CN112857375A - Road matching method, device and system - Google Patents
Road matching method, device and system Download PDFInfo
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- CN112857375A CN112857375A CN201911191904.6A CN201911191904A CN112857375A CN 112857375 A CN112857375 A CN 112857375A CN 201911191904 A CN201911191904 A CN 201911191904A CN 112857375 A CN112857375 A CN 112857375A
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- 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
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Abstract
The invention discloses a road matching method and a road matching device, wherein a high-precision road connected with two high-precision road nodes which are topologically adjacent in a high-precision map is obtained, a common road matched with the high-precision road in a common map is obtained, and the corresponding relation between the matched high-precision road and a common road section included in the common road is established, so that the high-precision map and the common map can be combined for use.
Description
Technical Field
The present disclosure relates to the field of electronic map technologies, and in particular, to a road matching method, apparatus, and system.
Background
According to the refinement and the accuracy of the expression content of the electronic map, the electronic map can be divided into a common electronic map (a common map for short) and a high-precision electronic map (a high-precision map for short), wherein compared with the common map, the high-precision map is more accurate and more refined for the expression of the real world. For example, a high-precision map may represent the lanes of a road, while a normal map may not. Because map data is evolving from a common map to a high-precision map at present, in an actual use scene, the high-precision map and the common map are often required to be combined for use, and the premise of the combination is that a corresponding relation between the high-precision map and the common map, particularly a corresponding relation between a high-precision road and a common road, needs to be established. Therefore, establishing the correspondence between the high-precision road and the ordinary road becomes a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present disclosure is proposed to provide a road matching method and apparatus that overcomes or at least partially solves the above problems.
In a first aspect, an embodiment of the present disclosure provides a road matching method, including:
acquiring high-precision roads connected by two high-precision road nodes which are adjacent in topology in a high-precision map;
acquiring a common road matched with the high-precision road in a common map, wherein the common road comprises at least one common channel section;
and establishing a corresponding relation between the high-precision road and the common road section included by the common road.
In some optional embodiments, the obtaining of the common road matched with the high-precision road in the common map specifically includes:
matching the high-precision road nodes of the high-precision road with the common road nodes of a common map to obtain common road nodes matched with the high-precision road nodes;
if the common road connected with the common road nodes is a one-way traffic, determining the common road connected with the common road nodes as a common road matched with the high-precision road;
and if the common road connected with the common road nodes passes in two directions, determining the common road connected with the common road nodes and having the same passing direction with the high-precision road as the common road matched with the high-precision road.
In some optional embodiments, the matching the high-precision road node of the high-precision road with the ordinary road node of the ordinary map to obtain the ordinary road node matched with the high-precision road node specifically includes:
acquiring the distance between a high-precision road node of the high-precision road and a common road node of a common map;
and determining the common road node closest to the high-precision road node as the common road node matched with the high-precision road node.
In some optional embodiments, the obtaining a distance between a high-precision road node of the high-precision road and a common road node of a common map specifically includes:
and determining the distance between the high-precision road node and the common road node according to the position coordinate of the high-precision road node of the high-precision road and the position coordinate of the common road node of the common map.
In some optional embodiments, the establishing a correspondence between the high-precision road and an ordinary road section included in the ordinary road specifically includes:
if the common road only comprises one common road section, giving the road mark of the common road section to the high-precision road;
and if the common road comprises more than two common road sections, projecting the common road to the high-precision road to obtain a high-precision road section corresponding to the common road section in the high-precision road, and endowing the high-precision road section with a road mark of the common road section.
In some optional embodiments, the projecting the ordinary road to the high-precision road to obtain a high-precision road segment corresponding to the ordinary road segment included in the ordinary road in the high-precision road specifically includes:
projecting the end points of the common channel road sections included in the common road to the high-precision road to obtain projection points on the high-precision road;
and dividing the high-precision road into high-precision road sections by using the projection points.
In some optional embodiments, the high-precision road nodes comprise at least a split merge point of a junction.
In a second aspect, an embodiment of the present disclosure provides a road matching device, including:
the first acquisition module is used for acquiring high-precision roads connected by two high-precision road nodes which are adjacent in topology in the high-precision map;
the second acquisition module is used for acquiring a common road matched with the high-precision road acquired by the first acquisition module in a common map, wherein the common road comprises at least one common road section;
and the establishing module is used for establishing the corresponding relation between the high-precision road acquired by the first acquiring module and the common road section included in the common road acquired by the second acquiring module.
In a third aspect, embodiments of the present disclosure provide a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the above-described road matching method.
In a fourth aspect, an embodiment of the present disclosure provides a navigation method, where a navigation route is planned based on a correspondence between a normal road included in a normal map and a high-precision road included in a high-precision map established by the above method, so as to support a navigated object to enter the normal road from the high-precision road or enter the high-precision road from the normal road.
The beneficial effects of the above technical scheme provided by the embodiment of the present disclosure at least include:
according to the method, the high-precision roads connected by two high-precision road nodes which are adjacent in topology in the high-precision map are obtained, the common roads which are matched with the high-precision roads in the common map are obtained, and the corresponding relation between the matched high-precision roads and the common road sections included in the common roads is established, so that the high-precision map and the common map can be used in a combined mode.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the disclosure. The objectives and other advantages of the disclosure may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings:
fig. 1 is a flowchart of a road matching method according to an embodiment of the disclosure;
fig. 2 is a flowchart illustrating a specific implementation of a map road matching method according to a second embodiment of the disclosure;
fig. 3 is an exemplary diagram of a topological relation of road segments in a second embodiment of the disclosure;
FIG. 4 is a flowchart illustrating a specific implementation of step S203 in FIG. 2;
FIG. 5 is a diagram of a second example of a router according to a second embodiment of the present disclosure;
fig. 6 is a diagram illustrating a matching example of a high and medium precision road section and a general road section in the second embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a road matching device in an embodiment of the disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the description of the embodiments of the present disclosure, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The embodiment of the disclosure provides a road matching method and device, which can establish a corresponding relationship between a high-precision road in a high-precision map and a common road in a common map, so that the high-precision map and the common map can be used in combination, and the scheme provided by the disclosure will be described in detail below with reference to specific embodiments.
Example one
An embodiment of the disclosure provides a road matching method, a flow of which is shown in fig. 1, and the method includes the following steps:
step S11: and acquiring high-precision roads connected by two high-precision road nodes which are adjacent in topology in the high-precision map.
The two high-precision road nodes adjacent to the topology are communicated through a road in reality, and specifically, the high-precision road connected by the two high-precision road nodes adjacent to the topology can be obtained according to a road topology relation (road network topology) in the high-precision map.
In practical implementation, all high-precision roads connected by all the high-precision road nodes which are topologically adjacent in the high-precision map can be obtained, and then the following steps S12 to S13 are executed for each high-precision road; the following steps S12 to S13 may be executed each time one high-precision road is acquired in which two high-precision road nodes that are topologically adjacent to each other are connected.
Step S12: and acquiring the common road matched with the high-precision road in the common map.
The passing direction of the high-precision road connected between a pair of high-precision road nodes adjacent to the topology in the high-precision map is unique; in general, a common road in a common map, in which a pair of topologically adjacent common road nodes are connected, may have a case where different passing directions are expressed by one road, and in this case, it is necessary to assign a high-precision road with the same number as the common road in the passing direction of the high-precision road.
In one embodiment, the common road matched with the high-precision road in the common map is obtained by matching the high-precision road node of the high-precision road with the common road node of the common map to obtain the common road node matched with the high-precision road node; if the ordinary road connected with the ordinary road nodes is one-way traffic, determining the ordinary road connected with the ordinary road nodes as an ordinary road matched with the high-precision road; and if the ordinary road connected with the ordinary road nodes passes in two directions, determining the ordinary road connected with the ordinary road nodes and having the same passing direction with the high-precision road as the ordinary road matched with the high-precision road.
Step S13: and establishing a corresponding relation between the matched high-precision road and the common road section included by the common road.
Specifically, the following two cases may be included:
firstly, the common road only comprises one common channel section.
And directly endowing the road identification of the common road section with the high-precision road matched with the common road section.
And secondly, the common road comprises more than two common road sections.
In this case, the ordinary road needs to be projected to the high-precision road matched with the ordinary road, so as to obtain a high-precision road segment corresponding to the ordinary road segment included in the ordinary road in the high-precision road, and then the road identifier of the ordinary road segment is assigned to the high-precision road segment.
In one embodiment, the end points of the ordinary road sections included in the ordinary road may be projected to the high-precision road, so as to obtain projected points on the high-precision road; and dividing the high-precision road into high-precision road sections by using the projection points.
In one embodiment, projecting the end points of the ordinary road segments included in the ordinary road to the high-precision road to obtain the projected points on the high-precision road may include:
and taking the end point of the common channel section included in the common road as a starting point, making a perpendicular line to the high-precision road, and taking the vertical foot on the high-precision road as a projection point of the end point.
According to the scheme recorded in the first embodiment of the disclosure, the corresponding relation between the matched high-precision road and the common channel section included in the common road is established by acquiring the high-precision road connected by two high-precision road nodes which are topologically adjacent in the high-precision map and acquiring the common road matched with the high-precision road in the common map. The automatic matching of the high-precision road in the high-precision map and the common road section included in the common road in the common map can be realized, the matching efficiency is high, and the matching accuracy is high; so that the high-precision map and the general map can be used in combination.
Example two
The second embodiment of the present disclosure provides a specific implementation process of a road matching method, specifically, a high-precision road in a high-precision map is matched with a common road in a common road, as shown in fig. 2, the method includes the following steps:
step S201: and determining high-precision road nodes in the high-precision map and common road nodes in the common map.
Specifically, the high-precision road nodes at least comprise separation and combination points of a three-way intersection in the high-precision map; optionally, the high-precision road node may further include at least one of the following shape points:
the system comprises a high-precision road starting point, a high-precision road broken end point, a high-precision road construction point and a high-precision road data missing point.
Specifically, the nodes of the high-precision road can be directly determined from the types of the shape points recorded in the topological relation of the high-precision road; it may be determined according to a change in the shape point attribute data, for example, when one shape point a has two or more adjacent shape points within a preset distance and the attributes of the adjacent shape points are not consistent along the advancing direction of the high-precision road, the shape point a is determined as the high-precision road separation point.
The method for determining the common road nodes in the common map is the same as the method for determining the high-precision road nodes in the high-precision map.
Step S202: and acquiring high-precision roads connected by two high-precision road nodes which are adjacent in topology in the high-precision map.
Referring to fig. 3, points (i), (ii), (iii), (iv), (v) and (iv) are respectively obtained high-precision road nodes, and roads 1 to 9 are respectively high-precision roads between two topologically adjacent high-precision road nodes.
Step S203: and matching the high-precision road nodes of the high-precision road with the common road nodes of the common map to obtain the common road nodes matched with the high-precision road nodes.
In one embodiment, the distance between a high-precision road node of a high-precision road and a common road node of a common map is obtained; and determining the common road node closest to the high-precision road node, and matching the common road node with the high-precision road node.
Specifically, the distance between the high-precision road node and the common road node can be determined according to the position coordinates of the high-precision road node of the high-precision road and the position coordinates of the common road node of the common map; optionally, the position coordinates may be longitude and latitude coordinates, and the distance between the two may be determined.
Specifically, determining the common road node matched with the high-precision road node, as shown in fig. 4, may also include the following steps:
step S2031: the search range is determined in the general map.
The method can be used for determining a range by taking a point corresponding to the longitude and latitude numerical value of the high-precision road node as a center and taking a preset searching distance as a radius in a common map as a searching range.
Step S2032: and determining the distance between the high-precision road node and each common road node in the common map searching range.
Step S2033: and marking the high-precision road node and the common road node which are closest to each other as the high-precision road node and the common road node which are matched with each other.
Step S204: and judging whether the ordinary road connected with the ordinary road nodes is one-way traffic or not.
When the ordinary road connected with the ordinary road nodes is one-way traffic, executing step S205; when the ordinary road connected by the ordinary road node is not one-way traffic, i.e., is two-way traffic, step S206 is executed.
Step S205: and determining the common road connected with the common road nodes as the common road matched with the high-precision road.
Step S206: and determining the common road connected with the common road nodes and having the same passing direction as the high-precision road as the common road matched with the high-precision road.
Step S207: it is determined whether the ordinary road includes only one ordinary road segment.
In practical situations, the ordinary road may include only one road segment, or may include a plurality of road segments. For example, referring to a part of the road network in the ordinary map shown in fig. 5, points 1-4 are ordinary road nodes, and it can be seen that an ordinary road between two topologically adjacent ordinary road nodes may include a plurality of ordinary road segments or may include only one ordinary road segment. The numbers in fig. 5 represent the IDs of the respective ordinary road segments.
If the determination in step S207 is yes, step S208 is executed; if the determination in step S207 is no, step S209 is executed.
Step S208: and assigning the road mark of the common road to the high-precision road.
When the common road only comprises one road section, the road mark of the common road is directly endowed to the high-precision road matched with the road mark.
Step S209: and projecting the end points of the common channel sections included in the common road to the high-precision road to obtain projection points on the high-precision road.
When the common road comprises more than one road section, a perpendicular line is drawn to the high-precision road according to the end point of the common road section included in the common road, and the vertical foot on the high-precision road is used as the projection point of the end point.
Step S210: and dividing the high-precision road into high-precision road sections according to the projection points.
Step S211: and assigning the road identification of the common road section to the high-precision road section matched with the common road section.
For example, as shown in fig. 6, the high-precision road between two high-precision road nodes a and E that are topologically adjacent in the high-precision map is AE, the nodes that match the two high-precision road nodes a and E in the normal map are a 'and E', and the normal road a 'E' between a 'and E' matches the high-precision road AE. The ordinary road A ' E ' is divided into 4 road sections 1, 2, 3 and 4, the end points B ', C ' and D ' of the road sections are projected on the high-precision road section AE, the obtained projection points are B, C and D, so the road serial number 1 of the ordinary road section A ' B ' is assigned to the high-precision road section AB, the road serial number 2 of the ordinary road section B ' C ' is assigned to the high-precision road section B ' C ', the road serial number 3 of the ordinary road section C ' D ' is assigned to the high-precision road section CD, and the road serial number 4 of the ordinary road section D ' E ' is assigned to the high-precision road section DE.
Based on the same inventive concept, the embodiment of the present disclosure further provides a navigation method, wherein a navigation route is planned based on a correspondence relationship between a common road included in a common map and a high-precision road included in a high-precision map, which is established according to the road matching method, so as to support a navigated object to enter the common road from the high-precision road or enter the high-precision road from the common road.
Referring to fig. 6, when the navigated object is traveling on the road AE, which is a high-precision road, but when the navigated object is traveling out of the illustrated intersection and needs to use a normal map, the high-precision road and the normal road have the same sequence number, so when switching to the normal map, an application (such as a map navigation application) using the normal map can still find the normal road connected to the high-precision road on the normal map. For example, the number of the AB road segment in the high-precision map is 1, in the ordinary map, the a 'B' road segment of the number 1 is connected with the road segment of the number 5, 5 can be found in the ordinary map through the number 1 of the high-precision map, and after the navigated object is driven out from 5, the application can be smoothly switched to the ordinary map to continue navigation. And vice versa.
Based on the same inventive concept, the embodiment of the present disclosure further provides a road matching device, the structure of which is shown in fig. 7, including:
the first obtaining module 71 is configured to obtain a high-precision road connected by two high-precision road nodes that are topologically adjacent in the high-precision map;
the second obtaining module 72 is configured to obtain a common road in the common map, where the common road is matched with the high-precision road obtained by the first obtaining module 71, and the common road includes at least one common road segment;
and the establishing module 73 is used for establishing the corresponding relation between the high-precision road acquired by the first acquiring module 71 and the common road section included in the common road acquired by the second acquiring module 72.
In an embodiment, the second obtaining module 72 is specifically configured to:
matching the high-precision road nodes of the high-precision road with the common road nodes of a common map to obtain common road nodes matched with the high-precision road nodes; if the common road connected with the common road nodes is a one-way traffic, determining the common road connected with the common road nodes as a common road matched with the high-precision road; and if the common road connected with the common road nodes passes in two directions, determining the common road connected with the common road nodes and having the same passing direction with the high-precision road as the common road matched with the high-precision road.
In an embodiment, the second obtaining module 72 is specifically configured to:
acquiring the distance between a high-precision road node of the high-precision road and a common road node of a common map; and determining the common road node closest to the high-precision road node, and matching the common road node with the high-precision road node.
In an embodiment, the second obtaining module 72 is specifically configured to:
and determining the distance between the high-precision road node and the common road node according to the position coordinate of the high-precision road node of the high-precision road and the position coordinate of the common road node of the common map.
In an embodiment, the establishing module 73 is specifically configured to: if the common road only comprises one common road section, giving the road mark of the common road section to the high-precision road; and if the common road comprises more than two common road sections, projecting the common road to the high-precision road to obtain a high-precision road section corresponding to the common road section in the high-precision road, and endowing the high-precision road section with a road mark of the common road section.
In an embodiment, the establishing module 73 is specifically configured to:
projecting the end points of the common channel road sections included in the common road to the high-precision road to obtain projection points on the high-precision road; and dividing the high-precision road into high-precision road sections by using the projection points.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Based on the same inventive concept, the disclosed embodiments also provide a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the road matching method is implemented.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, the disclosure may lie in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the disclosure.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Claims (10)
1. A road matching method, comprising:
acquiring high-precision roads connected by two high-precision road nodes which are adjacent in topology in a high-precision map;
acquiring a common road matched with the high-precision road in a common map, wherein the common road comprises at least one common channel section;
and establishing a corresponding relation between the high-precision road and the common road section included by the common road.
2. The method according to claim 1, wherein the obtaining of the common road in the common map that matches the high-precision road specifically includes:
matching the high-precision road nodes of the high-precision road with the common road nodes of a common map to obtain common road nodes matched with the high-precision road nodes;
if the common road connected with the common road nodes is a one-way traffic, determining the common road connected with the common road nodes as a common road matched with the high-precision road;
and if the common road connected with the common road nodes passes in two directions, determining the common road connected with the common road nodes and having the same passing direction with the high-precision road as the common road matched with the high-precision road.
3. The method according to claim 2, wherein the matching the high-precision road node of the high-precision road with the ordinary road node of the ordinary map to obtain the ordinary road node matched with the high-precision road node specifically comprises:
acquiring the distance between a high-precision road node of the high-precision road and a common road node of a common map;
and determining the common road node closest to the high-precision road node as the common road node matched with the high-precision road node.
4. The method according to claim 3, wherein the obtaining of the distance between the high-precision road node of the high-precision road and the common road node of the common map specifically comprises:
and determining the distance between the high-precision road node and the common road node according to the position coordinate of the high-precision road node of the high-precision road and the position coordinate of the common road node of the common map.
5. The method according to claim 1, wherein the establishing of the correspondence between the high-precision road and the common road section included in the common road specifically includes:
if the common road only comprises one common road section, giving the road mark of the common road section to the high-precision road;
and if the common road comprises more than two common road sections, projecting the common road to the high-precision road to obtain a high-precision road section corresponding to the common road section in the high-precision road, and endowing the high-precision road section with a road mark of the common road section.
6. The method according to claim 5, wherein the projecting the ordinary road to the high-precision road to obtain a high-precision road segment corresponding to the ordinary road segment included in the ordinary road in the high-precision road specifically includes:
projecting the end points of the common channel road sections included in the common road to the high-precision road to obtain projection points on the high-precision road;
and dividing the high-precision road into high-precision road sections by using the projection points.
7. The method according to any one of claims 1 to 6, wherein the high-precision road nodes comprise at least split merge points of a junction.
8. A road matching device, comprising:
the first acquisition module is used for acquiring high-precision roads connected by two high-precision road nodes which are adjacent in topology in the high-precision map;
the second acquisition module is used for acquiring a common road matched with the high-precision road acquired by the first acquisition module in a common map, wherein the common road comprises at least one common road section;
and the establishing module is used for establishing the corresponding relation between the high-precision road acquired by the first acquiring module and the common road section included in the common road acquired by the second acquiring module.
9. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the road matching method of any one of claims 1 to 7.
10. A navigation method, characterized in that, based on the corresponding relationship between the ordinary road contained in the ordinary map and the high-precision road contained in the high-precision map established in claim 1, a navigation route is planned to support the navigated object to drive from the high-precision road to the ordinary road or drive from the ordinary road to the high-precision road.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911191904.6A CN112857375A (en) | 2019-11-28 | 2019-11-28 | Road matching method, device and system |
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| CN201911191904.6A CN112857375A (en) | 2019-11-28 | 2019-11-28 | Road matching method, device and system |
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