intermediate semantic is required to assist in distinguishing and mapping matching. Therefore, the present invention defines a parallel switching semantic to describe a ramp entrance/exit semantic under a parallel road network structure, and other general entrance/exit structural semantics are not described herein (the prior art chinese patent No. 201611262290.2 has already been addressed).
Under the same-direction parallel road network structure (such as main roads and auxiliary roads in urban road networks, elevated roads/ground surfaces and the like), because two parallel road sections are adjacent, the traffic can be switched between the two parallel road sections through ramp entrances and exits. Fig. 8 illustrates several exemplary configurations of a parallel road network structure, and fig. 8(a) and 8(b) illustrate exemplary down-ramp exit scenarios where traffic flow may be switched from a left-hand road to a right-hand parallel road; in correspondence, fig. 8(c) and 8(d) are typical on-ramp entrance scenarios, and the traffic flow may be switched from the right side road to the left side parallel road. Similar to intersections, because different operators have different understandings on road shapes and road canalization, the road type description often has differences. Assuming that fig. 8(a) and 8(b) describe the same parallel road network structure, the description is different because the operator considers l in fig. 8(a) as in fig. 8(b)1And l4Traffic flow is not segregated. In addition, the parallel road network structures often interfere with each other in the electronic map mapping task, and still taking fig. 8(a) and 8(b) as an example, since the traffic flow directions are consistent and the positions are adjacent, i in fig. 8(b)1And l2The link may be mapped as l in FIG. 8(a)1And l2The link may be mapped as l in FIG. 8(a)4And l3Road segments, leading to a reduction in road network mapping accuracy.
In the parallel road network structure, from the perspective of microscopic semantics, descriptions thereof are diverse and complex, and great difficulty is caused to the road network mapping task. However, if the behavior of switching traffic flow between parallel road networks is abstracted, the functional structure of each road section of the parallel road networks is easier to disassemble, and a foundation is laid for the subsequent road network mapping task.
Parallel switching (Parallel Change, pc for short) is defined:
given a link l and its two subsequent links l ' and l ″, if l ' and l ″ satisfy the syntropy decision spl (l ', l ″) True, and l ' is on the left side of l ″ with reference to the traffic flow direction, then pc (l → l ') -L eftOut, pc (l → l ″) rightouto is defined, as in fig. 8(a) and 8(b), ignoring the ramp l ″5,pc(l1→l2)＝LeftOut，pc(l1→l3)＝RightOut。
In the same way, given a link l and its two succeeding links l ' and l ″, if l ' and l ″ satisfy the equidirectional parallel decision spl (l ', l ″) True and l ' is on the left side of l ″ with reference to the traffic flow direction, then pc (l ' → l) ═ L eftIn, pc (l → l) ═ rightin are defined, as in fig. 8(c) and 8(d), ignoring the ramp l5，pc(l1→l2)＝LeftIn，pc(l3→l2)＝RightIn。
In the definition of the macro semantics, the macro semantics is the aggregation of the micro semantics and the meso semantics. In the invention, a macroscopic semantic carrier is a path, and from the aspect of the macroscopic semantic carrier, the path passes through a plurality of intersections or is parallelly switched for a plurality of times; at the microscopic level, a path may be described by a series of segments that satisfy a topological order, and further by an end-order that constitutes the segments.
In this application, a path is a set of segment sets Trip satisfying topological order<l1→l2→…→lm>And defining the end sequence of the micro-level Trip as the TripN＝<l1.nbgn→l2.nbgn→…→lm-1.nbgn→lm.nbgn→lm.nend>；
At the mesoscopic level, if a certain sub-segment set sequence of the Trip
Figure BDA0002409493630000121
And an intersection defining CRSλIf it is satisfied
Figure BDA0002409493630000122
To CRSλThe incident path section of a certain U-Turn structure,
Figure BDA0002409493630000123
to CRSλThe exit road section of a certain U-Turn structure shows that the Trip passes through the CRS of the intersectionλ. Defining the crossing sequence of Trip passing through as TripC＝<CRS1→CRS2→…→CRSλ>。
At the mesoscopic level, if a certain sub-segment set sequence of the Trip
Figure BDA0002409493630000124
If the parallel handover definition is satisfied
Figure BDA0002409493630000125
Recording the Trip on the road section
Figure BDA0002409493630000126
Where parallel switching takes place, denoted as pcp. Defining the parallel switching sequence of Trip to TripP＝<pc1→pc2→…→pcp>。
S103, mapping is carried out on the basis of the first semantic set and the second semantic set, and an electronic map mapping result is generated.
In a feasible implementation manner, based on the step S102, a first semantic set and a second semantic set can be obtained, a first macro semantic in the first semantic set and a second macro semantic in the second semantic set are mapped, when the first macro semantic and the second macro semantic are successfully mapped, a first meso semantic in the first semantic set and a second meso semantic in the second semantic set are mapped, and when the first meso semantic and the second meso semantic are successfully mapped, a first micro semantic in the first semantic set and a second micro semantic in the first semantic set are mapped, so as to generate an electronic map mapping result.
Further, firstly, a path is constructed in the first electronic map, a macro path is generated, then the macro path is input into the second electronic map for matching, when the macro path matching is successful, a matched macro path set is obtained, finally, the similarity of each macro path is generated after the calculation is carried out based on the mesoscopic semantics of each macro path in the macro path set, and the target mapping path is obtained based on the similarity of each macro path in the high-low order. And projecting the end points of all road sections in the constructed path and the mapping road sections, outputting the distance values of the projection superposition road sections and the projection superposition road sections when the projections are superposed, and determining the distance values of the projection superposition road sections and the projection superposition road sections as the mapping result of the electronic map.
Specifically, after extracting the micro, mesoscopic and macroscopic semantics of the map, the mapping of the map semantics is completed according to the sequence of the macro, mesoscopic and microscopic semantics.
When the macroscopic semantic meaning is mapped, firstly, a path Trip is constructed on a first electronic map, and an end point sequence Trip is extracted according to a macroscopic semantic meaning extraction methodNIntersection order TripCAnd parallel switching sequence TripP. It should be noted that, in order to improve the information amount in the map mapping process, the Trip should be constructed as much as possible through intersection and parallel switching, and meanwhile, in order to control the computation complexity, the length of the Trip should be controlled within 5 kilometers.
For ease of understanding, fig. 8(a) and 8(b) are illustrated here. Fig. 8(a) shows a local road network of map a, and fig. 8(B) shows a local road network of map B at the same position. Firstly, constructing a Trip in a map A, and according to the construction principle of the path, not constructing the Trip as l1→l5→l3At l3Which includes a parallel switch of RightOut.
By TripNAs an input, a Map Matching (Map Matching) operation is performed in Map B, returning a possible path Matching result { Trip' }. In FIG. 8(b), the result returned by map matching is l'1→l′2And l'1→l′3(for ease of description, elements in map B are labeled with a "'").
In mesoscopic semantic mappingDuring shooting, respectively extracting an mesoscopic semantic Trip for a path Trip constructed in a map A and a path set { Trip' } returned by map matching operation in a map BC、TripPAnd { Trip'C}{Trip′PAnd mapping.
For TripCAnd any path matching sequence Trip'CEvaluation of similarity sim thereofC(TripC,Trip′C). The similarity evaluation logic is for TripCEach intersection in (1) describes CRSλWhether it can be in Trip'CFinding corresponding intersection description CRS'λIf the intersection center point distance and the incident and emergent traffic flow direction included angle are smaller than the set threshold value, the intersection is scored as 1, otherwise, the intersection is not scored. Trip (Trip)CThe sum of the scores of all the intersections is set as simC(TripC,Trip′C)。
For TripPAnd parallel switching sequence Trip of any matching path'PEvaluation of similarity sim thereofP(TripP,Trip′P). The similarity evaluation logic is for TripPEach of the parallel switching descriptions pcpWhether or not it can be in Trip'PTo find the corresponding parallel switch description pc'pIf the distance meeting the switching point is smaller than the set threshold value and the switching types are the same, the parallel switching is scored as 1, otherwise, the parallel switching is not scored. Trip (Trip)PThe sum of the scores of all parallel switches is set to simP(TripP,Trip′P)。
Integrated simC(TripC,Trip′C) And simP(TripP,Trip′P) We can obtain that the similarity of Trip and Trip 'at the mesoscopic semantic level is sim (Trip, Trip') ═ simC(TripC,Trip′C)+simP(TripP,Trip′P) Selecting Trip ' with highest similarity score in { Trip ' } 'bestAs a result of the mesoscopic semantic mapping.
For example, FIG. 8(b) shows l 'for route'1→l′2L'2Is provided with aParallel switching of L eftOut for path l'1→l′3L'3There is a parallel switch of RightOut, so sim (l)1→l5→l3,l′1→l′3)>sim(l1→l5→l3,l′1→l′2) L 'is selected accordingly'1→l′3Is a final mapping path Trip'best。
In the microscopic semantic mapping, when the mesoscopic semantic mapping is successful, the end point of each road segment l in the Trip is directed to the Trip'bestAnd (4) making a projection on the link l ', and if the projection superposition relationship exists between l and l ' and the distance is d, recording l, l ' and d to a Matching Table and outputting the result.
For example, as shown in fig. 9, first, a road segment set in a map a is extracted, whether unprocessed road segments exist is determined, exit or route Trip construction is selected according to the determination result, and when a route Trip is constructed, the Trip needs to be extractedNPerforming map matching in the electronic map B to generate a matching path { Trip' } and then based on the TripCComparing the observed semantic similarity with the paths in the Trip and the { Trip ' }, and selecting the Trip ' with the highest similarity 'bestTrip and Trip 'will be the last to be the result of the mapping of mesoscopic semantics'bestAnd (4) performing microscopic semantic mapping, and supplementing mapping results into a road network mapping table of a map A and a map B.
For example, as shown in fig. 10, for an electronic map a and an electronic map B, semantic extraction is performed first, layer-by-layer abstraction is performed during the semantic extraction to define micro, meso, and macro semantics of different maps, and then semantic mapping is performed, mapping is performed at a macro semantic level first during the semantic mapping to reduce the influence of description differences of different electronic maps, and mapping from a specification to the micro and meso semantics is gradually refined on the basis of successful mapping of the macro semantics, so that an accurate electronic map mapping result at the micro level is finally formed.
In the embodiment of the application, a user terminal firstly obtains electronic map road network data, the electronic map road network data comprises first electronic map road network data and second electronic map road network data, then semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first micro semantic, a first mesoscopic semantic and a first macro semantic, the second semantic set comprises a second micro semantic, a second mesoscopic semantic and a second macro semantic, and finally mapping is carried out based on the first semantic set and the second semantic set to generate an electronic map mapping result. According to the electronic map mapping method fusing the three types of semantics, the three types of semantics are abstracted layer by layer, the microcosmic semantics, the mesopic semantics and the macroscopic semantics of different maps are defined, then mapping is carried out on the macroscopic semantic level, the influence of description difference of the different electronic maps is reduced, finally, the mapping from the protocol to the mesopic semantics and the microcosmic semantics is gradually refined on the basis of successful mapping of the macroscopic semantics, and finally, an accurate electronic map mapping result on the microcosmic level is formed, so that the accuracy of electronic map mapping is improved.
Please refer to fig. 11, which is a flowchart illustrating a mapping method of an electronic map according to an embodiment of the present application. The embodiment is exemplified by applying the data security storage method to the user terminal. The data security storage method can comprise the following steps:
s201, acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
s202, extracting end point data, communication relation data and orientation relation data corresponding to the road sections in the first electronic map road network data and the second electronic map road network data to generate a first microscopic semantic meaning and a second microscopic semantic meaning;
s203, extracting intersection structures and access structures corresponding to the first microscopic semantics and the second microscopic semantics to generate first mesoscopic semantics and second mesoscopic semantics;
s204, generating a first macroscopic semantic meaning and a second macroscopic semantic meaning based on the path and the road network corresponding to the first mesoscopic semantic meaning and the second mesoscopic semantic meaning;
s205, mapping the first macro semantic and the second macro semantic;
s206, when the first macroscopic semantic meaning and the second macroscopic semantic meaning are mapped successfully, mapping the first mesoscopic semantic meaning and the second mesoscopic semantic meaning;
s207, when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, the first microscopic semantic meaning and the second microscopic semantic meaning are mapped to generate an electronic map mapping result.
In the embodiment of the application, a user terminal firstly obtains electronic map road network data, the electronic map road network data comprises first electronic map road network data and second electronic map road network data, then semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first micro semantic, a first mesoscopic semantic and a first macro semantic, the second semantic set comprises a second micro semantic, a second mesoscopic semantic and a second macro semantic, and finally mapping is carried out based on the first semantic set and the second semantic set to generate an electronic map mapping result. According to the electronic map mapping method fusing the three types of semantics, the three types of semantics are abstracted layer by layer, the microcosmic semantics, the mesopic semantics and the macroscopic semantics of different maps are defined, then mapping is carried out on the macroscopic semantic level, the influence of description difference of the different electronic maps is reduced, finally, the mapping from the protocol to the mesopic semantics and the microcosmic semantics is gradually refined on the basis of successful mapping of the macroscopic semantics, and finally, an accurate electronic map mapping result on the microcosmic level is formed, so that the accuracy of electronic map mapping is improved.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 12, a schematic structural diagram of a mapping apparatus of an electronic map according to an exemplary embodiment of the present invention is shown. The mapping means of the electronic map may be implemented as all or a part of the terminal by software, hardware or a combination of both. The device 1 comprises a data acquisition module 10, a semantic set generation module 20 and a result generation module 30.
The data acquisition module 10 is configured to acquire electronic map road network data, where the electronic map road network data includes first electronic map road network data and second electronic map road network data;
a semantic set generating module 20, configured to perform semantic extraction on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, where the first semantic set includes a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set includes a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
and a result generating module 30, configured to perform mapping based on the first semantic set and the second semantic set, and generate an electronic map mapping result.
Optionally, as shown in fig. 13, the semantic set generating module 20 includes:
a microscopic semantic generating unit 210, configured to extract endpoint data, connectivity relationship data, and orientation relationship data corresponding to a road segment in the first electronic map road network data and the second electronic map road network data, and generate a first microscopic semantic and a second microscopic semantic;
a mesoscopic semantic generating unit 220, configured to extract an intersection structure and an entrance structure corresponding to the first microscopic semantic and the second microscopic semantic, and generate a first mesoscopic semantic and a second mesoscopic semantic;
and a macro semantic generating unit 230, configured to generate a first macro semantic and a second macro semantic based on the path and the road network corresponding to the first and second mesoscopic semantics.
It should be noted that, when the mapping apparatus of the electronic map provided in the foregoing embodiment executes the mapping method of the electronic map, only the division of the above functional modules is taken as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the mapping apparatus of the electronic map provided in the above embodiment and the mapping method embodiment of the electronic map belong to the same concept, and details of the implementation process are described in the method embodiment, and are not described herein again.
In the embodiment of the application, a user terminal firstly obtains electronic map road network data, the electronic map road network data comprises first electronic map road network data and second electronic map road network data, then semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first micro semantic, a first mesoscopic semantic and a first macro semantic, the second semantic set comprises a second micro semantic, a second mesoscopic semantic and a second macro semantic, and finally mapping is carried out based on the first semantic set and the second semantic set to generate an electronic map mapping result. According to the electronic map mapping method fusing the three types of semantics, the three types of semantics are abstracted layer by layer, the microcosmic semantics, the mesopic semantics and the macroscopic semantics of different maps are defined, then mapping is carried out on the macroscopic semantic level, the influence of description difference of the different electronic maps is reduced, finally, the mapping from the protocol to the mesopic semantics and the microcosmic semantics is gradually refined on the basis of successful mapping of the macroscopic semantics, and finally, an accurate electronic map mapping result on the microcosmic level is formed, so that the accuracy of electronic map mapping is improved.
The present invention also provides a computer readable medium, on which program instructions are stored, which when executed by a processor implement the mapping method of the electronic map provided by the above-mentioned method embodiments.
The present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of mapping an electronic map as described in the various method embodiments above.
Please refer to fig. 14, which provides a schematic structural diagram of a terminal according to an embodiment of the present application. As shown in fig. 14, the terminal 1000 can include: at least one processor 1001, at least one network interface 1004, a user interface 1003, memory 1005, at least one communication bus 1002.
Wherein a communication bus 1002 is used to enable connective communication between these components.
The user interface 1003 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The processor 1001 may be implemented in the form of at least one of Digital Signal Processing (DSP), Field Programmable Gate Array (FPGA), Programmable logic Array (Programmable logic Array, P L A), the processor 1001 may integrate a Central Processing Unit (CPU), Graphics Processing Unit (GPU), and the like, wherein the CPU primarily handles operating systems, user interfaces, applications, and the like, the modem for displaying desired content and rendering the content may be implemented in a separate wireless communication chip 1001, or the wireless communication chip may be implemented for rendering and rendering content, or the wireless communication chip 1001 may be implemented in a single piece of hardware.
The Memory 1005 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable medium. The memory 1005 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 1005 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 1005 may optionally be at least one memory device located remotely from the processor 1001. As shown in fig. 14, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a mapping application of an electronic map.
In the terminal 1000 shown in fig. 14, the user interface 1003 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 1001 may be configured to invoke a mapping application of the electronic map stored in the memory 1005, and specifically perform the following operations:
acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
and mapping based on the first semantic set and the second semantic set to generate an electronic map mapping result.
In one embodiment, when performing the semantic extraction on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the processor 1001 specifically performs the following operations:
extracting end point data, communication relation data and orientation relation data corresponding to the road sections in the first electronic map road network data and the second electronic map road network data to generate first microscopic semantics and second microscopic semantics;
extracting intersection structures and access structures corresponding to the first microscopic semantics and the second microscopic semantics to generate first mesoscopic semantics and second mesoscopic semantics;
and generating a first macroscopic semantic meaning and a second macroscopic semantic meaning based on the path and the road network corresponding to the first mesoscopic semantic meaning and the second mesoscopic semantic meaning.
In an embodiment, when the processor 1001 performs the mapping based on the first semantic set and the second semantic set to generate the mapping result, specifically performs the following operations:
mapping the first macro semantic and the second macro semantic mapping;
when the first macroscopic semantics and the second macroscopic semantics are mapped successfully, mapping the first mesoscopic semantics and the second mesoscopic semantics;
and when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, mapping the first microscopic semantic meaning and the second microscopic semantic meaning to generate an electronic map mapping result.
In one embodiment, when performing the mapping of the first macro semantic and the second macro semantic mapping, the processor 1001 specifically performs the following operations:
constructing a path in the first electronic map to generate a macro path;
and inputting the macro path into the second electronic map for matching.
In one embodiment, when the processor 1001 performs the mapping of the first mesoscopic semantic meaning and the second mesoscopic semantic meaning when the mapping of the first macroscopic semantic meaning and the second macroscopic semantic meaning is successful, specifically performs the following operations:
when the macro path matching is successful, acquiring a matched macro path set;
calculating based on the mesoscopic semantics of each macroscopic path in the macroscopic path set to generate the similarity of each macroscopic path;
and acquiring a target mapping path based on the similarity of each macro path.
In an embodiment, when the processor 1001 executes the mapping of the first mesoscopic semantic meaning and the second mesoscopic semantic meaning successfully, and maps the first microscopic semantic meaning and the second microscopic semantic meaning to generate an electronic map mapping result, the following operations are specifically executed:
when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, acquiring a mapping road section in the target mapping path;
projecting the end points of all road sections in the constructed path and the mapping road section;
when the projections coincide, outputting a projection coincidence road section and a distance value of the projection coincidence road section;
and determining the projection superposition road section and the projection superposition road section distance value as an electronic map mapping result.
In the embodiment of the application, a user terminal firstly obtains electronic map road network data, the electronic map road network data comprises first electronic map road network data and second electronic map road network data, then semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first micro semantic, a first mesoscopic semantic and a first macro semantic, the second semantic set comprises a second micro semantic, a second mesoscopic semantic and a second macro semantic, and finally mapping is carried out based on the first semantic set and the second semantic set to generate an electronic map mapping result. According to the electronic map mapping method fusing the three types of semantics, the three types of semantics are abstracted layer by layer, the microcosmic semantics, the mesopic semantics and the macroscopic semantics of different maps are defined, then mapping is carried out on the macroscopic semantic level, the influence of description difference of the different electronic maps is reduced, finally, the mapping from the protocol to the mesopic semantics and the microcosmic semantics is gradually refined on the basis of successful mapping of the macroscopic semantics, and finally, an accurate electronic map mapping result on the microcosmic level is formed, so that the accuracy of electronic map mapping is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.

Claims (10)

1. A mapping method of an electronic map, the method comprising:
acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
semantic extraction is carried out on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
and mapping based on the first semantic set and the second semantic set to generate an electronic map mapping result.
2. The method according to claim 1, wherein said semantically extracting said first and second electronic map road network data to generate a first semantic set and a second semantic set, comprising:
extracting end point data, communication relation data and orientation relation data corresponding to the road sections in the first electronic map road network data and the second electronic map road network data to generate first microscopic semantics and second microscopic semantics;
extracting intersection structures and access structures corresponding to the first microscopic semantics and the second microscopic semantics to generate first mesoscopic semantics and second mesoscopic semantics;
and generating a first macroscopic semantic meaning and a second macroscopic semantic meaning based on the path and the road network corresponding to the first mesoscopic semantic meaning and the second mesoscopic semantic meaning.
3. The method of claim 1, wherein mapping based on the first semantic set and the second semantic set generates a mapping result, comprising:
mapping the first macro semantic and the second macro semantic mapping;
when the first macroscopic semantics and the second macroscopic semantics are mapped successfully, mapping the first mesoscopic semantics and the second mesoscopic semantics;
and when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, mapping the first microscopic semantic meaning and the second microscopic semantic meaning to generate an electronic map mapping result.
4. The method of claim 3, wherein mapping the first and second macro semantics mapping comprises:
constructing a path in the first electronic map to generate a macro path;
and inputting the macro path into the second electronic map for matching.
5. The method of claim 3, wherein mapping the first meso-semantic and the second meso-semantic when the first macro-semantic and the second macro-semantic are mapped successfully comprises:
when the macro path matching is successful, acquiring a matched macro path set;
calculating based on the mesoscopic semantics of each macroscopic path in the macroscopic path set to generate the similarity of each macroscopic path;
and acquiring a target mapping path based on the similarity of each macro path.
6. The method according to claim 3, wherein when the mapping of the first mesoscopic semantic meaning and the second mesoscopic semantic meaning is successful, mapping the first microscopic semantic meaning and the second microscopic semantic meaning to generate an electronic map mapping result, comprising:
when the first mesoscopic semantic meaning and the second mesoscopic semantic meaning are mapped successfully, acquiring a mapping road section in the target mapping path;
projecting the end points of all road sections in the constructed path and the mapping road section;
when the projections coincide, outputting a projection coincidence road section and a distance value of the projection coincidence road section;
and determining the projection superposition road section and the projection superposition road section distance value as an electronic map mapping result.
7. An electronic map mapping apparatus, comprising:
the data acquisition module is used for acquiring electronic map road network data, wherein the electronic map road network data comprises first electronic map road network data and second electronic map road network data;
the semantic set generating module is used for performing semantic extraction on the first electronic map road network data and the second electronic map road network data to generate a first semantic set and a second semantic set, wherein the first semantic set comprises a first microscopic semantic, a first mesoscopic semantic and a first macroscopic semantic, and the second semantic set comprises a second microscopic semantic, a second mesoscopic semantic and a second macroscopic semantic;
and the result generation module is used for mapping based on the first semantic set and the second semantic set to generate an electronic map mapping result.
8. The apparatus of claim 7, wherein the semantic set generation module comprises:
the microscopic semantic generating unit is used for extracting end point data, communication relation data and orientation relation data corresponding to the road sections in the first electronic map road network data and the second electronic map road network data to generate a first microscopic semantic and a second microscopic semantic;
the mesoscopic semantic generating unit is used for extracting the intersection structure and the access structure corresponding to the first microcosmic semantic and the second microcosmic semantic to generate a first mesoscopic semantic and a second mesoscopic semantic;
and the macroscopic semantic generating unit is used for generating a first macroscopic semantic and a second macroscopic semantic based on the path and the road network corresponding to the first mesoscopic semantic and the second mesoscopic semantic.
9. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to perform the method steps according to any of claims 1 to 6.
10. A terminal, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1 to 6.
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