CN112825211B

CN112825211B - Road network determination method, device, equipment and medium

Info

Publication number: CN112825211B
Application number: CN201911144341.5A
Authority: CN
Inventors: 曾彦; 梁圣锋; 邓均良; 曾庆和; 莫高鹏; 郭戈理
Original assignee: Baidu Online Network Technology Beijing Co Ltd
Current assignee: Baidu Online Network Technology Beijing Co Ltd
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2022-04-26
Anticipated expiration: 2039-11-20
Also published as: CN112825211A

Abstract

The embodiment of the application discloses a road network determining method, a road network determining device, road network determining equipment and a road network determining medium, and relates to the field of data processing, in particular to the field of electronic maps. The specific implementation scheme is as follows: dividing a target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in an area to be processed; and determining the regional road network in the place according to the communication relation between the closed road sections and the communication relation between the non-closed road sections and the closed road sections. The embodiment of the application provides a road network determining method, a road network determining device, road network determining equipment and a road network determining medium, and realizes automatic division of regional road networks.

Description

Road network determination method, device, equipment and medium

Technical Field

The embodiment of the application relates to the field of data processing, in particular to the field of electronic maps. The embodiment of the application provides a road network determining method, a road network determining device, road network determining equipment and a road network determining medium.

Background

When map analysis and processing are performed, it is often necessary to know the regional road network, and for example, when determining a navigation path, roads in the regional road network should be avoided as the navigation path. The regional road network refers to a road network in a place, and specifically, the place may be a cell, a school, a hospital, or the like.

The existing method for determining regional road network comprises the following steps:

1) acquiring images on the spot through an acquisition vehicle, and carrying out manual judgment;

2) acquiring a solid image from a social vehicle in a crowdsourcing mode, and carrying out manual judgment;

3) and carrying out manual interpretation through the remote sensing image.

However, the above method has the following drawbacks:

for the first scheme, on one hand, the current judgment area road often takes gates, roadblocks and the like as marks, the objects are various in forms, the automatic identification difficulty is high, and manual judgment is required. On the other hand, various open regional roads exist in the real world, and no gate, roadblock or the like is used as a mark, so that the manual work cannot judge the roads.

In the second solution, the images returned by crowdsourced vehicles have two problems besides the same problem as the images of the collected vehicles. Firstly, the coverage is inferior to that of a professional collection vehicle system, and images do not exist in many places; secondly, the self-positioning precision is low, and the returned image in the urban canyon is difficult to be matched with the correct position.

For the third scheme, the principle is the similarity of the buildings in the same area in terms of building style. In practical application, firstly, the method is easily influenced by resolution and definition, secondly, the requirement on a labeled sample is high, and thirdly, the method is similar in style and is not a region in a certain proportion.

Due to the above problems, the current map has incomplete and inaccurate regional road network division, and accordingly, the situation that the regional road network is guided by the transit traffic often occurs.

Disclosure of Invention

The embodiment of the application provides a road network determining method, a road network determining device, road network determining equipment and a road network determining medium, so as to realize automatic division of regional road networks.

The embodiment of the application provides a road network determining method, which comprises the following steps:

dividing a target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in an area to be processed;

and determining the regional road network in the place according to the communication relation between the closed road sections and the communication relation between the non-closed road sections and the closed road sections.

The embodiment of the application can realize the following technical effects: the regional road sections in the place are determined by utilizing the closed and non-closed structural characteristics of the road network and the connection relation of the road sections in the road network, so that the regional road network is automatically divided.

Based on the extracted regional road network, firstly, a more visual explicit effect can be provided for a user, and the regional division condition can be seen clearly; secondly, the border traffic can accurately avoid roads in the regional road network during path planning; and thirdly, the range of the area of the closed place can be determined by combining the existing data such as the gate, the roadblock and the like, and the missing gate and the roadblock can be supplemented.

Further, the dividing the target road section into a closed road section and a non-closed road section according to the connectivity of the target road section in the area to be processed includes:

calculating the connectivity of the target road section according to the connectivity of the target road section in the region to be processed;

and dividing the target road section in the area to be processed into a non-closed road section and a closed road section according to the connectivity.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: calculating the connectivity of the target road section according to the connectivity of the target road section in the region to be processed; and dividing the target road section in the area to be processed into a non-closed road section and a closed road section according to the connectivity, thereby realizing the extraction of the closed structure characteristics and the non-closed structure characteristics of the road network.

Further, the calculating the connectivity of the target road section in the region to be processed according to the connectivity of the target road section in the region to be processed includes:

determining a first road section set connected by a first end point of a target road section and a second road section set connected by a second end point of the target road section;

determining a first set of end points on road segments in the first road segment set, which are far away from the target road segment, and a second set of end points on road segments in the second road segment set, which are far away from the target road segment;

combining and pairing the endpoints in the first endpoint set and the endpoints in the second endpoint set to generate a point pair set;

determining the shortest path value of each group of point pairs in the point pair set, wherein the point pairs do not pass through the target road section;

and determining the connectivity of the target road section according to the shortest path value and the point pair set length, wherein the point pair set length refers to the number of point pairs with passages in the point pair set.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: the method comprises the steps of determining a connection road section connecting two end points of a target road section and an end point set far away from the target road section in the connection road section, and determining the connectivity of the target road section according to the connectivity of the end point set.

Further, the determining the connectivity of the target road segment according to the shortest path value and the point pair set length includes:

determining the connectivity of the target road section according to the following formula:

where v is the shortest path for each set of point pairs in the set of point pairs, i is used to identify different point pairs in the set of point pairs, and m is the length of the set of point pairs.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: and determining the connectivity of the target road section according to the shortest path and the point pair set length based on the formula, and realizing the normalization of the connectivity.

Further, the determining a regional road network in a place according to the communication relationship between the closed road sections and the communication relationship between the non-closed road sections and the closed road sections includes:

according to the communication relation among the closed road sections, the closed road sections are aggregated into a communication road network of at least one place;

determining a target public road connecting the connected road network and a main road section in the road network according to the communication relation between the unclosed road section and the closed road section;

and determining the boundary between different connected road networks according to the target public road, and taking the connected road network after the boundary is determined as the regional road network.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: and determining the road network in the place according to the communication relation among the closed road sections. And determining the boundary of the regional road network according to the communication relation between the non-closed road section and the closed road section, thereby determining the regional road network.

Further, the determining a target public road connecting the connected road network and a main road section in the road network according to the connection relationship between the unclosed road section and the closed road section includes:

taking the non-closed road sections connecting the trunk road sections and the connected road network as candidate public road sections;

extracting candidate public road sections from the adjacent road sections according to included angles between the adjacent road sections and the candidate public road sections and object information in the adjacent road sections;

connecting candidate public road sections with a communication relation to generate candidate public roads;

and determining the target public road from the candidate public roads according to the number of connected road networks connected with the candidate public roads.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: the target public road is determined according to the included angle between adjacent road sections in the target public road, the object information which is not included in the target public road and the number of regional road networks connected with the target public road, so that the target public road is accurately determined based on multiple dimensions.

Further, before dividing the target road section into a closed road section and a non-closed road section according to the connectivity of the target road section in the region to be processed, the method further includes:

determining trunk sections in a road network;

taking the end points of the trunk sections as vertexes in a graph structure, and taking the trunk sections as edges connecting the vertexes in the graph structure;

and determining the area to be processed according to the nesting relation between the closed loops in the graph structure.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: and determining the region to be processed according to the nesting relation between the closed loops in the graph structure by converting the road network structure into the graph structure, thereby realizing the determination of the region to be processed.

Further, the determining trunk sections in the road network includes:

extracting a first road section from a road network according to the road grade and the two-way traffic characteristics of the road;

extracting a second road section from other road sections according to the communication relation between the first road sections and the communication relation between the other road sections and the first road sections;

and taking the first road section and the second road section as the trunk road section.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: the trunk sections are extracted from the road network based on the road levels, the two-way traffic characteristics of the roads and the communication relation among the trunk sections, so that the trunk sections are extracted.

Further, the extracting a second road segment from the other road segments according to the communication relationship between the first road segments and the communication relationship between the other road segments and the first road segments includes:

determining a non-communication path section from the first path section according to the communication relation between the first path sections, wherein the non-communication path section refers to a path section of which at least one end point is not connected with other first path sections;

determining a candidate connecting road section for connecting two non-communication road sections from the other road sections according to the communication relation between the non-communication road sections and the other road sections;

and extracting the second road section from the candidate connecting road sections according to the road section attributes of the candidate connecting road sections.

Based on the technical characteristics, the embodiment of the application can realize the following technical effects: determining a non-communication path section from the first path section according to the communication relation between the first path sections; determining a candidate connecting road section for connecting two non-communication road sections from the other road sections according to the communication relation between the non-communication road sections and the other road sections; and extracting the second road section from the candidate connecting road section according to the road section attribute of the candidate connecting road section, thereby realizing the extraction of the second road section.

An embodiment of the present application further provides a road network determining apparatus, including:

the road section dividing module is used for dividing the target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in the area to be processed;

and the road network determining module is used for determining the regional road network in the place according to the communication relation between the closed road sections and the communication relation between the non-closed road sections and the closed road sections.

Further, the road segment dividing module includes:

the connectivity calculating unit is used for calculating the connectivity of the target road section according to the connectivity of the target road section in the area to be processed;

and the road section dividing unit is used for dividing the target road section in the area to be processed into a non-closed road section and a closed road section according to the connectivity.

Further, the connectivity calculating unit is specifically configured to:

Further, the road network determining module includes:

the communication road network determining unit is used for aggregating the closed road sections into a communication road network of at least one place according to the communication relation among the closed road sections;

the public road determining unit is used for determining a target public road connecting the connected road network and a main road section in the road network according to the communication relation between the unclosed road section and the closed road section;

and the regional road network determining unit is used for determining the boundary between different connected road networks according to the target public road and taking the connected road network with the determined boundary as the regional road network.

Further, the public road determining unit is specifically configured to:

Further, the apparatus further comprises:

the road section determining module is used for determining a main road section in a road network before dividing the target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in the area to be processed;

the graph structure conversion module is used for taking the end points of the trunk sections as vertexes in a graph structure and taking the trunk sections as edges connecting the vertexes in the graph structure;

and the region determining module is used for determining the region to be processed according to the nesting relation between the closed rings in the graph structure.

Further, the link determination module includes:

the first road section determining unit is used for extracting a first road section from a road network according to the road grade and the bidirectional traffic characteristics of the road;

a second road segment determining unit, configured to extract a second road segment from the other road segments according to the communication relationship between the first road segments and the communication relationship between the other road segments and the first road segment;

a trunk link determination unit configured to take the first link and the second link as the trunk links.

An embodiment of the present application further provides an electronic device, where the device includes:

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 the embodiments of the present application.

Further, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the method of any one of the present application embodiments.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

fig. 1 is a flowchart of a road network determining method according to a first embodiment of the present application;

fig. 2 is a schematic diagram of a network road according to a first embodiment of the present application;

FIG. 3 is a schematic diagram of a tree-structured road according to a first embodiment of the present application;

fig. 4 is a flowchart of a road network determining method according to a second embodiment of the present application;

FIG. 5 is a schematic view of a road map provided in a second embodiment of the present application;

fig. 6 is a flowchart of a road network determining method according to a third embodiment of the present application;

fig. 7 is a flowchart of a road network determining method according to a fourth embodiment of the present application;

fig. 8 is a schematic diagram of a road network structure provided in a fifth embodiment of the present application;

fig. 9 is a schematic diagram of a trunk section search according to a fifth embodiment of the present application;

fig. 10 is a schematic structural diagram of a region to be processed according to a fifth embodiment of the present application;

FIG. 11 is a schematic diagram of connectivity of road segments in a road network according to a fifth embodiment of the present application;

FIG. 12 is a schematic illustration of the results of a polymerization provided in a fifth embodiment of the present application;

FIG. 13 is a schematic illustration of a public road provided by a fifth embodiment of the present application;

fig. 14 is a schematic road network diagram of a to-be-processed area before segmentation according to a fifth embodiment of the present application;

fig. 15 is a schematic structural diagram of a segmented first regional network according to a fifth embodiment of the present application;

fig. 16 is a schematic structural diagram of a segmented second regional network according to a fifth embodiment of the present application;

fig. 17 is a schematic structural diagram of a segmented road network of a third area according to a fifth embodiment of the present application;

fig. 18 is a schematic structural diagram of a road network determining apparatus according to a sixth embodiment of the present application;

fig. 19 is a block diagram of an electronic device of a road network determining method according to an embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those 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 application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

First embodiment

Fig. 1 is a flowchart of a road network determining method according to a first embodiment of the present application. The embodiment can be applied to the situation of determining the regional road network in the place from the map road network. The method may be performed by a road network determining device, which may be implemented by software and/or hardware. Referring to fig. 1, the road network determining method provided in this embodiment includes:

and S110, dividing the target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in the area to be processed.

The region to be processed refers to a region to be subjected to regional road network extraction. Specifically, the area to be processed includes at least one regional road network.

The target section refers to a section located in the area to be processed.

A closed section is a section that can form a network structure road with other sections.

Referring to fig. 2, the net structure roads 201 are connected end to end.

Typically, the net structure road may be a circular road.

The non-closed section means a section constituting a tree-structured road with other sections.

Referring to fig. 3, the tree-structured road 301 is not connected end to end.

Specifically, dividing a target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in a region to be processed comprises the following steps:

searching a communication road section for the target road section based on the communication relation of the target road section in the region to be processed;

and determining that the target road section is a closed road section or a non-closed road section according to the search result.

And S120, determining a regional road network in the place according to the communication relation between the closed road sections and the communication relation between the non-closed road sections and the closed road sections.

Specifically, determining a regional road network in a place according to the communication relationship between the closed road sections and the communication relationship between the non-closed road sections and the closed road sections includes:

taking a road network formed by closed road sections with a communication relation as an initial road network;

and extracting the non-closed road sections connected with only one initial road network from the non-closed road sections according to the communication relation between the non-closed road sections and the closed road sections, and taking the road network formed by the non-closed road sections and the initial road network as the regional road network.

According to the technical scheme of the embodiment of the application, the regional road sections in the place are determined by utilizing the closed and non-closed structural characteristics of the road network and the connection relation of the road sections in the road network, so that the regional road network is automatically divided. Based on the extracted regional road network, firstly, a more visual explicit effect can be provided for a user, and the regional division condition can be seen clearly; secondly, the border traffic can accurately avoid roads in the regional road network during path planning; and thirdly, the range of the area of the closed place can be determined by combining the existing data such as the gate, the roadblock and the like, and the missing gate and the roadblock can be supplemented.

Second embodiment

Fig. 4 is a flowchart of a road network determining method according to a second embodiment of the present application. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 4, the road network determining method provided in the embodiment of the present application includes:

s210, calculating the connectivity of the target road section according to the connectivity of the target road section in the region to be processed.

The connectivity of the target road segments indicates that the closed road formed by the target road segments includes the average number of other road segments except the target road segments and the direct connection road segments of the target road segments.

The other links are links of the closed road formed by the target links except the target link and the direct connection link of the target link.

Specifically, the calculating the connectivity of the target road section in the region to be processed according to the connectivity of the target road section in the region to be processed includes:

and determining the connectivity of the target road section according to the shortest path value and the point pair set length.

The target road section first end point refers to a first end point of the target road section.

The target link second end point refers to a second end point of the target link.

The point pair set length refers to the number of point pairs for which a path exists in the point pair set.

The path is a road with two ends centered in the connection point.

For example, if the point pair set includes 3 groups of point pairs, where only 1 group of point pairs exists for a road connecting two end points in the pair, the point pair set has a point pair set length of 1.

The shortest path is the minimum value of the number of links in the path connecting each group of point pairs.

Specifically, the determining the connectivity of the target road segment according to the shortest path value and the point pair set length includes:

Exemplarily, the following steps are carried out: referring to fig. 5, fig. 5 shows a road network, and the objective is to calculate the connectivity of the road segment a, which includes the following specific calculation processes:

two end points a and b of the road section a are determined.

Then the first set of links connecting a is (link B, link H) and the second set of links connecting B is (link G).

And (c) determining the first endpoint set as (g, d) and the second endpoint set as (c).

Where G is the end point of section B, d is the end point of section H, and c is the end point of section G.

The end points in the first end point set and the end points in the second end point set are combined and paired to generate a point pair set ((d, c), (g, c)), and since a path exists between both the point pairs, the point pair set length m is 2.

The shortest path value v1 of the point pair (d, c) that does not pass through the link a is 1 (path F) is calculated.

r1＝e^(-(v1)^4/700)＝0.998572448。

For the point pair (g, c), the shortest path value v2 that does not pass through a is 3 (path B- > H- > F).

r2＝e^(-(v2)^4/700)＝0.890729681。

Finally, the connectivity c ═ s/m ═ s (r1+ r2)/m ═ 0.998572448+0.890729681)/2 ═ 0.944651065 can be calculated.

And S220, dividing the target road section in the area to be processed into a non-closed road section and a closed road section according to the connectivity.

Specifically, dividing the target road section in the area to be processed into a non-closed road section and a closed road section according to the connectivity comprises:

and if the connectivity of the target road section is greater than the set connectivity threshold, determining that the target road section is a closed road section, otherwise, determining that the target road section is a non-closed road section.

The set connectivity threshold value refers to the minimum value of the connectivity of the closed road section, and can be determined according to actual needs.

And S230, determining a regional road network in the place according to the communication relation between the closed road sections and the communication relation between the non-closed road sections and the closed road sections.

According to the technical scheme of the embodiment of the application, the target road section in the area to be processed is divided into the non-closed road section and the closed road section according to the connectivity of the target road section. And searching the communication relations of the target road sections one by one, and determining the non-closed road section and the closed road section according to the searching result. Generally, the number of the target road sections is large, the communication relation between the target road sections is complicated, and the communication relation between the target road sections does not need to be searched one by one in the implementation, so that the rapid determination of the non-closed road section and the closed road section can be realized in the embodiment.

Third embodiment

Fig. 6 is a flowchart of a road network determining method according to a third embodiment of the present application. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 6, the road network determining method provided in the embodiment of the present application includes:

s310, dividing the target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in the area to be processed.

And S320, aggregating the closed road sections into a communication road network of at least one place according to the communication relation among the closed road sections.

S330, determining a target public road connecting the connected road network and the main road sections in the road network according to the connection relation between the unclosed road sections and the closed road sections.

Specifically, the determining a target public road connecting the connected road network and a main road section in the road network according to the connection relationship between the unclosed road section and the closed road section includes:

Specifically, extracting a candidate public road section from the adjacent road sections according to an included angle between the adjacent road section and the candidate public road section and object information in the adjacent road section comprises:

and searching the adjacent road sections directly connected with the candidate public road section along the candidate public road section, if the adjacent road sections meet the set conditions, taking the adjacent road sections as new candidate public road sections, and continuously searching the new candidate public road sections along the candidate public road sections until the searched adjacent road sections do not meet the set conditions.

The setting condition is that an included angle between the candidate public road section and an adjacent road section directly connected with the candidate public road section is within a set angle range, and the adjacent road section does not comprise a gate.

S340, determining boundaries among different connected road networks according to the target public roads, and taking the connected road networks with the determined boundaries as the regional road networks.

According to the technical scheme of the embodiment of the application, the road network in the place is determined according to the communication relation among the closed road sections. And determining the boundary of the regional road network according to the communication relation between the non-closed road section and the closed road section, thereby determining the regional road network.

Fourth embodiment

Fig. 7 is a flowchart of a road network determining method according to a fourth embodiment of the present application. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 7, the road network determining method according to the present embodiment includes:

and S410, determining trunk sections in the road network.

The trunk section is a skeleton of an urban road network, is a traffic trunk connecting main partitions of a city, and is a main artery inside the city.

Specifically, the determining trunk sections in the road network includes:

The bidirectional traffic characteristic means that the bidirectional traffic lane is provided.

The other links herein refer to links in the road network other than the first link.

Specifically, the extracting a second road segment from the other road segments according to the communication relationship between the first road segments and the communication relationship between the other road segments and the first road segment includes:

And S420, taking the end points of the trunk sections as vertexes in the graph structure, and taking the trunk sections as edges connecting the vertexes in the graph structure.

And S430, determining the region to be processed according to the nesting relation between the closed loops in the graph structure.

Specifically, determining the region to be processed according to the nesting relationship between closed loops in the graph structure includes:

determining a closed ring according to the constructed graph structure;

and determining the minimum closed ring nested in the innermost layer according to the nesting relation among the closed rings, and taking the region to which the minimum closed ring belongs as the region to be processed.

And S440, dividing the target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in the region to be processed.

S450, determining a regional road network in the place according to the communication relation between the closed road sections and the communication relation between the non-closed road sections and the closed road sections.

According to the technical scheme of the embodiment of the application, the road network structure is converted into the graph structure, and the area to be processed is determined according to the nesting relation between the closed loops in the graph structure, so that the area to be processed is determined. Since the regional network is usually located in a closed loop surrounded by trunk sections, the determination accuracy of the regional network can be improved based on the determined region to be processed.

Fifth embodiment

The present embodiment is an alternative proposed on the basis of the above-described embodiments. The road network determining method provided by the embodiment of the application comprises the following steps:

referring to fig. 8, a high-grade road network (i.e., a road network formed by trunk road segments, such as roads in the province or county and roads in part of county) is used as a frame, and the trunk road segments are extended and supplemented according to a certain rule, so that the road network is cut into a plurality of to-be-processed areas which are adjacent to each other and are not overlapped, and the to-be-processed areas can be used as growing points of subsequently divided closed road segments and non-closed road segments.

The method comprises the following specific steps:

all high speed, national road, provincial road, county road in the road network and village and town road with bidirectional traffic characteristic are used as trunk road sections

Referring to fig. 9, a road section 901 which is straight in shape and has no road block, gate and no automobile passing in the middle is searched for between trunk sections, and the road section 901 is used as a new trunk section.

Referring to fig. 10, the basic road network is divided into regions to be processed which are complementary and overlapped by using trunk sections.

And calculating the connectivity of each road section in the area to be processed by taking the area to be processed as a unit.

And aggregating the road sections in the area to be processed based on the connectivity of the road sections and the connection relation of the road sections.

3.1 calculating the connectivity of each road section in the area to be processed, as shown in FIG. 11.

And 3.2 according to the connectivity, taking the road sections with the connectivity larger than the set connectivity threshold as closed road sections, taking the road sections with the connectivity smaller than or equal to the set connectivity threshold as non-closed road sections, and respectively aggregating the closed road sections and the non-closed road sections, wherein the aggregation result is shown in fig. 12.

According to the principle that the regional road network is connected to the trunk road sections through public roads, the public roads in the region to be processed are determined, and the division of each regional road network is further clarified.

For an area to be processed, if a plurality of place areas reach the trunk road section through the same non-closed road, the non-closed road is considered to contain a public road. Referring to fig. 13, location areas a, b, and c all reach a public road 1302 through an unclosed road 1301, or a, b, and c need to reach the public road 1302 and must pass through the unclosed road 1301.

The specific method is that a road section with the connectivity of 0 is searched in the area to be processed, a road link (the road link needs to avoid a known gate, a road block and an area road of a base map) for connecting a place area and a trunk road section is searched in a set angle range by taking the road section as a starting point, then the road link is taken as a candidate road, and the candidate road is taken as a condition for separating the area to be processed. And checking the difference of the areas to be processed before and after the separation, and if the areas of a plurality of places can be successfully separated after the separation, taking the candidate road as a public road. This process is cycled until no further subdivision is possible.

Wherein, fig. 14 is a road network diagram of the to-be-processed area before segmentation. The divided first regional road network 1501 is shown in fig. 15, the divided second regional road network 1601 is shown in fig. 16, and the divided third regional road network 1701 is shown in fig. 17.

Heretofore, road networks have been classified into regional road networks and highway roads.

According to the technical scheme of the embodiment of the invention, the regional roads (including closed regional roads and open regional roads) are automatically divided by fully utilizing the structural characteristics of the road network itself, namely closed and non-closed structural characteristics formed in the process of supporting the traffic flow, and the connectivity roads are extracted. Based on the extraction results, firstly, a more visual display effect can be provided for the user, and the region division condition can be seen clearly; secondly, the border traffic can accurately avoid the regional roads during path planning; and thirdly, the range of the closed area can be determined by combining the existing data of the gates, the roadblocks and the like, and the missing gates and the roadblocks can be supplemented.

Sixth embodiment

Fig. 18 is a schematic structural diagram of a road network determining apparatus according to a sixth embodiment of the present application. Referring to fig. 18, a road network determining apparatus 1800 according to an embodiment of the present application includes: a link division module 1801 and a road network determination module 1802.

The road segment dividing module 1801 is configured to divide a target road segment into a closed road segment and a non-closed road segment according to a connectivity relationship of the target road segment in a region to be processed;

and a road network determining module 1802, configured to determine an area road network in the place according to the communication relationship between the closed road sections and the communication relationship between the non-closed road sections and the closed road sections.

Further, the road segment dividing module includes:

Further, the connectivity calculating unit is specifically configured to:

Further, the road network determining module includes:

Further, the public road determining unit is specifically configured to:

Further, the apparatus further comprises:

Further, the link determination module includes:

Seventh embodiment

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 19 is a block diagram of an electronic device according to the road network determining method of the embodiment of the present application. 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 phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 19, the electronic apparatus includes: one or more processors 1901, a memory 1902, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 19 illustrates an example of one processor 1901.

The memory 1902 is a non-transitory computer readable storage medium provided herein. The memory stores instructions executable by at least one processor to cause the at least one processor to execute the road network determining method provided by the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the road network determination method provided by the present application.

Memory 1902, as a non-transitory computer readable storage medium, may be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., road segment dividing module 1801 and road network determining module 1802 shown in fig. 18) corresponding to the road network determining method in the embodiments of the present application. The processor 1901 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 1902, so as to implement the road network determining method in the above-described method embodiment.

The memory 1902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the electronic device determined by the road network, and the like. Further, the memory 1902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 1902 optionally includes memory remotely located from processor 1901, and such remote memory may be connected to the road network determination electronics via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the road network determining method may further include: an input device 1903 and an output device 1904. The processor 1901, the memory 1902, the input device 1903, and the output device 1904 may be connected by a bus or other means, and fig. 19 illustrates an example of a connection by a bus.

The input device 1903 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the road network determining electronic apparatus, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input device. The output devices 1904 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

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 a pointing device (e.g., a mouse or a 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 can 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, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end 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 back-end, 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 clients and servers. A client and server are generally 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.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A road network determining method, comprising:

dividing a target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in an area to be processed; the closed road section is a road section which forms a network structure road with other road sections, and the network structure road is connected end to end; the non-closed road section is a road section which forms a tree structure road with other road sections, and the head and the tail of the tree structure road are not connected;

2. The method according to claim 1, wherein the dividing the target road segment into a closed road segment and a non-closed road segment according to the connectivity of the target road segment in the area to be processed comprises:

3. The method according to claim 2, wherein the calculating the connectivity of the target road segments in the region to be processed according to the connectivity of the target road segments in the region to be processed comprises:

4. The method of claim 3, wherein determining connectivity of the target road segment according to the shortest path value and the point pair set length comprises:

5. The method according to claim 1, wherein determining the regional road network in the place according to the communication relationship between the closed road segments and the communication relationship between the non-closed road segments and the closed road segments comprises:

6. The method according to claim 5, wherein the determining a target public road connecting the connected road network and a trunk section in the road network according to the connection relationship between the non-closed section and the closed section comprises:

7. The method according to claim 1, wherein before dividing the target road segment into a closed road segment and a non-closed road segment according to the connectivity of the target road segment in the area to be processed, the method further comprises:

determining trunk sections in a road network;

8. The method of claim 7, wherein said determining trunk segments in a road network comprises:

9. The method according to claim 8, wherein the extracting a second road segment from other road segments according to the connectivity between the first road segments and the connectivity between the other road segments and the first road segment comprises:

10. A road network determining apparatus, comprising:

the road section dividing module is used for dividing the target road section into a closed road section and a non-closed road section according to the communication relation of the target road section in the area to be processed; the closed road section is a road section which forms a network structure road with other road sections, and the network structure road is connected end to end; the non-closed road section is a road section which forms a tree structure road with other road sections, and the head and the tail of the tree structure road are not connected;

11. The apparatus of claim 10, wherein the segment division module comprises:

12. The apparatus according to claim 11, wherein the connectivity calculation unit is specifically configured to:

13. The apparatus of claim 12, wherein the determining the connectivity of the target road segment according to the shortest path value and the point pair set length comprises:

14. 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 1-9.

15. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.