CN113535747B - Map updating method and device, electronic equipment and readable storage medium - Google Patents
Map updating method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN113535747B CN113535747B CN202111077420.6A CN202111077420A CN113535747B CN 113535747 B CN113535747 B CN 113535747B CN 202111077420 A CN202111077420 A CN 202111077420A CN 113535747 B CN113535747 B CN 113535747B
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Abstract
The application provides a map updating method, a map updating device, an electronic device and a readable storage medium, wherein the method comprises the following steps: acquiring a road section mapping relation set and a road section node mapping relation set of a first map and a second map; acquiring a first node of a first road section and a second road section, wherein the first road section is a road section which does not exist in a road section mapping relation set in a first map, and the second road section is a road section which exists in the road section mapping relation set in the first map; determining a second node matched with the first node in the second map based on the road section node mapping relation set, and calculating the offset of the first node and the second node; generating a third road section matched with the first road section based on the offset; and updating the third path segment into the second map. The map updating efficiency can be improved.
Description
Technical Field
The present disclosure relates to the field of map updating, and in particular, to a map updating method, an apparatus, an electronic device, and a readable storage medium.
Background
As an important foundation in the traffic field, the importance of maps is self-evident, and as the road construction develops faster, the demand for rapid iterative updating of maps is more and more. In actual production, due to the fact that the original map has a large amount of attribute information and the like, the original map is often required to be updated in an incremental manner according to a new map, and at present, the work is mainly completed manually, and updating efficiency is low.
Disclosure of Invention
The application provides a map updating method, a map updating device, electronic equipment and a readable storage medium, which aim to solve the problem of low map updating efficiency.
In a first aspect, an embodiment of the present application provides a map updating method, including:
acquiring a road section mapping relation set and a road section node mapping relation set of a first map and a second map, wherein the road section mapping relation set comprises the mapping relation set of matched road sections of the first map and the second map, and the road section node mapping relation set comprises the mapping relation set of matched nodes of the first map and the second map;
acquiring a first node at which a first road section and a second road section are intersected, wherein the first road section is a road section which does not exist in the road section mapping relation set in the first map, and the second road section is a road section which exists in the road section mapping relation set in the first map;
determining a second node matched with the first node in the second map based on the road section node mapping relation set, and calculating the offset of the first node and the second node;
generating a third road segment matched with the first road segment based on the offset;
updating the third route segment into the second map.
In a second aspect, an embodiment of the present application further provides a map updating apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a road section mapping relation set and a road section node mapping relation set of a first map and a second map, the road section mapping relation set comprises a mapping relation set of matched road sections of the first map and the second map, and the road section node mapping relation set comprises a mapping relation set of matched nodes of the first map and the second map;
a second obtaining module, configured to obtain a first node where a first road segment and a second road segment intersect, where the first road segment is a road segment that does not exist in the road segment mapping relationship set in the first map, and the second road segment is a road segment that exists in the road segment mapping relationship set in the first map;
a first determining module, configured to determine, based on the road segment node mapping relationship set, a second node in the second map that matches the first node, and calculate an offset between the first node and the second node;
the first generation module is used for generating a third road section matched with the first road section based on the offset;
and the updating module is used for updating the third path segment into the second map.
In a third aspect, an embodiment of the present application further provides an electronic device, including: the map updating method includes a memory, a processor, and a program or instructions stored on the memory and executable on the processor, where the program or instructions, when executed by the processor, implement the steps in the map updating method disclosed in the first aspect of the embodiments of the present application.
In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instructions are stored, and when the program or instructions are executed by a processor, the program or instructions implement the steps in the map updating method disclosed in the first aspect of the embodiment of the present application.
In the embodiment of the application, by acquiring a first node where a first road section and a second road section are intersected, determining a second node matched with the first node in the second map based on the road section node mapping relation set, calculating an offset between the first node and the second node, generating a third road section matched with the first road section based on the offset, updating the third road section into the second map, and quickly updating a newly-built road section in the first map relative to the second map into the second map, the updating efficiency of the map is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a map updating method according to an embodiment of the present application;
fig. 2 is a second schematic flowchart of a map updating method according to an embodiment of the present application;
fig. 3 is a third schematic flowchart of a map updating method according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a map updating system provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a map updating apparatus according to an embodiment of the present application;
fig. 6 is a second schematic structural diagram of a map updating apparatus according to an embodiment of the present application;
fig. 7 is a third schematic structural diagram of a map updating apparatus according to an embodiment of the present application;
FIG. 8 is a fourth schematic structural diagram of a map updating apparatus according to an embodiment of the present application;
fig. 9 is a fifth schematic structural diagram of a map updating apparatus according to an embodiment of the present application;
fig. 10 is a sixth schematic structural view of a map updating apparatus according to an embodiment of the present application;
fig. 11 is a seventh schematic structural diagram of a map updating apparatus according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," and the like in the embodiments of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Further, as used herein, "and/or" means at least one of the connected objects, e.g., a and/or B and/or C, means 7 cases including a alone, B alone, C alone, and both a and B present, B and C present, both a and C present, and A, B and C present.
Referring to fig. 1, fig. 1 is a schematic flow chart of a map updating method according to an embodiment of the present application, as shown in fig. 1, including the following steps:
The first map and the second map may be maps representing the same area, for example: different coordinate systems may be adopted for maps of the same area, and maps of different coordinate systems may be processed in advance to increase the coincidence degree of maps representing the same area.
Specifically, before step 101, the road network in the map may be preprocessed to generate nodes in the road network and links between adjacent nodes. The preprocessing may specifically include interrupting the road network in the map at each intersection, where the intersection is a node in the road network, and adjacent nodes are taken as a road segment (link), so that the mapping relationship between nodes at two ends of the road segment can be determined according to the mapping relationship between the road segments.
And 102, acquiring a first node of a first road section and a second road section, wherein the first road section is a road section which does not exist in the road section mapping relation set in the first map, and the second road section is a road section which exists in the road section mapping relation set in the first map.
Wherein, the second road segment may be an upstream road segment and/or a downstream road segment of the first road segment, for example: the start node of the second road segment may be a termination node of the first road segment, and the termination node of the second road segment may also be a start node of the first road segment, or nodes at both ends of the second road segment may coincide with nodes at both ends of the first road segment.
Correspondingly, the first node may be a start node and/or a stop node of the first road segment, and the first node may also be a stop node and/or a start node of the second road segment.
The offset may be calculated and determined according to the coordinate information of the first node and the second node, for example: in the case where the start node of the first link is the end node of the second link, or the end node of the first link is the start node of the second link, that is, the first node is the start node of the first link and the end link of the second link, or the first node is the end node of the first link and the start link of the second link, the offset may be directly calculated and determined according to the coordinate information of the first node and the second node; if the start node of the first road segment is the end node of the second road segment, and the end node of the first road segment is the start node of the second road segment, two intersections exist between the first road segment and the second road segment, then the offset may be selected from one of the two intersections to determine an offset between the intersection and a node matched with the intersection, or may be calculated respectively from offsets between the two intersections and corresponding matching points, and a mean value between the two offsets is determined as an offset between the first node and the second node.
And 104, generating a third road section matched with the first road section based on the offset.
The third path segment may be determined according to a plurality of location points, for example: a plurality of position points on the first segment may be obtained, a plurality of position points that match the plurality of position points on the first segment may be determined according to the offset, and the third segment that matches the first segment may be generated according to the determined plurality of position points.
The first road segment is a newly-built road segment which exists in the first map but does not exist in the second map, and correspondingly, the third road segment is a road segment which is to be updated to the second map and is matched with the first road segment.
In the embodiment of the application, by acquiring a first node where a first road section and a second road section are intersected, determining a second node matched with the first node in the second map based on the road section node mapping relation set, calculating an offset between the first node and the second node, generating a third road section matched with the first road section based on the offset, updating the third road section into the second map, and quickly updating a newly-built road section in the first map relative to the second map into the second map, the updating efficiency of the map is improved.
Optionally, before the obtaining of the road segment mapping relationship set and the road segment node mapping relationship set of the first map and the second map in step 101, the map updating method may further include the following steps:
establishing a corresponding relation between the road section and the spatial index;
acquiring a spatial index set of a fourth road section in the first map within a preset range;
generating a set of road segments in the second map based on the correspondence and the set of spatial indices;
and determining a fifth road section which meets a preset matching condition in the road section set.
The fourth road segment may be any one of the road segments in the first map, and by obtaining a spatial index set of the fourth road segment within a preset range, a set of road segments within a preset range in the second map may be quickly determined, and the road segments in the set of road segments are respectively compared with the fourth road segment to determine the fifth road segment matching with the fourth road segment in the second map. In this way, by performing the comparison process on all the links in the first map, all the matching links of the first map and the second map and the mapping relationship thereof, and the mapping relationship between the nodes at both ends of all the matching links can be determined.
The preset range may be a certain range around a predetermined fourth segment, for example: a certain range around the fourth road section can be estimated according to the length and the trend of the fourth road section, and a corresponding spatial index set is determined, so that a road section set corresponding to the spatial index set in the second map is obtained, and a road section matched with the fourth road section is searched in the road section set.
In this embodiment, a corresponding relationship between a road segment and a spatial index is established, a road segment set corresponding to the spatial index set can be quickly determined, and a fifth road segment in the second map, which is matched with the fourth road segment, can be determined by determining a fifth road segment in the road segment set, which meets a preset matching condition, so that a road segment mapping relationship set of the first map and the second map is established according to a mapping relationship between the fourth road segment and the fifth road segment. In addition, by judging whether each road section in the road section set meets the preset matching condition, if the fifth road section does not match with the fourth road section, the fourth road section can be determined to be a new road section which does not exist in the second map.
Optionally, the determining the fifth road segment in the road segment set that meets the preset matching condition may specifically include:
acquiring a plurality of first position points on the fourth road section;
calculating projection distances and projection distance range values of the plurality of first position points to each road section in the road section set, and length differences of the fourth road section and each road section in the road section set;
and determining the fifth road section in the road section set, wherein the projection distance, the projection distance range value and the length difference all meet the preset matching condition.
The plurality of first location points may be obtained at preset intervals, for example: if the length of the fourth road segment is 2 meters, 3 position points X1, X2 and X3 on the road segment can be taken at equal intervals of 1 meter, wherein X1 and X3 are respectively the starting node and the ending node of the fourth road segment, and the projection distance range difference value of X1, X2 and X3 to each road segment in the road segment set, and the length difference of the fourth road segment and each road segment in the road segment set are respectively calculated.
In addition, the preset matching condition may be determined according to a degree of overlap between the first map and the second map, for example: it can be preset empirically: maximum projection distances and maximum projection distance range differences between the first position points and the fifth link, and maximum length differences between the fourth link and the fifth link. If the overlap ratio of the first map and the second map is low after the preprocessing, the maximum projection distance range value and the maximum length difference value can be adjusted to be large; if the first map and the second map have a higher overlap ratio after the preprocessing, the maximum projection distance range difference value, and the maximum length difference value may be adjusted to be smaller, so as to improve the accuracy of determining the fifth road segment.
In this embodiment, by comparing the projection distance and the projection distance range difference value of the plurality of first position points to each road segment in the road segment set and the length difference between the fourth road segment and each road segment in the road segment set, it can be determined whether each road segment in the road segment set is parallel to the fourth road segment and whether the lengths of the road segments are consistent, so as to determine the fifth road segment matching the fourth road segment.
And if the fifth road segment does not exist in the road segment set and the fourth road segment in the first map is matched, it can be determined that the fourth road segment is a newly-built road segment existing in the middle of the second map.
Optionally, the map updating method may further include the following steps:
acquiring a sixth road segment which does not exist in the road segment mapping relation set in the second map;
deleting the sixth road segment in the second map.
In this embodiment, a sixth road segment that is not present in the road segment mapping relationship set in the second map is acquired, the sixth road segment in the second map is deleted, a road segment that is present in the second map but not present in the first map may be deleted, and the second map may be updated quickly according to the road segment mapping relationship set.
Optionally, the map updating method may further include the following steps:
generating a mapping relation between the first road section and the third road section;
and adding the mapping relation to the road section mapping relation set.
In this embodiment, by generating a mapping relationship between the first link and the third link newly created in the second map and adding the mapping relationship to the link mapping relationship set, the mapping relationship set in the link mapping relationship set can be updated at the same time as the second map is updated. In this way, the second road segment in step 102 may also be a newly-created road segment added with a mapping relationship to the road segment mapping relationship set, and for the newly-created road segment added to the second map this time, as long as there is an upstream road segment and/or a downstream road segment before the update this time, a matching road segment of the newly-created road segment in the second map this time may be generated.
Optionally, before the obtaining of the road segment mapping relationship set and the road segment node mapping relationship set of the first map and the second map in step 101, the map updating method may further include the following steps:
acquiring a first target map and a second target map;
dividing the first target map according to a preset area to obtain a plurality of first maps;
and dividing the second target map according to the preset area to obtain a plurality of second maps, wherein the plurality of first maps correspond to the plurality of second maps one to one.
The first maps and the corresponding second maps may establish a one-to-one correspondence relationship according to areas in the maps, and for each group of corresponding first maps and second maps, the degree of overlap may be different, and preset matching conditions for matching the road sections in the first maps and the second maps may be adjusted according to the degree of overlap, for example: the preset matching conditions for the road section matching, such as the maximum projection distance, the maximum road section length difference and the like, can be adjusted for the first map and the second map corresponding to the region with the higher overlap ratio.
The preset area may be preset according to a degree of coincidence obtained by processing the first target map and the second target map, for example: in order to improve the overlap ratio of maps using different coordinate systems, after the first target map and the second target map are preprocessed, the overlap ratio of a part of areas in the update areas corresponding to the first target map and the second target map is higher, and the overlap ratio of a part of areas is lower, then the first target map and the second target map may be divided into a map of an area with higher overlap ratio and a map of an area with lower overlap ratio, and the maps corresponding to the two parts of areas are processed separately to adapt to the update and update accuracy of maps of different areas.
In this embodiment, the first target map is divided according to a preset region to obtain a plurality of first maps, the second target map is divided according to the preset region to obtain a plurality of second maps, and the plurality of first maps and the plurality of second maps correspond to each other one to one, so that local update of the maps can be realized.
In addition, the preset matching conditions for the road sections in each local updating process can be adjusted through local updating of the map, so that the accuracy of road section matching is improved.
Optionally, the generating a third road segment matched with the first road segment based on the offset in step 104 may specifically include:
acquiring a plurality of second position points on the first path segment;
generating a plurality of third location points for which the plurality of second location points match in the second map based on the offset amount;
generating the third road segment based on the plurality of third location points.
The plurality of second location points may be obtained at preset intervals, for example: if the length of the fourth road segment is 3 meters, 4 position points Y1, Y2, Y3 and Y4 on the road segment can be taken at equal intervals of 1 meter, wherein Y1 and Y4 are respectively a starting node and a terminating node of the fourth road segment, and Y1 is a first node at which the first road segment and the second road segment intersect, a node Z1 matched with Y1 in the second map can be determined through the above steps, an offset can be calculated according to the position information of the node Y1 and the node Z1, and further, position points Z2, Z3 and Z4 matched with Y2, Y3 and Y4 in the second map can be respectively generated according to the offset, that is, the third road segment matched with the first road segment can be generated according to four third position points Z1, Z2, Z3 and Z4.
In this embodiment, a plurality of third location points, which are matched with the plurality of second location points in the second map, are generated based on the offset, and the third link is generated based on the plurality of third location points, so that a matched link of the newly-built link in the second map can be quickly generated.
The various optional implementations described in the embodiments of the present application may be implemented in combination with each other or implemented separately without conflicting with each other, and the embodiments of the present application are not limited to this.
For ease of understanding, examples are illustrated below:
specifically, the flow diagram of the map updating method is shown in fig. 2 and 3, and the map updating method can be divided into three flows: determining a newly-built road section, performing a deleting process on the original map, and performing an adding process on the original map, wherein fig. 2 may be a schematic flow chart of the determining of the newly-built road section, and fig. 3 may be a schematic flow chart of the deleting process on the original map and the adding process on the original map;
specifically, the embodiment of the present application further provides a schematic structural diagram of a map updating system applied to the map updating method, as shown in fig. 4, including a data reading module 401, a flow control module 402, a road section comparing module 403, and a road network constructing module 404.
As shown in fig. 2, the determining of the newly-built road segment may specifically include the following processes:
and updating the map B by using the map A: respectively reading the map A and the map B, generating a corresponding relation between each road section and each spatial index, and calculating the length of each road section;
setting a maximum projection distance L, a maximum difference value M of the projection distance and a maximum difference value N of the road section length;
traversing all road sections in the map A on the basis of the map A, and marking the road section in the current map A as a road section S;
confirming a spatial index set in a certain range around the road section S, and generating a road section set to be compared in the map B according to the spatial index set;
traversing a road section set to be compared in the map B, and marking the current road section to be compared as a road section T;
traversing points on the road section S, calculating and judging whether the projection distance from each point to the road section T is less than L, the projection range is less than M, and the length difference between the road section T and the road section S is less than N;
under the condition that the conditions are met, judging that the road section S is not a newly-built road section, creating a mapping relation between the road section S and the road section T and writing the mapping relation into a road section mapping relation set (linkreflect), and writing the mapping relation between the road section S and the corresponding node of the road section T into a road section node mapping relation set (nodeflect);
under the condition that the conditions are not all met, judging whether the road section T is the last road section to be compared in the road section set to be compared;
if the road section T is the last road section to be compared in the road section set to be compared, judging that the road section S is a newly-built road section, and adding the road section S into a newly-built road section set (newcreate);
and if the road section T is not the last road section to be compared in the road section set to be compared, continuously comparing the road section in the road section set to be compared with the road section S.
As shown in fig. 3, the foregoing deleting process for the pivot map may specifically include the following processes:
traversing each road section in the map B, and marking the current road section as a road section R;
judging whether the road section R exists in a road section mapping relation set of a map A and a map B;
and if the road section R does not exist in the road section mapping relation set of the A map and the B map, deleting the road section R from the B map.
As shown in fig. 3, the adding process to the pivot map may specifically include the following processes:
traversing the newly-built road section set of the map A, and marking the current road section as a road section C;
searching an upstream road section U of the road section C in the map A, and judging whether the upstream road section U has a matched mapping road section K in the map B;
if the upstream road section U has a matched mapping road section K in the map B, locking a downstream node of the mapping road section K as a road section starting node (frommode) of a road section needing to be newly built in the map B;
searching a downstream road section D of the road section C in the map A, and judging whether the downstream road section D has a matched mapping road section L in the map B;
if the downstream road section D has a matched mapping road section L in the map B, locking a downstream node of the mapping road section L as a road section termination node (tonode) of a road section needing to be newly built in the map B;
if at least one of the road section starting node and the road section ending node is locked, marking the locked node P, determining a mapping node Q matched with the node P in the map A, and calculating the offset W of the node P and the node Q according to the position information of the node P and the node Q;
correcting the rest points on the road section C by using the offset W to generate a road section E matched with the road section C in the map B, and writing the mapping relation between the road section C and the road section E into a road section mapping relation set;
deleting the road section C from the newly-built road section set, and judging whether the newly-built road section exists in the newly-built road section set or whether the newly-built road section exists in an upstream road section or a downstream road section;
and if the newly-built road section does not exist in the newly-built road section set, or the newly-built road section does not exist in the upstream road section or the downstream road section, finishing the updating of the B map.
The sequence of the deletion process for the pivot map and the addition process for the pivot map may be any, for example: the link R that is not present in the link mapping relationship set of the a map and the B map in the original map may be deleted first, the generated link E may be added to the original map, or the deletion process and the addition process may be performed simultaneously.
Specifically, the data reading module 401 may be configured to read an a map and a B map; the flow control module 402 may be configured to control implementation of each process in the map updating method; the section comparing module 403 may be configured to compare the section S with the section T to determine whether the section S is a newly created section, and compare the section R with the section mapping set to determine whether the section R needs to be deleted; the road network construction module 404 may be configured to preprocess the a map and the B map.
In the embodiment of the application, a road section mapping relation set of a shared road section of a new map and an original map and a road section node mapping relation set of a shared node are established by comparing the new map with the original map, and a newly-built road section which is present in the new map but not present in the original map is added into the original map, and the road section which is present in the original map but not present in the new map is deleted, so that incremental updating of the original map is realized, and updating can be quickly performed according to the new map on the basis of keeping the road network attribute of the original map.
In addition, the road network updating process can also be used for identifying the road network difference between the new map and the original map.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a map updating apparatus according to an embodiment of the present application, and as shown in fig. 5, the apparatus 500 includes:
a first obtaining module 501, configured to obtain a road segment mapping relationship set and a road segment node mapping relationship set of a first map and a second map, where the road segment mapping relationship set includes a mapping relationship set of matching road segments of the first map and the second map, and the road segment node mapping relationship set includes a mapping relationship set of matching nodes of the first map and the second map;
a second obtaining module 502, configured to obtain a first node where a first road segment and a second road segment intersect, where the first road segment is a road segment that does not exist in the road segment mapping relationship set in the first map, and the second road segment is a road segment that exists in the road segment mapping relationship set in the first map;
a first determining module 503, configured to determine, based on the set of road segment node mapping relationships, a second node in the second map that matches the first node, and calculate an offset between the first node and the second node;
a first generating module 504, configured to generate a third road segment matching the first road segment based on the offset;
an updating module 505, configured to update the third route segment into the second map.
Optionally, as shown in fig. 6, the apparatus 500 further includes:
an establishing module 506, configured to establish a correspondence between a road segment and a spatial index;
a third obtaining module 507, configured to obtain a spatial index set of a fourth road segment in the first map within a preset range;
a second generating module 508, configured to generate a set of road segments in the second map based on the correspondence and the spatial index set;
a second determining module 509, configured to determine a fifth road segment in the road segment set, where the fifth road segment meets a preset matching condition.
Optionally, as shown in fig. 7, the second determining module 509 specifically includes:
a first obtaining unit 5091, configured to obtain a plurality of first location points on the fourth segment;
a calculating unit 5092, configured to calculate projection distances and projection distance deviation values of the plurality of first position points to each road segment in the road segment set, and length differences between the fourth road segment and each road segment in the road segment set;
a determining unit 5093, configured to determine the fifth road segment in the road segment set, where the projection distance, the projection distance variance value, and the length difference all satisfy the preset matching condition.
Optionally, as shown in fig. 8, the apparatus 500 further includes:
a fourth obtaining module 510, configured to obtain a sixth road segment in the second map that does not exist in the road segment mapping relationship set;
a deleting module 511, configured to delete the sixth road segment in the second map.
Optionally, as shown in fig. 9, the apparatus 500 further includes:
a third generating module 512, configured to generate a mapping relationship between the first road segment and the third road segment;
an adding module 513, configured to add the mapping relationship to the road segment mapping relationship set.
Optionally, as shown in fig. 10, the apparatus 500 further includes:
a fifth obtaining module 514, configured to obtain the first target map and the second target map;
a first dividing module 515, configured to divide the first target map according to a preset area to obtain a plurality of first maps;
the second dividing module 516 is configured to divide the second target map according to the preset area to obtain a plurality of second maps, where the plurality of first maps correspond to the plurality of second maps one to one.
Optionally, as shown in fig. 11, the first generating module 504 may specifically include:
a second obtaining unit 5041, configured to obtain a plurality of second location points on the first segment;
a first generating unit 5042, configured to generate a plurality of third location points where the plurality of second location points match in the second map based on the offset amount;
a second generating unit 5043, configured to generate the third road segment based on the plurality of third location points.
The map updating apparatus 500 can implement each process of the method embodiment in fig. 1 in the embodiment of the present application, and achieve the same beneficial effects, and for avoiding repetition, the details are not repeated here.
Referring to fig. 12, an electronic device 1200 according to an embodiment of the present application further includes a processor 1201, a memory 1202, and a program or an instruction stored in the memory 1202 and executable on the processor 1201, where the program or the instruction when executed by the processor 1201 implements each process of the method embodiment in fig. 1 according to the embodiment of the present application, and can achieve the same technical effect, and therefore, the descriptions thereof are omitted here to avoid repetition.
Those skilled in the art will appreciate that all or part of the steps of the method according to the above embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a readable medium.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the method embodiment in fig. 1 in the embodiment of the present application, and can achieve the same technical effect, and in order to avoid repetition, details are not described here again.
The processor is the processor in the electronic device in the above embodiment. Readable storage media, including computer-readable storage media, such as Read-Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods of the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A map updating method, comprising:
acquiring a road section mapping relation set and a road section node mapping relation set of a first map and a second map, wherein the road section mapping relation set comprises the mapping relation set of matched road sections of the first map and the second map, and the road section node mapping relation set comprises the mapping relation set of matched nodes of the first map and the second map;
acquiring a first node at which a first road section and a second road section are intersected, wherein the first road section is a road section which does not exist in the road section mapping relation set in the first map, and the second road section is a road section which exists in the road section mapping relation set in the first map;
determining a second node matched with the first node in the second map based on the road section node mapping relation set, and calculating the offset of the first node and the second node;
generating a third road segment matched with the first road segment based on the offset;
updating the third route segment into the second map;
the generating a third road segment matched with the first road segment based on the offset comprises:
acquiring a plurality of second position points on the first path segment;
generating a plurality of third location points for which the plurality of second location points match in the second map based on the offset amount;
generating the third road segment based on the plurality of third location points.
2. The method of claim 1, wherein prior to obtaining the set of link maps and the set of link node maps for the first map and the second map, the method further comprises:
establishing a corresponding relation between the road section and the spatial index;
acquiring a spatial index set of a fourth road section in the first map within a preset range;
generating a set of road segments in the second map based on the correspondence and the set of spatial indices;
and determining a fifth road section which meets a preset matching condition in the road section set.
3. The method of claim 2, wherein the determining the fifth road segment of the set of road segments that meets a preset matching condition comprises:
acquiring a plurality of first position points on the fourth road section;
calculating projection distances and projection distance range values of the plurality of first position points to each road section in the road section set, and length differences of the fourth road section and each road section in the road section set;
and determining the fifth road section in the road section set, wherein the projection distance, the projection distance range value and the length difference all meet the preset matching condition.
4. The method of claim 1, wherein the method further comprises:
acquiring a sixth road segment which does not exist in the road segment mapping relation set in the second map;
deleting the sixth road segment in the second map.
5. The method of claim 1, wherein the method further comprises:
generating a mapping relation between the first road section and the third road section;
and adding the mapping relation to the road section mapping relation set.
6. The method of claim 1, wherein prior to obtaining the set of link maps and the set of link node maps for the first map and the second map, the method further comprises:
acquiring a first target map and a second target map;
dividing the first target map according to a preset area to obtain a plurality of first maps;
and dividing the second target map according to the preset area to obtain a plurality of second maps, wherein the plurality of first maps correspond to the plurality of second maps one to one.
7. A map updating apparatus, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a road section mapping relation set and a road section node mapping relation set of a first map and a second map, the road section mapping relation set comprises a mapping relation set of matched road sections of the first map and the second map, and the road section node mapping relation set comprises a mapping relation set of matched nodes of the first map and the second map;
a second obtaining module, configured to obtain a first node where a first road segment and a second road segment intersect, where the first road segment is a road segment that does not exist in the road segment mapping relationship set in the first map, and the second road segment is a road segment that exists in the road segment mapping relationship set in the first map;
a first determining module, configured to determine, based on the road segment node mapping relationship set, a second node in the second map that matches the first node, and calculate an offset between the first node and the second node;
the first generation module is used for generating a third road section matched with the first road section based on the offset;
an update module to update the third route segment into the second map;
the first generation module comprises:
a second obtaining unit, configured to obtain a plurality of second location points on the first segment;
a first generating unit configured to generate a plurality of third location points at which the plurality of second location points match in the second map based on the offset amount;
a second generating unit configured to generate the third link based on the plurality of third location points.
8. An electronic device comprising a processor, a memory, and a program or instructions stored on the memory and executed on the processor, which when executed by the processor, implement the steps of the map updating method of any one of claims 1 to 6.
9. A readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps in the map updating method according to any one of claims 1 to 6.
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| CN106844549A (en) * | 2016-12-30 | 2017-06-13 | 北京掌行通信息技术有限公司 | A kind of electronic map data mapping method and system |
| CN109710708A (en) * | 2018-12-07 | 2019-05-03 | 北京掌行通信息技术有限公司 | A kind of electronic map mapping method and device |
| CN110442589A (en) * | 2019-07-30 | 2019-11-12 | 丰图科技(深圳)有限公司 | A kind of electronic map update method, device and equipment |
| CN110631595A (en) * | 2018-06-25 | 2019-12-31 | 北京嘀嘀无限科技发展有限公司 | Method and system for converting map data, computer device and readable storage medium |
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| JP4903616B2 (en) * | 2007-03-29 | 2012-03-28 | アイシン・エィ・ダブリュ株式会社 | Map update data supply device, map data update system, and map update data supply method |
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| CN106844549A (en) * | 2016-12-30 | 2017-06-13 | 北京掌行通信息技术有限公司 | A kind of electronic map data mapping method and system |
| CN110631595A (en) * | 2018-06-25 | 2019-12-31 | 北京嘀嘀无限科技发展有限公司 | Method and system for converting map data, computer device and readable storage medium |
| CN109710708A (en) * | 2018-12-07 | 2019-05-03 | 北京掌行通信息技术有限公司 | A kind of electronic map mapping method and device |
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Inventor after: Zhang Liang Inventor after: Zhan Pengfei Inventor after: Wu Jian Inventor after: Zhu Ziyu Inventor after: Zhu Liyun Inventor before: Zhan Pengfei Inventor before: Wu Jian Inventor before: Zhu Ziyu Inventor before: Zhu Liyun |