CN113918676B

CN113918676B - Method and device for merging uplink and downlink roads, electronic equipment and storage medium

Info

Publication number: CN113918676B
Application number: CN202111514945.1A
Authority: CN
Inventors: 仲浩宇
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-03-22
Anticipated expiration: 2041-12-13
Also published as: CN113918676A

Abstract

The embodiment of the application provides a method and a device for merging uplink and downlink roads, electronic equipment and a storage medium, which can be applied to the fields of maps and the like, wherein the method comprises the following steps: acquiring road network data, wherein the road network data comprises road types of road connection and connection relations between top points and arc sections; determining road types of road connection corresponding to the arc sections connected with each vertex according to the connection relation between the vertex and the arc sections and the road types of the road connection, and further determining K intersections; aiming at each intersection of the K intersections, a first uplink road and a first downlink road between the intersection and the adjacent intersection are determined, the included angle between the first uplink road and the first downlink road is smaller than a preset value, a closed loop is formed along the driving direction, the first uplink road and the first downlink road are combined into a two-way road, the uplink road and the downlink road are automatically combined into the two-way road, the time consumption is short, the cost is low, and the efficiency is high.

Description

Method and device for merging uplink and downlink roads, electronic equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of intelligent travel, in particular to a method and a device for merging an uplink road and a downlink road, electronic equipment and a storage medium.

Background

The current road network data comprises separated up-road and down-road, but in the actual road network construction process, the separated up-road and down-road in the road network data need to be merged into a bidirectional road according with the actual situation.

At present, the separated up-road and down-road are merged into a bidirectional road by manual revision. However, the manual revision method is time-consuming, high in cost and low in efficiency.

Disclosure of Invention

The embodiment of the application provides an uplink and downlink road merging method, an uplink and downlink road merging device, electronic equipment and a storage medium, so that the cost of merging uplink and downlink roads is reduced, and the efficiency of merging uplink and downlink roads is improved.

In a first aspect, an embodiment of the present application provides a method for merging an uplink road and a downlink road, including:

acquiring road network data, wherein the road network data comprises road types of road connection and a connection relation between a top point and an arc section, and the road types comprise an ascending road and a descending road;

determining the road type of the road connection corresponding to the arc section connected with each vertex according to the connection relation between the vertex and the arc section and the road type of the road connection;

determining K intersections according to the road type of the road connection corresponding to the arc section connected with each vertex, wherein K is a positive integer greater than 1;

and aiming at each intersection in the K intersections, determining a group of first uplink roads and first downlink roads between the intersection and the adjacent intersection, and combining the first uplink roads and the first downlink roads into a bidirectional road, wherein the included angle between the first uplink roads and the first downlink roads is smaller than a preset value, and the first uplink roads and the first downlink roads form a closed loop along the driving direction.

In a second aspect, an embodiment of the present application provides an uplink and downlink road merging device, including:

the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring road network data, and the road network data comprises road types of road connection and a connection relation between a top point and an arc section, wherein the road types comprise an ascending road and a descending road;

the road type determining unit is used for determining the road type of the road connection corresponding to the arc section connected with each vertex according to the connection relation between the vertex and the arc section and the road type of the road connection;

the intersection determining unit is used for determining K intersections according to the road type of the road connection corresponding to the arc section connected with each vertex, and K is a positive integer greater than 1;

and the merging unit is used for determining a group of first uplink roads and first downlink roads between each intersection of the K intersections and the adjacent intersection, and merging the first uplink roads and the first downlink roads into a bidirectional road, wherein an included angle between the first uplink roads and the first downlink roads is smaller than a preset value, and the first uplink roads and the first downlink roads form a closed loop along the driving direction.

In a third aspect, a computing device is provided that includes a processor and a memory. The memory is configured to store a computer program, and the processor is configured to call and execute the computer program stored in the memory to perform the method in the first aspect or each implementation manner thereof.

In a fourth aspect, a chip is provided for implementing the method in any one of the first to second aspects or implementations thereof. Specifically, the chip includes: a processor, configured to call and run a computer program from a memory, so that a device on which the chip is installed performs the method according to any one of the above first aspects or the implementation manners thereof.

In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, the computer program causing a computer to perform the method of any one of the above aspects or implementations thereof.

A sixth aspect provides a computer program product comprising computer program instructions for causing a computer to perform the method of any of the above aspects or implementations thereof.

In a seventh aspect, a computer program is provided, which, when run on a computer, causes the computer to perform the method of any one of the above first aspects or implementations thereof.

In conclusion, the road network data are obtained, and the road network data comprise the road type of road connection and the connection relation between the top point and the arc section; determining the road type of road connection corresponding to the arc section connected with each vertex according to the connection relation between the vertex and the arc section and the road type of the road connection; determining K intersections according to the road type of the road connection corresponding to the arc section connected with each vertex; aiming at each intersection of the K intersections, determining a group of first ascending roads and first descending roads between the intersection and the adjacent intersection, and combining the first ascending roads and the first descending roads into a bidirectional road, wherein the included angle between the first ascending roads and the first descending roads is smaller than a preset value, and the first ascending roads and the first descending roads form a closed loop along the driving direction. The method and the device have the advantages that the upper road and the lower road are automatically combined into the bidirectional road based on the road type of the road connection in the road network data and the connection relation between the top point and the arc section, time consumption is short, cost is low, and efficiency is high. In addition, the problem that the upper and lower lines are not closed or overlapped with each other due to modeling from the original road network data can be effectively solved, and the product quality of the road model produced through automatic three-dimensional modeling is further improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a path planning method according to an embodiment of the present application;

FIG. 3 is a schematic view of the connection of the apex and the arc segment;

FIG. 4A is a diagram illustrating an example of separation at an intersection according to an embodiment of the present application;

FIG. 4B is a diagram illustrating an example of separation at an intersection according to an embodiment of the present application;

FIG. 4C is a diagram illustrating an example of separation at an intersection according to an embodiment of the present application;

FIG. 4D is a diagram illustrating an example of separation at an intersection according to an embodiment of the present application;

FIG. 5A is a schematic view of a local road model generated by modeling when upper and lower roads are not merged;

FIG. 5B is a schematic diagram of a portion of a road network after merging according to an embodiment of the present application;

FIG. 5C is a schematic view of a local road model constructed based on the road network merged in FIG. 5B;

fig. 6A is a diagram illustrating an example of a crossing before separation according to an embodiment of the present application;

FIG. 6B is a diagram illustrating an example of an intersection separation result according to an embodiment of the present disclosure;

fig. 7 is a schematic flow chart of a path planning method according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a search for parallel and merged uplinks according to an embodiment of the present application;

fig. 9 is a schematic flow chart of a path planning method according to an embodiment of the present application;

fig. 10A is a schematic diagram of an uplink merge according to an embodiment of the present application;

fig. 10B is another schematic diagram of an uplink merge according to an embodiment of the present application;

fig. 10C is another schematic diagram of an uplink merge according to an embodiment of the present application;

fig. 11 is a schematic flow chart of a method for merging an uplink road and a downlink road according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an uplink and downlink road merging device according to an embodiment of the present application;

fig. 13 is a schematic block diagram of a computing device provided by an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

The embodiment of the application is applied to the technical field of maps and the like.

It should be understood that, in the present embodiment, "B corresponding to a" means that B is associated with a. In one implementation, B may be determined from a. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

In the description of the present application, "plurality" means two or more than two unless otherwise specified.

In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

In order to facilitate understanding of the scheme of the present application, related concepts related to the embodiments of the present application will be introduced.

SD road network: the standard definition road network data is vector road network data which is used for vehicle navigation, separated up and down and embodies a road hierarchical relationship by using a relative capping relationship.

Road network rn (road network): a graph network including vertices (Node) and arcs (Arc) formed by the connection relationship between the spatial positions of the original road network data and the road connections (link) may be represented as RN = { V, E }, where V refers to a vertex set in the graph network and E refers to an Arc set in the graph network, and an Arc may also be understood as a connection line between two vertices.

Arc: arc segments in road networks, such as Arc in RN, Arc in USN, etc.

Node: and the top points in the road network, such as nodes in RN, nodes in USN and the like.

Road connection: refers to a certain arc segment in the RN, and is used for mathematical formula expression.

An uplink road and a downlink road: two one-way traffic roads formed by connecting and splitting a two-way traffic road are connected, usually in parallel relation and are road connection objects needing to be processed by the method;

road in the road: road connections for connecting up and down roads are usually located at intersections where up and down roads intersect.

ki: degree of ith vertex in RN; uki: degree of ith vertex in USN (Up Search Network, Search Up Network); dki: degree of ith vertex in DSN (Down Search Network, Search Down Network).

Road junction point: and ki >2 vertex in RN.

Route: and a complete road formed by connecting a plurality of roads is specifically referred to as a road connecting two intersection points in the RN.

A Limit: a is a shortest path search algorithm, and Limit means adding a certain traffic Limit in the path searching process.

Fig. 1 is a schematic view of an application scenario in an embodiment of the present application, and as shown in fig. 1, the application scenario includes: a client 101 and a server 102 connected to the client 101.

In some embodiments, the client 101 is installed on a terminal device 103, the terminal device 103 may be a User Equipment (UE), the user terminal may be a wireless terminal device 103 or a wired terminal device, the wireless terminal device may refer to a device having a wireless transceiving function, and the user terminal may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) user device, an Augmented Reality (AR) user device, and the like, which are not limited herein.

In some embodiments, the server 102 may be one or more. When the number of the servers 102 is multiple, at least two servers 102 exist for providing different services, and/or at least two servers 102 exist for providing the same service, for example, the same service is provided in a load balancing manner, which is not limited in the embodiment of the present application. The server 102 may be an independent physical server 102, a server 102 cluster or a distributed system formed by a plurality of physical servers 102, or a cloud server 102 providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), a big data and artificial intelligence platform, and the like. The server 102 may also become a node of the blockchain.

In actual use, the server 102 generates a merged road network according to the method of the embodiment of the present application, and sends the generated merged road network to the client for display.

It should be noted that the application scenarios of the embodiment of the present application include, but are not limited to, that shown in fig. 1, for example, the terminal device may also execute the method for merging the uplink and downlink roads provided by the embodiment of the present application to generate a closed bidirectional road that does not overlap with each other.

The technical solutions of the embodiments of the present application are described in detail below with reference to some embodiments. The following several embodiments may be combined with each other and may not be described in detail in some embodiments for the same or similar concepts or processes.

Fig. 2 is a schematic flow chart of a path planning method according to an embodiment of the present application, as shown in fig. 2, including:

s201, road network data is obtained.

The road network data comprises road types of road connection and connection relations between top points and arc sections.

In some embodiments, the road network data includes SD road network data and RN road network data.

In some embodiments, the road network data may further include other road network data besides SD and RN road network data.

In some embodiments, the connection relationship between the vertex and the arc segment may be an RN network.

The method and the device do not limit the number of road connections, vertexes and arcs included in the road network data, and are determined according to actual conditions.

In some embodiments, the road types of the road connection include an upper road, a lower road, an intra-road, and the like.

S202, determining the road type of the road connection corresponding to the arc section connected with each vertex according to the connection relation between the vertex and the arc section and the road type of the road connection.

In the present application, a connection line between two vertexes in a road network is called an arc segment, and the arc segment corresponds to a road connection, that is, a segment of the arc segment corresponds to a road connection. That is, the road link and the arc segment are two representation methods of a road segment, respectively.

Based on this, for each arc segment in the road network data, for example, the arc segment 1 between the vertex 1 and the vertex 2, where the road connection corresponding to the vertex 1 and the vertex 2 is the road connection 1, the road connection corresponding to the arc segment 1 may be determined as the road connection 1, and the road type of the road connection 1 may be determined as the road type of the road connection corresponding to the arc segment 1.

S203, determining K intersections according to the road type of the road connection corresponding to the arc section connected with each vertex.

Wherein K is a positive integer greater than 1.

Since the road connections included in the intersections are usually roads in roads, based on this, K intersections can be determined according to the road types of the road connections corresponding to the arc segments connected by each vertex. For example, a vertex search is performed, and if the arc segments between adjacent vertices form a closed rectangle or triangle, and the type of the road connected to the road corresponding to each arc segment of the rectangle or triangle is an intra-road, the rectangle or triangle is determined as an intersection.

In some embodiments, the above S203 may be further implemented by the following steps of S203-A1 and S203-A2:

S203-A1, determining the connection attribute mark of each vertex according to the road type of the road connection corresponding to the arc segment connected with the vertex.

The connection attribute mark is used for indicating the number of road connections belonging to different road types in the road connections corresponding to the arc sections connected with the top point.

For example, as shown in fig. 3, the arc segment connected by the vertex a includes an arc segment 1, an arc segment 2, an arc segment 3, and an arc segment 4, where the road corresponding to the arc segment 1 and the arc segment 4 is connected as an intra-road, and the road corresponding to the arc segment 2 and the arc segment 3 is connected as an uplink road. This determines the connection attribute label for vertex 1 as: 2. 2, wherein the first 2 indicates that the number of roads belonging to the intra-road is 2 in the road connection corresponding to each arc segment connected with the vertex a, and the second 2 indicates that the number of roads belonging to the uplink is 2 in the road connection corresponding to each arc segment connected with the vertex a.

In some embodiments, the number of links within a link precedes the number of links up by default in the link attribute flag. In some embodiments, the number of up links may also precede the number of links within a link by default.

In some embodiments, the connection attribute tag comprises a first connection attribute tag and a second connection attribute tag, wherein the first connection attribute tag

And the road connection quantity is used for indicating that the type of the road in the road connection corresponding to the arc section connected with the vertex i is an ascending road or a descending road. Second connection attribute flag

And the method is used for indicating that the road type in the road connection corresponding to the arc section connected with the vertex i is the road connection number of the road in the road.

In some embodiments, the determining the link attribute flag of the vertex according to the link type of the link connection corresponding to the arc segment to which the vertex is connected in S203-a1 includes the following steps S203-a11 and S203-a 12:

S203-A11, determining a road type mark of the arc section according to the road type of the road connection corresponding to the arc section, wherein the road type mark of the arc section is used for indicating the road type corresponding to the arc section;

S203-A12, determining the connection attribute mark of the vertex according to the road type mark of the arc segment connected with the vertex.

In this way, the road type attribute carried in the road connection is used to give a new road type mark to the corresponding arc segment in the RN

。

Exemplarily, if the road type of the road connection is an uplink road or a downlink road, determining that the value of the road type mark of the arc section corresponding to the road connection is a first numerical value;

if the road type of the road connection is an intra-road, or an ascending road and an intra-road, determining that the value of the road type mark of the arc section corresponding to the road connection is a second numerical value;

and if the road type of the road connection is a non-uplink/downlink road and a non-road, determining that the value of the road type mark of the arc section corresponding to the road connection is a third numerical value.

The specific values of the first numerical value, the second numerical value and the third numerical value are not limited in the present application.

Optionally, the first value is 1.

Optionally, the second value is 2.

Optionally, the third value is 0.

I.e. in this example, use

The connection attribute mark of the arc section is represented, if the road connection corresponding to the arc section belongs to an ascending road or a descending road,

= 1; if the road connection belongs to a road within the road,

=2, optionally, if the road connection belongs to the uplink and downlink road and the road in the road at the same time, the attribute value corresponding to the road in the road is used as the standard, that is, the attribute value is used as the standard

And (2). The other roads not belonging to the two types are connected with corresponding arc sections and are arranged

=0。

And then, determining the connection attribute mark of the vertex according to the road type mark of the arc segment connected with the vertex.

For example, as shown in fig. 3, of

arc segments

1, 2, 3 and 4 to which vertex a is connected, arc segment 1

=2, of arc segment 2

=1, of arc segments 3

=1, of arc segments 4

=2, and then determining the connection attribute mark of the vertex a to take the values of 2 and 2, wherein the first 2 represents that the link belongs to the link in the link corresponding to each arc segment connected with the vertex aThe number of inner link connections is 2, and the second 2 indicates that the number of links belonging to the ascending link among the link connections corresponding to the respective arc segments connected to the vertex a is 2.

In some embodiments, if the connection attribute flag includes a first connection attribute flag and a second connection attribute flag, the value of the road type flag in the arc segment connected to the vertex is determined as the number of the arc segments of a first value, and the first value is used to indicate that the road type of the road connection corresponding to the arc segment is an ascending road or a descending road. And determining the arc segment number taking the value of the road type mark in the arc segment connected with the vertex as a second value as the value of a second connection attribute mark of the vertex, wherein the second value is used for indicating that the road type connected with the road corresponding to the arc segment is an intra-road or an ascending road and an intra-road. For example, as shown in FIG. 3, vertex A and two

Arc segment of =2 is connected with two

If the arc segments of =1 are connected, then

=2，

=2。

In some embodiments, the above steps S203-A11 and S203-A12 can calculate, for each vertex in the RN, several roads belonging to the uplink and the downlink in all arcs connected with the vertex

And several roads belonging to the road

These two new attributes are used to assist in the computation of subsequent intersection object identification separate from the intersection object.

And S203-A2, carrying out intersection identification according to the connection attribute mark of each vertex to obtain K intersections.

The implementation manners of the above S203-a2 include, but are not limited to, the following:

the first mode is that the intersection is formed by connecting roads in the road, so that the method can be used according to the following conditions

And determining the intersection by a straight line, a triangle or a rectangle formed by at least two adjacent vertexes which are greater than or equal to 2.

In the second mode, the S203-a2 includes:

S203-A21, selecting P first vertexes with the value of the second connection attribute mark larger than 0 from all vertexes of the road network data, wherein P is a positive integer;

S203-A22, aiming at each first vertex in the P first vertices, taking the first vertex as a starting point, searching a first arc segment in each arc segment connected with the starting point, adding an end point of the first arc segment into a vertex set corresponding to the first vertex, taking the end point of the first arc segment as a new starting point, continuing to circularly search until the first vertex is searched, and obtaining a vertex set corresponding to the first vertex,

and the first arc section is an arc section with a starting point as a starting point, the value of the road type mark is a second numerical value, and the values of the first connection attribute mark and the second connection attribute mark at the end point of the first arc section are both greater than 0.

This step can be understood as the process of intersection object identification, which aims to find all the continuous vertex sets distributed at the intersection in the road networkSet _NThe basic processing process comprises the following steps:

step 1, selecting a second connection attribute mark from each vertex of the road network data

P first vertices with a value of greater than 0;

step 2, for any one first vertex Ni in the P first vertices, using the first vertex NiGenerating a vertex set with vertex Ni as centerSet _N(ii) a For example, vertices within a distance of L from the first vertex Ni;

step 3, along with Ni and

= second value (e.g. second value)

= 2) the first arc segment begins to expand all around, if the end point N of the first arc segment is_endIs/are as follows

>0 and

>0, then N is_endAdding the vertex set corresponding to the first vertexSet _NPerforming the following steps;

step 4, taking the end point of the first arc segment as a new starting point, continuing to execute the step 3 until the first vertex Ni is searched, and obtaining a vertex set corresponding to the first vertex NiSet _N。

And 5, returning to execute the step 2 until the P first vertexes are traversed to obtain vertex sets corresponding to the P first vertexes.

In some embodiments, if the vertex sets corresponding to different first vertices in the P first vertices are the same, the duplicate vertex sets are deleted.

Illustratively, as shown in FIG. 3, 4 vertices in the graph are each added to the vertex ASet _NBecomes a vertex cluster.

S203-A23, obtaining K intersections according to the vertex sets corresponding to the P first vertices.

The implementation manners of the above S203-a23 include, but are not limited to, the following manners:

in the first mode, if the number of vertices included in the vertex set corresponding to the first vertex is less than or equal to 4, an intersection is formed according to the vertex set corresponding to the first vertex.

In the second mode, if the number of the vertexes included in the vertex set corresponding to the first vertex is greater than 4, the vertex set corresponding to the first vertex is split into at least two intersections according to the connection attribute mark of each vertex in the vertex set corresponding to the first vertex.

In the normal case, a plurality of separate up-and-down roads are generated

>The vertex set composed of the vertices of 0 may be combined by calculating the optimal midpoints thereof, but in an urban road network, the vertex set is usually a combination of a plurality of neighboring intersections. When in useSet _NWhen the number of the vertexes is less than 5, directly generating an intersection object C₀When is coming into contact withSet _NWhen the number of the middle vertexes is more than 4, the intersection objects need to be separated according to a certain rule so as to ensure that the topological form of the merged road is correct.

Example 1, if the vertex set corresponding to the first vertex includes 5 vertices, the 5 vertices corresponding to the first vertex are split into a triangle intersection and a straight intersection according to the connection attribute labels of the 5 vertices.

The triangular intersection comprises three vertexes, and the straight intersection comprises two vertexes.

For example, as shown in fig. 4A, according to the connection attribute labels of the 5 vertices, the 5 vertices corresponding to the first vertex are split into a triangle intersection and a straight intersection.

In a specific implementation manner, the connection relationship between 5 vertexes is determined according to the connection attribute marks of the 5 vertexes, and then the 5 vertexes are split into a triangular intersection and a straight intersection according to the connection relationship between the 5 vertexes.

In another specific implementation manner, according to the connection attribute marks of the 5 vertexes, two vertexes with the value of 3 of the second connection attribute mark in the 5 vertexes and one vertex respectively connected with the two vertexes form a triangular intersection; and (4) forming a straight line intersection by two vertexes except the vertex corresponding to the triangular intersection in the 5 vertexes.

Example 2, if the vertex set corresponding to the first vertex includes 6 vertices, the 6 vertices corresponding to the first vertex are split into a straight intersection and a rectangular intersection according to the connection attribute labels of the 6 vertices.

Wherein the rectangular intersection comprises four vertices.

For example, as shown in fig. 4B, according to the connection attribute labels of the 6 vertices, the 6 vertices corresponding to the first vertex are split into a straight intersection and a rectangular intersection.

In a specific implementation manner, according to the connection attribute marks of the 6 vertexes, the connection relationship between the 6 vertexes is determined, and then according to the connection relationship between the 6 vertexes, the 6 vertexes are split into a straight line intersection and a rectangular intersection.

In another specific implementation manner, according to the connection attribute marks of the 6 vertexes, two vertexes, which have a value of 3, of the second connection attribute marks in the 6 vertexes are connected to form a second arc segment; using the remaining 4 vertexes of the 6 vertexes to form two third arc sections which are respectively parallel to the second arc sections, wherein each third arc section is formed by connecting two vertexes; connecting the starting vertex of the target third arc section which is closest to the road grade of the second arc section in the two third arc sections with the ending vertex of the second arc section, and connecting the ending vertex of the target third arc section with the starting vertex of the second arc section to form a rectangular intersection; and forming a straight line intersection by using a third arc section except the target third arc section in the two third arc sections.

Example 3, if the vertex set corresponding to the first vertex includes 7 vertices, the 7 vertices corresponding to the first vertex are split into one triangle intersection and two straight line intersections according to the connection attribute labels of the 7 vertices.

For example, as shown in fig. 4C, according to the connection attribute labels of the 7 vertices, the 7 vertices corresponding to the first vertex are split into a triangle intersection and two straight line intersections.

In a specific implementation manner, according to the connection attribute marks of 7 vertices, the connection relationship between the 7 vertices is determined, and then according to the connection relationship between the 7 vertices, the 7 vertices are split into a triangular intersection and two straight line intersections.

In another specific implementation mode, according to the connection attribute marks of 7 vertexes, three vertexes, the values of which are greater than 2, of the second connection attribute marks in the 7 vertexes are connected to form a triangular intersection; and connecting two vertexes, with the values equal to 2, of the two second connection attribute marks positioned on the left side of the triangular intersection to form a straight intersection, and connecting two vertexes, with the values equal to 2, of the two vertexes to form another straight intersection.

Example 4, if the vertex set corresponding to the first vertex includes 8 vertices, the 8 vertices corresponding to the first vertex are split into one rectangular intersection and two straight intersections according to the connection attribute labels of the 8 vertices.

For example, as shown in fig. 4D, according to the connection attribute labels of 8 vertices, the 8 vertices corresponding to the first vertex are split into a rectangular intersection and two straight intersections.

In a specific implementation manner, according to the connection attribute marks of 8 vertices, the connection relationship between the 8 vertices is determined, and then according to the connection relationship between the 8 vertices, the 8 vertices are split into a rectangular intersection and two straight line intersections.

In another specific implementation manner, according to the connection attribute marks of 8 vertexes, four vertexes with the value of a second connection attribute mark larger than 2 in the 8 vertexes form a rectangular intersection; and connecting two vertexes, of the 8 vertexes, of which the values of the two second connection attribute marks on the left side of the rectangular intersection are equal to 2, to form a straight intersection, and connecting two vertexes, of which the values of the two second connection attribute marks on the right side of the rectangular intersection are equal to 2, to form another straight intersection.

After completion of the separation of the intersection objects, each intersection C₀Will only consist of 2, 3 or 4

>The vertex of 0.

According to the method, K intersections are obtained based on the road network data. Next, the following step S204 is executed.

S204, aiming at each intersection in the K intersections, determining a group of first uplink roads and first downlink roads between the intersection and the adjacent intersection, and combining the first uplink roads and the first downlink roads into a bidirectional road.

The included angle between the first ascending road and the first descending road is smaller than a preset value, and the first ascending road and the first descending road form a closed loop along the driving direction.

The angle between the first ascending road and the first descending road is smaller than the preset value, which can be understood as that the first ascending road and the first descending road are parallel or approximately parallel.

Aiming at each intersection in K intersections, in the road network data, starting from the top point of the intersection, searching for an ascending road and a descending road between the intersection and an adjacent intersection, judging whether an included angle between the ascending road and the descending road between the intersection and the adjacent intersection is smaller than a preset value or not, judging whether a first ascending road and a first descending road form a closed loop along the driving direction or not, if the included angle between the ascending road and the descending road between the intersection and the adjacent intersection is smaller than the preset value and the ascending road and the descending road form the closed loop along the driving direction, judging that the ascending road and the descending road meet a merging condition, recording the ascending road as a first ascending road, and recording the descending road as a first descending road. Then, the first ascending road and the first descending road are combined into a bidirectional road.

The technical efficiency of the embodiments of the present application will be further described below by comparing the embodiments of the present application with the prior art.

Fig. 5A is a schematic view of a local road model generated by modeling when upper and lower roads are not merged, and as shown in fig. 5A, when road width expansion modeling is performed on the basis of an un-merged separated upper and lower road network, an unacceptable gap is generated between road connections, and the gap is inconsistent with an actual state of a city road, and a solid line used for separating the middle of the upper and lower roads cannot be drawn in the modeling process.

Fig. 5B is a schematic diagram of a part of a road network after merging in the embodiment of the present application, as shown in fig. 5B, the present application performs merging operations of an uplink road and a downlink road based on the urban level SD road network data, and as shown by thick lines in fig. 5B, merges two road connections separated in the uplink and the downlink into a complete road connection. When the road width expansion modeling is performed on the basis of the merged uplink road, as shown in fig. 5C, the separated uplink and downlink road is changed into a complete uplink and downlink road, so that the real form of the urban road network is ensured.

In other words, according to the embodiment of the application, by using the effective information such as the road attributes (up-down roads and roads in roads) of the road network data (for example, the SD road network) and combining the complex network and the topology detection related algorithm, the full-automatic up-down recovery of the roads of the road connection network with the urban level of more than hundred thousand orders of magnitude can be realized, the overall recovery effect is good, the processing efficiency is high, the time consumption is short, the cost is low, and the efficiency is high.

In addition, the problem that the original road network data are modeled to cause the separation of the upper and lower lines and the problem of the mutual overlapping can be effectively avoided through the processing of the method, and the product quality of the road model produced through automatic three-dimensional modeling is further improved.

In some embodiments, in order to facilitate determining whether the first uplink road and the first downlink road are closed, before S204, the present application further includes a step of merging intersection points, specifically,

s204-01, aiming at each intersection in the K intersections, determining the central point of each vertex corresponding to the intersection as a merging point of the intersections;

and S204-02, merging the vertexes corresponding to the intersections to merging points of the intersections to obtain the intersections after merging. For example, all are mixed with C₀With middle vertices connected

Is not equal to 2 and end point Ne is not in C₀The arc segment in (b) is connected to the merging point Nc.

For example, if intersection C₀When the number of the vertexes is equal to 2 or 4, the X and Y coordinates of all the vertexes can be directly averaged, and the intersection C can be obtained₀The center position of the merging point Nc of (b).

As another example, when C₀When the number of the middle vertices is 3, the direct averaging will cause the whole center point to shift downward, so the following middle point operation strategy is applied to ensure the accuracy of the center point position: (1) finding the connections to each vertex in turn

Two arc segments of =1, if there are no two, skipping the vertex; (2) selecting the vertex with the minimum included angle of the straight lines of the two arc sections as a core point of the triangle; (3) making a perpendicular line to the alignment straight line at the core point, and selecting the center point of the perpendicular line as C₀The center point of (a). The intersection before merging is shown in fig. 6A, and the merging result after intersection merging is shown in fig. 6B.

In some embodiments, the above S204-02 includes: and connecting the fourth arc segment connected with the top point in the top point set corresponding to the intersection to the merging point of the intersection, and deleting other arc segments connected with the top point of the intersection to obtain the merged intersection.

The fourth arc segment is connected with the top point of the intersection, the value of the road type mark is not equal to the second value, and the end point does not belong to the top point set corresponding to the intersection.

On the basis of intersection merging, the S204 comprises S204-A and S204-B:

S204-A, starting from a first merging point of the merged intersection, searching to obtain a group of first ascending roads and first descending roads between the first merging point and a second merging point of the merged adjacent intersection;

and S204-B, merging the group of first ascending roads and the first descending roads into a bidirectional road.

For convenience of description, in the present application, a merging point of a currently studied intersection among the K intersections is denoted as a first merging point, and a merging point of an intersection adjacent to the intersection is denoted as a second merging point.

According to the method and the device, after the intersection point merging process, the connectivity between the uplink road and the downlink road is remarkably increased, namely, starting from one merging point (such as a first merging point), another merging point (such as a second merging point) can be found along the uplink road or the downlink road, and meanwhile, a one-way returned Route can also be found. Parallel closed loop detection, namely an optimal uplink and downlink searching algorithm based on direction extension weight is combined with an A-shortest path searching algorithm to find a first uplink road and a first downlink road similar to the parallel closed loop shown in figure 7 in the large-scale urban road network, and subsequent merging is executed based on the parallel closed loop.

In some embodiments, as shown in FIG. 7, the above-mentioned S204-A includes the following steps S204-A1 through S204-A4:

and S204-A1, determining the starting point as the end point of the initial arc segment of the first merging point as the first vertex.

And S204-A2, judging whether the value of the second connection attribute mark of the first vertex is equal to 2 or not, or whether the value of the second connection attribute mark of the first vertex is equal to 2 and whether a preset parallel condition is met between the first merging point and the first vertex or not. If not, the step of S204-A3 is executed, and if yes, the step of S204-A5 is executed.

And S204-A3, if the value of the second connection attribute mark of the first vertex is not equal to 2, or the value of the second connection attribute mark of the first vertex is equal to 2 and the preset parallel condition is not satisfied between the first merging point and the first vertex, selecting a target arc segment from arc segments which are connected with the first vertex and the starting point of which is the first vertex.

In some embodiments, if the value of the second connection attribute flag of the first vertex is equal to 2 and the preset parallel condition is satisfied between the first merging point and the first vertex, it is determined that a group of first ascending roads and first descending roads are formed between the first merging point and the first vertex.

The parallel condition is not limited in the present application, for example, an arc segment between the first merging point and the first vertex is substantially parallel to an arc segment between the first vertex and the first merging point, for example, an included angle is smaller than a certain preset value.

In one example, the parallelism condition includes a ratio of a shortest path between the first merging point and the first vertex to a shortest path between the first vertex and the first merging point, which is greater than or equal to a preset threshold.

For example, the parallel condition can be expressed by the following formula (1):

（1）

wherein R is_fFor the section of road between the first merging point to the first vertex, R_bFor the section between the first vertex and the first merging point, D (R)_f) Sign path R_fThe shortest distance of D (R)_b) Sign path R_bThe shortest distance of the first and second electrodes,DP _limtrepresenting a preset threshold.

Optionally, the preset threshold is [0.8,0.9 ].

In some embodiments, from the arc segments connected to the first vertex and starting from the first vertex, the arc segments that are feasible and have a direction substantially consistent with the direction of the initial arc segment are selected as the target arc segment.

In some embodiments, from the arc segments with the starting point as the first vertex, the arc segment which can pass through and has the smallest included angle of the straight line between the direction angle and the direction angle of the initial arc segment is selected as the target arc segment.

And S204-A4, if the end point of the target arc segment meets the preset condition, taking the end point of the target arc segment as a new first vertex, taking the target arc segment as a new initial arc segment, returning to S204-A2 to continue searching until the value of the second connection attribute mark of the first vertex is equal to 2 and the parallel condition is met between the first merging point and the first vertex.

In some embodiments, if the end point of the target arc segment does not satisfy the preset condition, the search of the first uplink segment or the first downlink segment from the initial arc segment is skipped.

The present application does not limit the preset conditions.

For example, the preset condition includes that the shortest path between the first merging point and the end point of the target arc segment is larger than the shortest path between the first merging point and the first vertex.

For another example, the preset condition includes that an included angle between a direction angle of the target arc segment and a direction angle of the initial arc segment is smaller than a preset angle value.

For another example, the preset conditions include that the shortest path between the first merging point and the end point of the target arc segment is greater than the shortest path between the first merging point and the first vertex, and an included angle between the direction angle of the target arc segment and the direction angle of the initial arc segment is smaller than a preset angle value.

Optionally, the preset angle value is 90 degrees.

And S204-A5, determining the first vertex as a second merging point, and obtaining a group of first ascending roads and first descending roads formed between the first merging point and the second merging point.

In a specific embodiment, as shown in fig. 8, the step S204-a includes the following steps:

step 21, processing the newly generated merging points Nc in RN in sequence, if the non-selected Nc exists, turning to step 22, otherwise, jumping out;

step 22, for each Nc extending along the passable arc segment directly connected with the Nc, recording the current arc segment A_nowAngle of direction of

，

Is marked as N_now。

Step 23, when

Distance check is performed when =2, and the algorithm edge is used

Arc segment calculation of =1 from Nc to N_nowShortest path and N_nowShortest path R to Nc_b。

If R is_fAnd R_bWhen the two routes exist and meet the formula (1), the two routes are considered to have the parallel characteristic, and if the distance verification is successful, N is indicated_nowForming a set of parallel closed loops with Nc, executing the subsequent merging procedure and turning to step 21, otherwise turning to step 24, that is (

Not equal to 2) or

=2 and the check failed) goes to step 24.

Step 24, the purpose is to find the next one that can be N_nowSo looking at all and N_nowAre connected and have a starting point N_nowThe arc segment of (2) selects an optimal vertex N according to the following rule_next，N_nowAnd N_nextThe arc segment between is called A_next：

a，A_nextIs a traversable arc segment;

b，

and

the included angle of the straight lines is minimum.

Step 25, select N_nextThen, the N is measured and calculated according to the following distance and angle conditions_nextWhether it is valid.

Distance conditions: if it is

。

The angle condition is as follows:

and

is greater than 90 deg.

If then N_nextWhen the above distance or angle condition is satisfied, N is indicated_nextIf the detection is invalid, the closed loop detection starting from the arc segment is abandoned, and the step 22 is returned; otherwise N_now=N_next，A_now=A_nextTurning to step 23, the process continues to be executed to obtain a first up road and a first down road which are parallel and closed.

According to the steps, a first up-link and a first down-link which are parallel and closed between the two merging points can be obtained. Then, the step of S204-B is executed to merge a set of parallel and closed first ascending roads and first descending roads into a bidirectional road.

In some embodiments, as shown in fig. 9 and 10A, the above S204-B includes the following steps:

and S204-B1, determining a straight line connecting line between the first merging point and the second merging point.

S204-B2, determining the footholds of the vertexes of the ascending road and the descending road on the straight line connecting line, and sequencing the vertexes of the ascending road and the descending road according to the distance from the footholds to the first merging point and the sequence from small to large to obtain the sequenced vertexes.

And S204-B3, selecting the first vertex from the sorted vertexes as an initial vertex.

And S204-B4, determining a projection point from the initial vertex to the alignment road, taking the projection point and the central point of the initial vertex as a new road connection shape point, and connecting the shape point and the previous shape point to form a merging arc segment.

S204-B5, selecting the next vertex from the sorted vertexes as the initial vertex.

And S204-B6, judging whether the initial vertex is the last vertex in the sorted vertexes. If not, returning to execute S204-B4 until the last vertex in the sorted vertices is visited, and obtaining the final merged arc segment. The final merged arc is Route, which consists of multiple arcs. If the initial vertex is the last vertex of the sorted vertices, S204-B7 is performed.

Wherein the initial shape point of the new road connection is the first merging point.

In some embodiments, before connecting the shape point with the previous shape point to form the merged arc segment, the method further includes a step of deleting the redundant arc segment, which specifically includes the following examples:

as an example, as shown in fig. 10B and 10C, if there is a fifth arc segment in the arc segments connected to the initial vertex, the fifth arc segment is connected to the shape point corresponding to the initial vertex, and the other arc segments except the fifth arc segment in the arc segments connected to the initial vertex are deleted. And the fifth arc segment is an arc segment with a starting point as an initial vertex and an end point not belonging to the road where the initial vertex is located.

In example two, if the fifth arc segment does not exist in the arc segments connected to the initial vertex, the arc segments connected to the initial vertex are deleted.

And S204-B7, obtaining the bidirectional road according to the final combined arc segment.

Illustratively, the two-way road after the first uplink road and the first downlink road are merged is obtained according to the road information of the first uplink road and the first downlink road and the final merging arc.

For example, the final merged arc segment is filled according to the road connection information such as the number of lanes corresponding to the first ascending road and the first descending road, so as to obtain the merged bidirectional road shown in fig. 5C.

In a specific embodiment, the step S204-B includes the following steps:

step 31, a first merging point Nc and a second merging point N_nextIs connected by a straight line oflcnFirst ascending road R from the first merging point to the second merging point_fThe sequence of the middle vertex isNL _fFirst down road R_bThe reverse vertex sequence in (1) isNL _b(ii) a Recording the initial vertex as N_temp=Nc。

Step 32, processing in order from the beginningNL _fAndNL _bthe vertex in (1), calculate N_f，N_bTo the direction oflcnVertical point distance N_nextIs selected to process vertices with vertical distances farther away, assuming N is selected here_f。

It should be noted that two vertical points should be merged into a vertex if the distance between the two vertical points is too close.

Step 33, calculate N_fThe position is projected to the position N of the original fold line (namely, the first downlink) of the counterpoint_lCalculating N_fAnd N_lAs a shape point N of the new merged road connection_new。

Step 34, compare all with N_fThe terminating vertex in the connecting arc segment is not located at R_fAll arc segments in (1) are transferred and connected to N_newAnd deleting all the rest arc segments.

For example, in fig. 10B, the second vertex on the first downlink is connected with the arc segment not belonging to the first uplink and the first downlink, so that the arc segment connected at the second vertex is connected to the shape point corresponding to the second vertex, and other arc segments connected to the second vertex are deleted, as in fig. 10C.

In some embodiments, in order to further improve the accuracy of the generated merged road, the present application also deletes the repeated road connection in the generated bidirectional road.

The purpose of deleting the duplicate link connection is to delete some objects which are not marked as intra-link links and need to be deleted due to the merging of the uplink and the downlink but cannot be deleted effectively in the above flow. Generally, the road connection needing to be deleted can generate a severe intersection condition with newly generated uplink and downlink roads, and topological conflict interference is generated on subsequent three-dimensional modeling.

The manner of deleting duplicate road connections includes deleting redundant road connections and/or deleting self-intersecting road connections.

Wherein deleting redundant road connections comprises deleting road connections with the same starting point and ending point in the bidirectional road. Namely, the arc segments with completely identical head and tail vertexes after the merging operation is completed are deleted, which generally shows that the road connections in the output road network data are completely overlapped.

And deleting the self-intersection road connection, namely deleting the road connection which has the same head and tail vertexes after the operation is finished and has the intersection problem between the original road belonging to the road and the newly generated road connection. The detection of the connection of the self-intersection road is also detected by an A-Limit algorithm, and the principle is that when a Route with the length smaller than that of the current arc section exists between the head and tail vertexes Ns and Ne of the arc section in the RN along the newly generated road, the current arc section is the self-intersection arc section and needs to be deleted in the RN.

According to the method for merging the uplink and the downlink roads provided by the embodiment of the application, road network data are obtained, and the road network data comprise road types of road connection and connection relations between top points and arc sections; determining the road type of road connection corresponding to the arc section connected with each vertex according to the connection relation between the vertex and the arc section and the road type of the road connection; determining K intersections according to the road type of the road connection corresponding to the arc section connected with each vertex; and aiming at each intersection of the K intersections, determining a group of first ascending roads and first descending roads between the intersection and the adjacent intersection, wherein the included angle between the first ascending road and the first descending road is smaller than a preset value, the first ascending road and the first descending road form a closed loop along the driving direction, and finally combining the first ascending road and the first descending road into a bidirectional road. The method and the device have the advantages that the upper road and the lower road are automatically combined into the bidirectional road based on the road type of the road connection in the road network data and the connection relation between the top point and the arc section, time consumption is short, cost is low, and efficiency is high. In addition, the problem that the upper and lower lines are not closed or overlapped with each other due to modeling from the original road network data can be effectively solved, and the product quality of the road model produced through automatic three-dimensional modeling is further improved.

Fig. 11 is a schematic flow chart of a method for merging uplink and downlink roads according to an embodiment of the present application, and it can be understood that the embodiment shown in fig. 11 is a specific implementation manner of the embodiment shown in fig. 2. As shown in fig. 11, includes:

s301, road network data is obtained.

The road network data comprises road types of road connection and the connection relation between a top point and an arc section, wherein the road types comprise an ascending road and a descending road.

S302, determining the road type of the road connection corresponding to the arc section connected with each vertex according to the connection relation between the vertex and the arc section and the road type of the road connection.

Specifically, the description of S202 is referred to above and will not be repeated herein.

And S303, aiming at each vertex, determining a road type mark of the arc section according to the road type connected with the road corresponding to the arc section connected with the vertex.

Reference is made specifically to the description of S203-a11 above, which is not repeated here.

S304, determining the connection attribute mark of the vertex according to the road type mark of the arc segment connected with the vertex.

For example, if the connection attribute flag includes a first connection attribute flag and a second connection attribute flag, the value of the road type flag in the arc segment to which the vertex is connected is determined as the number of the arc segments of the first numerical value, and the value of the first connection attribute flag of the vertex is determined. And determining the number of the arc sections with the value of the road type mark in the arc section connected with the vertex as a second numerical value as the value of a second connection attribute mark of the vertex.

Reference is made specifically to the description of S203-a12 above, which is not repeated here.

S305, carrying out intersection identification according to the connection attribute mark of each vertex to obtain K intersections.

This step can be understood as intersection identification.

For example, first, P first vertices with the value of the second connection attribute mark larger than 0 are selected from the vertices of the road network data; and aiming at each first vertex in the P first vertices, searching a first arc segment in each arc segment connected with the starting point by taking the first vertex as the starting point, adding the end point of the first arc segment into a vertex set corresponding to the first vertex, taking the end point of the first arc segment as a new starting point, and continuing to circularly search until the first vertex is searched to obtain the vertex set corresponding to the first vertex.

And then, obtaining K intersections according to the vertex sets corresponding to the P first vertices.

For example, if the number of vertices included in the vertex set corresponding to the first vertex is less than or equal to 4, then an intersection is formed according to the vertex set corresponding to the first vertex;

for another example, if the number of vertices included in the vertex set corresponding to the first vertex is greater than 4, the vertex set corresponding to the first vertex is split into at least two intersections according to the connection attribute flag of each vertex in the vertex set corresponding to the first vertex. This step can be understood as intersection separation.

Reference is made specifically to the description of S203-a2 above, which is not repeated here.

S306, aiming at each intersection in the K intersections, determining the central point of each vertex corresponding to the intersection as a merging point of the intersections; and merging the vertexes corresponding to the intersections to merging points of the intersections to obtain the intersections after merging.

This step can be understood as intersection merging.

Reference is made specifically to the description of S204-01 and S204-02 above, which are not repeated herein.

S307, starting from the first merging point of the merged intersection, searching to obtain a group of first ascending roads and first descending roads between the first merging point and the second merging point of the merged adjacent intersection.

This step can be understood as parallel closed loop detection.

Specifically, the description of S204-a is not repeated herein.

And S308, combining the first ascending road and the first descending road into a bidirectional road.

This step may be understood as a combination of geometrical and/or attribute information of the uplinks.

Specifically, the description of S204-B is not repeated herein.

And S309, deleting repeated road connection in the bidirectional road.

For example, ways to delete duplicate link connections include deleting redundant link connections and/or deleting self-intersecting link connections.

According to the method for merging the uplink and the downlink roads provided by the embodiment of the application, basic attributes such as road types, road grades, road and lane numbers and the like which are clearly identified in road network data (for example, SD standard definition navigation data) are used, a sparse complex network object is constructed based on the data, a junction identification separation method and a path searching method are combined to automatically search a combinable uplink and downlink road closed loop in an RN, and geometric and attribute combination is executed based on two parallel routes forming the closed loop. According to the method and the device, the merging of the upstream road and the downstream road of the urban level road network data can be completed on the premise that the topological relation of the original road network is not destroyed, the correctness of geometry and attributes is guaranteed, the consumed time is short, the cost is low, and the efficiency is high. In addition, the problem that the upper and lower lines are separated and are not closed or overlapped with each other due to modeling from the original road network data can be effectively solved, and the product quality of the road model produced through automatic three-dimensional modeling is further improved.

The preferred embodiments of the present application have been described in detail with reference to the accompanying drawings, however, the present application is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application. For example, the various features described in the foregoing detailed description may be combined in any suitable manner without contradiction, and various combinations that may be possible are not described in this application in order to avoid unnecessary repetition. For example, various embodiments of the present application may be arbitrarily combined with each other, and the same should be considered as the disclosure of the present application as long as the concept of the present application is not violated.

It should also be understood that, in the various method embodiments of the present application, the sequence numbers of the above-mentioned processes do not imply an execution sequence, and the execution sequence of the processes should be determined by their functions and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Method embodiments of the present application are described in detail above in conjunction with fig. 2-11, and apparatus embodiments of the present application are described in detail below in conjunction with fig. 12-13.

Fig. 12 is a schematic structural diagram of an uplink and downlink road merging device according to an embodiment of the present application. The uplink and downlink road merging device may be a computing device, or may be a component (e.g., an integrated circuit, a chip, or the like) of the computing device, and the computing device may be a server shown in fig. 1, or may be a terminal device shown in fig. 1.

As shown in fig. 12, the up-down road merging device 10 includes:

the acquiring unit 11 is configured to acquire road network data, where the road network data includes road types of road connection and a connection relationship between a vertex and an arc segment, where the road types include an ascending road and a descending road;

the road type determining unit 12 is configured to determine a road type of road connection corresponding to the arc segment to which each vertex is connected according to the connection relationship between the vertices and the arc segments and the road type of the road connection;

the intersection determining unit 13 is configured to determine K intersections according to the road type of the road connection corresponding to the arc segment to which each vertex is connected, where K is a positive integer greater than 1;

a merging unit 14, configured to determine, for each intersection of the K intersections, a group of first uplink roads and first downlink roads between the intersection and an adjacent intersection, and merge the first uplink roads and the first downlink roads into a bidirectional road, where an included angle between the first uplink roads and the first downlink roads is smaller than a preset value, and the first uplink roads and the first downlink roads form a closed loop along a driving direction.

In some embodiments, the intersection determining unit 13 is configured to determine, for each vertex, a connection attribute flag of the vertex according to a road type of a road connection corresponding to an arc segment to which the vertex is connected, where the connection attribute flag is used to indicate the number of road connections belonging to different road types in the road connections corresponding to the arc segments connected to the vertex; and identifying intersections according to the connection attribute marks of each vertex to obtain the K intersections.

In some embodiments, the intersection determining unit 13 is specifically configured to determine a road type flag of an arc segment according to a road type of a road connection corresponding to the arc segment, where the road type flag of the arc segment is used to indicate the road type corresponding to the arc segment; and determining the connection attribute mark of the vertex according to the road type mark of the arc segment connected with the vertex.

In some embodiments, the connection attribute flag comprises a first connection attribute flag and a second connection attribute flag, and the intersection determination unit 13 is specifically configured to

Determining the number of arc sections with the value of a road type mark in the arc section connected with the vertex as a first numerical value as the value of a first connection attribute mark of the vertex, wherein the first connection attribute mark is used for indicating the number of the uplink roads or the downlink roads in the road connection corresponding to the arc section connected with the vertex, and the first numerical value is used for indicating the number of the uplink roads or the downlink roads in the road connection corresponding to the arc section;

and determining the number of the arc sections with the value of the road type mark in the arc section connected with the vertex as a second value as the value of a second connection attribute mark of the vertex, wherein the second connection attribute mark is used for indicating the number of the road types in the road connection corresponding to the arc section connected with the vertex as the road-in-road, and the second value is used for indicating the road type of the road connection corresponding to the arc section as the road-in-road, or as the ascending road and the road-in-road.

In some embodiments, the intersection determining unit 13 is specifically configured to select P first vertices, where a value of a second connection attribute flag is greater than 0, from the vertices of the road network data, where P is a positive integer; aiming at each first vertex in the P first vertices, searching a first arc segment in each arc segment connected with the starting point by taking the first vertex as the starting point, adding the end point of the first arc segment into a vertex set corresponding to the first vertex, taking the end point of the first arc segment as a new starting point, and continuing to circularly search until the first vertex is searched to obtain the vertex set corresponding to the first vertex, wherein the first arc segment is an arc segment of which the starting point is the starting point, the value of the road type mark is a second numerical value, and the values of the first connection attribute mark and the second connection attribute mark of the end point of the first arc segment are both greater than 0; and obtaining the K intersections according to the vertex sets corresponding to the P first vertices.

In some embodiments, the intersection determining unit 13 is specifically configured to, if the number of vertices included in the vertex set corresponding to the first vertex is less than or equal to 4, form an intersection according to the vertex set corresponding to the first vertex;

and if the number of the vertexes included in the vertex set corresponding to the first vertex is more than 4, splitting the vertex set corresponding to the first vertex into at least two intersections according to the connection attribute mark of each vertex in the vertex set corresponding to the first vertex.

In some embodiments, the intersection determining unit 13 is specifically configured to split, if the vertex set corresponding to the first vertex includes 5 vertices, the 5 vertices corresponding to the first vertex into a triangular intersection and a straight intersection according to the connection attribute labels of the 5 vertices, where the triangular intersection includes three vertices, and the straight intersection includes two vertices;

if the vertex set corresponding to the first vertex comprises 6 vertices, splitting the 6 vertices corresponding to the first vertex into a straight line intersection and a rectangular intersection according to the connection attribute marks of the 6 vertices, wherein the rectangular intersection comprises four vertices;

if the vertex set corresponding to the first vertex comprises 7 vertices, splitting the 7 vertices corresponding to the first vertex into a triangular intersection and two straight line intersections according to the connection attribute marks of the 7 vertices;

if the vertex set corresponding to the first vertex comprises 8 vertices, splitting the 8 vertices corresponding to the first vertex into a rectangular intersection and two straight line intersections according to the connection attribute marks of the 8 vertices.

In some embodiments, the intersection determining unit 13 is specifically configured to, according to the connection attribute marks of the 5 vertices, configure two vertices, of the 5 vertices, where a value of the second connection attribute mark is 3, and one vertex connected to the two vertices, respectively, to form a triangular intersection;

and forming a straight line intersection by two vertexes except the vertex corresponding to the triangular intersection in the 5 vertexes.

In some embodiments, the intersection determining unit 13 is specifically configured to connect two vertexes, which take a value of 3, of the second connection attribute marks in the 6 vertexes according to the connection attribute marks of the 6 vertexes, so as to form a second arc segment;

using the remaining 4 vertexes of the 6 vertexes to form two third arc sections which are respectively parallel to the second arc sections, wherein each third arc section is formed by connecting two vertexes;

connecting the starting vertex of a target third arc segment which is closest to the road grade of the second arc segment in the two third arc segments with the ending vertex of the second arc segment, and connecting the ending vertex of the target third arc segment with the starting vertex of the second arc segment to form a rectangular intersection;

and forming a straight line intersection by using a third arc section except the target third arc section in the two third arc sections.

In some embodiments, the intersection determining unit 13 is specifically configured to, according to the connection attribute marks of the 7 vertices, connect three vertices, of which the value of the second connection attribute mark is greater than 2, of the 7 vertices to form a triangular intersection;

and connecting two vertexes, of the 7 vertexes, of which the values of the two second connection attribute marks on the left side of the triangular intersection are equal to 2, to form a straight intersection, and connecting two vertexes, of which the values of the two second connection attribute marks on the right side of the triangular intersection are equal to 2, to form another straight intersection.

In some embodiments, the intersection determining unit 13 is specifically configured to, according to the connection attribute marks of the 8 vertices, form a rectangular intersection by using four vertices, of which the values of the second connection attribute mark in the 8 vertices are greater than 2;

and connecting two vertexes, of the 8 vertexes, of which the values of the two second connection attribute marks on the left side of the rectangular intersection are equal to 2, to form a straight intersection, and connecting two vertexes, of which the values of the two second connection attribute marks on the right side of the rectangular intersection are equal to 2, to form another straight intersection.

In some embodiments, the merging unit 14 is configured to, for each intersection of the K intersections, determine a central point of each vertex corresponding to the intersection as a merging point of the intersection; merging the vertexes corresponding to the intersections to merging points of the intersections to obtain merged intersections; and starting from the first merging point of the merged intersection, searching to obtain a group of first ascending roads and first descending roads between the first merging point and the second merging point of the merged adjacent intersection.

In some embodiments, the merging unit 14 is specifically configured to connect a fourth arc segment connected to a vertex in the vertex set corresponding to the intersection to the merging point of the intersection, and delete another arc segment connected to the vertex of the intersection to obtain a merged intersection;

the fourth arc segment is connected with the top point of the intersection, the value of the road type mark is not equal to the second numerical value, and the end point does not belong to the top point set corresponding to the intersection.

In some embodiments, the merging unit 14 is specifically configured to determine a starting point as an end point of an initial arc segment of the first merging point as a first vertex;

if the value of the second connection attribute mark of the first vertex is not equal to 2, or the value of the second connection attribute mark of the first vertex is equal to 2 and the preset parallel condition is not satisfied between the first merging point and the first vertex, selecting a target arc segment from arc segments which are connected with the first vertex and have the starting point as the first vertex;

if the terminal point of the target arc segment meets the preset condition, taking the terminal point of the target arc segment as a new first vertex, taking the target arc segment as a new initial arc segment, and continuing searching until the value of a second connection attribute mark of the first vertex is equal to 2 and the parallel condition is met between the first merging point and the first vertex;

and determining the first vertex as the second merging point to obtain a group of first ascending roads and first descending roads formed between the first merging point and the second merging point.

In some embodiments, the merging unit 14 is further configured to determine that a group of first ascending roads and a group of first descending roads are formed between the first merging point and the first vertex if the value of the second connection attribute flag of the first vertex is equal to 2 and the preset parallel condition is satisfied between the first merging point and the first vertex.

In some embodiments, the parallelism condition includes a ratio of a shortest path between the first vertex and the first merging point to a shortest path between the first vertex and the first merging point, being greater than or equal to a preset threshold.

In some embodiments, the merging unit 14 is further configured to skip the search of the parallel and closed uplink segment starting from the initial arc segment if the end point of the target arc segment does not satisfy the preset condition.

In some embodiments, the preset condition comprises a shortest path between the first merging point and an end point of the target arc segment, being greater than a shortest path between the first merging point and the first vertex, and/or an included angle between a direction angle of the target arc segment and a direction angle of the initial arc segment being less than a preset angle value.

In some embodiments, the merging unit 14 is specifically configured to select, from the arc segments whose starting point is the first vertex, an arc segment that can pass through and whose included angle of the straight line between the direction angle and the direction angle of the initial arc segment is the smallest, as the target arc segment.

In some embodiments, the merging unit 14 is specifically configured to determine a straight line connecting the first merging point and the second merging point, determine distances from the respective vertexes of the first ascending road and the first descending road on the straight line connecting line to the first merging point, and rank the respective vertexes; taking the first vertex of each sequenced vertex as an initial vertex, taking the projection point from the initial vertex to the alignment road and the central point of the initial vertex as a new road connection shape point, and connecting the shape point and the previous shape point to form a merging arc section; and taking the next vertex of the sequenced vertexes as an initial vertex, continuing to merge the roads until the last vertex to obtain a final merged arc section, and obtaining the bidirectional road according to the final merged arc section.

In some embodiments, the merging unit 14 is further configured to, if a fifth arc segment exists in the arc segments connected to the initial vertex, connect the fifth arc segment to the shape point corresponding to the initial vertex, and delete another arc segment except the fifth arc segment in the arc segments connected to the initial vertex, where the fifth arc segment is the initial vertex, and an end point does not belong to the arc segment of the road where the initial vertex is located; and if the fifth arc segment does not exist in the arc segments connected with the initial vertex, deleting the arc segments connected with the initial vertex.

In some embodiments, the merging unit 14 is further configured to delete the duplicate link connection in the bidirectional link.

In some embodiments, the merging unit 14 is specifically configured to delete a link connection in the bidirectional link having the same starting point and ending point, and/or delete a link connection in the bidirectional link that is self-intersected.

It is to be understood that apparatus embodiments and method embodiments may correspond to one another and that similar descriptions may refer to method embodiments. To avoid repetition, further description is omitted here. Specifically, the apparatus shown in fig. 12 may perform the embodiment of the method, and the foregoing and other operations and/or functions of each module in the apparatus are respectively for implementing the embodiment of the method corresponding to the computing device, and are not described herein again for brevity.

The apparatus of the embodiments of the present application is described above in connection with the drawings from the perspective of functional modules. It should be understood that the functional modules may be implemented by hardware, by instructions in software, or by a combination of hardware and software modules. Specifically, the steps of the method embodiments in the present application may be implemented by integrated logic circuits of hardware in a processor and/or instructions in the form of software, and the steps of the method disclosed in conjunction with the embodiments in the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. Alternatively, the software modules may be located in random access memory, flash memory, read only memory, programmable read only memory, electrically erasable programmable memory, registers, and the like, as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps in the above method embodiments in combination with hardware thereof.

Fig. 13 is a schematic block diagram of a computing device provided in an embodiment of the present application, and configured to execute the above method embodiment.

As shown in fig. 13, the computing device 30 may include:

a memory 31 and a processor 32, the memory 31 being arranged to store a computer program 33 and to transfer the program code 33 to the processor 32. In other words, the processor 32 may call and run the computer program 33 from the memory 31 to implement the method in the embodiment of the present application.

For example, the processor 32 may be adapted to perform the above-mentioned method steps according to instructions in the computer program 33.

In some embodiments of the present application, the processor 32 may include, but is not limited to:

general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like.

In some embodiments of the present application, the memory 31 includes, but is not limited to:

volatile memory and/or non-volatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous SDRAM (sync-connected DRAM, SLDRAM), and Direct Rambus RAM (DR RAM).

In some embodiments of the present application, the computer program 33 may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 32 to perform the method of recording pages provided herein. The one or more modules may be a series of computer program instruction segments capable of performing certain functions, the instruction segments describing the execution of the computer program 33 in the computing device.

As shown in fig. 13, the computing device 30 may further include:

a transceiver 34, the transceiver 34 being connectable to the processor 32 or the memory 31.

The processor 32 may control the transceiver 34 to communicate with other devices, and specifically, may transmit information or data to the other devices or receive information or data transmitted by the other devices. The transceiver 34 may include a transmitter and a receiver. The transceiver 34 may further include one or more antennas.

It should be understood that the various components in the computing device 30 are connected by a bus system that includes a power bus, a control bus, and a status signal bus in addition to a data bus.

According to an aspect of the present application, there is provided a computer storage medium having a computer program stored thereon, which, when executed by a computer, enables the computer to perform the method of the above-described method embodiments. In other words, the present application also provides a computer program product containing instructions, which when executed by a computer, cause the computer to execute the method of the above method embodiments.

According to another aspect of the application, a computer program product or computer program is provided, comprising computer instructions stored in a computer readable storage medium. The computer instructions are read by a processor of the computing device from the computer-readable storage medium, and the processor executes the computer instructions to cause the computing device to perform the method of the above-described method embodiment.

In other words, when implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present application occur, in whole or in part, when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. 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 application.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the module is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. For example, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for merging an uplink road and a downlink road is characterized by comprising the following steps:

acquiring road types of road connection included in road network data and a connection relation between a top point and an arc section, wherein the road types include an ascending road, a descending road and a road in the road;

determining connection attribute marks of the vertexes according to the road types of the road connection corresponding to the arc sections connected with the vertexes aiming at each vertex, wherein the connection attribute marks comprise first connection attribute marks and second connection attribute marks, the value of each first connection attribute mark is the number of the arc sections of the road type mark in the arc section connected with the vertex, the value of each second connection attribute mark is the number of the arc sections of the road type mark in the arc section connected with the vertex, the first value is used for indicating that the road type of the road connection corresponding to the arc sections is an uplink road or a downlink road, and the second value is used for indicating that the road type of the road connection corresponding to the arc sections is an intra-road or an uplink road and an intra-road;

identifying intersections according to the connection attribute marks of each vertex to obtain K intersections, wherein K is a positive integer greater than 1;

2. The method according to claim 1, wherein the determining the link attribute flag of the vertex according to the link type of the link connection corresponding to the arc segment to which the vertex is connected comprises:

determining a road type mark of an arc section according to the road type of the road connection corresponding to the arc section, wherein the road type mark of the arc section is used for indicating the road type corresponding to the arc section;

and determining the connection attribute mark of the vertex according to the road type mark of the arc segment connected with the vertex.

3. The method of claim 1, wherein the intersection identification according to the connection attribute label of each vertex to obtain the K intersections comprises:

selecting P first vertexes with the value of a second connection attribute mark larger than 0 from all vertexes of the road network data, wherein P is a positive integer;

aiming at each first vertex in the P first vertices, searching a first arc segment in each arc segment connected with the starting point by taking the first vertex as the starting point, adding the end point of the first arc segment into a vertex set corresponding to the first vertex, taking the end point of the first arc segment as a new starting point, and continuing to circularly search until the first vertex is searched to obtain the vertex set corresponding to the first vertex, wherein the first arc segment is an arc segment of which the starting point is the starting point, the value of the road type mark is a second numerical value, and the values of the first connection attribute mark and the second connection attribute mark of the end point are both greater than 0;

and obtaining the K intersections according to the vertex sets corresponding to the P first vertices.

4. The method according to claim 3, wherein obtaining the K intersections according to the vertex sets corresponding to the P first vertices comprises:

if the number of vertexes included in the vertex set corresponding to the first vertex is less than or equal to 4, forming an intersection according to the vertex set corresponding to the first vertex;

5. The method according to any one of claims 1-4, further comprising:

aiming at each intersection in the K intersections, determining the central point of each vertex corresponding to the intersection as the merging point of the intersection;

merging the vertexes corresponding to the intersections to merging points of the intersections to obtain merged intersections;

the determining a set of first up-going roads and first down-going roads between the intersection and an adjacent intersection includes:

and starting from the first merging point of the merged intersection, searching to obtain a group of first ascending roads and first descending roads between the first merging point and the second merging point of the merged adjacent intersection.

6. The method of claim 5, wherein merging the vertices corresponding to the intersection into the merging points of the intersection to obtain a merged intersection comprises:

connecting a fourth arc segment connected with the top point in the top point set corresponding to the intersection to a merging point of the intersection, and deleting other arc segments connected with the top point of the intersection to obtain the merged intersection;

7. The method according to claim 5, wherein said searching for a set of first ascending roads and first descending roads between the first merging point and the second merging point of the merged adjacent intersection starting from the merged first merging point of the intersection comprises:

determining the initial point as the terminal point of the initial arc segment of the first merging point as a first vertex;

8. The method of claim 7, further comprising:

and if the value of the second connection attribute mark of the first vertex is equal to 2 and the first merging point and the first vertex meet a preset parallel condition, determining that a group of first uplink roads and a group of first downlink roads are formed between the first merging point and the first vertex.

9. The method according to claim 7 or 8, wherein the parallelism condition comprises a ratio of a shortest path between the first merging point and the first vertex to a shortest path between the first vertex and the first merging point, which is greater than or equal to a preset threshold.

10. The method of claim 7, wherein the predetermined condition comprises a shortest path between the first merging point and an end point of the target arc segment, being greater than a shortest path between the first merging point and the first vertex, and/or an included angle between a direction angle of the target arc segment and a direction angle of the initial arc segment being less than a predetermined angle value.

11. The method of claim 7, wherein selecting a target arc segment from the arc segments connected to the first vertex and starting at the first vertex comprises:

and selecting an arc segment which can pass through and has the smallest straight line included angle between the direction angle and the direction angle of the initial arc segment from all arc segments with the starting point as a first vertex as the target arc segment.

12. The method of claim 5, wherein merging the first up-link and the first down-link into one bi-directional link comprises:

determining a straight line connecting line between the first merging point and the second merging point, determining the distance from the foot of each vertex in the first uplink road and the first downlink road on the straight line connecting line to the first merging point, and sequencing the vertexes;

taking the first vertex of each sequenced vertex as an initial vertex, taking the projection point from the initial vertex to the alignment road and the central point of the initial vertex as a new road connection shape point, and connecting the shape point and the previous shape point to form a merging arc section;

and taking the next vertex of the sequenced vertexes as an initial vertex, continuing to merge the roads until the last vertex to obtain a final merged arc section, and obtaining the bidirectional road according to the final merged arc section.

13. The method of claim 12, wherein prior to connecting the shape point with a previous shape point to form a merged arc segment, the method further comprises:

if a fifth arc segment exists in the arc segments connected with the initial vertex, connecting the fifth arc segment to a shape point corresponding to the initial vertex, and deleting other arc segments except the fifth arc segment in the arc segments connected with the initial vertex, wherein the fifth arc segment is the initial vertex as a starting point, and an end point does not belong to the arc segment of the road where the initial vertex is located;

and if the fifth arc segment does not exist in the arc segments connected with the initial vertex, deleting the arc segments connected with the initial vertex.

14. The method according to any one of claims 1-4, further comprising:

and deleting the road connection with the same starting point and end point in the bidirectional road, and/or deleting the self-intersecting road connection in the bidirectional road.

15. An up-down road merging device, characterized by comprising:

the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring road network data, and the road network data comprises road types of road connection and connection relations between top points and arc sections;

an intersection determining unit, configured to determine, for each vertex, a connection attribute flag of the vertex according to a road type of a road connection corresponding to an arc segment to which the vertex is connected, where the connection attribute flag includes a first connection attribute flag and a second connection attribute flag, a value of the first connection attribute flag is a number of arc segments in which a value of a road type flag in the arc segment to which the vertex is connected is a first value, a value of the second connection attribute flag is a number of arc segments in which a value of a road type flag in the arc segment to which the vertex is connected is a second value, the first value is used to indicate that a road type of the road connection corresponding to the arc segment is an ascending road or a descending road, and the second value is used to indicate that a road type of the road connection corresponding to the arc segment is an intra-road or K intersections of the ascending road and the intra-road, k is a positive integer greater than 1;

and the merging unit is used for determining a first uplink road and a first downlink road between each intersection of the K intersections and the adjacent intersections, and merging the first uplink road and the first downlink road into a bidirectional road, wherein an included angle between the first uplink road and the first downlink road is smaller than a preset value, and the first uplink road and the first downlink road form a closed loop along the driving direction.

16. A computing device, comprising: a memory, a processor;

the memory for storing a computer program;

the processor for executing the computer program to implement the method of any one of claims 1 to 14.

17. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 14.