CN112577497B - Road matching method and device, electronic equipment, storage medium and program product - Google Patents
Road matching method and device, electronic equipment, storage medium and program product Download PDFInfo
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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
Abstract
The disclosure discloses a road matching method and device, electronic equipment, a storage medium and a program product, relates to the technical field of data processing, and is applied to the technical field of intelligent transportation and electronic maps. The specific implementation scheme is as follows: determining auxiliary roads, main roads and the corresponding relation between the auxiliary roads and the main roads of the preset intersection according to the topological structure data of the preset intersection; extracting and matching the main road and the auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road; and merging the main road and the auxiliary road determined by the preset intersection to obtain a matching result of the main road and the auxiliary road. The method can avoid the problem that mismatching is easy to occur when the matching relation between the main road and the auxiliary road is determined based on the road position, improves the matching accuracy of the main road and the auxiliary road, and improves the use experience of users.
Description
Technical Field
The disclosure relates to the technical field of data processing, in particular to the technical field of intelligent traffic and electronic maps, and particularly relates to a road matching method and device, electronic equipment, a storage medium and a program product.
Background
The main road and the auxiliary road are important components of the urban traffic road. In a plane traffic road scene, a main road and an auxiliary road are paved on the ground, and the auxiliary road is usually arranged on two sides or one side of the main road and is connected through an intersection; in a three-dimensional traffic road scene, a main road is usually set to be an overhead road, an auxiliary road is laid at a corresponding position of a ground layer under the overhead road, and the main road and the auxiliary road are connected through a ramp. When the traffic pressure of the main road is high, the vehicle can be shunted from the intersection or the ramp to the auxiliary road for running, so that the traffic pressure of the main road is relieved.
Disclosure of Invention
The disclosure provides a road matching method and device, electronic equipment, storage medium and program product.
According to a first aspect of the present disclosure, there is provided a road matching method, including:
Determining auxiliary roads and main roads of a preset intersection and the corresponding relation between the auxiliary roads and the main roads according to topological structure data of the preset intersection;
Extracting and matching a main road and an auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road;
And merging the main road and the auxiliary road determined by the preset intersection to obtain a matching result of the main road and the auxiliary road.
According to a second aspect of the present disclosure, there is provided a road matching apparatus comprising:
The determining module is used for determining auxiliary roads and main roads of the preset intersection and the corresponding relation between the auxiliary roads and the main roads according to the topological structure data of the preset intersection;
the extraction module is used for extracting a main road and an auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road;
the matching module is used for matching the main road and the auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road;
And the merging module is used for merging the main road and the auxiliary road determined by the preset intersection to obtain a matching result of the main road and the auxiliary road.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the road matching methods.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform any one of the road matching methods.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of any one of the road matching methods described above.
According to the road matching method, the corresponding relation among the auxiliary road, the main road and the auxiliary road of the intersection is determined according to the topological structure of the preset intersection, the main road and the auxiliary road are extracted and matched on the basis, and the main road and the auxiliary road of the preset intersection are combined, so that the matching result of the main road and the auxiliary road is obtained, the problem that mismatching is easy to occur when the matching relation of the main road and the auxiliary road is determined based on the road position can be avoided, the matching accuracy of the main road and the auxiliary road is improved, and the use experience of a user is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
Fig. 1 is a schematic view of an application scenario according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a road matching method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an intersection topology according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of another intersection topology according to an embodiment of the present disclosure;
FIG. 5 is a block diagram of a road matching device according to an embodiment of the present disclosure;
Fig. 6 is a block diagram of an electronic device for implementing a road matching method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In road planning, the main road and the auxiliary road can provide traffic service, and the main road and the auxiliary road are complementary in action, and the auxiliary road is commonly used for acting in cooperation with the main road, so that when the traffic flow of the main road is large, part of vehicles are shunted to the auxiliary road corresponding to the main road to run, and the traffic pressure of the main road is relieved.
In the map data, the main road and the auxiliary road are independent of each other. In order to provide services, the corresponding relationship between the main road and the auxiliary road needs to be determined, that is, the main road and the corresponding auxiliary road should be matched. At present, the matching of the main road and the auxiliary road is mainly determined through the position relationship of the main road and the auxiliary road in the map. For example, a road adjacent to the main road position is determined as a matched auxiliary road. However, since the actual road is complex, there are a plurality of roads adjacent to the main road, and the road adjacent to the main road may not be a secondary road matched thereto. In addition, when the main road and the auxiliary road are in different space planes, the main road and the auxiliary road are matched according to the position relationship of the main road and the auxiliary road, so that an error matching result is more likely to occur.
Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present disclosure. As shown in fig. 1, in the application scenario, the map includes three roads, which are a first road R11, a second road R12, and a third road R13, respectively. The first road R11 and the second road R12 are roads in the form of overhead roads, the third road R13 is a road laid on the ground, and the third road R13 is an auxiliary road matched with the first road R11. When matching the auxiliary road of the first road R11 according to the current position relationship between the main road and the auxiliary road in the map, the distance between the first road R11 and the second road R12 is smaller than the distance between the first road R11 and the third road R13, so that the second road R12 is easily and erroneously matched as the auxiliary road of the first road R11.
At present, another matching method of the main road and the auxiliary road is to determine the corresponding relation between the main road and the auxiliary road according to a distance threshold value, namely, determining the road with the distance smaller than the distance threshold value as the auxiliary road corresponding to the main road. However, in practical application, the size of the distance threshold has a great influence on the matching result of the main road and the auxiliary road. If the distance threshold is set too small, the auxiliary road corresponding to the main road may not be matched, and if the distance threshold is set too large, the auxiliary road corresponding to the main road may be erroneously matched.
In view of this, a first aspect of the present disclosure provides a road matching method, where the method determines, according to a topology structure of a predetermined intersection, a secondary road of the intersection, a main road and a correspondence relationship between the secondary road and the main road, extracts and matches the main road and the secondary road on the basis of the topology structure, and combines the main road and the secondary road of the predetermined intersection, thereby obtaining a matching result of the main road and the secondary road, so as to avoid a problem that mismatching is likely to occur when the matching relationship between the main road and the secondary road is determined based on a road position, improve matching accuracy of the main road and the secondary road, and improve user experience.
Fig. 2 is a flowchart of a road matching method according to an embodiment of the disclosure. Referring to fig. 2, the road matching method provided by the embodiment of the present disclosure includes:
step 201, determining auxiliary roads, main roads and corresponding relations of the auxiliary roads and the main roads of the preset intersection according to the topological structure data of the preset intersection.
The topology data of the intersections is data representing the relationship between the intersections and the roads in the two-dimensional map data. Through the topological structure data, the shape and the characteristics of the intersection can be quickly and intuitively determined.
In some embodiments, the topology data of the intersection includes vector directions, locations, angles, and road attributes of the road segments connected to the intersection. The vector direction is used for representing the running direction of pedestrians or vehicles on the road section, and the road attribute can be used for representing the characteristics of the road. For example, road attributes include, but are not limited to, expressways, arterial roads, secondary arterial roads, and branches.
Step 202, extracting and matching the main road and the auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road.
The main road is a road which takes the traffic function as the main part and the service function as the auxiliary part and is used for the motor vehicles to pass, and the auxiliary road is a road which takes the service function as the main part and the traffic function as the auxiliary part and is used for the motor vehicles, non-motor vehicles and pedestrians to pass.
In the embodiment of the disclosure, the main road is a name of a main road within the range of the intersection, and the auxiliary road is a name of an auxiliary road within the range of the intersection. The intersection range may be set to be within a range of several meters or ten meters based on the center of the intersection, or may be set to be within a range of several tens of meters based on the center of the intersection. In practice, the distance may be any distance that can distinguish between the main road and the auxiliary road.
After determining the correspondence between the auxiliary road, the main road, the auxiliary road and the main road of the intersection, the main road and the auxiliary road can be extracted based on the correspondence, and the extracted main road and auxiliary road can be matched. When the main road and the auxiliary road are extracted and matched, the corresponding operation can be performed in a single intersection unit, or in a plurality of intersection units. Under the condition of taking a single intersection as a unit, sequentially extracting an auxiliary road and a main road of the single intersection, and then matching the auxiliary road and the main road of each intersection; under the condition that a plurality of intersections are taken as units, the auxiliary road and the main road of the plurality of intersections are extracted in each extending mode, and then the auxiliary road and the main road of each intersection are matched in sequence.
And 203, merging the main road and the auxiliary road determined by the preset intersection to obtain a matching result of the main road and the auxiliary road.
In some embodiments, the main and auxiliary roads of the predetermined intersection, and the main and auxiliary roads between two adjacent intersections are obtained according to steps 201 and 202. For the whole road or the road in the preset range, the main road and the auxiliary road determined according to the intersections and the main road and the auxiliary road between two adjacent intersections are combined to obtain the matching result of the whole road or the road in the preset range. The matching result not only comprises a main road and an auxiliary road, but also comprises a corresponding relation of the main road and the auxiliary road.
After the matching result of the main road and the auxiliary road is obtained, it can be applied to numerous scenes to solve the corresponding problem. For example, the current side of the road on the auxiliary road lacks speed limit signs, and the user may not be able to know the speed limit requirement when driving on the auxiliary road. After the matching result of the main road and the auxiliary road is obtained, the auxiliary road speed limit can be assigned according to related traffic laws and regulations and standard specifications, so that a user is guided to safely drive on the auxiliary road according to the speed limit requirement. For another example, after the matching result of the main road and the auxiliary road is obtained, when the matching result is applied to the calculation of the number of the intersections, the main road and the corresponding auxiliary road are aggregated into the same branch road in consideration of the fact that the main road and the corresponding auxiliary road are generally aggregated into the same direction, so that the calculation complexity of the number of the intersections is reduced, and the number of the intersections is obtained more accurately.
According to the road matching method provided by the embodiment of the disclosure, the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road of the preset intersection are determined according to the topological structure data of the preset intersection, and then the main road and the auxiliary road are extracted and matched according to the corresponding relation between the auxiliary road, the main road and the auxiliary road, so that the problem that mismatching is easy to occur when the matching relation between the main road and the auxiliary road is determined based on the road position can be avoided, the matching accuracy of the main road and the auxiliary road is improved, and the use experience of a user is improved.
In some embodiments, step 201 determines, according to topology data of a predetermined intersection, a secondary road, a primary road, and a correspondence relationship between the secondary road and the primary road of the predetermined intersection, including:
Determining an auxiliary road entering road section and a non-auxiliary road entering road section of the intersection according to the vector direction and the road attribute of the road section, and selecting a target main road section matched with the auxiliary road entering road section from the non-auxiliary road entering road section according to the position and the angle of the auxiliary road entering road section, the position and the angle of the non-auxiliary road entering road section, the road attribute and the traffic rule; and determining the auxiliary road and the main road of the intersection and the corresponding relation of the auxiliary road and the main road according to the auxiliary road entering road section and the target main road section.
The passing rules comprise a left passing rule and a right passing rule. For right-hand traffic regulations, the vehicle travels right in the road. When a vehicle enters an auxiliary road from a main road, the vehicle needs to enter the auxiliary road from an intersection or a ramp of a lane at the rightmost side of the main road, and therefore, the main road should be positioned at the left side of the auxiliary road. Similarly, for left hand traffic rules, the main road should be to the right of the auxiliary road.
In some embodiments, the auxiliary road entry road segment refers to a road segment in which the vector direction is the direction of the entrance intersection and the corresponding road is the auxiliary road; the non-auxiliary road entering road section refers to a road section in which the vector direction is the direction of entering the intersection and the corresponding road is a non-auxiliary road. And judging whether the road section belongs to the auxiliary road section or the non-auxiliary road section according to the road attribute of the road section. In some embodiments, a road segment having a road attribute of a secondary trunk is determined as a secondary road segment, and a road segment having a road attribute other than the secondary trunk is determined as a non-secondary road segment. It should be noted that the non-auxiliary road section is not necessarily a main road section, but may be another road section. For example, in the case where the road attribute of the non-auxiliary road section is a branch road, the section does not belong to the main road section.
When the auxiliary road is an entry direction at a certain intersection, the main road corresponding to the auxiliary road is necessarily the entry direction. Therefore, when the corresponding relation between the main road and the auxiliary road of the intersection is determined based on the auxiliary road entering road section, the non-auxiliary road exiting road section can be eliminated, so that the number of candidate target main road sections is reduced, the number of times for judging whether the non-auxiliary road exiting road section is the target main road section is reduced, and the processing efficiency can be effectively improved.
Fig. 3 is a schematic diagram of an intersection topology according to an embodiment of the present disclosure. The topology structure of the intersection is a geometric shape formed by abstracting according to the shape of the intersection, wherein the geometric shape consists of a link and a node. Wherein a node represents an end point of a road segment or an intersection and a connection point of two road segments.
As shown in fig. 3, the intersection is formed by intersecting a first road R31, a second road R32, a third road R33, a fourth road R34 and a fifth road R35, and the topology of the intersection is composed of 17 road segments (including a first road segment link301 to a seventeenth road segment link 317) and 6 nodes, wherein the road properties of the first road R31, the second road R32, the third road R33 and the fourth road R34 are main roads, and the road properties of the fifth road R35 are secondary main roads.
The fourth link304, the fifth link305, the sixth link306, and the seventh link307 are sequentially connected, which represents the first road R31; the eleventh link311, the twelfth link312, the thirteenth link313, and the fourteenth link314 are sequentially connected, representing a second road R32; the first link301, the eighth link308 and the fifteenth link315 are sequentially connected to represent a third road R33; the second link302, the ninth link309, and the sixteenth link316 are sequentially connected, representing a fourth road R34; the third link303, the tenth link310, and the seventeenth link317 are sequentially connected, representing a fifth road R35; the eighth link308, the fifth link305, the sixth link306, the tenth link310, the thirteenth link313, and the twelfth link312 are sequentially connected to form an intersection. The road section corresponding to the road has the road attribute of the road. For example, if the road attribute of the third road R33 is an expressway, the road attributes of the first link301, the eighth link308, and the fifteenth link315 constituting the third road R33 are also expressways.
In fig. 3, the road attribute of the fifth road R35 is a minor road, and the road attribute of the other roads is a major road, and therefore, the third link303, the tenth link310, and the seventeenth link317 corresponding to the fifth road R35 are determined as auxiliary road links, and the other links other than the above-described links are determined as non-auxiliary road links.
After the road segments are divided into the auxiliary road segments and the non-auxiliary road segments, the auxiliary road entry segments and the non-auxiliary road entry segments of the intersection are further determined according to the direction of the road segments relative to the intersection. The auxiliary road entering road section refers to an auxiliary road section with the running direction of the auxiliary road entering road junction, and the non-auxiliary road entering road section refers to a non-auxiliary road section with the running direction of the auxiliary road entering road junction.
It should be noted that, both the auxiliary road entry section and the non-auxiliary road entry section are non-intersection sections. The non-intersection road segment is a road segment other than the intersection road segment, namely a non-intersection road segment, wherein the intersection road segment refers to a road segment forming an intersection or a road segment located in the intersection. Since an intersection link is a link that composes or is located within an intersection, the intersection link does not have an entry direction or an exit direction with respect to the intersection.
Among the above-described links, the eighth link308, the fifth link305, the sixth link306, the tenth link310, the thirteenth link313, the twelfth link312 are links constituting an intersection, and the ninth link309 is a link within the intersection, and therefore, the eighth link308, the fifth link305, the sixth link306, the tenth link310, the thirteenth link313, the twelfth link312, and the ninth link309 are determined as intersection links, and the remaining first link301, second link302, third link303, fourth link304, seventh link307, eleventh link311, fourteenth link314, fifteenth link315, sixteenth link316, and seventeenth link317 are determined as non-intersection links.
Of the non-intersection sections, the third section link303 and the seventeenth section link317 are auxiliary road sections, and the remaining non-intersection sections are non-auxiliary road sections. Here, the third link303 is the direction of the exit, and the seventeenth link317 is the direction of the entrance, so the seventeenth link317 is determined to be the entrance of the auxiliary road. Similarly, the first link301, the seventh link307, the eleventh link311, and the sixteenth link316 are determined as non-auxiliary road entry links.
After determining the auxiliary road entry section and the non-auxiliary road entry section of the intersection, a target main road section is selected from the first road section link301, the seventh road section link307, the eleventh road section link311, and the sixteenth road section link316 of the non-auxiliary road entry section according to the seventeenth road section link317 of the auxiliary road entry section.
Let the traffic rule be the right traffic rule. For the first link301, although it is located at the left side of the seventeenth link317, the traveling direction of the first link301 is from north to south, and the traveling direction of the seventeenth link317 is from south to north, and the traveling directions are opposite, so that the first link301 is not the target main link matched with the seventeenth link 317.
For the seventh link307, the main road should be located on the left side of the auxiliary road according to the right-hand traffic rule, and the seventh link307 is located on the right side of the seventeenth link317, and thus the seventh link307 is not a target main road link that matches the seventeenth link 317.
For the eleventh link311, although it is located at the left side of the seventeenth link317, the traveling direction of the eleventh link311 is from west to east, and the traveling direction of the seventeenth link317 is from south to north, and both traveling directions are exactly perpendicular, so the eleventh link311 is not the target main link matched with the seventeenth link 317.
For the sixteenth link316, it is located at the left side of the seventeenth link317, and accords with the relative position requirement of the main road and the auxiliary road under the right passing rule, and the traveling directions of the sixteenth link316 and the seventeenth link317 are from the south to the north, and the traveling directions of the sixteenth link316 and the seventeenth link317 are consistent, in addition, the road attribute of the seventeenth link317 is a main road, and accords with the road attribute of the main road, so that the sixteenth link316 can be determined to be a target main road link matched with the seventeenth link 317.
Since the seventeenth link317 corresponds to the fifth road R35, the sixteenth link316 corresponds to the fourth road R34, and the road attribute of the fifth road R35 is a secondary trunk, and the road attribute of the fourth road R34 is a main trunk, the auxiliary road at the intersection is determined to be the fifth road R35, the main road is the fourth road R34, and the fifth road R35 and the fourth road R34 are matched main auxiliary roads.
In some embodiments, the target main road segment is selected from the non-auxiliary road entry segments by scoring the non-auxiliary road entry segments. In some embodiments, scoring the non-auxiliary road entry road segments according to the positions and angles of the auxiliary road entry road segments, the positions and angles of the non-auxiliary road entry road segments, the road attributes and the traffic rules to obtain scoring results; and selecting a target main road section matched with the auxiliary road entering road section according to the grading result.
It should be noted that, before scoring, a scoring index and a scoring rule should be formulated. And when scoring, evaluating the non-auxiliary road entering road section according to the position and angle of the auxiliary road entering road section, the position and angle of the non-auxiliary road entering road section, the road attribute, the passing rule, the scoring index and the scoring rule, giving corresponding scores to obtain a corresponding scoring result, and selecting the non-auxiliary road entering road section with the highest score as a target main road section.
The target main road section matched with the auxiliary road entering road section can be quantitatively determined in a grading mode, and human misjudgment is avoided. Meanwhile, the main and auxiliary road matching method based on the scoring indexes and the scoring rules has the advantages of convenience, usability and easiness in popularization.
In some embodiments, before determining the auxiliary road, the main road and the correspondence relationship between the auxiliary road and the main road of the predetermined intersection according to the topology structure data of the predetermined intersection in step 201, the method further includes:
The road openings are classified according to the road opening forms.
In some embodiments, intersections can be classified into planar intersections, linear intersections, punctiform intersections, and ramp-hung intersections, depending on the morphology of the intersection. In some embodiments, different types of intersections are ranked, e.g., planar intersections, linear intersections, punctiform intersections, and ramp-hung intersections are sequentially graded.
In some embodiments, step 202, extracting and matching the main road and the auxiliary road according to the auxiliary road, the main road, and the correspondence between the auxiliary road and the main road, includes: extracting an auxiliary road according to the extension strategy; correspondingly extracting a main road according to the extension strategy and the extracted auxiliary road; and matching the auxiliary road and the main road according to the corresponding relation between the auxiliary road and the main road.
The extending strategy is to continuously extend and extract the auxiliary road and the main road at the intersection with the intersection level lower than the planar intersection level. In some embodiments, when the level of the current intersection is lower than the preset level, the main road and the auxiliary road are not judged at the current intersection, but the main road and the auxiliary road which are judged in advance are continued to extend, namely if the result of the previous judgment of the current road is the main road, the current road is still the main road after passing through the current intersection; if the early-stage judging result of the current road is an auxiliary road, the road passes through the current intersection and is still an auxiliary road.
When extracting an auxiliary road and a main road from a current intersection as a starting point based on an extension strategy, if a front adjacent intersection is a planar intersection, only extracting the auxiliary road of the current intersection in the extraction process, correspondingly extracting the main road of the current intersection, and executing a new extraction process by taking the planar intersection as the starting intersection of the next extraction process; if the front adjacent intersection is any one of a punctiform intersection, a linear intersection or a ramp hanging intersection, performing extension extraction until the front intersection is a planar intersection, stopping the extension extraction process, and taking the planar intersection as a starting intersection of the next extraction process to execute a new extraction process.
Fig. 4 is a schematic diagram of another intersection topology provided by an embodiment of the present disclosure. Fig. 4 shows 5 roads, which are a first road R41, a second road R42, a third road R43, a fourth road R44, and a fifth road R45, respectively, and which are composed of 18 links (a first link401 to an eighteenth link 418) and 7 nodes, constituting a plurality of different types of intersections. Wherein a road barrier (not shown in the figure) is provided between the fourth road R44 and the fifth road R45.
The second link402, the third link403 and the fourth link404 cross each other to form an intersection, and the intersection is shaped as a point, so that the intersection is divided into punctiform intersections according to the shape of the intersection.
The seventh link407, the ninth link409, the tenth link410, and the twelfth link412 are sequentially connected to form an intersection, and the intersection is classified into a planar intersection according to the form of the intersection because the intersection is represented as a rectangle or square due to the road barrier provided between the fourth road R44 and the fifth road R45.
The fifteenth link415 is a link connecting the fourth road R44 and the fifth road R45, and the vehicle can travel from the fourteenth link414 to the sixteenth link416 via the fifteenth link415, and the shape of the intersection is one line segment, and therefore, the intersection is divided into line intersections according to the shape of the intersection.
In addition, in the stereoscopic road scene, there are also ramps connecting roads in different spatial planes, and the corresponding intersection type is a ramp-hung intersection (not shown in the figure). .
Based on the extension strategy, when the auxiliary road and the main road are extracted from the current intersection (not shown in fig. 4) as the starting points, if the front adjacent intersection is a punctiform intersection composed of the second road segment link402, the third road segment link403 and the fourth road segment link404, the extension extraction is continued, when the extension extraction is performed to a planar intersection composed of the seventh road segment link407, the ninth road segment link409, the tenth road segment link410 and the twelfth road segment link412, the extraction process is stopped, and the next round of extraction process is started with the planar intersection composed of the seventh road segment link407, the ninth road segment link409, the tenth road segment link410 and the twelfth road segment link412 as the new starting points. When a new round of extension extraction is performed with a planar intersection consisting of a seventh road link407, a ninth road link409, a tenth road link410 and a twelfth road link412 as a starting point, the adjacent intersection is a linear intersection corresponding to the fifteenth road link415, and the round of extraction process is stopped when the linear intersection continues to extend and extract until the next planar intersection is entered.
The main road of the embodiment of the disclosure is a main road extracted based on the extension strategy after the auxiliary road is extracted based on the extension strategy, and the extracted auxiliary road is further extracted based on the extension strategy, so that the main road and the auxiliary road are cut off at the same intersection, thereby ensuring the accuracy of the extracted main road and auxiliary road.
When the auxiliary road and the main road are extracted, information such as road names, angles, road forms, road types and the like can be referred to, so that the accuracy of the extraction operation can be improved.
The extension strategy is determined according to the intersection grade, and the auxiliary road and the main road are extracted according to the extension strategy, so that the continuity of the road can be effectively utilized to ensure the correctness of the extracted main road and auxiliary road, and the main road and auxiliary road are prevented from being extracted erroneously.
According to the road matching method, the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road of the preset intersection are determined according to the topological structure data of the preset intersection, the main road and the auxiliary road are extracted and matched according to the corresponding relation between the auxiliary road, the main road and the auxiliary road determined by the preset intersection are combined, the matching result of the main road and the auxiliary road is obtained, the problem that mismatching is easy to occur when the matching relation between the main road and the auxiliary road is determined based on the road position can be avoided, the matching accuracy of the main road and the auxiliary road is improved, and the use experience of a user is improved.
A second aspect of the present disclosure provides a road matching apparatus. Fig. 5 is a block diagram of a road matching device according to an embodiment of the present disclosure. Referring to fig. 5, a road matching apparatus provided by an embodiment of the present disclosure includes:
the determining module 501 is configured to determine, according to topology structure data of a predetermined intersection, a secondary road, a main road, and a correspondence relationship between the secondary road and the main road of the predetermined intersection.
The predetermined intersection is an intersection within a preset range, and the topological structure data of the intersection is data used for representing the relationship between the intersection and the road in the two-dimensional map data. Through the topological structure data, the shape and the characteristics of the intersection can be quickly and intuitively determined.
In some embodiments, the topology data of the intersection includes vector directions, locations, angles, and road attributes of the road segments corresponding to the intersection. The vector direction represents the running direction of pedestrians or vehicles on the road section, and the road attribute can represent the characteristic of the road. For example, the road attribute may be a characteristic characterizing the road type, including highway, expressway, arterial road, secondary arterial road, branch road, and the like.
The extracting module 502 is configured to extract a main road and an auxiliary road according to the auxiliary road, the main road, and the correspondence between the auxiliary road and the main road.
The main road is a road which takes the traffic function as the main part and the service function as the auxiliary part and is used for the motor vehicles to pass, and the auxiliary road is a road which takes the service function as the main part and the traffic function as the auxiliary part and is used for the motor vehicles, non-motor vehicles and pedestrians to pass.
In the embodiment of the disclosure, the main road is a name of a main road within the range of the intersection, and the auxiliary road is a name of an auxiliary road within the range of the intersection. The intersection range may be set to be within a range of several meters or ten meters based on the center of the intersection, or may be set to be within a range of several tens of meters based on the center of the intersection. In practice, the distance may be any distance that can distinguish between the main road and the auxiliary road.
After determining the correspondence of the auxiliary road, the main road and the auxiliary road of the intersection with the main road, the main road and the auxiliary road may be extracted based on the correspondence. When the main road and the auxiliary road are extracted, the corresponding operation may be performed in units of a single intersection, or may be performed in units of a plurality of intersections. Under the condition of taking a single intersection as a unit, sequentially extracting an auxiliary road and a main road of the single intersection; in the case of taking a plurality of intersections as a unit, the auxiliary road and the main road of the plurality of intersections are extracted each time.
And the matching module 503 is configured to match the main road and the auxiliary road according to the auxiliary road, the main road, and the correspondence between the auxiliary road and the main road.
After the main road and the auxiliary road are extracted, the main road and the auxiliary road are matched according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road, and the main road and the auxiliary road corresponding to the extraction process and the corresponding relation are obtained.
And the merging module 504 is configured to merge the main road and the auxiliary road determined by the predetermined intersection, and obtain a matching result of the main road and the auxiliary road.
In some embodiments, the main road and the auxiliary road of the predetermined intersection, and the main road and the auxiliary road between two adjacent intersections are obtained through the determining module 501, the extracting module 502, and the matching module 503. For the whole road or the road in the preset range, the main road and the auxiliary road determined according to the intersections and the main road and the auxiliary road between two adjacent intersections are combined to obtain the matching result of the whole road or the road in the preset range. The matching result not only comprises a main road and an auxiliary road, but also comprises a corresponding relation of the main road and the auxiliary road.
After the matching result of the main road and the auxiliary road is obtained, it can be applied to numerous scenes to solve the corresponding problem. For example, the current side of the road on the auxiliary road lacks speed limit signs, and the user may not be able to know the speed limit requirement when driving on the auxiliary road. After the matching result of the main road and the auxiliary road is obtained, the auxiliary road speed limit can be assigned according to related traffic laws and regulations, so that a user is guided to safely drive on the auxiliary road according to the speed limit requirement. As another example, the determination of the number of crossing branches requires complex calculations. After the matching result of the main road and the auxiliary road is obtained, when the matching result is applied to the calculation of the number of the crossing branches, the main road and the corresponding auxiliary road are aggregated into the same branch road in consideration of the fact that the main road and the corresponding auxiliary road are generally aggregated into the same direction, so that the calculation complexity of the number of the crossing branches is reduced, and the more accurate number of the crossing branches is obtained.
According to the road matching device provided by the embodiment of the disclosure, the corresponding relation among the auxiliary road, the main road and the auxiliary road of the preset intersection is determined according to the topological structure data of the preset intersection, the main road and the auxiliary road are extracted and matched according to the corresponding relation among the auxiliary road, the main road and the auxiliary road determined by the preset intersection are combined, the matching result of the main road and the auxiliary road is obtained, the problem that mismatching is easy to occur when the matching relation of the main road and the auxiliary road is determined based on the road position can be avoided, the matching accuracy of the main road and the auxiliary road is improved, and the use experience of a user is improved.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 6 illustrates a schematic block diagram of an example electronic device 600 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
Fig. 6 illustrates a schematic block diagram of an example electronic device 600 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 may also be stored. The computing unit 601, ROM 602, and RAM 603 are connected to each other by a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Various components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, mouse, etc.; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the respective methods and processes described above, such as a road matching method. For example, in some embodiments, the road matching method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the road matching method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the road matching method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements any one of the above road matching methods.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (11)
1. A road matching method, comprising:
Determining auxiliary roads and main roads of a preset intersection and the corresponding relation between the auxiliary roads and the main roads according to topological structure data of the preset intersection;
Extracting and matching a main road and an auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road, wherein the auxiliary road and the main road are extracted according to an extension strategy, the extension strategy comprises continuously extracting the auxiliary road and the main road at an intersection with the intersection level lower than a planar intersection level, and the intersection levels corresponding to the planar intersection, the linear intersection, the punctiform intersection and the ramp hanging intersection are sequentially reduced;
And merging the main road and the auxiliary road determined by the preset intersection to obtain a matching result of the main road and the auxiliary road.
2. The method of claim 1, wherein the topology data of the intersection comprises vector directions, locations, angles, and road attributes of road segments corresponding to the intersection.
3. The method of claim 2, wherein the determining, according to the topology data of the predetermined intersection, the auxiliary road, the main road, and the correspondence between the auxiliary road and the main road of the predetermined intersection comprises:
Determining an auxiliary road entering road section and a non-auxiliary road entering road section of the intersection according to the vector direction of the road section and the road attribute;
Selecting a target main road section matched with the auxiliary road entering section from the non-auxiliary road entering section according to the position and angle of the auxiliary road entering section, the position and angle of the non-auxiliary road entering section, the road attribute and the passing rule, wherein the passing rule comprises a left passing rule and a right passing rule;
And determining the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road of the intersection according to the auxiliary road entering road section and the target main road section.
4. The method of claim 3, wherein the selecting a target main road segment matching the auxiliary road entry segment from the non-auxiliary road entry segments according to the position, angle, road attribute, and traffic rule of the auxiliary road entry segment and the position, angle, and non-auxiliary road entry segment of the auxiliary road entry segment comprises:
Scoring the non-auxiliary road entering road section according to the position and angle of the auxiliary road entering road section, the position and angle of the non-auxiliary road entering road section, the road attribute and the passing rule to obtain a scoring result;
and selecting the target main road section matched with the auxiliary road entering road section according to the scoring result.
5. The method of claim 1, wherein before determining the auxiliary road, the main road, and the correspondence between the auxiliary road and the main road of the predetermined intersection according to the topology data of the predetermined intersection, further comprises:
And classifying the intersections according to the shapes of the intersections.
6. The method of claim 5, wherein the extracting and matching the main road and the auxiliary road according to the auxiliary road, the main road, and the correspondence of the auxiliary road and the main road comprises:
extracting the auxiliary road according to an extension strategy, wherein the extension strategy is formulated according to the type of the intersection;
correspondingly extracting the main road according to the extension strategy and the extracted auxiliary road;
and matching the auxiliary road and the main road according to the corresponding relation between the auxiliary road and the main road.
7. The method of claim 6, wherein the intersections include planar intersections, line intersections, punctiform intersections, and ramp-hung intersections.
8. A road matching device, comprising:
The determining module is used for determining auxiliary roads and main roads of the preset intersection and the corresponding relation between the auxiliary roads and the main roads according to the topological structure data of the preset intersection;
The extraction module is used for extracting a main road and an auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road, wherein the auxiliary road and the main road are extracted according to an extension strategy, the extension strategy comprises continuously extending and extracting the auxiliary road and the main road at an intersection with the intersection level lower than a planar intersection level, and the intersection levels corresponding to the planar intersection, the linear intersection, the punctiform intersection and the ramp hanging intersection are sequentially reduced;
the matching module is used for matching the main road and the auxiliary road according to the auxiliary road, the main road and the corresponding relation between the auxiliary road and the main road;
And the merging module is used for merging the main road and the auxiliary road determined by the preset intersection to obtain a matching result of the main road and the auxiliary road.
9. An electronic device, comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
11. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.
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